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https://github.com/wpilibsuite/allwpilib
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ce3bc91946
Also move some things in HAL for consistency. WAS: C++: - C APIs: #include "mockdata/AccelerometerData.h" - User side class: #include "simulation/AccelerometerSim.h" Java: - JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim) - User side classes: hal.sim.AccelerometerSim IS: C++: - C APIs: #include "hal/simulation/AccelerometerData.h" - C++ class: #include "frc/simulation/AccelerometerSim.h" Java: - JNI APIs: hal.simulation.AccelerometerData - User side class: wpilibj.simulation.AccelerometerSim
87 lines
3.5 KiB
C++
87 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <wpi/spinlock.h>
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#include "hal/simulation/DriverStationData.h"
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#include "hal/simulation/SimDataValue.h"
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namespace hal {
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struct JoystickOutputStore;
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class DriverStationData {
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HAL_SIMDATAVALUE_DEFINE_NAME(Enabled)
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HAL_SIMDATAVALUE_DEFINE_NAME(Autonomous)
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HAL_SIMDATAVALUE_DEFINE_NAME(Test)
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HAL_SIMDATAVALUE_DEFINE_NAME(EStop)
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HAL_SIMDATAVALUE_DEFINE_NAME(FmsAttached)
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HAL_SIMDATAVALUE_DEFINE_NAME(DsAttached)
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HAL_SIMDATAVALUE_DEFINE_NAME(AllianceStationId)
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HAL_SIMDATAVALUE_DEFINE_NAME(MatchTime)
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static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
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MakeAllianceStationIdValue(HAL_AllianceStationID value) {
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return HAL_MakeEnum(value);
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}
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public:
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DriverStationData();
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void ResetData();
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void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
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void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
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void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
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void GetJoystickDescriptor(int32_t joystickNum,
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HAL_JoystickDescriptor* descriptor);
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void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
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int32_t* leftRumble, int32_t* rightRumble);
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void GetMatchInfo(HAL_MatchInfo* info);
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void FreeMatchInfo(const HAL_MatchInfo* info);
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void SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
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void SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
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void SetJoystickButtons(int32_t joystickNum,
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const HAL_JoystickButtons* buttons);
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void SetJoystickDescriptor(int32_t joystickNum,
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const HAL_JoystickDescriptor* descriptor);
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void SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
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int32_t leftRumble, int32_t rightRumble);
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void SetMatchInfo(const HAL_MatchInfo* info);
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void NotifyNewData();
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEnabledName> enabled{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetAutonomousName> autonomous{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetTestName> test{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEStopName> eStop{false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFmsAttachedName> fmsAttached{
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false};
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SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDsAttachedName> dsAttached{true};
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SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
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GetAllianceStationIdName>
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allianceStationId{static_cast<HAL_AllianceStationID>(0)};
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SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
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private:
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wpi::spinlock m_joystickDataMutex;
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wpi::spinlock m_matchInfoMutex;
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std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
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std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
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std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
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std::unique_ptr<JoystickOutputStore[]> m_joystickOutputs;
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std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
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std::unique_ptr<HAL_MatchInfo> m_matchInfo;
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};
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extern DriverStationData* SimDriverStationData;
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} // namespace hal
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