mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
d447c7dc32
Better parallelism with SimDevice.create(), so teams don't have to mess with concatenating the index/channel themselves.
75 lines
2.1 KiB
C++
75 lines
2.1 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 "frc/simulation/SimDeviceSim.h"
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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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#include <wpi/SmallString.h>
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#include <wpi/raw_ostream.h>
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using namespace frc;
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using namespace frc::sim;
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SimDeviceSim::SimDeviceSim(const char* name)
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: m_handle{HALSIM_GetSimDeviceHandle(name)} {}
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SimDeviceSim::SimDeviceSim(const char* name, int index) {
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wpi::SmallString<128> fullname;
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wpi::raw_svector_ostream os(fullname);
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os << name << '[' << index << ']';
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m_handle = HALSIM_GetSimDeviceHandle(fullname.c_str());
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}
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SimDeviceSim::SimDeviceSim(const char* name, int index, int channel) {
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wpi::SmallString<128> fullname;
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wpi::raw_svector_ostream os(fullname);
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os << name << '[' << index << ',' << channel << ']';
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m_handle = HALSIM_GetSimDeviceHandle(fullname.c_str());
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}
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hal::SimValue SimDeviceSim::GetValue(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimInt SimDeviceSim::GetInt(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimLong SimDeviceSim::GetLong(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimDouble SimDeviceSim::GetDouble(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimEnum SimDeviceSim::GetEnum(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimBoolean SimDeviceSim::GetBoolean(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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std::vector<std::string> SimDeviceSim::GetEnumOptions(hal::SimEnum val) {
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int32_t numOptions;
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const char** options = HALSIM_GetSimValueEnumOptions(val, &numOptions);
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std::vector<std::string> rv;
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rv.reserve(numOptions);
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for (int32_t i = 0; i < numOptions; ++i) {
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rv.emplace_back(options[i]);
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}
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return rv;
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}
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void SimDeviceSim::ResetData() {
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HALSIM_ResetSimDeviceData();
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}
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