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[sim] Move WPILib C++ sim implementations out of line (#2598)

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This makes the sim classes consistent with the rest of the WPILibC classes.
This commit is contained in:
Peter Johnson
2020-07-15 23:48:09 -07:00
committed by GitHub
parent b9feb81226
commit c2cc90b27d
49 changed files with 3068 additions and 1621 deletions
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67
wpilibc/src/main/native/include/frc/simulation/DigitalPWMSim.h
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@@ -7,16 +7,14 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/DigitalPWMData.h>
#include "CallbackStore.h"
#include "frc/DigitalOutput.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
class DigitalOutput;
namespace sim {
/**
@@ -32,8 +30,7 @@ class DigitalPWMSim {
*
* @param digitalOutput DigitalOutput to simulate
*/
explicit DigitalPWMSim(const DigitalOutput& digitalOutput)
: m_index{digitalOutput.GetChannel()} {}
explicit DigitalPWMSim(const DigitalOutput& digitalOutput);
/**
* Creates an DigitalPWMSim for a digital I/O channel.
@@ -42,11 +39,7 @@ class DigitalPWMSim {
* @return Simulated object
* @throws std::out_of_range if no Digital PWM is configured for that channel
*/
static DigitalPWMSim CreateForChannel(int channel) {
int index = HALSIM_FindDigitalPWMForChannel(channel);
if (index < 0) throw std::out_of_range("no digital PWM found for channel");
return DigitalPWMSim{index};
}
static DigitalPWMSim CreateForChannel(int channel);
/**
* Creates an DigitalPWMSim for a simulated index.
@@ -55,56 +48,30 @@ class DigitalPWMSim {
* @param index simulator index
* @return Simulated object
*/
static DigitalPWMSim CreateForIndex(int index) {
return DigitalPWMSim{index};
}
static DigitalPWMSim CreateForIndex(int index);
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDigitalPWMInitializedCallback);
store->SetUid(HALSIM_RegisterDigitalPWMInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetInitialized() const {
return HALSIM_GetDigitalPWMInitialized(m_index);
}
bool GetInitialized() const;
void SetInitialized(bool initialized) {
HALSIM_SetDigitalPWMInitialized(m_index, initialized);
}
void SetInitialized(bool initialized);
std::unique_ptr<CallbackStore> RegisterDutyCycleCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDigitalPWMDutyCycleCallback);
store->SetUid(HALSIM_RegisterDigitalPWMDutyCycleCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
double GetDutyCycle() const { return HALSIM_GetDigitalPWMDutyCycle(m_index); }
double GetDutyCycle() const;
void SetDutyCycle(double dutyCycle) {
HALSIM_SetDigitalPWMDutyCycle(m_index, dutyCycle);
}
void SetDutyCycle(double dutyCycle);
std::unique_ptr<CallbackStore> RegisterPinCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDigitalPWMPinCallback);
store->SetUid(HALSIM_RegisterDigitalPWMPinCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool initialNotify);
int GetPin() const { return HALSIM_GetDigitalPWMPin(m_index); }
int GetPin() const;
void SetPin(int pin) { HALSIM_SetDigitalPWMPin(m_index, pin); }
void SetPin(int pin);
void ResetData() { HALSIM_ResetDigitalPWMData(m_index); }
void ResetData();
private:
explicit DigitalPWMSim(int index) : m_index{index} {}