mirror of
https://github.com/wpilibsuite/allwpilib
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80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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 <functional>
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "CallbackStore.h"
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#include "hal/SimDevice.h"
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#include "mockdata/SimDeviceData.h"
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namespace frc {
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namespace sim {
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class SimDeviceSim {
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public:
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explicit SimDeviceSim(const char* name)
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: m_handle{HALSIM_GetSimDeviceHandle(name)} {}
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hal::SimValue GetValue(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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hal::SimDouble 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 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 GetBoolean(const char* name) const {
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return HALSIM_GetSimValueHandle(m_handle, name);
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}
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static std::vector<std::string> 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) rv.emplace_back(options[i]);
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return rv;
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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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HAL_Bool readonly, const struct HAL_Value* value) {
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std::invoke(*static_cast<F*>(param), name, handle, readonly, value);
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});
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}
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operator HAL_SimDeviceHandle() const { return m_handle; }
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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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static void ResetData() { HALSIM_ResetSimDeviceData(); }
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private:
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HAL_SimDeviceHandle m_handle;
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};
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} // namespace sim
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} // namespace frc
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