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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: