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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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97
simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp
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@@ -1,97 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "AnalogGyroSimGui.h"
#include <memory>
#include <vector>
#include <glass/hardware/AnalogGyro.h>
#include <glass/other/DeviceTree.h>
#include <hal/Ports.h>
#include <hal/Value.h>
#include <hal/simulation/AnalogGyroData.h>
#include "HALDataSource.h"
#include "HALSimGui.h"
#include "SimDeviceGui.h"
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogGyroAngle, "AGyro Angle");
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogGyroRate, "AGyro Rate");
class AnalogGyroSimModel : public glass::AnalogGyroModel {
public:
explicit AnalogGyroSimModel(int32_t index)
: m_index{index}, m_angle{index}, m_rate{index} {}
void Update() override {}
bool Exists() override { return HALSIM_GetAnalogGyroInitialized(m_index); }
glass::DoubleSource* GetAngleData() override { return &m_angle; }
glass::DoubleSource* GetRateData() override { return &m_rate; }
void SetAngle(double val) override {
HALSIM_SetAnalogGyroAngle(m_index, val);
}
void SetRate(double val) override { HALSIM_SetAnalogGyroRate(m_index, val); }
private:
int32_t m_index;
AnalogGyroAngleSource m_angle;
AnalogGyroRateSource m_rate;
};
class AnalogGyrosSimModel : public glass::AnalogGyrosModel {
public:
AnalogGyrosSimModel() : m_models(HAL_GetNumAccumulators()) {}
void Update() override;
bool Exists() override { return true; }
void ForEachAnalogGyro(
wpi::function_ref<void(glass::AnalogGyroModel& model, int index)> func)
override;
private:
// indexed by channel
std::vector<std::unique_ptr<AnalogGyroSimModel>> m_models;
};
} // namespace
void AnalogGyrosSimModel::Update() {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
auto& model = m_models[i];
if (HALSIM_GetAnalogGyroInitialized(i)) {
if (!model) {
model = std::make_unique<AnalogGyroSimModel>(i);
}
} else {
model.reset();
}
}
}
void AnalogGyrosSimModel::ForEachAnalogGyro(
wpi::function_ref<void(glass::AnalogGyroModel& model, int index)> func) {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
if (auto model = m_models[i].get()) {
func(*model, i);
}
}
}
void AnalogGyroSimGui::Initialize() {
SimDeviceGui::GetDeviceTree().Add(
std::make_unique<AnalogGyrosSimModel>(), [](glass::Model* model) {
glass::DisplayAnalogGyrosDevice(
static_cast<AnalogGyrosSimModel*>(model));
});
}

14
simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.h
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@@ -1,14 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
namespace halsimgui {
class AnalogGyroSimGui {
public:
static void Initialize();
};
} // namespace halsimgui

6
simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
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@@ -10,7 +10,6 @@
#include <glass/View.h>
#include <glass/hardware/AnalogInput.h>
#include <hal/Ports.h>
#include <hal/simulation/AnalogGyroData.h>
#include <hal/simulation/AnalogInData.h>
#include <hal/simulation/SimDeviceData.h>
@@ -31,11 +30,6 @@ class AnalogInputSimModel : public glass::AnalogInputModel {
bool Exists() override { return HALSIM_GetAnalogInInitialized(m_index); }
bool IsGyro() const override {
return m_index < HAL_GetNumAccumulators() &&
HALSIM_GetAnalogGyroInitialized(m_index);
}
const char* GetSimDevice() const override {
if (auto simDevice = HALSIM_GetAnalogInSimDevice(m_index)) {
return HALSIM_GetSimDeviceName(simDevice);

2
simulation/halsim_gui/src/main/native/cpp/main.cpp
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@@ -17,7 +17,6 @@
#include "AccelerometerSimGui.h"
#include "AddressableLEDGui.h"
#include "AnalogGyroSimGui.h"
#include "AnalogInputSimGui.h"
#include "DIOSimGui.h"
#include "DriverStationGui.h"
@@ -76,7 +75,6 @@ __declspec(dllexport)
AccelerometerSimGui::Initialize();
AddressableLEDGui::Initialize();
AnalogGyroSimGui::Initialize();
AnalogInputSimGui::Initialize();
DIOSimGui::Initialize();
NetworkTablesSimGui::Initialize();

5
simulation/halsim_ws_core/doc/hardware_ws_api.md
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@@ -132,11 +132,6 @@ The basic analog input just reads a voltage. An analog input can also be configu
| ``"<avg_bits"`` | Integer | The number of averaging bits |
| ``"<oversample_bits"`` | Integer | The number of oversampling bits |
| ``">voltage"`` | Float | Input voltage, in volts |
| ``"<accum_init"`` | Boolean | If the accumulator is initialized in the robot program |
| ``">accum_value"`` | Integer | The accumulated value |
| ``">accum_count"`` | Integer | The number of accumulated values |
| ``"<accum_center"`` | Integer | The center value of the accumulator |
| ``"<accum_deadband"`` | Integer | The accumulator's deadband |
#### Analog Output ("AO")

15
simulation/halsim_ws_core/doc/wpilib-ws.yaml
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@@ -170,21 +170,6 @@ components:
">voltage":
type: number
description: "Input voltage, in volts"
"<accum_init":
type: boolean
description: "If the accumulator is initialized in the robot program"
">accum_value":
type: integer
description: "The accumulated value"
">accum_count":
type: integer
description: "The number of accumulated values"
"<accum_center":
type: integer
description: "The center value of the accumulator"
"<accum_deadband":
type: integer
description: "The accumulator's deadband"
aoData:
type: object

38
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
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@@ -16,15 +16,6 @@
}, \
this, true)
#define REGISTER_AIN_ACCUM(halsim, jsonid, ctype, haltype) \
HALSIM_RegisterAnalogInAccumulator##halsim##Callback( \
m_channel, \
[](const char* name, void* param, const struct HAL_Value* value) { \
static_cast<HALSimWSProviderAnalogIn*>(param)->ProcessHalCallback( \
{{jsonid, static_cast<ctype>(value->data.v_##haltype)}}); \
}, \
this, true)
namespace wpilibws {
void HALSimWSProviderAnalogIn::Initialize(WSRegisterFunc webRegisterFunc) {
@@ -42,17 +33,6 @@ void HALSimWSProviderAnalogIn::RegisterCallbacks() {
m_oversampleCbKey =
REGISTER_AIN(OversampleBits, "<oversample_bits", int32_t, int);
m_voltageCbKey = REGISTER_AIN(Voltage, ">voltage", double, double);
m_accumInitCbKey =
REGISTER_AIN_ACCUM(Initialized, "<accum_init", bool, boolean);
m_accumValueCbKey = REGISTER_AIN_ACCUM(Value, ">accum_value", int64_t,
long); // NOLINT(runtime/int)
m_accumCountCbKey = REGISTER_AIN_ACCUM(Count, ">accum_count", int64_t,
long); // NOLINT(runtime/int)
m_accumCenterCbKey =
REGISTER_AIN_ACCUM(Center, "<accum_center", int32_t, int);
m_accumDeadbandCbKey =
REGISTER_AIN_ACCUM(Deadband, "<accum_deadband", int32_t, int);
}
void HALSimWSProviderAnalogIn::CancelCallbacks() {
@@ -65,24 +45,12 @@ void HALSimWSProviderAnalogIn::DoCancelCallbacks() {
HALSIM_CancelAnalogInAverageBitsCallback(m_channel, m_avgbitsCbKey);
HALSIM_CancelAnalogInOversampleBitsCallback(m_channel, m_oversampleCbKey);
HALSIM_CancelAnalogInVoltageCallback(m_channel, m_voltageCbKey);
HALSIM_CancelAnalogInAccumulatorInitializedCallback(m_channel,
m_accumInitCbKey);
HALSIM_CancelAnalogInAccumulatorValueCallback(m_channel, m_accumValueCbKey);
HALSIM_CancelAnalogInAccumulatorCountCallback(m_channel, m_accumCountCbKey);
HALSIM_CancelAnalogInAccumulatorCenterCallback(m_channel, m_accumCenterCbKey);
HALSIM_CancelAnalogInAccumulatorDeadbandCallback(m_channel,
m_accumDeadbandCbKey);
// Reset callback IDs
m_initCbKey = 0;
m_avgbitsCbKey = 0;
m_oversampleCbKey = 0;
m_voltageCbKey = 0;
m_accumInitCbKey = 0;
m_accumValueCbKey = 0;
m_accumCountCbKey = 0;
m_accumCenterCbKey = 0;
m_accumDeadbandCbKey = 0;
}
void HALSimWSProviderAnalogIn::OnNetValueChanged(const wpi::json& json) {
@@ -90,12 +58,6 @@ void HALSimWSProviderAnalogIn::OnNetValueChanged(const wpi::json& json) {
if ((it = json.find(">voltage")) != json.end()) {
HALSIM_SetAnalogInVoltage(m_channel, it.value());
}
if ((it = json.find(">accum_value")) != json.end()) {
HALSIM_SetAnalogInAccumulatorValue(m_channel, it.value());
}
if ((it = json.find(">accum_count")) != json.end()) {
HALSIM_SetAnalogInAccumulatorCount(m_channel, it.value());
}
}
} // namespace wpilibws

5
simulation/halsim_ws_core/src/main/native/include/WSProvider_Analog.h
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@@ -29,11 +29,6 @@ class HALSimWSProviderAnalogIn : public HALSimWSHalChanProvider {
int32_t m_avgbitsCbKey = 0;
int32_t m_oversampleCbKey = 0;
int32_t m_voltageCbKey = 0;
int32_t m_accumInitCbKey = 0;
int32_t m_accumValueCbKey = 0;
int32_t m_accumCountCbKey = 0;
int32_t m_accumCenterCbKey = 0;
int32_t m_accumDeadbandCbKey = 0;
};
} // namespace wpilibws