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[sim] Move Sim classes from HAL to wpilibc/j (#2549)

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Also move some things in HAL for consistency.

WAS:
C++:
- C APIs: #include "mockdata/AccelerometerData.h"
- User side class: #include "simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim)
- User side classes: hal.sim.AccelerometerSim

IS:
C++:
- C APIs: #include "hal/simulation/AccelerometerData.h"
- C++ class: #include "frc/simulation/AccelerometerSim.h"
Java:
- JNI APIs: hal.simulation.AccelerometerData
- User side class: wpilibj.simulation.AccelerometerSim
This commit is contained in:
Peter Johnson
2020-06-27 22:11:24 -07:00
committed by GitHub
parent 22c0e2813a
commit ce3bc91946
207 changed files with 1420 additions and 1415 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
hal/src/test/native/cpp/can/CANTest.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -8,7 +8,7 @@
#include "gtest/gtest.h"
#include "hal/CANAPI.h"
#include "hal/HAL.h"
#include "mockdata/CanData.h"
#include "hal/simulation/CanData.h"
namespace hal {
struct CANTestStore {

4
hal/src/test/native/cpp/mockdata/AnalogInDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/AnalogInput.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/AnalogInData.h"
#include "hal/simulation/AnalogInData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/AnalogOutDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/AnalogOutput.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/AnalogOutData.h"
#include "hal/simulation/AnalogOutData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/DIODataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/DIO.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/DIOData.h"
#include "hal/simulation/DIOData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/DriverStationDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -10,7 +10,7 @@
#include "gtest/gtest.h"
#include "hal/HAL.h"
#include "hal/Solenoid.h"
#include "mockdata/DriverStationData.h"
#include "hal/simulation/DriverStationData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/I2CDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/I2C.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/I2CData.h"
#include "hal/simulation/I2CData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/PCMDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/Solenoid.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/PCMData.h"
#include "hal/simulation/PCMData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/PDPDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/PDP.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/PDPData.h"
#include "hal/simulation/PDPData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/PWMDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/PWM.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/PWMData.h"
#include "hal/simulation/PWMData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/RelayDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/Relay.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/RelayData.h"
#include "hal/simulation/RelayData.h"
namespace hal {

4
hal/src/test/native/cpp/mockdata/SPIDataTests.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2015-2020 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. */
@@ -9,7 +9,7 @@
#include "hal/HAL.h"
#include "hal/SPI.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/SPIData.h"
#include "hal/simulation/SPIData.h"
namespace hal {

42
hal/src/test/native/cpp/sim/AccelerometerSimTest.cpp
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@@ -1,42 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#include "gtest/gtest.h"
#include "hal/Accelerometer.h"
#include "hal/HAL.h"
#include "simulation/AccelerometerSim.h"
using namespace frc::sim;
namespace hal {
TEST(AcclerometerSimTests, TestActiveCallback) {
HAL_Initialize(500, 0);
AccelerometerSim sim{0};
sim.ResetData();
bool wasTriggered = false;
bool lastValue = false;
auto cb = sim.RegisterActiveCallback(
[&](wpi::StringRef name, const HAL_Value* value) {
wasTriggered = true;
lastValue = value->data.v_boolean;
},
false);
EXPECT_FALSE(wasTriggered);
HAL_SetAccelerometerActive(true);
EXPECT_TRUE(wasTriggered);
EXPECT_TRUE(lastValue);
}
} // namespace hal

40
hal/src/test/native/cpp/sim/SimDeviceSimTest.cpp
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@@ -1,40 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 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. */
/*----------------------------------------------------------------------------*/
#include <wpi/StringRef.h>
#include "gtest/gtest.h"
#include "hal/SimDevice.h"
#include "simulation/SimDeviceSim.h"
using namespace frc::sim;
namespace hal {
TEST(SimDeviceSimTests, TestBasic) {
SimDevice dev{"test"};
SimBoolean devBool = dev.CreateBoolean("bool", false, false);
SimDeviceSim sim{"test"};
SimBoolean simBool = sim.GetBoolean("bool");
EXPECT_FALSE(simBool.Get());
simBool.Set(true);
EXPECT_TRUE(devBool.Get());
}
TEST(SimDeviceSimTests, TestEnumerateDevices) {
SimDevice dev{"test"};
bool foundit = false;
SimDeviceSim::EnumerateDevices(
"te", [&](const char* name, HAL_SimDeviceHandle handle) {
if (wpi::StringRef(name) == "test") foundit = true;
});
EXPECT_TRUE(foundit);
}
} // namespace hal

49
hal/src/test/native/cpp/sim/SimInitializationTest.cpp
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@@ -1,49 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
#include "gtest/gtest.h"
#include "hal/HAL.h"
#include "simulation/AccelerometerSim.h"
#include "simulation/AnalogGyroSim.h"
#include "simulation/AnalogInSim.h"
#include "simulation/AnalogOutSim.h"
#include "simulation/AnalogTriggerSim.h"
#include "simulation/DIOSim.h"
#include "simulation/DigitalPWMSim.h"
#include "simulation/DriverStationSim.h"
#include "simulation/EncoderSim.h"
#include "simulation/PCMSim.h"
#include "simulation/PDPSim.h"
#include "simulation/PWMSim.h"
#include "simulation/RelaySim.h"
#include "simulation/RoboRioSim.h"
#include "simulation/SPIAccelerometerSim.h"
using namespace frc::sim;
namespace hal {
TEST(SimInitializationTests, TestAllInitialize) {
HAL_Initialize(500, 0);
AccelerometerSim acsim{0};
AnalogGyroSim agsim{0};
AnalogInSim aisim{0};
AnalogOutSim aosim{0};
AnalogTriggerSim atsim{0};
DigitalPWMSim dpsim{0};
DIOSim diosim{0};
DriverStationSim dssim;
(void)dssim;
EncoderSim esim{0};
PCMSim pcmsim{0};
PDPSim pdpsim{0};
PWMSim pwmsim{0};
RelaySim rsim{0};
RoboRioSim rrsim{0};
SPIAccelerometerSim sasim{0};
}
} // namespace hal