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[sim] Clarify Sim CAN Device Documentation (#6679)

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This commit is contained in:
CoolSpy3
2024-05-30 05:32:45 -07:00
committed by GitHub
parent 9782abbcb1
commit c1fc86033a
5 changed files with 128 additions and 91 deletions
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9
hal/src/main/java/edu/wpi/first/hal/SimDevice.java
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@@ -39,6 +39,9 @@ public class SimDevice implements AutoCloseable {
* instances of the same device are desired, recommend appending the instance/unique identifier in
* brackets to the base name, e.g. "device[1]".
*
* <p>Using a device name of the form "Type:Name" will create a WebSockets node with a type value
* of "Type" and a device value of "Name"
*
* <p>null is returned if not in simulation.
*
* @param name device name
@@ -59,6 +62,9 @@ public class SimDevice implements AutoCloseable {
* convenience method that appends index in brackets to the device name, e.g. passing index=1
* results in "device[1]" for the device name.
*
* <p>Using a device name of the form "Type:Name" will create a WebSockets node with a type value
* of "Type" and a device value of "Name"
*
* <p>null is returned if not in simulation.
*
* @param name device name
@@ -76,6 +82,9 @@ public class SimDevice implements AutoCloseable {
* convenience method that appends index and channel in brackets to the device name, e.g. passing
* index=1 and channel=2 results in "device[1,2]" for the device name.
*
* <p>Using a device name of the form "Type:Name" will create a WebSockets node with a type value
* of "Type" and a device value of "Name"
*
* <p>null is returned if not in simulation.
*
* @param name device name

3
hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
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@@ -16,6 +16,9 @@ public class SimDeviceJNI extends JNIWrapper {
* instances of the same device are desired, recommend appending the instance/unique identifier in
* brackets to the base name, e.g. "device[1]".
*
* <p>Using a device name of the form "Type:Name" will create a WebSockets node with a type value
* of "Type" and a device value of "Name"
*
* <p>0 is returned if not in simulation.
*
* @param name device name

12
hal/src/main/native/include/hal/SimDevice.h
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@@ -48,6 +48,9 @@ extern "C" {
* appending the instance/unique identifier in brackets to the base name,
* e.g. "device[1]".
*
* Using a device name of the form "Type:Name" will create a WebSockets node
* with a type value of "Type" and a device value of "Name"
*
* 0 is returned if not in simulation.
*
* @param name device name
@@ -664,6 +667,9 @@ class SimDevice {
* recommend appending the instance/unique identifier in brackets to the base
* name, e.g. "device[1]".
*
* Using a device name of the form "Type:Name" will create a WebSockets node
* with a type value of "Type" and a device value of "Name"
*
* If not in simulation, results in an "empty" object that evaluates to false
* in a boolean context.
*
@@ -679,6 +685,9 @@ class SimDevice {
* brackets to the device name, e.g. passing index=1 results in "device[1]"
* for the device name.
*
* Using a device name of the form "Type:Name" will create a WebSockets node
* with a type value of "Type" and a device value of "Name"
*
* If not in simulation, results in an "empty" object that evaluates to false
* in a boolean context.
*
@@ -695,6 +704,9 @@ class SimDevice {
* channel in brackets to the device name, e.g. passing index=1 and channel=2
* results in "device[1,2]" for the device name.
*
* Using a device name of the form "Type:Name" will create a WebSockets node
* with a type value of "Type" and a device value of "Name"
*
* If not in simulation, results in an "empty" object that evaluates to false
* in a boolean context.
*

8
simulation/halsim_ws_core/doc/hardware_ws_api.md
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@@ -99,7 +99,7 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
A 3-axis accelerometer.
C++/Java implementation note: these are created as either BuiltInAccelerometer or SimDevice nodes where the device name is prefixed by ``"Accel:"``, for example ``"Accel:ADXL362[1]"``. The BuiltInAccelerometer uses a device name of ``"BuiltInAccel"``.
C++/Java implementation note: these are created as either BuiltInAccelerometer or SimDevice nodes where the device name is prefixed by ``"Accel:"``. For example, the device ``"Accel:ADXL362[1]"`` would have a device value of ``ADXL362[1]``. The BuiltInAccelerometer uses a device name of ``"BuiltInAccel"``.
| Data Key | Type | Description |
| ------------ | ------- | ---------------------------------------------------- |
@@ -194,7 +194,7 @@ The basic analog output just sends a voltage.
Duty Cycle inputs are commonly used for absolute encoders. The position is accumulated over multiple rotations.
C++/Java implementation note: these are created as SimDevice nodes where the device name is prefixed by ``"DutyCycle:"``, for example ``"DutyCycle:DutyCycleEncoder[1]"``.
C++/Java implementation note: these can be created through the API as SimDevice nodes where the device name is prefixed by ``"DutyCycle:"``. For example, the device ``"DutyCycle:DutyCycleEncoder[1]"`` would have a device value of ``DutyCycleEncoder[1]``.
| Data Key | Type | Description |
| ---------------- | ------- | -------------------------------- |
@@ -223,7 +223,7 @@ A relative encoder. For absolute encoders, use ``"DutyCycle"``.
A single axis or 3-axis gyro. Single axis gyros only use the X angle parameter.
C++/Java implementation note: these are created as SimDevice nodes where the device name is prefixed by ``"Gyro:"``, for example ``"Gyro:ADXRS450[1]"``.
C++/Java implementation note: these can be created created as SimDevice nodes where the device name is prefixed by ``"Gyro:"``. For example, the device ``"Gyro:ADXRS450[1]"`` would have a device value of ``ADXRS450[1]``.
| Data Key | Type | Description |
| ----------------- | ------- | --------------------------------------------------------- |
@@ -322,7 +322,7 @@ CAN messages all use a device value of ``"DeviceType[Number]"``, where the Devic
Many of the CAN messages use the same data key/values as other standard messages. They are separately namespaced to make it easier for implementations to separate them from main robot controller messages.
C++/Java implementation note: these are created as SimDevice nodes where the device name is prefixed by the message name and ``":"``, for example ``"CANMotor:Controller[1]"``.
C++/Java implementation note: these can be created through the API as SimDevice nodes where the device name is prefixed by the message name and ``":"``. For example, ``"CANMotor:Controller[1]"`` would create a device with a type value of ``CANMotor`` and a device value of ``Controller[1]``.
#### CANMotor

187
simulation/halsim_ws_core/doc/wpilib-ws.yaml
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@@ -56,6 +56,13 @@ components:
- $ref: "#/components/schemas/relayData"
- $ref: "#/components/schemas/solenoidData"
- $ref: "#/components/schemas/roborioData"
- $ref: "#/components/schemas/canmotorData"
- $ref: "#/components/schemas/canencoderData"
- $ref: "#/components/schemas/cangyroData"
- $ref: "#/components/schemas/canaccelData"
- $ref: "#/components/schemas/canainData"
- $ref: "#/components/schemas/candioData"
- $ref: "#/components/schemas/candutycycleData"
- $ref: "#/components/schemas/simdeviceData"
schemas:
@@ -692,11 +699,11 @@ components:
properties:
type:
type: string
description: "Dummy type used for SimDevice type with device=CANMotor:*"
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANMotor
device:
type: string
description: "Should have the form CANMotor:ControllerClassName[id]"
description: "Should have the form ControllerClassName[id]"
data:
type: object
description: "CANMotor Data"
@@ -738,11 +745,11 @@ components:
properties:
type:
type: string
description: "Dummy type used for SimDevice type with device=CANEncoder:*"
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANEncoder
device:
type: string
description: "Should have the form CANEncoder:ControllerClassName[id]"
description: "Should have the form EncoderClassName[id]"
data:
type: object
description: "CANEncoder Data"
@@ -757,92 +764,98 @@ components:
type: number
description: "Velocity in rotations per second"
cangyroData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANGyro
device:
type: string
description: "Should have the form GyroClassName[id]"
data:
$ref: "#/components/schemas/gyroData/properties/data"
canaccelData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANAccel
device:
type: string
description: "Should have the form AccelClassName[id]"
data:
$ref: "#/components/schemas/accelData/properties/data"
canainData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANAIn
device:
type: string
description: "Should have the form AnalogInputClassName[id]"
data:
$ref: "#/components/schemas/aiData/properties/data"
candioData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANDIO
device:
type: string
description: "Should have the form DIOClassName[id]"
data:
$ref: "#/components/schemas/dioData/properties/data"
candutycycleData:
type: object
required:
- type
- device
properties:
type:
type: string
description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
const: CANDutyCycle
device:
type: string
description: "Should have the form DutyCycleClassName[id]"
data:
$ref: "#/components/schemas/dutycycleData/properties/data"
simdeviceData:
type: object
required:
- type
- device
oneOf:
- properties:
type:
properties:
type:
type: string
const: SimDevice
device:
type: string
data:
type: object
additionalProperties:
type: string
const: SimDevice
device:
type: string
format: "(?!(DutyCycle|CAN(Motor|Encoder|Gyro|Accel|AIn|DIO|DutyCycle)):.+).+"
data:
type: object
additionalProperties:
type: string
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "DutyCycle:.+"
data:
$ref: "#/components/schemas/dutycycleData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANMotor:.+"
data:
$ref: "#/components/schemas/canmotorData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANEncoder:.+"
data:
$ref: "#/components/schemas/canencoderData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANGyro:.+"
data:
$ref: "#/components/schemas/gyroData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANAccel:.+"
data:
$ref: "#/components/schemas/accelData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANAIn:.+"
data:
$ref: "#/components/schemas/aiData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANDIO:.+"
data:
$ref: "#/components/schemas/dioData/properties/data"
- properties:
type:
type: string
const: SimDevice
device:
type: string
format: "CANDutyCycle:.+"
data:
$ref: "#/components/schemas/dutycycleData/properties/data"