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bc80c55353
This enables correct behavior for resetting incremental sensor values like encoder counts or gyro accumulated angle with WebSockets.
132 lines
3.2 KiB
C++
132 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <string>
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#include <vector>
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#include <hal/SimDevice.h>
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#include <hal/simulation/SimDeviceData.h>
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namespace frc::sim {
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/**
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* Class to control the simulation side of a SimDevice.
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*/
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class SimDeviceSim {
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public:
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/**
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* Constructs a SimDeviceSim.
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*
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* @param name name of the SimDevice
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*/
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explicit SimDeviceSim(const char* name);
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimValue GetValue(const char* name) const;
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimInt GetInt(const char* name) const;
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimLong GetLong(const char* name) const;
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimDouble GetDouble(const char* name) const;
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimEnum GetEnum(const char* name) const;
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/**
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* Get the property object with the given name.
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*
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* @param name the property name
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* @return the property object
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*/
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hal::SimBoolean GetBoolean(const char* name) const;
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/**
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* Get all options for the given enum.
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*
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* @param val the enum
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* @return names of the different values for that enum
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*/
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static std::vector<std::string> GetEnumOptions(hal::SimEnum val);
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/**
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* Get all properties.
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*
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* @param callback callback called for each property (SimValue). Signature
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* of the callback must be const char*, HAL_SimValueHandle,
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* int, const HAL_Value*
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*/
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template <typename F>
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void EnumerateValues(F callback) const {
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return HALSIM_EnumerateSimValues(
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m_handle, &callback,
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[](const char* name, void* param, HAL_SimValueHandle handle,
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int direction, const struct HAL_Value* value) {
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std::invoke(*static_cast<F*>(param), name, handle, direction, value);
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});
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}
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/**
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* Get the raw handle of this object.
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*
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* @return the handle used to refer to this object
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*/
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operator HAL_SimDeviceHandle() const { return m_handle; } // NOLINT
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/**
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* Get all sim devices with the given prefix.
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*
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* @param prefix the prefix to filter sim devices
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* @param callback callback function to call for each sim device
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*/
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template <typename F>
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static void EnumerateDevices(const char* prefix, F callback) {
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return HALSIM_EnumerateSimDevices(
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prefix, &callback,
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[](const char* name, void* param, HAL_SimDeviceHandle handle) {
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std::invoke(*static_cast<F*>(param), name, handle);
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});
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}
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/**
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* Reset all SimDevice data.
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*/
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static void ResetData();
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private:
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HAL_SimDeviceHandle m_handle;
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};
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} // namespace frc::sim
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