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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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159
wpilibc/src/main/native/include/frc/simulation/EncoderSim.h
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@@ -7,16 +7,14 @@
#pragma once
#include <exception>
#include <memory>
#include <utility>
#include <hal/simulation/EncoderData.h>
#include "CallbackStore.h"
#include "frc/Encoder.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
class Encoder;
namespace sim {
/**
@@ -29,8 +27,7 @@ class EncoderSim {
*
* @param encoder Encoder to simulate
*/
explicit EncoderSim(const Encoder& encoder)
: m_index{encoder.GetFPGAIndex()} {}
explicit EncoderSim(const Encoder& encoder);
/**
* Creates an EncoderSim for a digital input channel. Encoders take two
@@ -40,11 +37,7 @@ class EncoderSim {
* @return Simulated object
* @throws NoSuchElementException if no Encoder is configured for that channel
*/
static EncoderSim CreateForChannel(int channel) {
int index = HALSIM_FindEncoderForChannel(channel);
if (index < 0) throw std::out_of_range("no encoder found for channel");
return EncoderSim{index};
}
static EncoderSim CreateForChannel(int channel);
/**
* Creates an EncoderSim for a simulated index.
@@ -53,154 +46,80 @@ class EncoderSim {
* @param index simulator index
* @return Simulated object
*/
static EncoderSim CreateForIndex(int index) { return EncoderSim{index}; }
static EncoderSim CreateForIndex(int index);
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderInitializedCallback);
store->SetUid(HALSIM_RegisterEncoderInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetInitialized() const { return HALSIM_GetEncoderInitialized(m_index); }
bool GetInitialized() const;
void SetInitialized(bool initialized) {
HALSIM_SetEncoderInitialized(m_index, initialized);
}
void SetInitialized(bool initialized);
std::unique_ptr<CallbackStore> RegisterCountCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderCountCallback);
store->SetUid(HALSIM_RegisterEncoderCountCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool initialNotify);
int GetCount() const { return HALSIM_GetEncoderCount(m_index); }
int GetCount() const;
void SetCount(int count) { HALSIM_SetEncoderCount(m_index, count); }
void SetCount(int count);
std::unique_ptr<CallbackStore> RegisterPeriodCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderPeriodCallback);
store->SetUid(HALSIM_RegisterEncoderPeriodCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool initialNotify);
double GetPeriod() const { return HALSIM_GetEncoderPeriod(m_index); }
double GetPeriod() const;
void SetPeriod(double period) { HALSIM_SetEncoderPeriod(m_index, period); }
void SetPeriod(double period);
std::unique_ptr<CallbackStore> RegisterResetCallback(NotifyCallback callback,
bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderResetCallback);
store->SetUid(HALSIM_RegisterEncoderResetCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool initialNotify);
bool GetReset() const { return HALSIM_GetEncoderReset(m_index); }
bool GetReset() const;
void SetReset(bool reset) { HALSIM_SetEncoderReset(m_index, reset); }
void SetReset(bool reset);
std::unique_ptr<CallbackStore> RegisterMaxPeriodCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderMaxPeriodCallback);
store->SetUid(HALSIM_RegisterEncoderMaxPeriodCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
double GetMaxPeriod() const { return HALSIM_GetEncoderMaxPeriod(m_index); }
double GetMaxPeriod() const;
void SetMaxPeriod(double maxPeriod) {
HALSIM_SetEncoderMaxPeriod(m_index, maxPeriod);
}
void SetMaxPeriod(double maxPeriod);
std::unique_ptr<CallbackStore> RegisterDirectionCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderDirectionCallback);
store->SetUid(HALSIM_RegisterEncoderDirectionCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetDirection() const { return HALSIM_GetEncoderDirection(m_index); }
bool GetDirection() const;
void SetDirection(bool direction) {
HALSIM_SetEncoderDirection(m_index, direction);
}
void SetDirection(bool direction);
std::unique_ptr<CallbackStore> RegisterReverseDirectionCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderReverseDirectionCallback);
store->SetUid(HALSIM_RegisterEncoderReverseDirectionCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetReverseDirection() const {
return HALSIM_GetEncoderReverseDirection(m_index);
}
bool GetReverseDirection() const;
void SetReverseDirection(bool reverseDirection) {
HALSIM_SetEncoderReverseDirection(m_index, reverseDirection);
}
void SetReverseDirection(bool reverseDirection);
std::unique_ptr<CallbackStore> RegisterSamplesToAverageCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderSamplesToAverageCallback);
store->SetUid(HALSIM_RegisterEncoderSamplesToAverageCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
int GetSamplesToAverage() const {
return HALSIM_GetEncoderSamplesToAverage(m_index);
}
int GetSamplesToAverage() const;
void SetSamplesToAverage(int samplesToAverage) {
HALSIM_SetEncoderSamplesToAverage(m_index, samplesToAverage);
}
void SetSamplesToAverage(int samplesToAverage);
std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelEncoderDistancePerPulseCallback);
store->SetUid(HALSIM_RegisterEncoderDistancePerPulseCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
double GetDistancePerPulse() const {
return HALSIM_GetEncoderDistancePerPulse(m_index);
}
double GetDistancePerPulse() const;
void SetDistancePerPulse(double distancePerPulse) {
HALSIM_SetEncoderDistancePerPulse(m_index, distancePerPulse);
}
void SetDistancePerPulse(double distancePerPulse);
void ResetData() { HALSIM_ResetEncoderData(m_index); }
void ResetData();
void SetDistance(double distance) {
HALSIM_SetEncoderDistance(m_index, distance);
}
void SetDistance(double distance);
double GetDistance() { return HALSIM_GetEncoderDistance(m_index); }
double GetDistance();
void SetRate(double rate) { HALSIM_SetEncoderRate(m_index, rate); }
void SetRate(double rate);
double GetRate() { return HALSIM_GetEncoderRate(m_index); }
double GetRate();
private:
explicit EncoderSim(int index) : m_index{index} {}