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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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46
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.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_Encoder.h"
#include <HAL/Ports.h>
#include <MockData/EncoderData.h>
void HALSimNTProviderEncoder::Initialize() {
InitializeDefault(HAL_GetNumEncoders(), HALSIM_RegisterEncoderAllCallbacks);
}
void HALSimNTProviderEncoder::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("init?").SetBoolean(HALSIM_GetEncoderInitialized(chan));
table->GetEntry("count").SetDouble(HALSIM_GetEncoderCount(chan));
table->GetEntry("period").SetDouble(HALSIM_GetEncoderPeriod(chan));
table->GetEntry("reset?").SetBoolean(HALSIM_GetEncoderReset(chan));
table->GetEntry("max_period").SetDouble(HALSIM_GetEncoderMaxPeriod(chan));
table->GetEntry("direction").SetBoolean(HALSIM_GetEncoderDirection(chan));
table->GetEntry("reverse_direction?")
.SetBoolean(HALSIM_GetEncoderReverseDirection(chan));
table->GetEntry("samples_to_avg")
.SetDouble(HALSIM_GetEncoderSamplesToAverage(chan));
}
void HALSimNTProviderEncoder::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("count").AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderCount(chan,
static_cast<int32_t>(ev.value->GetDouble()));
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
table->GetEntry("direction")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetEncoderDirection(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}