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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
52 lines
1.5 KiB
C++
52 lines
1.5 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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#include <iostream>
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#include <hal/Ports.h>
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#include "GazeboAnalogIn.h"
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#include "GazeboDIO.h"
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#include "GazeboEncoder.h"
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#include "GazeboPCM.h"
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#include "GazeboPWM.h"
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#include "HALSimGazebo.h"
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/* Currently, robots never terminate, so we keep a single static object
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to access Gazebo with and it is never properly released or cleaned up. */
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static HALSimGazebo halsim;
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extern "C" {
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int HALSIM_InitExtension(void) {
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std::cout << "Gazebo Simulator Initializing." << std::endl;
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if (!halsim.node.Connect()) {
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std::cerr << "Error: unable to connect to Gazebo. Is it running?."
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<< std::endl;
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return -1;
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}
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std::cout << "Gazebo Simulator Connected." << std::endl;
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for (int i = 0; i < HALSimGazebo::kPWMCount; i++)
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halsim.pwms[i] = new GazeboPWM(i, &halsim);
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for (int i = 0; i < HALSimGazebo::kPCMCount; i++)
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halsim.pcms[i] = new GazeboPCM(0, i, &halsim);
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GazeboPCM_SetPressureSwitch(0, true);
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for (int i = 0; i < HALSimGazebo::kEncoderCount; i++)
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halsim.encoders[i] = new GazeboEncoder(i, &halsim);
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int analog_in_count = HAL_GetNumAnalogInputs();
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for (int i = 0; i < analog_in_count; i++)
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halsim.analog_inputs.push_back(new GazeboAnalogIn(i, &halsim));
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int dio_count = HAL_GetNumDigitalChannels();
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for (int i = 0; i < dio_count; i++)
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halsim.dios.push_back(new GazeboDIO(i, &halsim));
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return 0;
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}
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} // extern "C"
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