diff --git a/hal/src/main/java/org/wpilib/hardware/hal/SimDevice.java b/hal/src/main/java/org/wpilib/hardware/hal/SimDevice.java index c91c9dee34..373613fd31 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/SimDevice.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/SimDevice.java @@ -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; diff --git a/hal/src/main/java/org/wpilib/hardware/hal/SimDeviceJNI.java b/hal/src/main/java/org/wpilib/hardware/hal/SimDeviceJNI.java index e77ab15a45..294bb81a81 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/SimDeviceJNI.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/SimDeviceJNI.java @@ -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. diff --git a/hal/src/main/native/include/wpi/hal/SimDevice.h b/hal/src/main/native/include/wpi/hal/SimDevice.h index 806da6fda4..651b2fe016 100644 --- a/hal/src/main/native/include/wpi/hal/SimDevice.h +++ b/hal/src/main/native/include/wpi/hal/SimDevice.h @@ -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 diff --git a/hal/src/main/native/include/wpi/hal/SimDevice.hpp b/hal/src/main/native/include/wpi/hal/SimDevice.hpp index 1608001003..5edc99b7eb 100644 --- a/hal/src/main/native/include/wpi/hal/SimDevice.hpp +++ b/hal/src/main/native/include/wpi/hal/SimDevice.hpp @@ -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(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(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(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(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 options, int32_t initialValue) { - return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(), - const_cast(options.begin()), - initialValue); + return HAL_CreateSimValueEnum( + m_handle, name, static_cast(direction), options.size(), + const_cast(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 options, int32_t initialValue) { - return HAL_CreateSimValueEnum(m_handle, name, direction, options.size(), - const_cast(options.data()), - initialValue); + return HAL_CreateSimValueEnum( + m_handle, name, static_cast(direction), options.size(), + const_cast(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 options, std::initializer_list 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(direction), options.size(), const_cast(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 options, std::span 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(direction), options.size(), const_cast(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(direction), initialValue); } protected: diff --git a/hal/src/main/python/semiwrap/SimDevice.yml b/hal/src/main/python/semiwrap/SimDevice.yml index c9366b633c..24e2e874cd 100644 --- a/hal/src/main/python/semiwrap/SimDevice.yml +++ b/hal/src/main/python/semiwrap/SimDevice.yml @@ -148,11 +148,11 @@ classes: CreateDouble: CreateEnum: overloads: - const char*, int32_t, std::initializer_list, int32_t: + const char*, Direction, std::initializer_list, int32_t: ignore: true - const char*, int32_t, std::span, int32_t: + const char*, Direction, std::span, int32_t: cpp_code: | - [](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector &options, int32_t initialValue) { + [](SimDevice &self, const char * name, SimDevice::Direction direction, const wpi::util::SmallVector &options, int32_t initialValue) { wpi::util::SmallVector coptions; coptions.reserve(options.size()); for (auto &s: options) { @@ -163,11 +163,11 @@ classes: CreateEnumDouble: overloads: - const char*, int32_t, std::initializer_list, std::initializer_list, int32_t: + const char*, Direction, std::initializer_list, std::initializer_list, int32_t: ignore: true - const char*, int32_t, std::span, std::span, int32_t: + const char*, Direction, std::span, std::span, int32_t: cpp_code: | - [](SimDevice &self, const char * name, int32_t direction, const wpi::util::SmallVector &options, const wpi::util::SmallVector &optionValues, int32_t initialValue) { + [](SimDevice &self, const char * name, SimDevice::Direction direction, const wpi::util::SmallVector &options, const wpi::util::SmallVector &optionValues, int32_t initialValue) { wpi::util::SmallVector coptions; coptions.reserve(options.size()); for (auto &s: options) { diff --git a/hal/src/test/python/test_hal.py b/hal/src/test/python/test_hal.py index 9970edb5dd..db67a6adeb 100644 --- a/hal/src/test/python/test_hal.py +++ b/hal/src/test/python/test_hal.py @@ -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 diff --git a/hal/src/test/python/test_hal_simulation.py b/hal/src/test/python/test_hal_simulation.py index f9fd666b09..dd2262ca2a 100644 --- a/hal/src/test/python/test_hal_simulation.py +++ b/hal/src/test/python/test_hal_simulation.py @@ -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 diff --git a/romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java b/romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java index 0e796f1e49..d3d799afb7 100644 --- a/romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java +++ b/romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java @@ -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; diff --git a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp index 2ef94c0157..ae82b1510d 100644 --- a/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp +++ b/romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp @@ -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); } } diff --git a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp index 5b6e65e349..7fe47d2f6c 100644 --- a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp +++ b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp @@ -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); diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp index ef9abf6e81..b2e4b21819 100644 --- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp +++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp @@ -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: diff --git a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp index d83bffa2a3..5a349fe4d9 100644 --- a/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp +++ b/wpilibc/src/main/native/cpp/hardware/accelerometer/ADXL345_I2C.cpp @@ -16,11 +16,14 @@ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress) m_simDevice("Accel:ADXL345_I2C", static_cast(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); diff --git a/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp index 33f8f3d1e3..b9dc956b11 100644 --- a/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp +++ b/wpilibc/src/main/native/cpp/hardware/motor/PWMMotorController.cpp @@ -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); } } diff --git a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp index 3aa048b2a9..76740deff3 100644 --- a/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp +++ b/wpilibc/src/main/native/cpp/hardware/range/SharpIR.cpp @@ -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); } } diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp index 7a930c275d..c12b58e3e6 100644 --- a/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp +++ b/wpilibc/src/main/native/cpp/hardware/rotation/AnalogEncoder.cpp @@ -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; diff --git a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp index 1dacd45b22..31fe4d3dc6 100644 --- a/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp +++ b/wpilibc/src/main/native/cpp/hardware/rotation/DutyCycleEncoder.cpp @@ -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; diff --git a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp index 1690c3868e..2cabb8cfb1 100644 --- a/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/SimDeviceSimTest.cpp @@ -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"); diff --git a/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java b/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java index ae8f06b24b..45e55d42a2 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/accelerometer/ADXL345_I2C.java @@ -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 diff --git a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java index c3930c177c..a31bb3a4df 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/motor/PWMMotorController.java @@ -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); } } diff --git a/wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java b/wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java index 311b3e08a6..261446caaa 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/range/SharpIR.java @@ -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); } } diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java index ab50915913..62c5c15880 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/AnalogEncoder.java @@ -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; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java b/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java index 48004b7b88..83b187a4e0 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java @@ -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; diff --git a/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java index 767f27ff78..5458bdb21e 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/SimDeviceSimTest.java @@ -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 = diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java index c3e01e1c58..8e1f037ab7 100644 --- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java +++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java @@ -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; diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java index e4ba4ce4ff..5f632237c3 100644 --- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java +++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPMotor.java @@ -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; diff --git a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java index f66d0baa95..4f0df4f537 100644 --- a/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java +++ b/xrpVendordep/src/main/java/org/wpilib/xrp/XRPServo.java @@ -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; } diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp index e5922ec4aa..5daf918835 100644 --- a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp +++ b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp @@ -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); } } diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp index 6686b7fcba..f61374327f 100644 --- a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp +++ b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp @@ -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); } } diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp index e9b38f7938..e9b48f3dbe 100644 --- a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp +++ b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp @@ -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); } }