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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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220
wpilibc/src/main/native/include/frc/simulation/DriverStationSim.h
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@@ -8,13 +8,11 @@
#pragma once
#include <memory>
#include <utility>
#include <hal/simulation/DriverStationData.h>
#include <hal/simulation/MockHooks.h>
#include <hal/DriverStationTypes.h>
#include "CallbackStore.h"
#include "frc/DriverStation.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
namespace sim {
@@ -25,160 +23,80 @@ namespace sim {
class DriverStationSim {
public:
static std::unique_ptr<CallbackStore> RegisterEnabledCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationEnabledCallback);
store->SetUid(HALSIM_RegisterDriverStationEnabledCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetEnabled() { return HALSIM_GetDriverStationEnabled(); }
static bool GetEnabled();
static void SetEnabled(bool enabled) {
HALSIM_SetDriverStationEnabled(enabled);
}
static void SetEnabled(bool enabled);
static std::unique_ptr<CallbackStore> RegisterAutonomousCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationAutonomousCallback);
store->SetUid(HALSIM_RegisterDriverStationAutonomousCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetAutonomous() { return HALSIM_GetDriverStationAutonomous(); }
static bool GetAutonomous();
static void SetAutonomous(bool autonomous) {
HALSIM_SetDriverStationAutonomous(autonomous);
}
static void SetAutonomous(bool autonomous);
static std::unique_ptr<CallbackStore> RegisterTestCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationTestCallback);
store->SetUid(HALSIM_RegisterDriverStationTestCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetTest() { return HALSIM_GetDriverStationTest(); }
static bool GetTest();
static void SetTest(bool test) { HALSIM_SetDriverStationTest(test); }
static void SetTest(bool test);
static std::unique_ptr<CallbackStore> RegisterEStopCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationEStopCallback);
store->SetUid(HALSIM_RegisterDriverStationEStopCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetEStop() { return HALSIM_GetDriverStationEStop(); }
static bool GetEStop();
static void SetEStop(bool eStop) { HALSIM_SetDriverStationEStop(eStop); }
static void SetEStop(bool eStop);
static std::unique_ptr<CallbackStore> RegisterFmsAttachedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationFmsAttachedCallback);
store->SetUid(HALSIM_RegisterDriverStationFmsAttachedCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetFmsAttached() { return HALSIM_GetDriverStationFmsAttached(); }
static bool GetFmsAttached();
static void SetFmsAttached(bool fmsAttached) {
HALSIM_SetDriverStationFmsAttached(fmsAttached);
}
static void SetFmsAttached(bool fmsAttached);
static std::unique_ptr<CallbackStore> RegisterDsAttachedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationDsAttachedCallback);
store->SetUid(HALSIM_RegisterDriverStationDsAttachedCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static bool GetDsAttached() { return HALSIM_GetDriverStationDsAttached(); }
static bool GetDsAttached();
static void SetDsAttached(bool dsAttached) {
HALSIM_SetDriverStationDsAttached(dsAttached);
}
static void SetDsAttached(bool dsAttached);
static std::unique_ptr<CallbackStore> RegisterAllianceStationIdCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationAllianceStationIdCallback);
store->SetUid(HALSIM_RegisterDriverStationAllianceStationIdCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static HAL_AllianceStationID GetAllianceStationId() {
return HALSIM_GetDriverStationAllianceStationId();
}
static HAL_AllianceStationID GetAllianceStationId();
static void SetAllianceStationId(HAL_AllianceStationID allianceStationId) {
HALSIM_SetDriverStationAllianceStationId(allianceStationId);
}
static void SetAllianceStationId(HAL_AllianceStationID allianceStationId);
static std::unique_ptr<CallbackStore> RegisterMatchTimeCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelDriverStationMatchTimeCallback);
store->SetUid(HALSIM_RegisterDriverStationMatchTimeCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
static double GetMatchTime() { return HALSIM_GetDriverStationMatchTime(); }
static double GetMatchTime();
static void SetMatchTime(double matchTime) {
HALSIM_SetDriverStationMatchTime(matchTime);
}
static void SetMatchTime(double matchTime);
/**
* Updates DriverStation data so that new values are visible to the user
* program.
*/
static void NotifyNewData() {
HALSIM_NotifyDriverStationNewData();
DriverStation::GetInstance().WaitForData();
}
static void NotifyNewData();
/**
* Sets suppression of DriverStation::ReportError and ReportWarning messages.
*
* @param shouldSend If false then messages will be suppressed.
*/
static void SetSendError(bool shouldSend) {
if (shouldSend) {
HALSIM_SetSendError(nullptr);
} else {
HALSIM_SetSendError([](HAL_Bool isError, int32_t errorCode,
HAL_Bool isLVCode, const char* details,
const char* location, const char* callStack,
HAL_Bool printMsg) { return 0; });
}
}
static void SetSendError(bool shouldSend);
/**
* Sets suppression of DriverStation::SendConsoleLine messages.
*
* @param shouldSend If false then messages will be suppressed.
*/
static void SetSendConsoleLine(bool shouldSend) {
if (shouldSend) {
HALSIM_SetSendConsoleLine(nullptr);
} else {
HALSIM_SetSendConsoleLine([](const char* line) { return 0; });
}
}
static void SetSendConsoleLine(bool shouldSend);
/**
* Gets the joystick outputs.
@@ -186,13 +104,7 @@ class DriverStationSim {
* @param stick The joystick number
* @return The joystick outputs
*/
static int64_t GetJoystickOutputs(int stick) {
int64_t outputs = 0;
int32_t leftRumble;
int32_t rightRumble;
HALSIM_GetJoystickOutputs(stick, &outputs, &leftRumble, &rightRumble);
return outputs;
}
static int64_t GetJoystickOutputs(int stick);
/**
* Gets the joystick rumble.
@@ -201,13 +113,7 @@ class DriverStationSim {
* @param rumbleNum Rumble to get (0=left, 1=right)
* @return The joystick rumble value
*/
static int GetJoystickRumble(int stick, int rumbleNum) {
int64_t outputs;
int32_t leftRumble = 0;
int32_t rightRumble = 0;
HALSIM_GetJoystickOutputs(stick, &outputs, &leftRumble, &rightRumble);
return rumbleNum == 0 ? leftRumble : rightRumble;
}
static int GetJoystickRumble(int stick, int rumbleNum);
/**
* Sets the state of one joystick button. Button indexes begin at 1.
@@ -216,9 +122,7 @@ class DriverStationSim {
* @param button The button index, beginning at 1
* @param state The state of the joystick button
*/
static void SetJoystickButton(int stick, int button, bool state) {
HALSIM_SetJoystickButton(stick, button, state);
}
static void SetJoystickButton(int stick, int button, bool state);
/**
* Gets the value of the axis on a joystick.
@@ -227,9 +131,7 @@ class DriverStationSim {
* @param axis The analog axis number
* @param value The value of the axis on the joystick
*/
static void SetJoystickAxis(int stick, int axis, double value) {
HALSIM_SetJoystickAxis(stick, axis, value);
}
static void SetJoystickAxis(int stick, int axis, double value);
/**
* Gets the state of a POV on a joystick.
@@ -238,9 +140,7 @@ class DriverStationSim {
* @param pov The POV number
* @param value the angle of the POV in degrees, or -1 for not pressed
*/
static void SetJoystickPOV(int stick, int pov, int value) {
HALSIM_SetJoystickPOV(stick, pov, value);
}
static void SetJoystickPOV(int stick, int pov, int value);
/**
* Sets the state of all the buttons on a joystick.
@@ -248,9 +148,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param buttons The bitmap state of the buttons on the joystick
*/
static void SetJoystickButtons(int stick, uint32_t buttons) {
HALSIM_SetJoystickButtonsValue(stick, buttons);
}
static void SetJoystickButtons(int stick, uint32_t buttons);
/**
* Sets the number of axes for a joystick.
@@ -258,9 +156,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param count The number of axes on the indicated joystick
*/
static void SetJoystickAxisCount(int stick, int count) {
HALSIM_SetJoystickAxisCount(stick, count);
}
static void SetJoystickAxisCount(int stick, int count);
/**
* Sets the number of POVs for a joystick.
@@ -268,9 +164,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param count The number of POVs on the indicated joystick
*/
static void SetJoystickPOVCount(int stick, int count) {
HALSIM_SetJoystickPOVCount(stick, count);
}
static void SetJoystickPOVCount(int stick, int count);
/**
* Sets the number of buttons for a joystick.
@@ -278,9 +172,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param count The number of buttons on the indicated joystick
*/
static void SetJoystickButtonCount(int stick, int count) {
HALSIM_SetJoystickButtonCount(stick, count);
}
static void SetJoystickButtonCount(int stick, int count);
/**
* Sets the value of isXbox for a joystick.
@@ -288,9 +180,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param isXbox The value of isXbox
*/
static void SetJoystickIsXbox(int stick, bool isXbox) {
HALSIM_SetJoystickIsXbox(stick, isXbox);
}
static void SetJoystickIsXbox(int stick, bool isXbox);
/**
* Sets the value of type for a joystick.
@@ -298,9 +188,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param type The value of type
*/
static void SetJoystickType(int stick, int type) {
HALSIM_SetJoystickType(stick, type);
}
static void SetJoystickType(int stick, int type);
/**
* Sets the name of a joystick.
@@ -308,9 +196,7 @@ class DriverStationSim {
* @param stick The joystick number
* @param name The value of name
*/
static void SetJoystickName(int stick, const char* name) {
HALSIM_SetJoystickName(stick, name);
}
static void SetJoystickName(int stick, const char* name);
/**
* Sets the types of Axes for a joystick.
@@ -319,54 +205,44 @@ class DriverStationSim {
* @param axis The target axis
* @param type The type of axis
*/
static void SetJoystickAxisType(int stick, int axis, int type) {
HALSIM_SetJoystickAxisType(stick, axis, type);
}
static void SetJoystickAxisType(int stick, int axis, int type);
/**
* Sets the game specific message.
*
* @param message the game specific message
*/
static void SetGameSpecificMessage(const char* message) {
HALSIM_SetGameSpecificMessage(message);
}
static void SetGameSpecificMessage(const char* message);
/**
* Sets the event name.
*
* @param name the event name
*/
static void SetEventName(const char* name) { HALSIM_SetEventName(name); }
static void SetEventName(const char* name);
/**
* Sets the match type.
*
* @param type the match type
*/
static void SetMatchType(DriverStation::MatchType type) {
HALSIM_SetMatchType(static_cast<HAL_MatchType>(static_cast<int>(type)));
}
static void SetMatchType(DriverStation::MatchType type);
/**
* Sets the match number.
*
* @param matchNumber the match number
*/
static void SetMatchNumber(int matchNumber) {
HALSIM_SetMatchNumber(matchNumber);
}
static void SetMatchNumber(int matchNumber);
/**
* Sets the replay number.
*
* @param replayNumber the replay number
*/
static void SetReplayNumber(int replayNumber) {
HALSIM_SetReplayNumber(replayNumber);
}
static void SetReplayNumber(int replayNumber);
static void ResetData() { HALSIM_ResetDriverStationData(); }
static void ResetData();
};
} // namespace sim
} // namespace frc