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Add simple motor simulation classes (#1117)

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This commit is contained in:
PJ Reiniger
2018-07-12 23:11:26 -04:00
committed by Peter Johnson
parent 57fc614074
commit 76c901ce78
22 changed files with 820 additions and 2 deletions
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7
hal/src/main/native/include/MockData/EncoderData.h
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@@ -81,6 +81,13 @@ void HALSIM_CancelEncoderSamplesToAverageCallback(int32_t index, int32_t uid);
int32_t HALSIM_GetEncoderSamplesToAverage(int32_t index);
void HALSIM_SetEncoderSamplesToAverage(int32_t index, int32_t samplesToAverage);
int32_t HALSIM_RegisterEncoderDistancePerPulseCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void HALSIM_CancelEncoderDistancePerPulseCallback(int32_t index, int32_t uid);
double HALSIM_GetEncoderDistancePerPulse(int32_t index);
void HALSIM_SetEncoderDistancePerPulse(int32_t index, double distancePerPulse);
void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);

15
hal/src/main/native/include/Simulation/EncoderSim.h
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@@ -123,6 +123,21 @@ class EncoderSim {
HALSIM_SetEncoderSamplesToAverage(m_index, samplesToAverage);
}
std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderDistancePerPulseCallback);
store->SetUid(HALSIM_RegisterEncoderDistancePerPulseCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double GetDistancePerPulse() {
return HALSIM_GetEncoderDistancePerPulse(m_index);
}
void SetDistancePerPulse(double distancePerPulse) {
HALSIM_SetEncoderDistancePerPulse(m_index, distancePerPulse);
}
void ResetData() { HALSIM_ResetEncoderData(m_index); }
private:

21
hal/src/main/native/sim/MockData/EncoderData.cpp
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@@ -39,7 +39,7 @@ void EncoderData::ResetData() {
m_reverseDirectionCallbacks = nullptr;
m_samplesToAverage = 0;
m_samplesToAverageCallbacks = nullptr;
m_distancePerPulse = 0;
m_distancePerPulse = 1;
m_distancePerPulseCallbacks = nullptr;
}
@@ -544,6 +544,25 @@ void HALSIM_SetEncoderSamplesToAverage(int32_t index,
SimEncoderData[index].SetSamplesToAverage(samplesToAverage);
}
int32_t HALSIM_RegisterEncoderDistancePerPulseCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify) {
return SimEncoderData[index].RegisterDistancePerPulseCallback(callback, param,
initialNotify);
}
void HALSIM_CancelEncoderDistancePerPulseCallback(int32_t index, int32_t uid) {
SimEncoderData[index].CancelDistancePerPulseCallback(uid);
}
double HALSIM_GetEncoderDistancePerPulse(int32_t index) {
return SimEncoderData[index].GetDistancePerPulse();
}
void HALSIM_SetEncoderDistancePerPulse(int32_t index, double distancePerPulse) {
SimEncoderData[index].SetDistancePerPulse(distancePerPulse);
}
void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {

2
hal/src/main/native/sim/MockData/EncoderDataInternal.h
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@@ -106,7 +106,7 @@ class EncoderData {
std::shared_ptr<NotifyListenerVector> m_reverseDirectionCallbacks = nullptr;
std::atomic<int32_t> m_samplesToAverage{0};
std::shared_ptr<NotifyListenerVector> m_samplesToAverageCallbacks = nullptr;
std::atomic<double> m_distancePerPulse{0};
std::atomic<double> m_distancePerPulse{1};
std::shared_ptr<NotifyListenerVector> m_distancePerPulseCallbacks = nullptr;
};
extern EncoderData* SimEncoderData;