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Add ability to associate other devices with a SimDevice

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Implemented only for AnalogInput, DIO, and Encoder.
This commit is contained in:
Peter Johnson
2019-10-04 22:56:24 -07:00
parent 81c2c8a7de
commit aa90645865
36 changed files with 222 additions and 13 deletions
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10
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -11,6 +11,7 @@ import edu.wpi.first.hal.AccumulatorResult;
import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.sim.AnalogInSim;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
@@ -344,6 +345,15 @@ public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
return getAverageVoltage();
}
/**
* Indicates this input is used by a simulated device.
*
* @param device simulated device handle
*/
public void setSimDevice(SimDevice device) {
AnalogJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle());
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Analog Input");

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
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@@ -10,6 +10,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -98,6 +99,15 @@ public class DigitalInput extends DigitalSource implements Sendable, AutoCloseab
return m_handle;
}
/**
* Indicates this input is used by a simulated device.
*
* @param device simulated device handle
*/
public void setSimDevice(SimDevice device) {
DIOJNI.setDIOSimDevice(m_handle, device.getNativeHandle());
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Digital Input");

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
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@@ -10,6 +10,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -161,6 +162,15 @@ public class DigitalOutput implements Sendable, AutoCloseable {
DIOJNI.setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle);
}
/**
* Indicates this input is used by a simulated device.
*
* @param device simulated device handle
*/
public void setSimDevice(SimDevice device) {
DIOJNI.setDIOSimDevice(m_handle, device.getNativeHandle());
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Digital Output");

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
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@@ -10,6 +10,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.EncoderJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
@@ -560,6 +561,15 @@ public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable
source.getAnalogTriggerTypeForRouting(), type.value);
}
/**
* Indicates this input is used by a simulated device.
*
* @param device simulated device handle
*/
public void setSimDevice(SimDevice device) {
EncoderJNI.setEncoderSimDevice(m_encoder, device.getNativeHandle());
}
@Override
public void initSendable(SendableBuilder builder) {
if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.k4X.value) {