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[hal] Rename SimDevice constants to all caps

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Also use enum class for SimDevice C++ wrapper.
This commit is contained in:
Peter Johnson
2026-03-14 12:57:37 -07:00
parent 70f77a1f8e
commit aad08b9ad1
29 changed files with 145 additions and 131 deletions
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6
hal/src/main/java/org/wpilib/hardware/hal/SimDevice.java
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@@ -19,11 +19,11 @@ public class SimDevice implements AutoCloseable {
/** Sim device direction. */
public enum Direction {
/** Input direction for simulation devices. */
kInput(SimDeviceJNI.kInput),
INPUT(SimDeviceJNI.VALUE_INPUT),
/** Output direction for simulation devices. */
kOutput(SimDeviceJNI.kOutput),
OUTPUT(SimDeviceJNI.VALUE_OUTPUT),
/** Bidirectional direction for simulation devices. */
kBidir(SimDeviceJNI.kBidir);
BIDIR(SimDeviceJNI.VALUE_BIDIR);
/** The native value of this Direction. */
public final int m_value;

6
hal/src/main/java/org/wpilib/hardware/hal/SimDeviceJNI.java
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@@ -11,13 +11,13 @@ package org.wpilib.hardware.hal;
*/
public class SimDeviceJNI extends JNIWrapper {
/** Input to user code from the simulator. */
public static final int kInput = 0;
public static final int VALUE_INPUT = 0;
/** Output from user code to the simulator. */
public static final int kOutput = 1;
public static final int VALUE_OUTPUT = 1;
/** Bidirectional between user code and simulator. */
public static final int kBidir = 2;
public static final int VALUE_BIDIR = 2;
/**
* Creates a simulated device.

6
hal/src/main/native/include/wpi/hal/SimDevice.h
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@@ -25,9 +25,9 @@
* Direction of a simulated value (from the perspective of user code).
*/
HAL_ENUM(HAL_SimValueDirection) {
HAL_SimValueInput = 0, /**< input to user code from the simulator */
HAL_SimValueOutput, /**< output from user code to the simulator */
HAL_SimValueBidir /**< bidirectional between user code and simulator */
HAL_SIM_VALUE_INPUT = 0, /**< input to user code from the simulator */
HAL_SIM_VALUE_OUTPUT, /**< output from user code to the simulator */
HAL_SIM_VALUE_BIDIR /**< bidirectional between user code and simulator */
};
#ifdef __cplusplus

58
hal/src/main/native/include/wpi/hal/SimDevice.hpp
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@@ -280,10 +280,10 @@ class SimDevice {
/**
* Direction of a simulated value (from the perspective of user code).
*/
enum Direction {
kInput = HAL_SimValueInput,
kOutput = HAL_SimValueOutput,
kBidir = HAL_SimValueBidir
enum class Direction {
INPUT = HAL_SIM_VALUE_INPUT,
OUTPUT = HAL_SIM_VALUE_OUTPUT,
BIDIR = HAL_SIM_VALUE_BIDIR
};
/**
@@ -403,9 +403,10 @@ class SimDevice {
* @param initialValue initial value
* @return simulated value object
*/
SimValue CreateValue(const char* name, int32_t direction,
SimValue CreateValue(const char* name, Direction direction,
const HAL_Value& initialValue) {
return HAL_CreateSimValue(m_handle, name, direction, &initialValue);
return HAL_CreateSimValue(m_handle, name, static_cast<int32_t>(direction),
&initialValue);
}
/**
@@ -419,8 +420,10 @@ class SimDevice {
* @param initialValue initial value
* @return simulated double value object
*/
SimInt CreateInt(const char* name, int32_t direction, int32_t initialValue) {
return HAL_CreateSimValueInt(m_handle, name, direction, initialValue);
SimInt CreateInt(const char* name, Direction direction,
int32_t initialValue) {
return HAL_CreateSimValueInt(m_handle, name,
static_cast<int32_t>(direction), initialValue);
}
/**
@@ -434,9 +437,10 @@ class SimDevice {
* @param initialValue initial value
* @return simulated double value object
*/
SimLong CreateLong(const char* name, int32_t direction,
SimLong CreateLong(const char* name, Direction direction,
int64_t initialValue) {
return HAL_CreateSimValueLong(m_handle, name, direction, initialValue);
return HAL_CreateSimValueLong(
m_handle, name, static_cast<int32_t>(direction), initialValue);
}
/**
@@ -450,9 +454,10 @@ class SimDevice {
* @param initialValue initial value
* @return simulated double value object
*/
SimDouble CreateDouble(const char* name, int32_t direction,
SimDouble CreateDouble(const char* name, Direction direction,
double initialValue) {
return HAL_CreateSimValueDouble(m_handle, name, direction, initialValue);
return HAL_CreateSimValueDouble(
m_handle, name, static_cast<int32_t>(direction), initialValue);
}
/**
@@ -469,12 +474,12 @@ class SimDevice {
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
SimEnum CreateEnum(const char* name, int32_t direction,
SimEnum CreateEnum(const char* name, Direction direction,
std::initializer_list<const char*> options,
int32_t initialValue) {
return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(),
const_cast<const char**>(options.begin()),
initialValue);
return HAL_CreateSimValueEnum(
m_handle, name, static_cast<int32_t>(direction), options.size(),
const_cast<const char**>(options.begin()), initialValue);
}
/**
@@ -491,12 +496,12 @@ class SimDevice {
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
SimEnum CreateEnum(const char* name, int32_t direction,
SimEnum CreateEnum(const char* name, Direction direction,
std::span<const char* const> options,
int32_t initialValue) {
return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(),
const_cast<const char**>(options.data()),
initialValue);
return HAL_CreateSimValueEnum(
m_handle, name, static_cast<int32_t>(direction), options.size(),
const_cast<const char**>(options.data()), initialValue);
}
/**
@@ -515,7 +520,7 @@ class SimDevice {
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
SimEnum CreateEnumDouble(const char* name, int32_t direction,
SimEnum CreateEnumDouble(const char* name, Direction direction,
std::initializer_list<const char*> options,
std::initializer_list<double> optionValues,
int32_t initialValue) {
@@ -523,7 +528,7 @@ class SimDevice {
return {};
}
return HAL_CreateSimValueEnumDouble(
m_handle, name, direction, options.size(),
m_handle, name, static_cast<int32_t>(direction), options.size(),
const_cast<const char**>(options.begin()), optionValues.begin(),
initialValue);
}
@@ -544,7 +549,7 @@ class SimDevice {
* @param initialValue initial value (selection)
* @return simulated enum value object
*/
SimEnum CreateEnumDouble(const char* name, int32_t direction,
SimEnum CreateEnumDouble(const char* name, Direction direction,
std::span<const char* const> options,
std::span<const double> optionValues,
int32_t initialValue) {
@@ -552,7 +557,7 @@ class SimDevice {
return {};
}
return HAL_CreateSimValueEnumDouble(
m_handle, name, direction, options.size(),
m_handle, name, static_cast<int32_t>(direction), options.size(),
const_cast<const char**>(options.data()), optionValues.data(),
initialValue);
}
@@ -568,9 +573,10 @@ class SimDevice {
* @param initialValue initial value
* @return simulated boolean value object
*/
SimBoolean CreateBoolean(const char* name, int32_t direction,
SimBoolean CreateBoolean(const char* name, Direction direction,
bool initialValue) {
return HAL_CreateSimValueBoolean(m_handle, name, direction, initialValue);
return HAL_CreateSimValueBoolean(
m_handle, name, static_cast<int32_t>(direction), initialValue);
}
protected:

12
hal/src/main/python/semiwrap/SimDevice.yml
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@@ -148,11 +148,11 @@ classes:
CreateDouble:
CreateEnum:
overloads:
const char*, int32_t, std::initializer_list<const char *>, int32_t:
const char*, Direction, std::initializer_list<const char *>, int32_t:
ignore: true
const char*, int32_t, std::span<const char * const>, int32_t:
const char*, Direction, std::span<const char * const>, int32_t:
cpp_code: |
[](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector<std::string, 8> &options, int32_t initialValue) {
[](SimDevice &self, const char * name, SimDevice::Direction direction, const wpi::util::SmallVector<std::string, 8> &options, int32_t initialValue) {
wpi::util::SmallVector<const char *, 8> coptions;
coptions.reserve(options.size());
for (auto &s: options) {
@@ -163,11 +163,11 @@ classes:
CreateEnumDouble:
overloads:
const char*, int32_t, std::initializer_list<const char *>, std::initializer_list<double>, int32_t:
const char*, Direction, std::initializer_list<const char *>, std::initializer_list<double>, int32_t:
ignore: true
const char*, int32_t, std::span<const char * const>, std::span<const double>, int32_t:
const char*, Direction, std::span<const char * const>, std::span<const double>, int32_t:
cpp_code: |
[](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector<std::string, 8> &options, const wpi::util::SmallVector<double, 8> &optionValues, int32_t initialValue) {
[](SimDevice &self, const char * name, SimDevice::Direction direction, const wpi::util::SmallVector<std::string, 8> &options, const wpi::util::SmallVector<double, 8> &optionValues, int32_t initialValue) {
wpi::util::SmallVector<const char *, 8> coptions;
coptions.reserve(options.size());
for (auto &s: options) {

6
hal/src/test/python/test_hal.py
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@@ -3,7 +3,7 @@ import hal
def test_hal_simdevice():
device = hal.SimDevice("deviceName")
v = device.createInt("i", 0, 1)
v = device.createInt("i", hal.SimDevice.Direction.INPUT, 1)
assert v.get() == 1
assert v.type == hal.Type.INT
@@ -14,7 +14,7 @@ def test_hal_simdevice():
def test_hal_simdevice_enum():
device = hal.SimDevice("enumDevice")
names = ["one", "two", "three"]
v = device.createEnum("e", 0, names, 0)
v = device.createEnum("e", hal.SimDevice.Direction.INPUT, names, 0)
assert v.get() == 0
assert v.type == hal.Type.ENUM
@@ -28,7 +28,7 @@ def test_hal_simdevice_enum_double():
device = hal.SimDevice("enumDevice")
names = ["one", "two", "three"]
values = [0.0, 1.0, 2.0]
v = device.createEnumDouble("e", 0, names, values, 0)
v = device.createEnumDouble("e", hal.SimDevice.Direction.INPUT, names, values, 0)
assert v.get() == 0
assert v.type == hal.Type.ENUM

2
hal/src/test/python/test_hal_simulation.py
View File

@@ -24,7 +24,7 @@ def test_value_changed_callback():
devunused = hal.simulation.registerSimValueCreatedCallback(dev, created_cb, True)
assert recv is None
val = dev.createInt("answer", 0, 42)
val = dev.createInt("answer", hal.SimDevice.Direction.INPUT, 42)
assert recv == (True, "answer", 42)
recv = None

14
romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java
View File

@@ -31,14 +31,14 @@ public class RomiGyro {
public RomiGyro() {
m_simDevice = SimDevice.create("Gyro:RomiGyro");
if (m_simDevice != null) {
m_simDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simDevice.createBoolean("init", Direction.OUTPUT, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.INPUT, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.INPUT, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.INPUT, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.INPUT, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.INPUT, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.INPUT, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;

26
romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp
View File

@@ -8,19 +8,19 @@ using namespace wpi::romi;
RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
m_simRateX = m_simDevice.CreateDouble(
"rate_x", hal::SimDevice::Direction::INPUT, 0.0);
m_simRateY = m_simDevice.CreateDouble(
"rate_y", hal::SimDevice::Direction::INPUT, 0.0);
m_simRateZ = m_simDevice.CreateDouble(
"rate_z", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleX = m_simDevice.CreateDouble(
"angle_x", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleY = m_simDevice.CreateDouble(
"angle_y", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleZ = m_simDevice.CreateDouble(
"angle_z", hal::SimDevice::Direction::INPUT, 0.0);
}
}

10
simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
View File

@@ -151,7 +151,7 @@ static void DisplaySimValue(const char* name, void* data,
switch (value->type) {
case HAL_BOOLEAN: {
bool v = value->data.v_boolean;
if (wpi::glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
if (wpi::glass::DeviceBoolean(name, direction == HAL_SIM_VALUE_OUTPUT, &v,
model->GetSource(handle))) {
valueCopy.data.v_boolean = v ? 1 : 0;
HAL_SetSimValue(handle, valueCopy);
@@ -159,7 +159,7 @@ static void DisplaySimValue(const char* name, void* data,
break;
}
case HAL_DOUBLE:
if (wpi::glass::DeviceDouble(name, direction == HAL_SimValueOutput,
if (wpi::glass::DeviceDouble(name, direction == HAL_SIM_VALUE_OUTPUT,
&valueCopy.data.v_double,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
@@ -168,7 +168,7 @@ static void DisplaySimValue(const char* name, void* data,
case HAL_ENUM: {
int32_t numOptions = 0;
const char** options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
if (wpi::glass::DeviceEnum(name, direction == HAL_SimValueOutput,
if (wpi::glass::DeviceEnum(name, direction == HAL_SIM_VALUE_OUTPUT,
&valueCopy.data.v_enum, options, numOptions,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
@@ -176,14 +176,14 @@ static void DisplaySimValue(const char* name, void* data,
break;
}
case HAL_INT:
if (wpi::glass::DeviceInt(name, direction == HAL_SimValueOutput,
if (wpi::glass::DeviceInt(name, direction == HAL_SIM_VALUE_OUTPUT,
&valueCopy.data.v_int,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);
}
break;
case HAL_LONG:
if (wpi::glass::DeviceLong(name, direction == HAL_SimValueOutput,
if (wpi::glass::DeviceLong(name, direction == HAL_SIM_VALUE_OUTPUT,
&valueCopy.data.v_long,
model->GetSource(handle))) {
HAL_SetSimValue(handle, valueCopy);

6
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
View File

@@ -133,13 +133,13 @@ void HALSimWSProviderSimDevice::OnValueCreated(const char* name,
const char* prefix = "";
if (name[0] != '<' && name[0] != '>') {
switch (direction) {
case HAL_SimValueInput:
case HAL_SIM_VALUE_INPUT:
prefix = ">";
break;
case HAL_SimValueOutput:
case HAL_SIM_VALUE_OUTPUT:
prefix = "<";
break;
case HAL_SimValueBidir:
case HAL_SIM_VALUE_BIDIR:
prefix = "<>";
break;
default:

13
wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp
View File

@@ -16,11 +16,14 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
m_simDevice("Accel:ADXL345_I2C", static_cast<int>(port), deviceAddress) {
if (m_simDevice) {
m_simRange = m_simDevice.CreateEnumDouble(
"range", wpi::hal::SimDevice::kOutput, {"2G", "4G", "8G", "16G"},
{2.0, 4.0, 8.0, 16.0}, 0);
m_simX = m_simDevice.CreateDouble("x", wpi::hal::SimDevice::kInput, 0.0);
m_simY = m_simDevice.CreateDouble("y", wpi::hal::SimDevice::kInput, 0.0);
m_simZ = m_simDevice.CreateDouble("z", wpi::hal::SimDevice::kInput, 0.0);
"range", wpi::hal::SimDevice::Direction::OUTPUT,
{"2G", "4G", "8G", "16G"}, {2.0, 4.0, 8.0, 16.0}, 0);
m_simX = m_simDevice.CreateDouble(
"x", wpi::hal::SimDevice::Direction::INPUT, 0.0);
m_simY = m_simDevice.CreateDouble(
"y", wpi::hal::SimDevice::Direction::INPUT, 0.0);
m_simZ = m_simDevice.CreateDouble(
"z", wpi::hal::SimDevice::Direction::INPUT, 0.0);
}
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);

3
wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp
View File

@@ -89,7 +89,8 @@ PWMMotorController::PWMMotorController(std::string_view name, int channel)
m_simDevice = wpi::hal::SimDevice{"PWMMotorController", channel};
if (m_simDevice) {
m_simDutyCycle = m_simDevice.CreateDouble("DutyCycle", true, 0.0);
m_simDutyCycle = m_simDevice.CreateDouble(
"DutyCycle", wpi::hal::SimDevice::Direction::OUTPUT, 0.0);
m_pwm.SetSimDevice(m_simDevice);
}
}

3
wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp
View File

@@ -38,7 +38,8 @@ SharpIR::SharpIR(int channel, double a, double b, wpi::units::meter_t min,
m_simDevice = wpi::hal::SimDevice("SharpIR", m_sensor.GetChannel());
if (m_simDevice) {
m_simRange = m_simDevice.CreateDouble("Range (m)", false, 0.0);
m_simRange = m_simDevice.CreateDouble(
"Range (m)", wpi::hal::SimDevice::Direction::INPUT, 0.0);
m_sensor.SetSimDevice(m_simDevice);
}
}

3
wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp
View File

@@ -62,7 +62,8 @@ void AnalogEncoder::Init(double fullRange, double expectedZero) {
wpi::hal::SimDevice{"AnalogEncoder", m_analogInput->GetChannel()};
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
m_simPosition = m_simDevice.CreateDouble(
"Position", wpi::hal::SimDevice::Direction::INPUT, 0.0);
}
m_fullRange = fullRange;

5
wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp
View File

@@ -64,9 +64,10 @@ void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
m_dutyCycle->GetSourceChannel()};
if (m_simDevice) {
m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
m_simPosition = m_simDevice.CreateDouble(
"Position", wpi::hal::SimDevice::Direction::INPUT, 0.0);
m_simIsConnected = m_simDevice.CreateBoolean(
"Connected", wpi::hal::SimDevice::kInput, true);
"Connected", wpi::hal::SimDevice::Direction::INPUT, true);
}
m_fullRange = fullRange;

3
wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp
View File

@@ -14,7 +14,8 @@ using namespace wpi::sim;
TEST(SimDeviceSimTest, Basic) {
wpi::hal::SimDevice dev{"test"};
wpi::hal::SimBoolean devBool = dev.CreateBoolean("bool", false, false);
wpi::hal::SimBoolean devBool =
dev.CreateBoolean("bool", wpi::hal::SimDevice::Direction::INPUT, false);
SimDeviceSim sim{"test"};
wpi::hal::SimBoolean simBool = sim.GetBoolean("bool");

8
wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java
View File

@@ -119,13 +119,13 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
m_simRange =
m_simDevice.createEnumDouble(
"range",
SimDevice.Direction.kOutput,
SimDevice.Direction.OUTPUT,
new String[] {"2G", "4G", "8G", "16G"},
new double[] {2.0, 4.0, 8.0, 16.0},
0);
m_simX = m_simDevice.createDouble("x", SimDevice.Direction.kInput, 0.0);
m_simY = m_simDevice.createDouble("y", SimDevice.Direction.kInput, 0.0);
m_simZ = m_simDevice.createDouble("z", SimDevice.Direction.kInput, 0.0);
m_simX = m_simDevice.createDouble("x", SimDevice.Direction.INPUT, 0.0);
m_simY = m_simDevice.createDouble("y", SimDevice.Direction.INPUT, 0.0);
m_simZ = m_simDevice.createDouble("z", SimDevice.Direction.INPUT, 0.0);
}
// Turn on the measurements

2
wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java
View File

@@ -48,7 +48,7 @@ public abstract class PWMMotorController extends MotorSafety
m_simDevice = SimDevice.create("PWMMotorController", channel);
if (m_simDevice != null) {
m_simDutyCycle = m_simDevice.createDouble("DutyCycle", Direction.kOutput, 0.0);
m_simDutyCycle = m_simDevice.createDouble("DutyCycle", Direction.OUTPUT, 0.0);
m_pwm.setSimDevice(m_simDevice);
}
}

2
wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java
View File

@@ -96,7 +96,7 @@ public class SharpIR implements Sendable, AutoCloseable {
m_simDevice = SimDevice.create("SharpIR", m_sensor.getChannel());
if (m_simDevice != null) {
m_simRange = m_simDevice.createDouble("Range (m)", Direction.kInput, 0.0);
m_simRange = m_simDevice.createDouble("Range (m)", Direction.INPUT, 0.0);
m_sensor.setSimDevice(m_simDevice);
}
}

2
wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java
View File

@@ -80,7 +80,7 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
m_simDevice = SimDevice.create("AnalogEncoder", m_analogInput.getChannel());
if (m_simDevice != null) {
m_simPosition = m_simDevice.createDouble("Position", Direction.kInput, 0.0);
m_simPosition = m_simDevice.createDouble("Position", Direction.INPUT, 0.0);
}
m_fullRange = fullRange;

4
wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java
View File

@@ -86,8 +86,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
m_simDevice = SimDevice.create("DutyCycle:DutyCycleEncoder", m_dutyCycle.getSourceChannel());
if (m_simDevice != null) {
m_simPosition = m_simDevice.createDouble("Position", SimDevice.Direction.kInput, 0.0);
m_simIsConnected = m_simDevice.createBoolean("Connected", SimDevice.Direction.kInput, true);
m_simPosition = m_simDevice.createDouble("Position", SimDevice.Direction.INPUT, 0.0);
m_simIsConnected = m_simDevice.createBoolean("Connected", SimDevice.Direction.INPUT, true);
}
m_fullRange = fullRange;

10
wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java
View File

@@ -19,7 +19,7 @@ class SimDeviceSimTest {
@Test
void testBasic() {
try (SimDevice dev = SimDevice.create("test")) {
SimBoolean devBool = dev.createBoolean("bool", Direction.kBidir, false);
SimBoolean devBool = dev.createBoolean("bool", Direction.BIDIR, false);
SimDeviceSim sim = new SimDeviceSim("test");
SimBoolean simBool = sim.getBoolean("bool");
@@ -92,7 +92,7 @@ class SimDeviceSimTest {
AtomicInteger callback2Counter = new AtomicInteger(0);
try (SimDevice dev1 = SimDevice.create("testVM1")) {
dev1.createBoolean("v1", Direction.kBidir, false);
dev1.createBoolean("v1", Direction.BIDIR, false);
SimDeviceSim sim = new SimDeviceSim("testVM1");
try (CallbackStore callback1 =
sim.registerValueCreatedCallback(
@@ -106,13 +106,13 @@ class SimDeviceSimTest {
callback2Counter.get(),
"Callback 2 called early or not initialized with existing devices");
dev1.createDouble("v2", Direction.kBidir, 0);
dev1.createDouble("v2", Direction.BIDIR, 0);
assertEquals(
1, callback1Counter.get(), "Callback 1 called either more than once or not at all");
assertEquals(2, callback2Counter.get(), "Callback 2 called either more or less than twice");
}
dev1.createBoolean("v3", Direction.kBidir, false);
dev1.createBoolean("v3", Direction.BIDIR, false);
assertEquals(1, callback1Counter.get(), "Callback 1 called after closure");
assertEquals(2, callback2Counter.get(), "Callback 2 called after closure");
@@ -125,7 +125,7 @@ class SimDeviceSimTest {
AtomicInteger callback2Counter = new AtomicInteger(0);
try (SimDevice dev1 = SimDevice.create("testVM1")) {
SimBoolean val = dev1.createBoolean("v1", Direction.kBidir, false);
SimBoolean val = dev1.createBoolean("v1", Direction.BIDIR, false);
SimDeviceSim sim = new SimDeviceSim("testVM1");
SimValue simVal = sim.getValue("v1");
try (CallbackStore callback1 =

14
xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java
View File

@@ -36,14 +36,14 @@ public class XRPGyro {
public XRPGyro() {
m_simDevice = SimDevice.create("Gyro:XRPGyro");
if (m_simDevice != null) {
m_simDevice.createBoolean("init", Direction.kOutput, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
m_simDevice.createBoolean("init", Direction.OUTPUT, true);
m_simRateX = m_simDevice.createDouble("rate_x", Direction.INPUT, 0.0);
m_simRateY = m_simDevice.createDouble("rate_y", Direction.INPUT, 0.0);
m_simRateZ = m_simDevice.createDouble("rate_z", Direction.INPUT, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
m_simAngleX = m_simDevice.createDouble("angle_x", Direction.INPUT, 0.0);
m_simAngleY = m_simDevice.createDouble("angle_y", Direction.INPUT, 0.0);
m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.INPUT, 0.0);
} else {
m_simRateX = null;
m_simRateY = null;

6
xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java
View File

@@ -57,9 +57,9 @@ public class XRPMotor implements MotorController {
SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
if (xrpMotorSimDevice != null) {
xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
m_simVelocity = xrpMotorSimDevice.createDouble("velocity", Direction.kOutput, 0.0);
xrpMotorSimDevice.createBoolean("init", Direction.OUTPUT, true);
m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.INPUT, false);
m_simVelocity = xrpMotorSimDevice.createDouble("velocity", Direction.OUTPUT, 0.0);
} else {
m_simInverted = null;
m_simVelocity = null;

4
xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java
View File

@@ -53,9 +53,9 @@ public class XRPServo {
SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
if (xrpServoSimDevice != null) {
xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
xrpServoSimDevice.createBoolean("init", Direction.OUTPUT, true);
// This should mimic PWM position [0.0, 1.0]
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
m_simPosition = xrpServoSimDevice.createDouble("position", Direction.OUTPUT, 0.5);
} else {
m_simPosition = null;
}

26
xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
View File

@@ -11,19 +11,19 @@ using namespace wpi::xrp;
XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simRateX =
m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
m_simRateY =
m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
m_simRateZ =
m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
m_simAngleX =
m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
m_simAngleY =
m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
m_simAngleZ =
m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
m_simRateX = m_simDevice.CreateDouble(
"rate_x", hal::SimDevice::Direction::INPUT, 0.0);
m_simRateY = m_simDevice.CreateDouble(
"rate_y", hal::SimDevice::Direction::INPUT, 0.0);
m_simRateZ = m_simDevice.CreateDouble(
"rate_z", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleX = m_simDevice.CreateDouble(
"angle_x", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleY = m_simDevice.CreateDouble(
"angle_y", hal::SimDevice::Direction::INPUT, 0.0);
m_simAngleZ = m_simDevice.CreateDouble(
"angle_z", hal::SimDevice::Direction::INPUT, 0.0);
}
}

10
xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
View File

@@ -40,11 +40,11 @@ XRPMotor::XRPMotor(int deviceNum) {
m_simDevice = hal::SimDevice(m_deviceName.c_str());
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simInverted =
m_simDevice.CreateBoolean("inverted", hal::SimDevice::kInput, false);
m_simVelocity =
m_simDevice.CreateDouble("velocity", hal::SimDevice::kOutput, 0.0);
m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
m_simInverted = m_simDevice.CreateBoolean(
"inverted", hal::SimDevice::Direction::INPUT, false);
m_simVelocity = m_simDevice.CreateDouble(
"velocity", hal::SimDevice::Direction::OUTPUT, 0.0);
}
}

6
xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
View File

@@ -40,9 +40,9 @@ XRPServo::XRPServo(int deviceNum) {
m_simDevice = hal::SimDevice(m_deviceName.c_str());
if (m_simDevice) {
m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
m_simPosition =
m_simDevice.CreateDouble("position", hal::SimDevice::kOutput, 0.5);
m_simDevice.CreateBoolean("init", hal::SimDevice::Direction::OUTPUT, true);
m_simPosition = m_simDevice.CreateDouble(
"position", hal::SimDevice::Direction::OUTPUT, 0.5);
}
}