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[hal, wpilib] Remove SPI support (#7678)

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This commit is contained in:
Thad House
2025-01-17 00:22:29 -08:00
committed by GitHub
parent dc335ddedb
commit 92f0a3c961
84 changed files with 12 additions and 12763 deletions
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59
wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
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@@ -1,59 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/ADIS16448_IMUSim.h"
#include <frc/ADIS16448_IMU.h>
#include <frc/simulation/SimDeviceSim.h>
using namespace frc::sim;
ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16448", imu.GetPort()};
m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
m_simAccelX = deviceSim.GetDouble("accel_x");
m_simAccelY = deviceSim.GetDouble("accel_y");
m_simAccelZ = deviceSim.GetDouble("accel_z");
}
void ADIS16448_IMUSim::SetGyroAngleX(units::degree_t angle) {
m_simGyroAngleX.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroAngleY(units::degree_t angle) {
m_simGyroAngleY.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
m_simGyroAngleZ.Set(angle.value());
}
void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t angularRate) {
m_simGyroRateX.Set(angularRate.value());
}
void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t angularRate) {
m_simGyroRateY.Set(angularRate.value());
}
void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t angularRate) {
m_simGyroRateZ.Set(angularRate.value());
}
void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
m_simAccelX.Set(accel.value());
}
void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
m_simAccelY.Set(accel.value());
}
void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
m_simAccelZ.Set(accel.value());
}

59
wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
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@@ -1,59 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/ADIS16470_IMUSim.h"
#include <frc/ADIS16470_IMU.h>
#include <frc/simulation/SimDeviceSim.h>
using namespace frc::sim;
ADIS16470_IMUSim::ADIS16470_IMUSim(const frc::ADIS16470_IMU& imu) {
frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16470", imu.GetPort()};
m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
m_simAccelX = deviceSim.GetDouble("accel_x");
m_simAccelY = deviceSim.GetDouble("accel_y");
m_simAccelZ = deviceSim.GetDouble("accel_z");
}
void ADIS16470_IMUSim::SetGyroAngleX(units::degree_t angle) {
m_simGyroAngleX.Set(angle.value());
}
void ADIS16470_IMUSim::SetGyroAngleY(units::degree_t angle) {
m_simGyroAngleY.Set(angle.value());
}
void ADIS16470_IMUSim::SetGyroAngleZ(units::degree_t angle) {
m_simGyroAngleZ.Set(angle.value());
}
void ADIS16470_IMUSim::SetGyroRateX(units::degrees_per_second_t angularRate) {
m_simGyroRateX.Set(angularRate.value());
}
void ADIS16470_IMUSim::SetGyroRateY(units::degrees_per_second_t angularRate) {
m_simGyroRateY.Set(angularRate.value());
}
void ADIS16470_IMUSim::SetGyroRateZ(units::degrees_per_second_t angularRate) {
m_simGyroRateZ.Set(angularRate.value());
}
void ADIS16470_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
m_simAccelX.Set(accel.value());
}
void ADIS16470_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
m_simAccelY.Set(accel.value());
}
void ADIS16470_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
m_simAccelZ.Set(accel.value());
}

8
wpilibc/src/main/native/cpp/simulation/ADXL345Sim.cpp
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@@ -5,7 +5,6 @@
#include "frc/simulation/ADXL345Sim.h"
#include "frc/ADXL345_I2C.h"
#include "frc/ADXL345_SPI.h"
#include "frc/simulation/SimDeviceSim.h"
using namespace frc::sim;
@@ -18,13 +17,6 @@ ADXL345Sim::ADXL345Sim(const frc::ADXL345_I2C& accel) {
m_simZ = deviceSim.GetDouble("z");
}
ADXL345Sim::ADXL345Sim(const frc::ADXL345_SPI& accel) {
frc::sim::SimDeviceSim deviceSim{"Accel:ADXL345_SPI", accel.GetSpiPort()};
m_simX = deviceSim.GetDouble("x");
m_simY = deviceSim.GetDouble("y");
m_simZ = deviceSim.GetDouble("z");
}
void ADXL345Sim::SetX(double accel) {
m_simX.Set(accel);
}

29
wpilibc/src/main/native/cpp/simulation/ADXL362Sim.cpp
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@@ -1,29 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/ADXL362Sim.h"
#include "frc/ADXL362.h"
#include "frc/simulation/SimDeviceSim.h"
using namespace frc::sim;
ADXL362Sim::ADXL362Sim(const frc::ADXL362& accel) {
frc::sim::SimDeviceSim deviceSim{"Accel:ADXL362", accel.GetSpiPort()};
m_simX = deviceSim.GetDouble("x");
m_simY = deviceSim.GetDouble("y");
m_simZ = deviceSim.GetDouble("z");
}
void ADXL362Sim::SetX(double accel) {
m_simX.Set(accel);
}
void ADXL362Sim::SetY(double accel) {
m_simY.Set(accel);
}
void ADXL362Sim::SetZ(double accel) {
m_simZ.Set(accel);
}

24
wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp
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@@ -1,24 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/ADXRS450_GyroSim.h"
#include "frc/ADXRS450_Gyro.h"
#include "frc/simulation/SimDeviceSim.h"
using namespace frc::sim;
ADXRS450_GyroSim::ADXRS450_GyroSim(const frc::ADXRS450_Gyro& gyro) {
frc::sim::SimDeviceSim deviceSim{"Gyro:ADXRS450", gyro.GetPort()};
m_simAngle = deviceSim.GetDouble("angle_x");
m_simRate = deviceSim.GetDouble("rate_x");
}
void ADXRS450_GyroSim::SetAngle(units::degree_t angle) {
m_simAngle.Set(angle.value());
}
void ADXRS450_GyroSim::SetRate(units::degrees_per_second_t rate) {
m_simRate.Set(rate.value());
}

105
wpilibc/src/main/native/cpp/simulation/SPIAccelerometerSim.cpp
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@@ -1,105 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/simulation/SPIAccelerometerSim.h"
#include <memory>
#include <hal/simulation/SPIAccelerometerData.h>
using namespace frc;
using namespace frc::sim;
SPIAccelerometerSim::SPIAccelerometerSim(int index) {
m_index = index;
}
std::unique_ptr<CallbackStore> SPIAccelerometerSim::RegisterActiveCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelSPIAccelerometerActiveCallback);
store->SetUid(HALSIM_RegisterSPIAccelerometerActiveCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool SPIAccelerometerSim::GetActive() const {
return HALSIM_GetSPIAccelerometerActive(m_index);
}
void SPIAccelerometerSim::SetActive(bool active) {
HALSIM_SetSPIAccelerometerActive(m_index, active);
}
std::unique_ptr<CallbackStore> SPIAccelerometerSim::RegisterRangeCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelSPIAccelerometerRangeCallback);
store->SetUid(HALSIM_RegisterSPIAccelerometerRangeCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int SPIAccelerometerSim::GetRange() const {
return HALSIM_GetSPIAccelerometerRange(m_index);
}
void SPIAccelerometerSim::SetRange(int range) {
HALSIM_SetSPIAccelerometerRange(m_index, range);
}
std::unique_ptr<CallbackStore> SPIAccelerometerSim::RegisterXCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelSPIAccelerometerXCallback);
store->SetUid(HALSIM_RegisterSPIAccelerometerXCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double SPIAccelerometerSim::GetX() const {
return HALSIM_GetSPIAccelerometerX(m_index);
}
void SPIAccelerometerSim::SetX(double x) {
HALSIM_SetSPIAccelerometerX(m_index, x);
}
std::unique_ptr<CallbackStore> SPIAccelerometerSim::RegisterYCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelSPIAccelerometerYCallback);
store->SetUid(HALSIM_RegisterSPIAccelerometerYCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double SPIAccelerometerSim::GetY() const {
return HALSIM_GetSPIAccelerometerY(m_index);
}
void SPIAccelerometerSim::SetY(double y) {
HALSIM_SetSPIAccelerometerY(m_index, y);
}
std::unique_ptr<CallbackStore> SPIAccelerometerSim::RegisterZCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelSPIAccelerometerZCallback);
store->SetUid(HALSIM_RegisterSPIAccelerometerZCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double SPIAccelerometerSim::GetZ() const {
return HALSIM_GetSPIAccelerometerZ(m_index);
}
void SPIAccelerometerSim::SetZ(double z) {
HALSIM_SetSPIAccelerometerZ(m_index, z);
}
void SPIAccelerometerSim::ResetData() {
HALSIM_ResetSPIAccelerometerData(m_index);
}