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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
wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2020 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. */
@@ -12,7 +12,7 @@ import org.junit.jupiter.api.extension.ExtensionContext;
import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.sim.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
public final class MockHardwareExtension implements BeforeAllCallback {
private static ExtensionContext getRoot(ExtensionContext context) {

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2017-2020 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. */
@@ -11,7 +11,7 @@ import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.MatchInfoData;
import edu.wpi.first.hal.sim.mockdata.DriverStationDataJNI;
import edu.wpi.first.hal.simulation.DriverStationDataJNI;
import edu.wpi.first.wpilibj.DriverStation.MatchType;
import static org.junit.jupiter.api.Assertions.assertAll;

42
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AccelerometerSimTest.java Normal file
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@@ -0,0 +1,42 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2020 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.simulation;
import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.AccelerometerJNI;
import edu.wpi.first.hal.HAL;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
class AccelerometerSimTest {
static class TriggeredStore {
public boolean m_wasTriggered;
public boolean m_setValue = true;
}
@Test
void testCallbacks() {
HAL.initialize(500, 0);
AccelerometerSim sim = new AccelerometerSim();
sim.resetData();
TriggeredStore store = new TriggeredStore();
try (CallbackStore cb = sim.registerActiveCallback((s, v) -> {
store.m_wasTriggered = true;
store.m_setValue = v.getBoolean();
}, false)) {
assertFalse(store.m_wasTriggered);
AccelerometerJNI.setAccelerometerActive(true);
assertTrue(store.m_wasTriggered);
assertTrue(store.m_setValue);
}
}
}

3
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java → wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogInputSimTest.java
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@@ -5,13 +5,12 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.sim;
package edu.wpi.first.wpilibj.simulation;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.sim.AnalogInSim;
import static org.junit.jupiter.api.Assertions.assertEquals;

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java → wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
View File

@@ -5,12 +5,10 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.sim;
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.sim.AnalogOutSim;
import edu.wpi.first.hal.sim.CallbackStore;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;

31
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java Normal file
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@@ -0,0 +1,31 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 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. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.simulation;
import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
class SimDeviceSimTest {
@Test
void testBasic() {
SimDevice dev = SimDevice.create("test");
SimBoolean devBool = dev.createBoolean("bool", false, false);
SimDeviceSim sim = new SimDeviceSim("test");
SimBoolean simBool = sim.getBoolean("bool");
assertFalse(simBool.get());
simBool.set(true);
assertTrue(devBool.get());
}
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
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@@ -13,11 +13,11 @@ import java.util.List;
import org.junit.jupiter.api.Test;
import edu.wpi.first.hal.sim.DriverStationSim;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Transform2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
import static edu.wpi.first.wpilibj.util.Units.feetToMeters;