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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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145
wpilibc/src/main/native/include/frc/simulation/PCMSim.h
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@@ -8,15 +8,13 @@
#pragma once
#include <memory>
#include <utility>
#include <hal/simulation/PCMData.h>
#include "CallbackStore.h"
#include "frc/Compressor.h"
#include "frc/SensorUtil.h"
#include "frc/simulation/CallbackStore.h"
namespace frc {
class Compressor;
namespace sim {
/**
@@ -24,152 +22,79 @@ namespace sim {
*/
class PCMSim {
public:
/**
* Constructs with the default PCM module number (CAN ID).
*/
PCMSim();
/**
* Constructs from a PCM module number (CAN ID).
*
* @param module module number
*/
explicit PCMSim(int module = SensorUtil::GetDefaultSolenoidModule())
: m_index{module} {}
explicit PCMSim(int module);
/**
* Constructs from a Compressor object.
*
* @param compressor Compressor connected to PCM to simulate
*/
explicit PCMSim(const Compressor& compressor)
: m_index{compressor.GetModule()} {}
explicit PCMSim(const Compressor& compressor);
std::unique_ptr<CallbackStore> RegisterSolenoidInitializedCallback(
int channel, NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, channel, -1, callback,
&HALSIM_CancelPCMSolenoidInitializedCallback);
store->SetUid(HALSIM_RegisterPCMSolenoidInitializedCallback(
m_index, channel, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int channel, NotifyCallback callback, bool initialNotify);
bool GetSolenoidInitialized(int channel) const {
return HALSIM_GetPCMSolenoidInitialized(m_index, channel);
}
bool GetSolenoidInitialized(int channel) const;
void SetSolenoidInitialized(int channel, bool solenoidInitialized) {
HALSIM_SetPCMSolenoidInitialized(m_index, channel, solenoidInitialized);
}
void SetSolenoidInitialized(int channel, bool solenoidInitialized);
std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
int channel, NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, channel, -1, callback,
&HALSIM_CancelPCMSolenoidOutputCallback);
store->SetUid(HALSIM_RegisterPCMSolenoidOutputCallback(
m_index, channel, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
int channel, NotifyCallback callback, bool initialNotify);
bool GetSolenoidOutput(int channel) const {
return HALSIM_GetPCMSolenoidOutput(m_index, channel);
}
bool GetSolenoidOutput(int channel) const;
void SetSolenoidOutput(int channel, bool solenoidOutput) {
HALSIM_SetPCMSolenoidOutput(m_index, channel, solenoidOutput);
}
void SetSolenoidOutput(int channel, bool solenoidOutput);
std::unique_ptr<CallbackStore> RegisterCompressorInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelPCMCompressorInitializedCallback);
store->SetUid(HALSIM_RegisterPCMCompressorInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetCompressorInitialized() const {
return HALSIM_GetPCMCompressorInitialized(m_index);
}
bool GetCompressorInitialized() const;
void SetCompressorInitialized(bool compressorInitialized) {
HALSIM_SetPCMCompressorInitialized(m_index, compressorInitialized);
}
void SetCompressorInitialized(bool compressorInitialized);
std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelPCMCompressorOnCallback);
store->SetUid(HALSIM_RegisterPCMCompressorOnCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetCompressorOn() const { return HALSIM_GetPCMCompressorOn(m_index); }
bool GetCompressorOn() const;
void SetCompressorOn(bool compressorOn) {
HALSIM_SetPCMCompressorOn(m_index, compressorOn);
}
void SetCompressorOn(bool compressorOn);
std::unique_ptr<CallbackStore> RegisterClosedLoopEnabledCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelPCMClosedLoopEnabledCallback);
store->SetUid(HALSIM_RegisterPCMClosedLoopEnabledCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetClosedLoopEnabled() const {
return HALSIM_GetPCMClosedLoopEnabled(m_index);
}
bool GetClosedLoopEnabled() const;
void SetClosedLoopEnabled(bool closedLoopEnabled) {
HALSIM_SetPCMClosedLoopEnabled(m_index, closedLoopEnabled);
}
void SetClosedLoopEnabled(bool closedLoopEnabled);
std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelPCMPressureSwitchCallback);
store->SetUid(HALSIM_RegisterPCMPressureSwitchCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
bool GetPressureSwitch() const {
return HALSIM_GetPCMPressureSwitch(m_index);
}
bool GetPressureSwitch() const;
void SetPressureSwitch(bool pressureSwitch) {
HALSIM_SetPCMPressureSwitch(m_index, pressureSwitch);
}
void SetPressureSwitch(bool pressureSwitch);
std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelPCMCompressorCurrentCallback);
store->SetUid(HALSIM_RegisterPCMCompressorCurrentCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
NotifyCallback callback, bool initialNotify);
double GetCompressorCurrent() const {
return HALSIM_GetPCMCompressorCurrent(m_index);
}
double GetCompressorCurrent() const;
void SetCompressorCurrent(double compressorCurrent) {
HALSIM_SetPCMCompressorCurrent(m_index, compressorCurrent);
}
void SetCompressorCurrent(double compressorCurrent);
uint8_t GetAllSolenoidOutputs() {
uint8_t ret = 0;
HALSIM_GetPCMAllSolenoids(m_index, &ret);
return ret;
}
uint8_t GetAllSolenoidOutputs() const;
void SetAllSolenoidOutputs(uint8_t outputs) {
HALSIM_SetPCMAllSolenoids(m_index, outputs);
}
void SetAllSolenoidOutputs(uint8_t outputs);
void ResetData() { HALSIM_ResetPCMData(m_index); }
void ResetData();
private:
int m_index;