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

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.

simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp

@@ -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));
-      });
-}

simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.h

@@ -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

simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp

@@ -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);

simulation/halsim_gui/src/main/native/cpp/main.cpp

@@ -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();