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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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63
wpilibc/src/main/native/include/frc/simulation/DutyCycleSim.h
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@@ -7,16 +7,14 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/DutyCycleData.h>
#include "CallbackStore.h"
#include "frc/DutyCycle.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
class DutyCycle;
namespace sim {
/**
@@ -29,8 +27,7 @@ class DutyCycleSim {
*
* @param dutyCycle DutyCycle to simulate
*/
explicit DutyCycleSim(const DutyCycle& dutyCycle)
: m_index{dutyCycle.GetFPGAIndex()} {}
explicit DutyCycleSim(const DutyCycle& dutyCycle);
/**
* Creates a DutyCycleSim for a digital input channel.
@@ -39,11 +36,7 @@ class DutyCycleSim {
* @return Simulated object
* @throws std::out_of_range if no DutyCycle is configured for that channel
*/
static DutyCycleSim CreateForChannel(int channel) {
int index = HALSIM_FindDutyCycleForChannel(channel);
if (index < 0) throw std::out_of_range("no duty cycle found for channel");
return DutyCycleSim{index};
}
static DutyCycleSim CreateForChannel(int channel);
/**
* Creates a DutyCycleSim for a simulated index.
@@ -52,52 +45,30 @@ class DutyCycleSim {
* @param index simulator index
* @return Simulated object
*/
static DutyCycleSim CreateForIndex(int index) { return DutyCycleSim{index}; }
static DutyCycleSim CreateForIndex(int index);
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDutyCycleInitializedCallback);
store->SetUid(HALSIM_RegisterDutyCycleInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetInitialized() const {
return HALSIM_GetDutyCycleInitialized(m_index);
}
bool GetInitialized() const;
void SetInitialized(bool initialized) {
HALSIM_SetDutyCycleInitialized(m_index, initialized);
}
void SetInitialized(bool initialized);
std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDutyCycleFrequencyCallback);
store->SetUid(HALSIM_RegisterDutyCycleFrequencyCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
int GetFrequency() const { return HALSIM_GetDutyCycleFrequency(m_index); }
int GetFrequency() const;
void SetFrequency(int count) { HALSIM_SetDutyCycleFrequency(m_index, count); }
void SetFrequency(int count);
std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelDutyCycleOutputCallback);
store->SetUid(HALSIM_RegisterDutyCycleOutputCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool initialNotify);
double GetOutput() const { return HALSIM_GetDutyCycleOutput(m_index); }
double GetOutput() const;
void SetOutput(double period) { HALSIM_SetDutyCycleOutput(m_index, period); }
void SetOutput(double period);
void ResetData() { HALSIM_ResetDutyCycleData(m_index); }
void ResetData();
private:
explicit DutyCycleSim(int index) : m_index{index} {}