In roborio GCC 5.5, __FRC_ROBORIO__ has been added directly to the
compiler. So we can instead use that to detect if we are build for the
roborio, and in a much more reliable way.
Also adds function that can register all the callbacks at once.
Since all of the callbacks issue a string identifier, it makes it
possible and easy to have one function callback, and differentiate the
path to take based on the string. Hooking up all the callbacks at once
makes it easier for the simulator developer to know when something was
added to wpilib rather than looking at the commits.
This race was caused by holding a lock while calling into FRC_ChipObject,
which was waiting for the callback to exit before returning, and our
callback wanted to grab the same lock.
Added callback scheme for a pass through to something higher
level. Since the ID is embedded into the arbitration ID, and some
devices can use different schemes whether it is plugged in through a
device or put into the daisy chain (pigeonImu), I made one "internal
data object" for max reusability.
This avoids a direct byte buffer allocation on every read/write/transaction
on the byte[] variants.
Changes HAL I2C interfaces to use const for dataToSend.
This avoids a direct byte buffer allocation on every read/write/transaction
for the byte[] variants.
Also change spiGetAccumulatorOutput() to directly set the AccumulatorResult
object, avoiding a ByteBuffer allocation.
Changes HAL SPI interfaces to use const for dataToSend.
Fixes#733.
Since all of the callbacks issue a string identifier, it makes it
possible and easy to have one function callback, and differentiate the
path to take based on the string. Hooking up all the callbacks at once
makes it easier for the simulator developer to know when something was
added to wpilib rather than looking at the commits.
* Creating SPI and I2C simulation abilities
* Update the callback helpers to support different function callback
types
* Create callback type that uses a buffer
* Created I2C/SPI data classes that manage the callbacks and don't do
much of anything else
* Ran format, cleaned up some issues
* Modify halsim to be able to load extension libraries if they are available.
It will read the list of libraries to try from the HALSIM_EXTENSIONS
environment variable. Multiple libraries can be given if separated
by ';' (Windows) or ':' (Unix).
The library must have an 'HALSIM_InitExtension' method that returns >= 0 on success.
The library is expected to use the interface expressed by
hal/src/src/main/native/include/MockData
* Add a simple halsim library that just prints robot values.
This makes a good test bed for cross platform purposes,
and provides the ultimate in light weight simulators.
This initial version only prints PWM values.
