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[hal, wpilib] Remove analog output (#7696)

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This commit is contained in:
Thad House
2025-01-16 23:20:44 -08:00
committed by GitHub
parent 5017393b3a
commit ff1b2a205e
45 changed files with 0 additions and 1685 deletions
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55
glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
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@@ -1,55 +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 "glass/hardware/AnalogOutput.h"
#include <string>
#include <wpi/StringExtras.h>
#include "glass/Context.h"
#include "glass/DataSource.h"
#include "glass/Storage.h"
#include "glass/other/DeviceTree.h"
using namespace glass;
void glass::DisplayAnalogOutputsDevice(AnalogOutputsModel* model) {
int count = 0;
model->ForEachAnalogOutput([&](auto&, int) { ++count; });
if (count == 0) {
return;
}
if (BeginDevice("Analog Outputs")) {
model->ForEachAnalogOutput([&](auto& analogOut, int i) {
auto analogOutData = analogOut.GetVoltageData();
if (!analogOutData) {
return;
}
PushID(i);
// build label
std::string& name = GetStorage().GetString("name");
char label[128];
if (!name.empty()) {
wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, i);
} else {
wpi::format_to_n_c_str(label, sizeof(label), "Out[{}]###name", i);
}
double value = analogOutData->GetValue();
DeviceDouble(label, true, &value, analogOutData);
if (PopupEditName("name", &name)) {
if (analogOutData) {
analogOutData->SetName(name);
}
}
PopID();
});
EndDevice();
}
}

30
glass/src/lib/native/include/glass/hardware/AnalogOutput.h
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@@ -1,30 +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
#include <wpi/function_ref.h>
#include "glass/Model.h"
namespace glass {
class DoubleSource;
class AnalogOutputModel : public Model {
public:
virtual DoubleSource* GetVoltageData() = 0;
virtual void SetVoltage(double val) = 0;
};
class AnalogOutputsModel : public Model {
public:
virtual void ForEachAnalogOutput(
wpi::function_ref<void(AnalogOutputModel& model, int index)> func) = 0;
};
void DisplayAnalogOutputsDevice(AnalogOutputsModel* model);
} // namespace glass

48
hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
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@@ -8,7 +8,6 @@ package edu.wpi.first.hal;
* Analog Input / Output / Accumulator / Trigger JNI Functions.
*
* @see "hal/AnalogInput.h"
* @see "hal/AnalogOutput.h"
* @see "hal/AnalogAccumulator.h"
* @see "hal/AnalogTrigger.h"
*/
@@ -48,23 +47,6 @@ public class AnalogJNI extends JNIWrapper {
*/
public static native void freeAnalogInputPort(int portHandle);
/**
* Initializes the analog output port using the given port object.
*
* @param halPortHandle handle to the port
* @return the created analog output handle
* @see "HAL_InitializeAnalogOutputPort"
*/
public static native int initializeAnalogOutputPort(int halPortHandle);
/**
* Frees an analog output port.
*
* @param portHandle the analog output handle
* @see "HAL_FreeAnalogOutputPort"
*/
public static native void freeAnalogOutputPort(int portHandle);
/**
* Checks that the analog module number is valid.
*
@@ -84,18 +66,6 @@ public class AnalogJNI extends JNIWrapper {
*/
public static native boolean checkAnalogInputChannel(int channel);
/**
* Checks that the analog output channel number is valid.
*
* <p>Verifies that the analog channel number is one of the legal channel numbers. Channel numbers
* are 0-based.
*
* @param channel The analog output channel number.
* @return Analog channel is valid
* @see "HAL_CheckAnalogOutputChannel"
*/
public static native boolean checkAnalogOutputChannel(int channel);
/**
* Indicates the analog input is used by a simulated device.
*
@@ -105,24 +75,6 @@ public class AnalogJNI extends JNIWrapper {
*/
public static native void setAnalogInputSimDevice(int handle, int device);
/**
* Sets an analog output value.
*
* @param portHandle the analog output handle
* @param voltage the voltage (0-5v) to output
* @see "HAL_SetAnalogOutput"
*/
public static native void setAnalogOutput(int portHandle, double voltage);
/**
* Gets the current analog output value.
*
* @param portHandle the analog output handle
* @return the current output voltage (0-5v)
* @see "HAL_GetAnalogOutput"
*/
public static native double getAnalogOutput(int portHandle);
/**
* Sets the sample rate.
*

8
hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
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@@ -34,14 +34,6 @@ public class PortsJNI extends JNIWrapper {
*/
public static native int getNumAnalogInputs();
/**
* Gets the number of analog outputs in the current system.
*
* @return the number of analog outputs
* @see "HAL_GetNumAnalogOutputs"
*/
public static native int getNumAnalogOutputs();
/**
* Gets the number of counters in the current system.
*

33
hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
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@@ -1,33 +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.
package edu.wpi.first.hal.simulation;
import edu.wpi.first.hal.JNIWrapper;
/** JNI for analog output data. */
public class AnalogOutDataJNI extends JNIWrapper {
public static native int registerVoltageCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelVoltageCallback(int index, int uid);
public static native double getVoltage(int index);
public static native void setVoltage(int index, double voltage);
public static native int registerInitializedCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelInitializedCallback(int index, int uid);
public static native boolean getInitialized(int index);
public static native void setInitialized(int index, boolean initialized);
public static native void resetData(int index);
/** Utility class. */
private AnalogOutDataJNI() {}
}

74
hal/src/main/native/cpp/jni/AnalogJNI.cpp
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@@ -12,7 +12,6 @@
#include "edu_wpi_first_hal_AnalogJNI.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogInput.h"
#include "hal/AnalogOutput.h"
#include "hal/AnalogTrigger.h"
#include "hal/Ports.h"
#include "hal/handles/HandlesInternal.h"
@@ -52,37 +51,6 @@ Java_edu_wpi_first_hal_AnalogJNI_freeAnalogInputPort
}
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: initializeAnalogOutputPort
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
HAL_AnalogOutputHandle analog = HAL_InitializeAnalogOutputPort(
(HAL_PortHandle)id, stack.c_str(), &status);
CheckStatusForceThrow(env, status);
return (jlong)analog;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: freeAnalogOutputPort
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AnalogJNI_freeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
if (id != HAL_kInvalidHandle) {
HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
}
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: checkAnalogModule
@@ -109,19 +77,6 @@ Java_edu_wpi_first_hal_AnalogJNI_checkAnalogInputChannel
return returnValue;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: checkAnalogOutputChannel
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_AnalogJNI_checkAnalogOutputChannel
(JNIEnv*, jclass, jint value)
{
jboolean returnValue = HAL_CheckAnalogOutputChannel(value);
return returnValue;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogInputSimDevice
@@ -135,35 +90,6 @@ Java_edu_wpi_first_hal_AnalogJNI_setAnalogInputSimDevice
(HAL_SimDeviceHandle)device);
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogOutput
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AnalogJNI_setAnalogOutput
(JNIEnv* env, jclass, jint id, jdouble voltage)
{
int32_t status = 0;
HAL_SetAnalogOutput((HAL_AnalogOutputHandle)id, voltage, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: getAnalogOutput
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_AnalogJNI_getAnalogOutput
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
double val = HAL_GetAnalogOutput((HAL_AnalogOutputHandle)id, &status);
CheckStatus(env, status);
return val;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogSampleRate

13
hal/src/main/native/cpp/jni/PortsJNI.cpp
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@@ -52,19 +52,6 @@ Java_edu_wpi_first_hal_PortsJNI_getNumAnalogInputs
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
* Method: getNumAnalogOutputs
* Signature: ()I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PortsJNI_getNumAnalogOutputs
(JNIEnv* env, jclass)
{
jint value = HAL_GetNumAnalogOutputs();
return value;
}
/*
* Class: edu_wpi_first_hal_PortsJNI
* Method: getNumCounters

127
hal/src/main/native/cpp/jni/simulation/AnalogOutDataJNI.cpp
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@@ -1,127 +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 <jni.h>
#include "CallbackStore.h"
#include "edu_wpi_first_hal_simulation_AnalogOutDataJNI.h"
#include "hal/simulation/AnalogOutData.h"
using namespace hal;
extern "C" {
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: registerVoltageCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_registerVoltageCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAnalogOutVoltageCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: cancelVoltageCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_cancelVoltageCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAnalogOutVoltageCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: getVoltage
* Signature: (I)D
*/
JNIEXPORT jdouble JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_getVoltage
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAnalogOutVoltage(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: setVoltage
* Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_setVoltage
(JNIEnv*, jclass, jint index, jdouble value)
{
HALSIM_SetAnalogOutVoltage(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: registerInitializedCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_registerInitializedCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterAnalogOutInitializedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: cancelInitializedCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_cancelInitializedCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelAnalogOutInitializedCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: getInitialized
* Signature: (I)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_getInitialized
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetAnalogOutInitialized(index);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: setInitialized
* Signature: (IZ)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_setInitialized
(JNIEnv*, jclass, jint index, jboolean value)
{
HALSIM_SetAnalogOutInitialized(index, value);
}
/*
* Class: edu_wpi_first_hal_simulation_AnalogOutDataJNI
* Method: resetData
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_AnalogOutDataJNI_resetData
(JNIEnv*, jclass, jint index)
{
HALSIM_ResetAnalogOutData(index);
}
} // extern "C"

72
hal/src/main/native/include/hal/AnalogOutput.h
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@@ -1,72 +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
#include <stdint.h>
#include "hal/Types.h"
/**
* @defgroup hal_analogoutput Analog Output Functions
* @ingroup hal_capi
* @{
*/
#ifdef __cplusplus
extern "C" {
#endif
/**
* Initializes the analog output port using the given port object.
*
* @param[in] portHandle handle to the port
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status Error status variable. 0 on success.
* @return the created analog output handle
*/
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
HAL_PortHandle portHandle, const char* allocationLocation, int32_t* status);
/**
* Frees an analog output port.
*
* @param analogOutputHandle the analog output handle
*/
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle);
/**
* Sets an analog output value.
*
* @param[in] analogOutputHandle the analog output handle
* @param[in] voltage the voltage (0-5v) to output
* @param[out] status Error status variable. 0 on success.
*/
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status);
/**
* Gets the current analog output value.
*
* @param[in] analogOutputHandle the analog output handle
* @param[out] status Error status variable. 0 on success.
* @return the current output voltage (0-5v)
*/
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status);
/**
* Checks that the analog output channel number is valid.
*
* Verifies that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel);
#ifdef __cplusplus
} // extern "C"
#endif
/** @} */

1
hal/src/main/native/include/hal/HAL.h
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@@ -10,7 +10,6 @@
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogGyro.h"
#include "hal/AnalogInput.h"
#include "hal/AnalogOutput.h"
#include "hal/AnalogTrigger.h"
#include "hal/CAN.h"
#include "hal/CANAPI.h"

7
hal/src/main/native/include/hal/Ports.h
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@@ -37,13 +37,6 @@ int32_t HAL_GetNumAnalogTriggers(void);
*/
int32_t HAL_GetNumAnalogInputs(void);
/**
* Gets the number of analog outputs in the current system.
*
* @return the number of analog outputs
*/
int32_t HAL_GetNumAnalogOutputs(void);
/**
* Gets the number of counters in the current system.
*

37
hal/src/main/native/include/hal/simulation/AnalogOutData.h
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@@ -1,37 +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
#include "hal/Types.h"
#include "hal/simulation/NotifyListener.h"
#ifdef __cplusplus
extern "C" {
#endif
void HALSIM_ResetAnalogOutData(int32_t index);
int32_t HALSIM_RegisterAnalogOutVoltageCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAnalogOutVoltageCallback(int32_t index, int32_t uid);
double HALSIM_GetAnalogOutVoltage(int32_t index);
void HALSIM_SetAnalogOutVoltage(int32_t index, double voltage);
int32_t HALSIM_RegisterAnalogOutInitializedCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelAnalogOutInitializedCallback(int32_t index, int32_t uid);
HAL_Bool HALSIM_GetAnalogOutInitialized(int32_t index);
void HALSIM_SetAnalogOutInitialized(int32_t index, HAL_Bool initialized);
void HALSIM_RegisterAnalogOutAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
#ifdef __cplusplus
} // extern "C"
#endif

111
hal/src/main/native/sim/AnalogOutput.cpp
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@@ -1,111 +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 "hal/AnalogOutput.h"
#include <string>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/IndexedHandleResource.h"
#include "mockdata/AnalogOutDataInternal.h"
using namespace hal;
namespace {
struct AnalogOutput {
uint8_t channel;
std::string previousAllocation;
};
} // namespace
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
analogOutputHandles;
namespace hal::init {
void InitializeAnalogOutput() {
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
aoH;
analogOutputHandles = &aoH;
}
} // namespace hal::init
extern "C" {
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
HAL_PortHandle portHandle, const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex || channel >= kNumAnalogOutputs) {
*status = RESOURCE_OUT_OF_RANGE;
hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for Analog Output",
0, kNumAnalogOutputs, channel);
return HAL_kInvalidHandle;
}
HAL_AnalogOutputHandle handle;
auto port = analogOutputHandles->Allocate(channel, &handle, status);
if (*status != 0) {
if (port) {
hal::SetLastErrorPreviouslyAllocated(status, "Analog Output", channel,
port->previousAllocation);
} else {
hal::SetLastErrorIndexOutOfRange(status,
"Invalid Index for Analog Output", 0,
kNumAnalogOutputs, channel);
}
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
port->channel = static_cast<uint8_t>(channel);
// Initialize sim analog input
SimAnalogOutData[channel].initialized = true;
port->previousAllocation = allocationLocation ? allocationLocation : "";
return handle;
}
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
// no status, so no need to check for a proper free.
auto port = analogOutputHandles->Get(analogOutputHandle);
if (port == nullptr) {
return;
}
analogOutputHandles->Free(analogOutputHandle);
SimAnalogOutData[port->channel].initialized = false;
}
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
return channel < kNumAnalogOutputs && channel >= 0;
}
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status) {
auto port = analogOutputHandles->Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimAnalogOutData[port->channel].voltage = voltage;
}
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status) {
auto port = analogOutputHandles->Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
return SimAnalogOutData[port->channel].voltage;
}
} // extern "C"

2
hal/src/main/native/sim/HAL.cpp
View File

@@ -70,7 +70,6 @@ void InitializeHAL() {
InitializeAddressableLEDData();
InitializeAnalogGyroData();
InitializeAnalogInData();
InitializeAnalogOutData();
InitializeAnalogTriggerData();
InitializeCanData();
InitializeCANAPI();
@@ -94,7 +93,6 @@ void InitializeHAL() {
InitializeAnalogGyro();
InitializeAnalogInput();
InitializeAnalogInternal();
InitializeAnalogOutput();
InitializeAnalogTrigger();
InitializeCAN();
InitializeConstants();

2
hal/src/main/native/sim/HALInitializer.h
View File

@@ -20,7 +20,6 @@ extern void InitializeAccelerometerData();
extern void InitializeAddressableLEDData();
extern void InitializeAnalogGyroData();
extern void InitializeAnalogInData();
extern void InitializeAnalogOutData();
extern void InitializeAnalogTriggerData();
extern void InitializeCanData();
extern void InitializeCANAPI();
@@ -45,7 +44,6 @@ extern void InitializeAnalogAccumulator();
extern void InitializeAnalogGyro();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeAnalogOutput();
extern void InitializeAnalogTrigger();
extern void InitializeCAN();
extern void InitializeConstants();

3
hal/src/main/native/sim/Ports.cpp
View File

@@ -22,9 +22,6 @@ int32_t HAL_GetNumAnalogTriggers(void) {
int32_t HAL_GetNumAnalogInputs(void) {
return kNumAnalogInputs;
}
int32_t HAL_GetNumAnalogOutputs(void) {
return kNumAnalogOutputs;
}
int32_t HAL_GetNumCounters(void) {
return kNumCounters;
}

44
hal/src/main/native/sim/mockdata/AnalogOutData.cpp
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@@ -1,44 +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 "../PortsInternal.h"
#include "AnalogOutDataInternal.h"
using namespace hal;
namespace hal::init {
void InitializeAnalogOutData() {
static AnalogOutData siod[kNumAnalogOutputs];
::hal::SimAnalogOutData = siod;
}
} // namespace hal::init
AnalogOutData* hal::SimAnalogOutData;
void AnalogOutData::ResetData() {
voltage.Reset(0.0);
initialized.Reset(0);
}
extern "C" {
void HALSIM_ResetAnalogOutData(int32_t index) {
SimAnalogOutData[index].ResetData();
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, AnalogOut##CAPINAME, \
SimAnalogOutData, LOWERNAME)
DEFINE_CAPI(double, Voltage, voltage)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
#define REGISTER(NAME) \
SimAnalogOutData[index].NAME.RegisterCallback(callback, param, initialNotify)
void HALSIM_RegisterAnalogOutAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(voltage);
REGISTER(initialized);
}
} // extern "C"

22
hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
View File

@@ -1,22 +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
#include "hal/simulation/AnalogOutData.h"
#include "hal/simulation/SimDataValue.h"
namespace hal {
class AnalogOutData {
HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
public:
SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{0};
virtual void ResetData();
};
extern AnalogOutData* SimAnalogOutData;
} // namespace hal

5
hal/src/main/native/sim/mockdata/Reset.cpp
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@@ -6,7 +6,6 @@
#include <hal/simulation/AddressableLEDData.h>
#include <hal/simulation/AnalogGyroData.h>
#include <hal/simulation/AnalogInData.h>
#include <hal/simulation/AnalogOutData.h>
#include <hal/simulation/AnalogTriggerData.h>
#include <hal/simulation/CTREPCMData.h>
#include <hal/simulation/CanData.h>
@@ -43,10 +42,6 @@ extern "C" void HALSIM_ResetAllSimData(void) {
HALSIM_ResetAnalogInData(i);
}
for (int32_t i = 0; i < hal::kNumAnalogOutputs; i++) {
HALSIM_ResetAnalogOutData(i);
}
for (int32_t i = 0; i < hal::kNumAnalogTriggers; i++) {
HALSIM_ResetAnalogTriggerData(i);
}

51
hal/src/main/native/systemcore/AnalogOutput.cpp
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@@ -1,51 +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 "hal/AnalogOutput.h"
#include <string>
#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/IndexedHandleResource.h"
using namespace hal;
namespace hal::init {
void InitializeAnalogOutput() {}
} // namespace hal::init
extern "C" {
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
HAL_PortHandle portHandle, const char* allocationLocation,
int32_t* status) {
hal::init::CheckInit();
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
return channel < kNumAnalogOutputs && channel >= 0;
}
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {}
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status) {
*status = HAL_HANDLE_ERROR;
return 0;
}
} // extern "C"

1
hal/src/main/native/systemcore/HAL.cpp
View File

@@ -53,7 +53,6 @@ void InitializeHAL() {
InitializeAnalogAccumulator();
InitializeAnalogGyro();
InitializeAnalogInput();
InitializeAnalogOutput();
InitializeAnalogTrigger();
InitializeCAN();
InitializeCANAPI();

1
hal/src/main/native/systemcore/HALInitializer.h
View File

@@ -24,7 +24,6 @@ extern void InitializeAnalogAccumulator();
extern void InitializeAnalogGyro();
extern void InitializeAnalogInput();
extern void InitializeAnalogInternal();
extern void InitializeAnalogOutput();
extern void InitializeAnalogTrigger();
extern void InitializeCAN();
extern void InitializeCANAPI();

3
hal/src/main/native/systemcore/Ports.cpp
View File

@@ -23,9 +23,6 @@ int32_t HAL_GetNumAnalogTriggers(void) {
int32_t HAL_GetNumAnalogInputs(void) {
return kNumAnalogInputs;
}
int32_t HAL_GetNumAnalogOutputs(void) {
return kNumAnalogOutputs;
}
int32_t HAL_GetNumCounters(void) {
return kNumCounters;
}

22
hal/src/main/native/systemcore/mockdata/AnalogOutData.cpp
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@@ -1,22 +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 "hal/simulation/AnalogOutData.h"
#include "hal/simulation/SimDataValue.h"
extern "C" {
void HALSIM_ResetAnalogOutData(int32_t index) {}
#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, AnalogOut##CAPINAME, RETURN)
DEFINE_CAPI(double, Voltage, 0)
DEFINE_CAPI(HAL_Bool, Initialized, false)
void HALSIM_RegisterAnalogOutAllCallbacks(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
}
} // extern "C"

88
hal/src/test/native/cpp/mockdata/AnalogOutDataTest.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 <string>
#include <gtest/gtest.h>
#include "hal/AnalogOutput.h"
#include "hal/HAL.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/simulation/AnalogOutData.h"
namespace hal {
std::string gTestAnalogOutCallbackName;
HAL_Value gTestAnalogOutCallbackValue;
void TestAnalogOutInitializationCallback(const char* name, void* param,
const struct HAL_Value* value) {
gTestAnalogOutCallbackName = name;
gTestAnalogOutCallbackValue = *value;
}
TEST(AnalogOutSimTest, AnalogOutInitialization) {
const int INDEX_TO_TEST = 1;
int callbackParam = 0;
int callbackId = HALSIM_RegisterAnalogOutInitializedCallback(
INDEX_TO_TEST, &TestAnalogOutInitializationCallback, &callbackParam,
false);
ASSERT_TRUE(0 != callbackId);
int32_t status = 0;
HAL_PortHandle portHandle;
HAL_DigitalHandle analogOutHandle;
// Use out of range index
portHandle = 8000;
gTestAnalogOutCallbackName = "Unset";
analogOutHandle =
HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogOutHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_OUT_OF_RANGE, status);
EXPECT_STREQ("Unset", gTestAnalogOutCallbackName.c_str());
// Successful setup
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
analogOutHandle =
HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogOutHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogOutCallbackName.c_str());
// Double initialize... should fail
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
analogOutHandle =
HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_EQ(HAL_kInvalidHandle, analogOutHandle);
EXPECT_EQ(HAL_USE_LAST_ERROR, status);
HAL_GetLastError(&status);
EXPECT_EQ(RESOURCE_IS_ALLOCATED, status);
EXPECT_STREQ("Unset", gTestAnalogOutCallbackName.c_str());
// Reset, should allow you to re-register
hal::HandleBase::ResetGlobalHandles();
HALSIM_ResetAnalogOutData(INDEX_TO_TEST);
callbackId = HALSIM_RegisterAnalogOutInitializedCallback(
INDEX_TO_TEST, &TestAnalogOutInitializationCallback, &callbackParam,
false);
status = 0;
portHandle = HAL_GetPort(INDEX_TO_TEST);
gTestAnalogOutCallbackName = "Unset";
analogOutHandle =
HAL_InitializeAnalogOutputPort(portHandle, nullptr, &status);
EXPECT_TRUE(HAL_kInvalidHandle != analogOutHandle);
EXPECT_EQ(0, status);
EXPECT_STREQ("Initialized", gTestAnalogOutCallbackName.c_str());
HALSIM_CancelAnalogOutInitializedCallback(INDEX_TO_TEST, callbackId);
}
} // namespace hal

92
simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.cpp
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@@ -1,92 +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 "AnalogOutputSimGui.h"
#include <memory>
#include <vector>
#include <glass/hardware/AnalogOutput.h>
#include <glass/other/DeviceTree.h>
#include <hal/Ports.h>
#include <hal/simulation/AnalogOutData.h>
#include "HALDataSource.h"
#include "HALSimGui.h"
#include "SimDeviceGui.h"
using namespace halsimgui;
namespace {
HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogOutVoltage, "AOut");
class AnalogOutputSimModel : public glass::AnalogOutputModel {
public:
explicit AnalogOutputSimModel(int32_t index)
: m_index{index}, m_voltageData{m_index} {}
void Update() override {}
bool Exists() override { return HALSIM_GetAnalogOutInitialized(m_index); }
glass::DoubleSource* GetVoltageData() override { return &m_voltageData; }
void SetVoltage(double val) override {
HALSIM_SetAnalogOutVoltage(m_index, val);
}
private:
int32_t m_index;
AnalogOutVoltageSource m_voltageData;
};
class AnalogOutputsSimModel : public glass::AnalogOutputsModel {
public:
AnalogOutputsSimModel() : m_models(HAL_GetNumAnalogOutputs()) {}
void Update() override;
bool Exists() override { return true; }
void ForEachAnalogOutput(
wpi::function_ref<void(glass::AnalogOutputModel& model, int index)> func)
override;
private:
// indexed by channel
std::vector<std::unique_ptr<AnalogOutputSimModel>> m_models;
};
} // namespace
void AnalogOutputsSimModel::Update() {
for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
++i) {
auto& model = m_models[i];
if (HALSIM_GetAnalogOutInitialized(i)) {
if (!model) {
model = std::make_unique<AnalogOutputSimModel>(i);
}
} else {
model.reset();
}
}
}
void AnalogOutputsSimModel::ForEachAnalogOutput(
wpi::function_ref<void(glass::AnalogOutputModel& 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 AnalogOutputSimGui::Initialize() {
SimDeviceGui::GetDeviceTree().Add(
std::make_unique<AnalogOutputsSimModel>(), [](glass::Model* model) {
glass::DisplayAnalogOutputsDevice(
static_cast<AnalogOutputsSimModel*>(model));
});
}

14
simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.h
View File

@@ -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 AnalogOutputSimGui {
public:
static void Initialize();
};
} // namespace halsimgui

2
simulation/halsim_gui/src/main/native/cpp/main.cpp
View File

@@ -19,7 +19,6 @@
#include "AddressableLEDGui.h"
#include "AnalogGyroSimGui.h"
#include "AnalogInputSimGui.h"
#include "AnalogOutputSimGui.h"
#include "DIOSimGui.h"
#include "DriverStationGui.h"
#include "EncoderSimGui.h"
@@ -79,7 +78,6 @@ __declspec(dllexport)
AddressableLEDGui::Initialize();
AnalogGyroSimGui::Initialize();
AnalogInputSimGui::Initialize();
AnalogOutputSimGui::Initialize();
DIOSimGui::Initialize();
NetworkTablesSimGui::Initialize();
PCMSimGui::Initialize();

1
simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
View File

@@ -40,7 +40,6 @@ bool HALSimWSClient::Initialize() {
HALSimWSProviderAddressableLED::Initialize(registerFunc);
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderAnalogOut::Initialize(registerFunc);
HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);

32
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Analog.cpp
View File

@@ -6,7 +6,6 @@
#include <hal/Ports.h>
#include <hal/simulation/AnalogInData.h>
#include <hal/simulation/AnalogOutData.h>
#define REGISTER_AIN(halsim, jsonid, ctype, haltype) \
HALSIM_RegisterAnalogIn##halsim##Callback( \
@@ -26,15 +25,6 @@
}, \
this, true)
#define REGISTER_AOUT(halsim, jsonid, ctype, haltype) \
HALSIM_RegisterAnalogOut##halsim##Callback( \
m_channel, \
[](const char* name, void* param, const struct HAL_Value* value) { \
static_cast<HALSimWSProviderAnalogOut*>(param)->ProcessHalCallback( \
{{jsonid, static_cast<ctype>(value->data.v_##haltype)}}); \
}, \
this, true)
namespace wpilibws {
void HALSimWSProviderAnalogIn::Initialize(WSRegisterFunc webRegisterFunc) {
@@ -108,26 +98,4 @@ void HALSimWSProviderAnalogIn::OnNetValueChanged(const wpi::json& json) {
}
}
void HALSimWSProviderAnalogOut::Initialize(WSRegisterFunc webRegisterFunc) {
CreateProviders<HALSimWSProviderAnalogOut>("AO", HAL_GetNumAnalogOutputs(),
webRegisterFunc);
}
HALSimWSProviderAnalogOut::~HALSimWSProviderAnalogOut() {
CancelCallbacks();
}
void HALSimWSProviderAnalogOut::RegisterCallbacks() {
m_initCbKey = REGISTER_AOUT(Initialized, "<init", bool, boolean);
m_voltageCbKey = REGISTER_AOUT(Voltage, "<voltage", double, double);
}
void HALSimWSProviderAnalogOut::CancelCallbacks() {
HALSIM_CancelAnalogOutInitializedCallback(m_channel, m_initCbKey);
HALSIM_CancelAnalogOutVoltageCallback(m_channel, m_voltageCbKey);
m_initCbKey = 0;
m_voltageCbKey = 0;
}
} // namespace wpilibws

17
simulation/halsim_ws_core/src/main/native/include/WSProvider_Analog.h
View File

@@ -36,21 +36,4 @@ class HALSimWSProviderAnalogIn : public HALSimWSHalChanProvider {
int32_t m_accumDeadbandCbKey = 0;
};
class HALSimWSProviderAnalogOut : public HALSimWSHalChanProvider {
public:
static void Initialize(WSRegisterFunc webRegisterFunc);
using HALSimWSHalChanProvider::HALSimWSHalChanProvider;
~HALSimWSProviderAnalogOut() override;
protected:
void RegisterCallbacks() override;
void CancelCallbacks() final;
void DoCancelCallbacks();
private:
int32_t m_initCbKey = 0;
int32_t m_voltageCbKey = 0;
};
} // namespace wpilibws

1
simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
View File

@@ -39,7 +39,6 @@ bool HALSimWSServer::Initialize() {
HALSimWSProviderAddressableLED::Initialize(registerFunc);
HALSimWSProviderAnalogIn::Initialize(registerFunc);
HALSimWSProviderAnalogOut::Initialize(registerFunc);
HALSimWSProviderBuiltInAccelerometer::Initialize(registerFunc);
HALSimWSProviderDIO::Initialize(registerFunc);
HALSimWSProviderDigitalPWM::Initialize(registerFunc);

61
wpilibc/src/main/native/cpp/AnalogOutput.cpp
View File

@@ -1,61 +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/AnalogOutput.h"
#include <string>
#include <hal/AnalogOutput.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
using namespace frc;
AnalogOutput::AnalogOutput(int channel) {
if (!SensorUtil::CheckAnalogOutputChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
m_channel = channel;
HAL_PortHandle port = HAL_GetPort(m_channel);
int32_t status = 0;
std::string stackTrace = wpi::GetStackTrace(1);
m_port = HAL_InitializeAnalogOutputPort(port, stackTrace.c_str(), &status);
FRC_CheckErrorStatus(status, "Channel {}", channel);
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
}
void AnalogOutput::SetVoltage(double voltage) {
int32_t status = 0;
HAL_SetAnalogOutput(m_port, voltage, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
double AnalogOutput::GetVoltage() const {
int32_t status = 0;
double voltage = HAL_GetAnalogOutput(m_port, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return voltage;
}
int AnalogOutput::GetChannel() const {
return m_channel;
}
void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Output");
builder.AddDoubleProperty(
"Value", [=, this] { return GetVoltage(); },
[=, this](double value) { SetVoltage(value); });
}

9
wpilibc/src/main/native/cpp/SensorUtil.cpp
View File

@@ -5,7 +5,6 @@
#include "frc/SensorUtil.h"
#include <hal/AnalogInput.h>
#include <hal/AnalogOutput.h>
#include <hal/DIO.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
@@ -32,10 +31,6 @@ bool SensorUtil::CheckAnalogInputChannel(int channel) {
return HAL_CheckAnalogInputChannel(channel);
}
bool SensorUtil::CheckAnalogOutputChannel(int channel) {
return HAL_CheckAnalogOutputChannel(channel);
}
int SensorUtil::GetNumDigitalChannels() {
return HAL_GetNumDigitalChannels();
}
@@ -44,10 +39,6 @@ int SensorUtil::GetNumAnalogInputs() {
return HAL_GetNumAnalogInputs();
}
int SensorUtil::GetNumAnalogOuputs() {
return HAL_GetNumAnalogOutputs();
}
int SensorUtil::GetNumPwmChannels() {
return HAL_GetNumPWMChannels();
}

57
wpilibc/src/main/native/cpp/simulation/AnalogOutputSim.cpp
View File

@@ -1,57 +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/AnalogOutputSim.h"
#include <memory>
#include <hal/simulation/AnalogOutData.h>
#include "frc/AnalogOutput.h"
using namespace frc;
using namespace frc::sim;
AnalogOutputSim::AnalogOutputSim(const AnalogOutput& analogOutput)
: m_index{analogOutput.GetChannel()} {}
AnalogOutputSim::AnalogOutputSim(int channel) : m_index{channel} {}
std::unique_ptr<CallbackStore> AnalogOutputSim::RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogOutVoltageCallback);
store->SetUid(HALSIM_RegisterAnalogOutVoltageCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
double AnalogOutputSim::GetVoltage() const {
return HALSIM_GetAnalogOutVoltage(m_index);
}
void AnalogOutputSim::SetVoltage(double voltage) {
HALSIM_SetAnalogOutVoltage(m_index, voltage);
}
std::unique_ptr<CallbackStore> AnalogOutputSim::RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
m_index, -1, callback, &HALSIM_CancelAnalogOutInitializedCallback);
store->SetUid(HALSIM_RegisterAnalogOutInitializedCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
bool AnalogOutputSim::GetInitialized() const {
return HALSIM_GetAnalogOutInitialized(m_index);
}
void AnalogOutputSim::SetInitialized(bool initialized) {
HALSIM_SetAnalogOutInitialized(m_index, initialized);
}
void AnalogOutputSim::ResetData() {
HALSIM_ResetAnalogOutData(m_index);
}

60
wpilibc/src/main/native/include/frc/AnalogOutput.h
View File

@@ -1,60 +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
#include <hal/AnalogOutput.h>
#include <hal/Types.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
/**
* MXP analog output class.
*/
class AnalogOutput : public wpi::Sendable,
public wpi::SendableHelper<AnalogOutput> {
public:
/**
* Construct an analog output on the given channel.
*
* All analog outputs are located on the MXP port.
*
* @param channel The channel number on the roboRIO to represent.
*/
explicit AnalogOutput(int channel);
AnalogOutput(AnalogOutput&&) = default;
AnalogOutput& operator=(AnalogOutput&&) = default;
~AnalogOutput() override = default;
/**
* Set the value of the analog output.
*
* @param voltage The output value in Volts, from 0.0 to +5.0.
*/
void SetVoltage(double voltage);
/**
* Get the voltage of the analog output.
*
* @return The value in Volts, from 0.0 to +5.0.
*/
double GetVoltage() const;
/**
* Get the channel of this AnalogOutput.
*/
int GetChannel() const;
void InitSendable(wpi::SendableBuilder& builder) override;
protected:
int m_channel;
hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> m_port;
};
} // namespace frc

11
wpilibc/src/main/native/include/frc/SensorUtil.h
View File

@@ -58,19 +58,8 @@ class SensorUtil final {
*/
static bool CheckAnalogInputChannel(int channel);
/**
* Check that the analog output number is valid.
*
* Verify that the analog output number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
static bool CheckAnalogOutputChannel(int channel);
static int GetNumDigitalChannels();
static int GetNumAnalogInputs();
static int GetNumAnalogOuputs();
static int GetNumPwmChannels();
};

95
wpilibc/src/main/native/include/frc/simulation/AnalogOutputSim.h
View File

@@ -1,95 +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
#include <memory>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class AnalogOutput;
namespace sim {
/**
* Class to control a simulated analog output.
*/
class AnalogOutputSim {
public:
/**
* Constructs from an AnalogOutput object.
*
* @param analogOutput AnalogOutput to simulate
*/
explicit AnalogOutputSim(const AnalogOutput& analogOutput);
/**
* Constructs from an analog output channel number.
*
* @param channel Channel number
*/
explicit AnalogOutputSim(int channel);
/**
* Register a callback to be run whenever the voltage changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify);
/**
* Read the analog output voltage.
*
* @return the voltage on this analog output
*/
double GetVoltage() const;
/**
* Set the analog output voltage.
*
* @param voltage the new voltage on this analog output
*/
void SetVoltage(double voltage);
/**
* Register a callback to be run when this analog output is initialized.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether this analog output has been initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Define whether this analog output has been initialized.
*
* @param initialized whether this object is initialized
*/
void SetInitialized(bool initialized);
/**
* Reset all simulation data on this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc

89
wpilibc/src/test/native/cpp/simulation/AnalogOutputSimTest.cpp
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@@ -1,89 +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/AnalogOutputSim.h" // NOLINT(build/include_order)
#include <gtest/gtest.h>
#include <hal/HAL.h>
#include "callback_helpers/TestCallbackHelpers.h"
#include "frc/AnalogOutput.h"
namespace frc::sim {
TEST(AnalogOutputSimTest, Initialize) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
EXPECT_FALSE(outputSim.GetInitialized());
BooleanCallback callback;
auto cb =
outputSim.RegisterInitializedCallback(callback.GetCallback(), false);
AnalogOutput output(0);
EXPECT_TRUE(outputSim.GetInitialized());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
TEST(AnalogOutputSimTest, SetCallback) {
HAL_Initialize(500, 0);
AnalogOutput output{0};
output.SetVoltage(0.5);
AnalogOutputSim outputSim(output);
DoubleCallback voltageCallback;
auto cb =
outputSim.RegisterVoltageCallback(voltageCallback.GetCallback(), false);
EXPECT_FALSE(voltageCallback.WasTriggered());
for (int i = 0; i < 50; ++i) {
double voltage = i * .1;
voltageCallback.Reset();
output.SetVoltage(0);
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i > 2) {
EXPECT_TRUE(voltageCallback.WasTriggered()) << " on " << i;
EXPECT_NEAR(voltageCallback.GetLastValue(), 0, 0.001) << " on " << i;
}
voltageCallback.Reset();
output.SetVoltage(voltage);
EXPECT_EQ(voltage, output.GetVoltage());
EXPECT_EQ(voltage, outputSim.GetVoltage());
// 0 -> 0 isn't a change, so callback not called
if (i != 0) {
EXPECT_TRUE(voltageCallback.WasTriggered());
EXPECT_NEAR(voltageCallback.GetLastValue(), voltage, 0.001);
}
}
}
TEST(AnalogOutputSimTest, Reset) {
HAL_Initialize(500, 0);
AnalogOutputSim outputSim{0};
AnalogOutput output{0};
output.SetVoltage(1.2);
outputSim.ResetData();
EXPECT_EQ(0, output.GetVoltage());
EXPECT_EQ(0, outputSim.GetVoltage());
}
} // namespace frc::sim

2
wpilibc/src/test/native/cpp/simulation/SimInitializationTest.cpp
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@@ -10,7 +10,6 @@
#include "frc/simulation/AddressableLEDSim.h"
#include "frc/simulation/AnalogGyroSim.h"
#include "frc/simulation/AnalogInputSim.h"
#include "frc/simulation/AnalogOutputSim.h"
#include "frc/simulation/AnalogTriggerSim.h"
#include "frc/simulation/BuiltInAccelerometerSim.h"
#include "frc/simulation/CTREPCMSim.h"
@@ -31,7 +30,6 @@ TEST(SimInitializationTest, AllInitialize) {
BuiltInAccelerometerSim biacsim;
AnalogGyroSim agsim{0};
AnalogInputSim aisim{0};
AnalogOutputSim aosim{0};
EXPECT_THROW(AnalogTriggerSim::CreateForChannel(0), std::out_of_range);
EXPECT_THROW(DigitalPWMSim::CreateForChannel(0), std::out_of_range);
DIOSim diosim{0};

76
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
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@@ -1,76 +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.
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/** Analog output class. */
public class AnalogOutput implements Sendable, AutoCloseable {
private int m_port;
private int m_channel;
/**
* Construct an analog output on a specified MXP channel.
*
* @param channel The channel number to represent.
*/
@SuppressWarnings("this-escape")
public AnalogOutput(final int channel) {
SensorUtil.checkAnalogOutputChannel(channel);
m_channel = channel;
final int portHandle = HAL.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);
HAL.report(tResourceType.kResourceType_AnalogOutput, channel + 1);
SendableRegistry.addLW(this, "AnalogOutput", channel);
}
@Override
public void close() {
SendableRegistry.remove(this);
AnalogJNI.freeAnalogOutputPort(m_port);
m_port = 0;
m_channel = 0;
}
/**
* Get the channel of this AnalogOutput.
*
* @return The channel of this AnalogOutput.
*/
public int getChannel() {
return m_channel;
}
/**
* Set the value of the analog output.
*
* @param voltage The output value in Volts, from 0.0 to +5.0.
*/
public void setVoltage(double voltage) {
AnalogJNI.setAnalogOutput(m_port, voltage);
}
/**
* Get the voltage of the analog output.
*
* @return The value in Volts, from 0.0 to +5.0.
*/
public double getVoltage() {
return AnalogJNI.getAnalogOutput(m_port);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Analog Output");
builder.addDoubleProperty("Value", this::getVoltage, this::setVoltage);
}
}

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
View File

@@ -25,9 +25,6 @@ public final class SensorUtil {
/** Number of analog input channels per roboRIO. */
public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
/** Number of analog output channels per roboRIO. */
public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
/** Number of solenoid channels per module. */
public static final int kCTRESolenoidChannels = PortsJNI.getNumCTRESolenoidChannels();
@@ -100,23 +97,6 @@ public final class SensorUtil {
}
}
/**
* Check that the analog input number is value. Verify that the analog input number is one of the
* legal channel numbers. Channel numbers are 0-based.
*
* @param channel The channel number to check.
*/
public static void checkAnalogOutputChannel(final int channel) {
if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
String buf =
"Requested analog output channel is out of range. Minimum: 0, Maximum: "
+ kAnalogOutputChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}
/**
* Get the number of the default solenoid module.
*

97
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSim.java
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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.
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.hal.simulation.AnalogOutDataJNI;
import edu.wpi.first.hal.simulation.NotifyCallback;
import edu.wpi.first.wpilibj.AnalogOutput;
/** Class to control a simulated analog output. */
public class AnalogOutputSim {
private final int m_index;
/**
* Constructs from an AnalogOutput object.
*
* @param analogOutput AnalogOutput to simulate
*/
public AnalogOutputSim(AnalogOutput analogOutput) {
m_index = analogOutput.getChannel();
}
/**
* Constructs from an analog output channel number.
*
* @param channel Channel number
*/
public AnalogOutputSim(int channel) {
m_index = channel;
}
/**
* Register a callback to be run whenever the voltage changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerVoltageCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogOutDataJNI.registerVoltageCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelVoltageCallback);
}
/**
* Read the analog output voltage.
*
* @return the voltage on this analog output
*/
public double getVoltage() {
return AnalogOutDataJNI.getVoltage(m_index);
}
/**
* Set the analog output voltage.
*
* @param voltage the new voltage on this analog output
*/
public void setVoltage(double voltage) {
AnalogOutDataJNI.setVoltage(m_index, voltage);
}
/**
* Register a callback to be run when this analog output is initialized.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the {@link CallbackStore} object associated with this callback.
*/
public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
int uid = AnalogOutDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
return new CallbackStore(m_index, uid, AnalogOutDataJNI::cancelInitializedCallback);
}
/**
* Check whether this analog output has been initialized.
*
* @return true if initialized
*/
public boolean getInitialized() {
return AnalogOutDataJNI.getInitialized(m_index);
}
/**
* Define whether this analog output has been initialized.
*
* @param initialized whether this object is initialized
*/
public void setInitialized(boolean initialized) {
AnalogOutDataJNI.setInitialized(m_index, initialized);
}
/** Reset all simulation data on this object. */
public void resetData() {
AnalogOutDataJNI.resetData(m_index);
}
}

5
wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java
View File

@@ -15,11 +15,6 @@ class SensorUtilTest {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkAnalogInputChannel(100));
}
@Test
void checkAnalogOutputChannel() {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkAnalogOutputChannel(100));
}
@Test
void testInvalidDigitalChannel() {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkDigitalChannel(100));

84
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogOutputSimTest.java
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@@ -1,84 +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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import org.junit.jupiter.api.Test;
class AnalogOutputSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
AnalogOutputSim outputSim = new AnalogOutputSim(0);
assertFalse(outputSim.getInitialized());
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = outputSim.registerInitializedCallback(callback, false);
AnalogOutput output = new AnalogOutput(0)) {
assertTrue(outputSim.getInitialized());
}
}
@Test
void setCallbackTest() {
HAL.initialize(500, 0);
try (AnalogOutput output = new AnalogOutput(0)) {
output.setVoltage(0.5);
AnalogOutputSim outputSim = new AnalogOutputSim(output);
DoubleCallback voltageCallback = new DoubleCallback();
try (CallbackStore cb = outputSim.registerVoltageCallback(voltageCallback, false)) {
assertFalse(voltageCallback.wasTriggered());
for (double i = 0.1; i < 5.0; i += 0.1) {
voltageCallback.reset();
output.setVoltage(0);
assertEquals(0, output.getVoltage());
assertEquals(0, outputSim.getVoltage());
assertTrue(voltageCallback.wasTriggered());
assertEquals(voltageCallback.getSetValue(), 0, 0.001);
voltageCallback.reset();
output.setVoltage(i);
assertEquals(i, output.getVoltage());
assertEquals(i, outputSim.getVoltage());
assertTrue(voltageCallback.wasTriggered());
assertEquals(voltageCallback.getSetValue(), i, 0.001);
}
}
}
}
@Test
void testReset() {
HAL.initialize(500, 0);
AnalogOutputSim outputSim = new AnalogOutputSim(0);
try (AnalogOutput output = new AnalogOutput(0)) {
output.setVoltage(1.2);
outputSim.resetData();
assertEquals(0, output.getVoltage());
assertEquals(0, outputSim.getVoltage());
}
}
}