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Add names to simulator components (#1268)

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Makes configuration easier when you can associate the items with a name
instead of just a port number. Important if there is a GUI added at some
point.
This commit is contained in:
PJ Reiniger
2018-08-23 20:59:09 -04:00
committed by Peter Johnson
parent 8d8f120cc3
commit de212a9dd0
30 changed files with 207 additions and 24 deletions
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24
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp Normal file
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@@ -0,0 +1,24 @@
/*----------------------------------------------------------------------------*/
/* 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 "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
const std::string& SimulatorComponentBase::GetDisplayName() const {
return m_name;
}
void SimulatorComponentBase::SetDisplayName(const std::string& displayName) {
m_name = displayName;
}
} // namespace lowfi
} // namespace sim
} // namespace frc

15
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
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@@ -14,21 +14,30 @@ namespace lowfi {
ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
hal::ThreeAxisAccelerometerData& accelerometerWrapper)
: m_accelerometerWrapper(accelerometerWrapper),
m_xWrapper(std::function<void(double)>(
m_xWrapper(std::function<bool(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
&m_accelerometerWrapper)),
std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetX,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetX,
&m_accelerometerWrapper))),
m_yWrapper(std::function<void(double)>(
m_yWrapper(std::function<bool(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
&m_accelerometerWrapper)),
std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetY,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetY,
&m_accelerometerWrapper))),
m_zWrapper(std::function<void(double)>(
m_zWrapper(std::function<bool(void)>(
std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
&m_accelerometerWrapper)),
std::function<void(double)>(
std::bind(&hal::ThreeAxisAccelerometerData::SetZ,
&m_accelerometerWrapper, std::placeholders::_1)),
std::function<double(void)>(

4
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
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@@ -14,6 +14,10 @@ namespace lowfi {
ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
: m_gyroWrapper(spiPort) {}
bool ADXRS450_SpiGyroSim::IsWrapperInitialized() const {
return m_gyroWrapper.GetInitialized();
}
void ADXRS450_SpiGyroSim::SetAngle(double angle) {
m_gyroWrapper.SetAngle(angle);
}

4
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
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@@ -13,6 +13,10 @@ namespace lowfi {
WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
bool WpiAnalogGyroSim::IsWrapperInitialized() const {
return m_gyroSimulator.GetInitialized();
}
void WpiAnalogGyroSim::SetAngle(double angle) {
m_gyroSimulator.SetAngle(angle);
}

4
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp
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@@ -13,6 +13,10 @@ namespace lowfi {
WpiEncoderSim::WpiEncoderSim(int index) : m_encoderSimulator(index) {}
bool WpiEncoderSim::IsWrapperInitialized() const {
return m_encoderSimulator.GetInitialized();
}
void WpiEncoderSim::SetPosition(double position) {
m_encoderSimulator.SetCount(
static_cast<int>(position / m_encoderSimulator.GetDistancePerPulse()));

4
simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp
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@@ -20,6 +20,10 @@ void WpiMotorSim::Update(double elapsedTime) {
m_motorModelSimulation.Update(elapsedTime);
}
bool WpiMotorSim::IsWrapperInitialized() const {
return m_pwmSimulator.GetInitialized();
}
double WpiMotorSim::GetPosition() const {
return m_motorModelSimulation.GetPosition();
}

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
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@@ -7,11 +7,13 @@
#pragma once
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class AccelerometerSim {
class AccelerometerSim : public virtual SimulatorComponent {
public:
virtual double GetAcceleration() = 0;
virtual void SetAcceleration(double acceleration) = 0;

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
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@@ -7,11 +7,13 @@
#pragma once
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class EncoderSim {
class EncoderSim : public virtual SimulatorComponent {
public:
virtual void SetPosition(double position) = 0;
virtual void SetVelocity(double velocity) = 0;

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
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@@ -7,11 +7,13 @@
#pragma once
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class GyroSim {
class GyroSim : public virtual SimulatorComponent {
public:
virtual void SetAngle(double angle) = 0;
virtual double GetAngle() = 0;

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
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@@ -7,11 +7,13 @@
#pragma once
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class MotorSim {
class MotorSim : public virtual SimulatorComponent {
public:
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;

17
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
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@@ -10,16 +10,22 @@
#include <functional>
#include "lowfisim/AccelerometerSim.h"
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimpleAccelerometerSim : public AccelerometerSim {
class SimpleAccelerometerSim : public SimulatorComponentBase,
public AccelerometerSim {
public:
SimpleAccelerometerSim(const std::function<void(double)>& setterFunction,
using SimulatorComponentBase::GetDisplayName;
SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
const std::function<void(double)>& setterFunction,
const std::function<double(void)>& getterFunction)
: m_setAccelerationFunction(setterFunction),
: m_isInitializedFunction(initializedFunction),
m_setAccelerationFunction(setterFunction),
m_getAccelerationFunction(getterFunction) {}
double GetAcceleration() override { return m_getAccelerationFunction(); }
@@ -27,7 +33,12 @@ class SimpleAccelerometerSim : public AccelerometerSim {
m_setAccelerationFunction(acceleration);
}
bool IsWrapperInitialized() const override {
return m_isInitializedFunction();
}
private:
std::function<bool(void)> m_isInitializedFunction;
std::function<void(double)> m_setAccelerationFunction;
std::function<double(void)> m_getAccelerationFunction;
};

29
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h Normal file
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@@ -0,0 +1,29 @@
/*----------------------------------------------------------------------------*/
/* 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 <string>
namespace frc {
namespace sim {
namespace lowfi {
class SimulatorComponent {
public:
virtual ~SimulatorComponent() = default;
virtual bool IsWrapperInitialized() const = 0;
virtual const std::string& GetDisplayName() const = 0;
virtual void SetDisplayName(const std::string& displayName) = 0;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

33
simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h Normal file
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@@ -0,0 +1,33 @@
/*----------------------------------------------------------------------------*/
/* 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 <string>
#include "lowfisim/SimulatorComponent.h"
namespace frc {
namespace sim {
namespace lowfi {
class SimulatorComponentBase : public virtual SimulatorComponent {
public:
SimulatorComponentBase() = default;
virtual ~SimulatorComponentBase() = default;
const std::string& GetDisplayName() const override;
void SetDisplayName(const std::string& displayName) override;
private:
std::string m_name;
};
} // namespace lowfi
} // namespace sim
} // namespace frc

5
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
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@@ -9,15 +9,18 @@
#include "ADXRS450_SpiGyroWrapperData.h"
#include "lowfisim/GyroSim.h"
#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
class ADXRS450_SpiGyroSim : public GyroSim {
class ADXRS450_SpiGyroSim : public SimulatorComponentBase, public GyroSim {
public:
explicit ADXRS450_SpiGyroSim(int spiPort);
bool IsWrapperInitialized() const override;
void SetAngle(double angle) override;
double GetAngle() override;

5
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
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@@ -8,16 +8,19 @@
#pragma once
#include "lowfisim/GyroSim.h"
#include "lowfisim/SimulatorComponentBase.h"
#include "simulation/AnalogGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiAnalogGyroSim : public GyroSim {
class WpiAnalogGyroSim : public SimulatorComponentBase, public GyroSim {
public:
explicit WpiAnalogGyroSim(int index);
bool IsWrapperInitialized() const override;
void SetAngle(double angle) override;
double GetAngle() override;

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
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@@ -8,15 +8,17 @@
#pragma once
#include "lowfisim/EncoderSim.h"
#include "lowfisim/SimulatorComponentBase.h"
#include "simulation/EncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
class WpiEncoderSim : public EncoderSim {
class WpiEncoderSim : public SimulatorComponentBase, public EncoderSim {
public:
explicit WpiEncoderSim(int index);
bool IsWrapperInitialized() const override;
void SetPosition(double position) override;
void SetVelocity(double velocity) override;

4
simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
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@@ -8,6 +8,7 @@
#pragma once
#include "lowfisim/MotorSim.h"
#include "lowfisim/SimulatorComponentBase.h"
#include "lowfisim/motormodel/MotorModel.h"
#include "simulation/PWMSim.h"
@@ -15,9 +16,10 @@ namespace frc {
namespace sim {
namespace lowfi {
class WpiMotorSim : public MotorSim {
class WpiMotorSim : public SimulatorComponentBase, public MotorSim {
public:
explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
bool IsWrapperInitialized() const override;
void Update(double elapsedTime);
double GetPosition() const override;

17
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
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@@ -15,17 +15,22 @@ TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
frc::I2C::Port port = frc::I2C::kOnboard;
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
hal::ADXL345_I2CData rawAdxSim(port);
frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
EXPECT_FALSE(xWrapper.IsWrapperInitialized());
EXPECT_FALSE(yWrapper.IsWrapperInitialized());
EXPECT_FALSE(zWrapper.IsWrapperInitialized());
frc::ADXL345_I2C accel{port};
EXPECT_NEAR(0, accel.GetX(), EPSILON);
EXPECT_NEAR(0, accel.GetY(), EPSILON);
EXPECT_NEAR(0, accel.GetZ(), EPSILON);
EXPECT_TRUE(xWrapper.IsWrapperInitialized());
EXPECT_TRUE(yWrapper.IsWrapperInitialized());
EXPECT_TRUE(zWrapper.IsWrapperInitialized());
xWrapper.SetAcceleration(1.45);
EXPECT_NEAR(1.45, accel.GetX(), EPSILON);

9
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
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@@ -25,16 +25,23 @@ void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
TEST(GyroSimulatorTests, TestAnalogGyro) {
int port = 1;
frc::AnalogGyro gyro{port};
frc::sim::lowfi::WpiAnalogGyroSim sim{port};
EXPECT_FALSE(sim.IsWrapperInitialized());
frc::AnalogGyro gyro{port};
EXPECT_TRUE(sim.IsWrapperInitialized());
TestGyro(sim, gyro);
}
TEST(GyroSimulatorTests, TestSpiGyro) {
frc::SPI::Port port = frc::SPI::kOnboardCS0;
frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
EXPECT_FALSE(sim.IsWrapperInitialized());
frc::ADXRS450_Gyro gyro{port};
EXPECT_TRUE(sim.IsWrapperInitialized());
TestGyro(sim, gyro);
}

10
simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp
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@@ -14,14 +14,18 @@
#include "lowfisim/wpisimulators/WpiMotorSim.h"
TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseFullSpeed) {
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
frc::sim::lowfi::WpiEncoderSim encoderSim(0);
frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
EXPECT_FALSE(motorSim.IsWrapperInitialized());
EXPECT_FALSE(encoderSim.IsWrapperInitialized());
frc::Talon talon{3};
frc::Encoder encoder{3, 1};
EXPECT_TRUE(motorSim.IsWrapperInitialized());
EXPECT_TRUE(encoderSim.IsWrapperInitialized());
talon.Set(-1);
motorSim.Update(1);
connector.Update();

3
simulation/lowfi_simulation/src/test/native/cpp/main.cpp
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@@ -5,9 +5,12 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include <hal/HAL.h>
#include "gtest/gtest.h"
int main(int argc, char** argv) {
HAL_Initialize(500, 0);
::testing::InitGoogleTest(&argc, argv);
int ret = RUN_ALL_TESTS();
return ret;