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Add Low Fidelity NetworkTables simulation extension (#823)

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This commit is contained in:
Jaci R
2017-12-30 14:54:18 +11:00
committed by Peter Johnson
parent c647a801ad
commit 76b182600a
24 changed files with 820 additions and 2 deletions
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56
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "NTProvider_Analog.h"
#include <HAL/Ports.h>
#include <MockData/AnalogInData.h>
#include <MockData/AnalogOutData.h>
void HALSimNTProviderAnalogIn::Initialize() {
InitializeDefault(HAL_GetNumAnalogInputs(),
HALSIM_RegisterAnalogInAllCallbacks);
}
void HALSimNTProviderAnalogIn::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogInInitialized(chan));
table->GetEntry("avg_bits").SetDouble(HALSIM_GetAnalogInAverageBits(chan));
table->GetEntry("oversample_bits")
.SetDouble(HALSIM_GetAnalogInOversampleBits(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogInVoltage(chan));
auto accum = table->GetSubTable("accum");
accum->GetEntry("init?").SetBoolean(
HALSIM_GetAnalogInAccumulatorInitialized(chan));
accum->GetEntry("value").SetDouble(HALSIM_GetAnalogInAccumulatorValue(chan));
accum->GetEntry("count").SetDouble(HALSIM_GetAnalogInAccumulatorCount(chan));
accum->GetEntry("center").SetDouble(
HALSIM_GetAnalogInAccumulatorCenter(chan));
accum->GetEntry("deadband")
.SetDouble(HALSIM_GetAnalogInAccumulatorDeadband(chan));
}
void HALSimNTProviderAnalogIn::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("voltage").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetAnalogInVoltage(chan, ev.value->GetDouble());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}
void HALSimNTProviderAnalogOut::Initialize() {
InitializeDefault(HAL_GetNumAnalogOutputs(),
HALSIM_RegisterAnalogOutAllCallbacks);
}
void HALSimNTProviderAnalogOut::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogOutInitialized(chan));
table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogOutVoltage(chan));
}