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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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51
simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.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_RoboRIO.h"
#include <HAL/Ports.h>
#include <MockData/RoboRioData.h>
void HALSimNTProviderRoboRIO::Initialize() {
InitializeDefault(1, HALSIM_RegisterRoboRioAllCallbacks);
}
void HALSimNTProviderRoboRIO::OnCallback(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?").SetBoolean(HALSIM_GetRoboRioFPGAButton(chan));
table->GetEntry("vin_voltage").SetDouble(HALSIM_GetRoboRioVInVoltage(chan));
table->GetEntry("vin_current").SetDouble(HALSIM_GetRoboRioVInCurrent(chan));
auto t6v = table->GetSubTable("6V");
t6v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage6V(chan));
t6v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent6V(chan));
t6v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive6V(chan));
t6v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults6V(chan));
auto t5v = table->GetSubTable("5V");
t5v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage5V(chan));
t5v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent5V(chan));
t5v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive5V(chan));
t5v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults5V(chan));
auto t3v3 = table->GetSubTable("3V3");
t3v3->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage3V3(chan));
t3v3->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent3V3(chan));
t3v3->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive3V3(chan));
t3v3->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults3V3(chan));
}
void HALSimNTProviderRoboRIO::OnInitializedChannel(
uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
table->GetEntry("fpga_button?")
.AddListener(
[=](const nt::EntryNotification& ev) -> void {
HALSIM_SetRoboRioFPGAButton(chan, ev.value->GetBoolean());
},
NT_NotifyKind::NT_NOTIFY_UPDATE);
}