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Fixed C++ side of artf2604 in FRCSim - synchronized C++ codebases, updated examples.

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Change-Id: I2fdc9deb4c8e249448dcbda4214fd900c2bc4ea8
This commit is contained in:
Colby Skeggs
2014-06-24 10:37:02 -07:00
parent 02e19a0147
commit ff597e6ac4
72 changed files with 763 additions and 861 deletions
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64
wpilibc/wpilibC++Sim/src/DriverStation.cpp
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@@ -22,7 +22,6 @@ TLogLevel dsLogLevel = logDEBUG;
if (level > dsLogLevel) ; \
else Log().Get(level)
const uint32_t DriverStation::kBatteryModuleNumber;
const uint32_t DriverStation::kBatteryChannel;
const uint32_t DriverStation::kJoystickPorts;
const uint32_t DriverStation::kJoystickAxes;
@@ -36,7 +35,7 @@ uint8_t DriverStation::m_updateNumber = 0;
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_digitalOut (0)
: m_digitalOut (0)
, m_waitForDataSem(0)
, m_approxMatchTimeOffset(-1.0)
, m_userInDisabled(false)
@@ -46,25 +45,25 @@ DriverStation::DriverStation()
{
// Create a new semaphore
m_waitForDataSem = initializeMultiWait();
m_stateSemaphore = initializeMutexRecursive();
m_joystickSemaphore = initializeMutexRecursive();
m_stateSemaphore = initializeMutexRecursive();
m_joystickSemaphore = initializeMutexRecursive();
state = msgs::DriverStationPtr(new msgs::DriverStation());
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[1] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/3",
&DriverStation::joystickCallback3, this);
joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
state = msgs::DriverStationPtr(new msgs::DriverStation());
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[1] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/3",
&DriverStation::joystickCallback3, this);
joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
AddToSingletonList();
}
@@ -73,6 +72,7 @@ DriverStation::~DriverStation()
{
m_instance = NULL;
deleteMultiWait(m_waitForDataSem);
// TODO: Release m_stateSemaphore and m_joystickSemaphore?
}
/**
@@ -88,16 +88,16 @@ DriverStation* DriverStation::GetInstance()
}
/**
* Read the battery voltage from the specified AnalogChannel.
*
* Read the battery voltage from the specified AnalogInput.
*
* This accessor assumes that the battery voltage is being measured
* through the voltage divider on an analog breakout.
*
*
* @return The battery voltage.
*/
float DriverStation::GetBatteryVoltage()
{
return 12.0; // 12 volts all the time!
return 12.0; // 12 volts all the time!
}
/**
@@ -156,7 +156,7 @@ bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
/**
* The state of the buttons on the joystick.
* 12 buttons (4 msb are unused) from the joystick.
*
*
* @param stick The joystick to read.
* @return The state of the buttons on the joystick.
*/
@@ -189,14 +189,14 @@ short DriverStation::GetStickButtons(uint32_t stick)
* The analog values are returned as voltage values for the Driver Station analog inputs.
* These inputs are typically used for advanced operator interfaces consisting of potentiometers
* or resistor networks representing values on a rotary switch.
*
*
* @param channel The analog input channel on the driver station to read from. Valid range is 1 - 4.
* @return The analog voltage on the input.
*/
float DriverStation::GetAnalogIn(uint32_t channel)
{
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetAnalogIn");
return 0.0;
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetAnalogIn");
return 0.0;
}
/**
@@ -207,8 +207,8 @@ float DriverStation::GetAnalogIn(uint32_t channel)
*/
bool DriverStation::GetDigitalIn(uint32_t channel)
{
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalIn");
return false;
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalIn");
return false;
}
/**
@@ -220,7 +220,7 @@ bool DriverStation::GetDigitalIn(uint32_t channel)
* @param channel The digital output to set. Valid range is 1 - 8.
* @param value The state to set the digital output.
*/
void DriverStation::SetDigitalOut(uint32_t channel, bool value)
void DriverStation::SetDigitalOut(uint32_t channel, bool value)
{
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "SetDigitalOut");
}
@@ -230,7 +230,7 @@ void DriverStation::SetDigitalOut(uint32_t channel, bool value)
* @param channel The digital ouput to monitor. Valid range is 1 through 8.
* @return A digital value being output on the Drivers Station.
*/
bool DriverStation::GetDigitalOut(uint32_t channel)
bool DriverStation::GetDigitalOut(uint32_t channel)
{
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalOut");
}