Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

38
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
View File

@@ -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
View File

@@ -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