Add names to simulator components (wpilibsuite#1268)

Makes configuration easier when you can associate the items with a name instead of just a port number. Important if there is a GUI added at some point.
Saxomophone · Aug 24, 2018 · de212a9 · de212a9
1 parent 8d8f120
commit de212a9
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Showing 30 changed files with 207 additions and 24 deletions.
diff --git a/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp b/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp
@@ -40,6 +40,10 @@ ADXL345_I2CData::~ADXL345_I2CData() {
   HALSIM_CancelI2CWriteCallback(m_port, m_writeCallbackId);
 }
 
+bool ADXL345_I2CData::GetInitialized() const {
+  return HALSIM_GetI2CInitialized(m_port);
+}
+
 void ADXL345_I2CData::ADXL345_I2CData::HandleWrite(const uint8_t* buffer,
                                                    uint32_t count) {
   m_lastWriteAddress = buffer[0];

diff --git a/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp b/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp
@@ -40,6 +40,10 @@ ADXL345_SpiAccelerometer::~ADXL345_SpiAccelerometer() {
   HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
 }
 
+bool ADXL345_SpiAccelerometer::GetInitialized() const {
+  return HALSIM_GetSPIInitialized(m_port);
+}
+
 void ADXL345_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
                                            uint32_t count) {
   m_lastWriteAddress = buffer[0] & 0xF;

diff --git a/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp b/...lation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp
@@ -39,6 +39,9 @@ ADXL362_SpiAccelerometer::~ADXL362_SpiAccelerometer() {
   HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
   HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
 }
+bool ADXL362_SpiAccelerometer::GetInitialized() const {
+  return HALSIM_GetSPIInitialized(m_port);
+}
 
 void ADXL362_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
                                            uint32_t count) {

diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp
@@ -57,6 +57,9 @@ ADXRS450_SpiGyroWrapper::~ADXRS450_SpiGyroWrapper() {
   HALSIM_CancelSPIReadAutoReceivedDataCallback(m_port,
                                                m_autoReceiveReadCallbackId);
 }
+bool ADXRS450_SpiGyroWrapper::GetInitialized() const {
+  return HALSIM_GetSPIInitialized(m_port);
+}
 
 void ADXRS450_SpiGyroWrapper::ResetData() {
   std::lock_guard<wpi::mutex> lock(m_dataMutex);

diff --git a/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h b/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h
@@ -15,6 +15,8 @@ class ADXL345_I2CData : public ThreeAxisAccelerometerData {
   explicit ADXL345_I2CData(int port);
   virtual ~ADXL345_I2CData();
 
+  bool GetInitialized() const override;
+
   void HandleWrite(const uint8_t* buffer, uint32_t count);
   void HandleRead(uint8_t* buffer, uint32_t count);
 

diff --git a/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h b/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h
@@ -15,6 +15,8 @@ class ADXL345_SpiAccelerometer : public ThreeAxisAccelerometerData {
   explicit ADXL345_SpiAccelerometer(int port);
   virtual ~ADXL345_SpiAccelerometer();
 
+  bool GetInitialized() const override;
+
   void HandleWrite(const uint8_t* buffer, uint32_t count);
   void HandleRead(uint8_t* buffer, uint32_t count);
 

diff --git a/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h b/...tion/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h
@@ -15,6 +15,8 @@ class ADXL362_SpiAccelerometer : public ThreeAxisAccelerometerData {
   explicit ADXL362_SpiAccelerometer(int port);
   virtual ~ADXL362_SpiAccelerometer();
 
+  bool GetInitialized() const override;
+
   void HandleWrite(const uint8_t* buffer, uint32_t count);
   void HandleRead(uint8_t* buffer, uint32_t count);
 

diff --git a/...ation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h b/...ation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h
@@ -19,6 +19,8 @@ class ADXRS450_SpiGyroWrapper {
   explicit ADXRS450_SpiGyroWrapper(int port);
   virtual ~ADXRS450_SpiGyroWrapper();
 
+  bool GetInitialized() const;
+
   void HandleRead(uint8_t* buffer, uint32_t count);
   void HandleAutoReceiveData(uint8_t* buffer, int32_t numToRead,
                              int32_t& outputCount);

diff --git a/...lation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h b/...lation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h
@@ -19,6 +19,8 @@ class ThreeAxisAccelerometerData {
   ThreeAxisAccelerometerData();
   virtual ~ThreeAxisAccelerometerData();
 
+  virtual bool GetInitialized() const = 0;
+
   int32_t RegisterXCallback(HAL_NotifyCallback callback, void* param,
                             HAL_Bool initialNotify);
   void CancelXCallback(int32_t uid);

diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/SimulatorComponentBase.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+const std::string& SimulatorComponentBase::GetDisplayName() const {
+  return m_name;
+}
+
+void SimulatorComponentBase::SetDisplayName(const std::string& displayName) {
+  m_name = displayName;
+}
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/...i_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp b/...i_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
@@ -14,21 +14,30 @@ namespace lowfi {
 ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
     hal::ThreeAxisAccelerometerData& accelerometerWrapper)
     : m_accelerometerWrapper(accelerometerWrapper),
-      m_xWrapper(std::function<void(double)>(
+      m_xWrapper(std::function<bool(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
+                               &m_accelerometerWrapper)),
+                 std::function<void(double)>(
                      std::bind(&hal::ThreeAxisAccelerometerData::SetX,
                                &m_accelerometerWrapper, std::placeholders::_1)),
                  std::function<double(void)>(
                      std::bind(&hal::ThreeAxisAccelerometerData::GetX,
                                &m_accelerometerWrapper))),
 
-      m_yWrapper(std::function<void(double)>(
+      m_yWrapper(std::function<bool(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
+                               &m_accelerometerWrapper)),
+                 std::function<void(double)>(
                      std::bind(&hal::ThreeAxisAccelerometerData::SetY,
                                &m_accelerometerWrapper, std::placeholders::_1)),
                  std::function<double(void)>(
                      std::bind(&hal::ThreeAxisAccelerometerData::GetY,
                                &m_accelerometerWrapper))),
 
-      m_zWrapper(std::function<void(double)>(
+      m_zWrapper(std::function<bool(void)>(
+                     std::bind(&hal::ThreeAxisAccelerometerData::GetInitialized,
+                               &m_accelerometerWrapper)),
+                 std::function<void(double)>(
                      std::bind(&hal::ThreeAxisAccelerometerData::SetZ,
                                &m_accelerometerWrapper, std::placeholders::_1)),
                  std::function<double(void)>(

diff --git a/...ation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp b/...ation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
@@ -14,6 +14,10 @@ namespace lowfi {
 ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
     : m_gyroWrapper(spiPort) {}
 
+bool ADXRS450_SpiGyroSim::IsWrapperInitialized() const {
+  return m_gyroWrapper.GetInitialized();
+}
+
 void ADXRS450_SpiGyroSim::SetAngle(double angle) {
   m_gyroWrapper.SetAngle(angle);
 }

diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
@@ -13,6 +13,10 @@ namespace lowfi {
 
 WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
 
+bool WpiAnalogGyroSim::IsWrapperInitialized() const {
+  return m_gyroSimulator.GetInitialized();
+}
+
 void WpiAnalogGyroSim::SetAngle(double angle) {
   m_gyroSimulator.SetAngle(angle);
 }

diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp
@@ -13,6 +13,10 @@ namespace lowfi {
 
 WpiEncoderSim::WpiEncoderSim(int index) : m_encoderSimulator(index) {}
 
+bool WpiEncoderSim::IsWrapperInitialized() const {
+  return m_encoderSimulator.GetInitialized();
+}
+
 void WpiEncoderSim::SetPosition(double position) {
   m_encoderSimulator.SetCount(
       static_cast<int>(position / m_encoderSimulator.GetDistancePerPulse()));

diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp
@@ -20,6 +20,10 @@ void WpiMotorSim::Update(double elapsedTime) {
   m_motorModelSimulation.Update(elapsedTime);
 }
 
+bool WpiMotorSim::IsWrapperInitialized() const {
+  return m_pwmSimulator.GetInitialized();
+}
+
 double WpiMotorSim::GetPosition() const {
   return m_motorModelSimulation.GetPosition();
 }

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class AccelerometerSim {
+class AccelerometerSim : public virtual SimulatorComponent {
  public:
   virtual double GetAcceleration() = 0;
   virtual void SetAcceleration(double acceleration) = 0;

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class EncoderSim {
+class EncoderSim : public virtual SimulatorComponent {
  public:
   virtual void SetPosition(double position) = 0;
   virtual void SetVelocity(double velocity) = 0;

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class GyroSim {
+class GyroSim : public virtual SimulatorComponent {
  public:
   virtual void SetAngle(double angle) = 0;
   virtual double GetAngle() = 0;

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
@@ -7,11 +7,13 @@
 
 #pragma once
 
+#include "lowfisim/SimulatorComponent.h"
+
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class MotorSim {
+class MotorSim : public virtual SimulatorComponent {
  public:
   virtual double GetPosition() const = 0;
   virtual double GetVelocity() const = 0;

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
@@ -10,24 +10,35 @@
 #include <functional>
 
 #include "lowfisim/AccelerometerSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class SimpleAccelerometerSim : public AccelerometerSim {
+class SimpleAccelerometerSim : public SimulatorComponentBase,
+                               public AccelerometerSim {
  public:
-  SimpleAccelerometerSim(const std::function<void(double)>& setterFunction,
+  using SimulatorComponentBase::GetDisplayName;
+
+  SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
+                         const std::function<void(double)>& setterFunction,
                          const std::function<double(void)>& getterFunction)
-      : m_setAccelerationFunction(setterFunction),
+      : m_isInitializedFunction(initializedFunction),
+        m_setAccelerationFunction(setterFunction),
         m_getAccelerationFunction(getterFunction) {}
   double GetAcceleration() override { return m_getAccelerationFunction(); }
 
   void SetAcceleration(double acceleration) override {
     m_setAccelerationFunction(acceleration);
   }
 
+  bool IsWrapperInitialized() const override {
+    return m_isInitializedFunction();
+  }
+
  private:
+  std::function<bool(void)> m_isInitializedFunction;
   std::function<void(double)> m_setAccelerationFunction;
   std::function<double(void)> m_getAccelerationFunction;
 };

diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponent {
+ public:
+  virtual ~SimulatorComponent() = default;
+
+  virtual bool IsWrapperInitialized() const = 0;
+
+  virtual const std::string& GetDisplayName() const = 0;
+
+  virtual void SetDisplayName(const std::string& displayName) = 0;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponentBase : public virtual SimulatorComponent {
+ public:
+  SimulatorComponentBase() = default;
+  virtual ~SimulatorComponentBase() = default;
+
+  const std::string& GetDisplayName() const override;
+
+  void SetDisplayName(const std::string& displayName) override;
+
+ private:
+  std::string m_name;
+};
+
+}  // namespace lowfi
+}  // namespace sim
+}  // namespace frc
diff --git a/...ion/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h b/...ion/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
@@ -9,15 +9,18 @@
 
 #include "ADXRS450_SpiGyroWrapperData.h"
 #include "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class ADXRS450_SpiGyroSim : public GyroSim {
+class ADXRS450_SpiGyroSim : public SimulatorComponentBase, public GyroSim {
  public:
   explicit ADXRS450_SpiGyroSim(int spiPort);
 
+  bool IsWrapperInitialized() const override;
+
   void SetAngle(double angle) override;
   double GetAngle() override;
 

diff --git a/...lation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h b/...lation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
@@ -8,16 +8,19 @@
 #pragma once
 
 #include "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
 #include "simulation/AnalogGyroSim.h"
 
 namespace frc {
 namespace sim {
 namespace lowfi {
 
-class WpiAnalogGyroSim : public GyroSim {
+class WpiAnalogGyroSim : public SimulatorComponentBase, public GyroSim {
  public:
   explicit WpiAnalogGyroSim(int index);
 
+  bool IsWrapperInitialized() const override;
+
   void SetAngle(double angle) override;
   double GetAngle() override;