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Add simulation pause/resume/step support

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Calling HALSIM_PauseTiming pauses the FPGA clock and notifiers.
Calling HALSIM_ResumeTiming resumes the FPGA clock and notifiers.
Calling HALSIM_StepTiming steps the FPGA clock and runs applicable notifiers.

This will effectively pause TimedRobot and any other notifier-based events,
but of course will not pause user threads that do not use the notifier (e.g.
image processing).
This commit is contained in:
Peter Johnson
2019-11-10 20:54:25 -08:00
parent f5446c7409
commit c5a0497124
8 changed files with 162 additions and 19 deletions
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18
hal/src/main/java/edu/wpi/first/hal/sim/SimHooks.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 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. */
@@ -24,4 +24,20 @@ public final class SimHooks {
public static void restartTiming() {
SimulatorJNI.restartTiming();
}
public static void pauseTiming() {
SimulatorJNI.pauseTiming();
}
public static void resumeTiming() {
SimulatorJNI.resumeTiming();
}
public static boolean isTimingPaused() {
return SimulatorJNI.isTimingPaused();
}
public static void stepTiming(long delta) {
SimulatorJNI.stepTiming(delta);
}
}

6
hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimulatorJNI.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2019 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. */
@@ -13,5 +13,9 @@ public class SimulatorJNI extends JNIWrapper {
public static native void waitForProgramStart();
public static native void setProgramStarted();
public static native void restartTiming();
public static native void pauseTiming();
public static native void resumeTiming();
public static native boolean isTimingPaused();
public static native void stepTiming(long delta);
public static native void resetHandles();
}