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https://github.com/wpilibsuite/allwpilib
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84 lines
2.8 KiB
C++
84 lines
2.8 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 "../PortsInternal.h"
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#include "CTREPCMDataInternal.h"
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using namespace wpi::hal;
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namespace wpi::hal::init {
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void InitializeCTREPCMData() {
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static CTREPCMData spd[kNumCTREPCMModules];
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::wpi::hal::SimCTREPCMData = spd;
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}
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} // namespace wpi::hal::init
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CTREPCMData* wpi::hal::SimCTREPCMData;
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void CTREPCMData::ResetData() {
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for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
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solenoidOutput[i].Reset(false);
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}
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initialized.Reset(false);
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compressorOn.Reset(false);
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closedLoopEnabled.Reset(true);
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pressureSwitch.Reset(false);
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compressorCurrent.Reset(0.0);
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}
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extern "C" {
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void HALSIM_ResetCTREPCMData(int32_t index) {
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SimCTREPCMData[index].ResetData();
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, CTREPCM##CAPINAME, \
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SimCTREPCMData, LOWERNAME)
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HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, CTREPCMSolenoidOutput,
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SimCTREPCMData, solenoidOutput)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
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DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
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DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
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DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
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void HALSIM_GetCTREPCMAllSolenoids(int32_t index, uint8_t* values) {
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auto& data = SimCTREPCMData[index].solenoidOutput;
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uint8_t ret = 0;
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for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
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ret |= (data[i] << i);
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}
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*values = ret;
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}
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void HALSIM_SetCTREPCMAllSolenoids(int32_t index, uint8_t values) {
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auto& data = SimCTREPCMData[index].solenoidOutput;
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for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
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data[i] = (values & 0x1) != 0;
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values >>= 1;
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}
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}
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#define REGISTER(NAME) \
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SimCTREPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(initialized);
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REGISTER(compressorOn);
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REGISTER(closedLoopEnabled);
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REGISTER(pressureSwitch);
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REGISTER(compressorCurrent);
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}
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void HALSIM_RegisterCTREPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(solenoidOutput[channel]);
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}
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} // extern "C"
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