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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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88
wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp
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@@ -1,88 +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 "frc/simulation/AnalogGyroSim.h" // NOLINT(build/include_order)
#include <memory>
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/AnalogGyro.h"
#include "frc/AnalogInput.h"
namespace frc::sim {
TEST(AnalogGyroSimTest, InitializeGyro) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
EXPECT_FALSE(sim.GetInitialized());
BooleanCallback initializedCallback;
auto cb =
sim.RegisterInitializedCallback(initializedCallback.GetCallback(), false);
AnalogGyro gyro(0);
EXPECT_TRUE(sim.GetInitialized());
EXPECT_TRUE(initializedCallback.WasTriggered());
EXPECT_TRUE(initializedCallback.GetLastValue());
}
TEST(AnalogGyroSimTest, SetAngle) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
DoubleCallback callback;
AnalogInput ai(0);
AnalogGyro gyro(&ai);
auto cb = sim.RegisterAngleCallback(callback.GetCallback(), false);
EXPECT_EQ(0, gyro.GetAngle());
constexpr double kTestAngle = 35.04;
sim.SetAngle(kTestAngle);
EXPECT_EQ(kTestAngle, sim.GetAngle());
EXPECT_EQ(kTestAngle, gyro.GetAngle());
EXPECT_EQ(-kTestAngle, gyro.GetRotation2d().Degrees().value());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestAngle, callback.GetLastValue());
}
TEST(AnalogGyroSimTest, SetRate) {
HAL_Initialize(500, 0);
AnalogGyroSim sim{0};
DoubleCallback callback;
std::shared_ptr<AnalogInput> ai(new AnalogInput(0));
AnalogGyro gyro(ai);
auto cb = sim.RegisterRateCallback(callback.GetCallback(), false);
EXPECT_EQ(0, gyro.GetRate());
constexpr double kTestRate = -19.1;
sim.SetRate(kTestRate);
EXPECT_EQ(kTestRate, sim.GetRate());
EXPECT_EQ(kTestRate, gyro.GetRate());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(kTestRate, callback.GetLastValue());
}
TEST(AnalogGyroSimTest, Reset) {
HAL_Initialize(500, 0);
AnalogInput ai{0};
AnalogGyro gyro(&ai);
AnalogGyroSim sim(gyro);
sim.SetAngle(12.34);
sim.SetRate(43.21);
sim.ResetData();
EXPECT_EQ(0, sim.GetAngle());
EXPECT_EQ(0, sim.GetRate());
EXPECT_EQ(0, gyro.GetAngle());
EXPECT_EQ(0, gyro.GetRate());
}
} // namespace frc::sim

93
wpilibc/src/test/native/cpp/simulation/AnalogInputSimTest.cpp
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@@ -92,97 +92,4 @@ TEST(AnalogInputSimTest, SetAverageBits) {
EXPECT_EQ(3504, callback.GetLastValue());
}
TEST(AnalogInputSimTest, InitAccumulator) {
HAL_Initialize(500, 0);
AnalogInput input{0};
AnalogInputSim sim(input);
BooleanCallback callback;
auto cb =
sim.RegisterAccumulatorInitializedCallback(callback.GetCallback(), false);
input.InitAccumulator();
input.ResetAccumulator();
EXPECT_TRUE(sim.GetAccumulatorInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(AnalogInputSimTest, InitAccumulatorOnInvalidPort) {
HAL_Initialize(500, 0);
AnalogInput input{5};
AnalogInputSim sim(input);
BooleanCallback callback;
auto cb =
sim.RegisterAccumulatorInitializedCallback(callback.GetCallback(), false);
EXPECT_THROW(input.InitAccumulator(), std::runtime_error);
EXPECT_FALSE(callback.WasTriggered());
}
TEST(AnalogInputSimTest, SetAccumulatorValue) {
HAL_Initialize(500, 0);
AnalogInput input{0};
AnalogInputSim sim(input);
LongCallback callback;
auto cb = sim.RegisterAccumulatorValueCallback(callback.GetCallback(), false);
input.InitAccumulator();
sim.SetAccumulatorValue(3504191229);
EXPECT_EQ(3504191229, sim.GetAccumulatorValue());
EXPECT_EQ(3504191229, input.GetAccumulatorValue());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504191229, callback.GetLastValue());
}
TEST(AnalogInputSimTest, SetAccumulatorCount) {
HAL_Initialize(500, 0);
AnalogInput input{0};
AnalogInputSim sim(input);
LongCallback callback;
auto cb = sim.RegisterAccumulatorCountCallback(callback.GetCallback(), false);
input.InitAccumulator();
sim.SetAccumulatorCount(3504191229);
EXPECT_EQ(3504191229, sim.GetAccumulatorCount());
EXPECT_EQ(3504191229, input.GetAccumulatorCount());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504191229, callback.GetLastValue());
}
TEST(AnalogInputSimTest, SetAccumulatorDeadband) {
HAL_Initialize(500, 0);
AnalogInput input{0};
AnalogInputSim sim(input);
IntCallback callback;
auto cb =
sim.RegisterAccumulatorDeadbandCallback(callback.GetCallback(), false);
input.InitAccumulator();
input.SetAccumulatorDeadband(3504);
EXPECT_EQ(3504, sim.GetAccumulatorDeadband());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504, callback.GetLastValue());
}
TEST(AnalogInputSimTest, SetAccumulatorCenter) {
HAL_Initialize(500, 0);
AnalogInput input{0};
AnalogInputSim sim(input);
IntCallback callback;
auto cb =
sim.RegisterAccumulatorCenterCallback(callback.GetCallback(), false);
input.InitAccumulator();
input.SetAccumulatorCenter(3504);
EXPECT_EQ(3504, sim.GetAccumulatorCenter());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(3504, callback.GetLastValue());
}
} // namespace frc::sim

2
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
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@@ -8,7 +8,6 @@
#include <hal/HAL.h>
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogGyroSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
@@ -27,7 +26,6 @@ using namespace frc::sim;
TEST(SimInitializationTest, AllInitialize) {
HAL_Initialize(500, 0);
BuiltInAccelerometerSim biacsim;
AnalogGyroSim agsim{0};
AnalogInputSim aisim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);