Add gyro and accelerometer simulator wrappers (#1183)

simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class AccelerometerSim {
+ public:
+  virtual double GetAcceleration() = 0;
+  virtual void SetAcceleration(double acceleration) = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h

@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class GyroSim {
+ public:
+  virtual void SetAngle(double angle) = 0;
+  virtual double GetAngle() = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h

@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+
+#include "lowfisim/AccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleAccelerometerSim : public AccelerometerSim {
+ public:
+  SimpleAccelerometerSim(const std::function<void(double)>& setterFunction,
+                         const std::function<double(void)>& getterFunction)
+      : m_setAccelerationFunction(setterFunction),
+        m_getAccelerationFunction(getterFunction) {}
+  double GetAcceleration() override { return m_getAccelerationFunction(); }
+
+  void SetAcceleration(double acceleration) override {
+    m_setAccelerationFunction(acceleration);
+  }
+
+ private:
+  std::function<void(double)> m_setAccelerationFunction;
+  std::function<double(void)> m_getAccelerationFunction;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h

@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+
+#include "lowfisim/GyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleGyroSim : public GyroSim {
+ public:
+  SimpleGyroSim(std::function<void(double)>& setterFunction,
+                std::function<double(void)>& getterFunction)
+      : m_setAngleFunction(setterFunction),
+        m_getAngleFunction(getterFunction) {}
+  double GetAngle() override { return m_getAngleFunction(); }
+
+  void SetAngle(double angle) override { m_setAngleFunction(angle); }
+
+ private:
+  std::function<void(double)> m_setAngleFunction;
+  std::function<double(void)> m_getAngleFunction;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h

@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "ThreeAxisAccelerometerData.h"
+#include "lowfisim/SimpleAccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXLThreeAxisAccelerometerSim {
+ public:
+  ADXLThreeAxisAccelerometerSim(
+      hal::ThreeAxisAccelerometerData& accelerometerWrapper);
+
+  AccelerometerSim& GetXWrapper();
+  AccelerometerSim& GetYWrapper();
+  AccelerometerSim& GetZWrapper();
+
+ protected:
+  hal::ThreeAxisAccelerometerData& m_accelerometerWrapper;
+  SimpleAccelerometerSim m_xWrapper;
+  SimpleAccelerometerSim m_yWrapper;
+  SimpleAccelerometerSim m_zWrapper;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "ADXRS450_SpiGyroWrapperData.h"
+#include "lowfisim/GyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXRS450_SpiGyroSim : public GyroSim {
+ public:
+  explicit ADXRS450_SpiGyroSim(int spiPort);
+
+  void SetAngle(double angle) override;
+  double GetAngle() override;
+
+ protected:
+  hal::ADXRS450_SpiGyroWrapper m_gyroWrapper;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc

simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "lowfisim/GyroSim.h"
+#include "simulation/AnalogGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiAnalogGyroSim : public GyroSim {
+ public:
+  explicit WpiAnalogGyroSim(int index);
+
+  void SetAngle(double angle) override;
+  double GetAngle() override;
+
+ protected:
+  frc::sim::AnalogGyroSim m_gyroSimulator;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc