Lots of Simulator Updates

Makes all sim data classes have internal constructors. Adds a new Simulator DS that works with for the new command tests. Fixes the ButtonAttributeCommandTest. Needs to call TeleopPeriodic twice, and needed delays added.
robotdotnet · Nov 2, 2015 · 727c150 · 727c150
1 parent dcc4b4b
commit 727c150
Show file tree

Hide file tree

Showing 23 changed files with 444 additions and 90 deletions.
diff --git a/HAL-Simulation/Data/AccelerometerData.cs b/HAL-Simulation/Data/AccelerometerData.cs
@@ -11,6 +11,8 @@ public class AccelerometerData : DataBase
         private double m_y = 0;
         private double m_z = 1;
 
+        internal AccelerometerData() { }
+
         public bool HasSource
         {
             get { return m_hasSource; }

diff --git a/HAL-Simulation/Data/AnalogInData.cs b/HAL-Simulation/Data/AnalogInData.cs
@@ -15,6 +15,8 @@ public class AnalogInData : NotifyDataBase
         private int m_accumulatorCenter = 0;
         private int m_accumulatorDeadband = 0;
 
+        internal AnalogInData() { }
+
         public override void ResetData()
         {
             m_hasSource = false;

diff --git a/HAL-Simulation/Data/AnalogOutData.cs b/HAL-Simulation/Data/AnalogOutData.cs
@@ -5,6 +5,8 @@ public class AnalogOutData : NotifyDataBase
         private double m_voltage = 0.0;
         private bool m_initialized = false;
 
+        internal AnalogOutData() { }
+
         public override void ResetData()
         {
             m_voltage = 0.0;

diff --git a/HAL-Simulation/Data/AnalogTriggerData.cs b/HAL-Simulation/Data/AnalogTriggerData.cs
@@ -19,6 +19,8 @@ public class AnalogTriggerData : DataBase
         private double m_trigUpper = 0;
         private double m_trigLower = 0;
 
+        internal AnalogTriggerData() { }
+
         public override void ResetData()
         {
             m_hasSource = false;

diff --git a/HAL-Simulation/Data/CanTalonData.cs b/HAL-Simulation/Data/CanTalonData.cs
@@ -4,6 +4,8 @@ namespace HAL_Simulator.Data
 {
     public class CanTalonData : NotifyDataBase
     {
+        internal CanTalonData() { }
+
         private double m_eProfileParamSlot0_P = 0.0;
         private double m_eProfileParamSlot0_I = 0.0;
         private double m_eProfileParamSlot0_D = 0.0;

diff --git a/HAL-Simulation/Data/CounterData.cs b/HAL-Simulation/Data/CounterData.cs
@@ -5,6 +5,8 @@ namespace HAL_Simulator.Data
 {
     public class CounterData : EncoderData
     {
+        internal CounterData() { }
+
         private Mode mode = 0;
         private int averageSize = 0;
 

diff --git a/HAL-Simulation/Data/DIOData.cs b/HAL-Simulation/Data/DIOData.cs
@@ -8,6 +8,8 @@ public class DIOData : NotifyDataBase
         private double m_pulseLength = 0;
         private bool m_isInput = true;
 
+        internal DIOData() { }
+
         public override void ResetData()
         {
             m_initialized = false;

diff --git a/HAL-Simulation/Data/DigitalPWMData.cs b/HAL-Simulation/Data/DigitalPWMData.cs
@@ -6,6 +6,8 @@ public class DigitalPWMData : DataBase
         private double m_dutyCycle = 0;
         private uint m_pin = 0;
 
+        internal DigitalPWMData() { }
+
         public override void ResetData()
         {
             m_initialized = false;

diff --git a/HAL-Simulation/Data/DriverStationData.cs b/HAL-Simulation/Data/DriverStationData.cs
@@ -3,11 +3,287 @@
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using HAL_Base;
 
 namespace HAL_Simulator.Data
 {
-    internal class DriverStationData
+    public class DSControlData : DataBase
     {
+        public override void ResetData()
+        {
+            m_hasSource = false;
+            m_enabled = false;
+            m_autonomous = false;
+            m_test = false;
+            m_eStop = false;
+            m_fmsAttached = false;
+            m_dsAttached = true;
+        }
 
+        internal DSControlData() { }
+
+        private bool m_hasSource = false;
+        private bool m_enabled = false;
+        private bool m_autonomous = false;
+        private bool m_test = false;
+        private bool m_eStop = false;
+        private bool m_fmsAttached = false;
+        private bool m_dsAttached = true;
+
+        public bool HasSource
+        {
+            get { return m_hasSource; }
+            set
+            {
+                if (m_hasSource == value) return;
+                m_hasSource = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool Enabled
+        {
+            get { return m_enabled; }
+            internal set
+            {
+                if (m_enabled == value) return;
+                m_enabled = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool Autonomous
+        {
+            get { return m_autonomous; }
+            internal set
+            {
+                if (m_autonomous == value) return;
+                m_autonomous = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool Test
+        {
+            get { return m_test; }
+            internal set
+            {
+                if (m_test == value) return;
+                m_test = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool EStop
+        {
+            get { return m_eStop; }
+            internal set
+            {
+                if (m_eStop == value) return;
+                m_eStop = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool FmsAttached
+        {
+            get { return m_fmsAttached; }
+            internal set
+            {
+                if (m_fmsAttached == value) return;
+                m_fmsAttached = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool DsAttached
+        {
+            get { return m_dsAttached; }
+            internal set
+            {
+                if (m_dsAttached == value) return;
+                m_dsAttached = value;
+                OnPropertyChanged(value);
+            }
+        }
+    }
+
+    public class JoystickData : NotifyDataBase
+    {
+        public override void ResetData()
+        {
+            m_hasSource = false;
+            m_leftRumble = 0;
+            m_rightRumble = 0;
+            m_isXbox = 0;
+            m_type = 0;
+            m_name = "Joystick";
+            for (int i = 0; i < m_buttons.Length; i++)
+            {
+                m_buttons[i] = false;
+            }
+
+            for (int i = 0; i < m_axes.Length; i++)
+            {
+                m_axes[i] = 0.0;
+            }
+
+            for (int i = 0; i < m_povs.Length; i++)
+            {
+                m_povs[i] = -1;
+            }
+
+
+            base.ResetData();
+        }
+
+        internal JoystickData() { }
+
+        private bool m_hasSource = false;
+        private bool[] m_buttons = new bool[13];
+        private double[] m_axes = new double[6];
+        private int[] m_povs = new[] { -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 };
+        private ushort m_leftRumble = 0;
+        private ushort m_rightRumble = 0;
+        private int m_isXbox = 0;
+        private byte m_type = 0;
+        private string m_name = "Joystick";
+
+        public bool HasSource
+        {
+            get { return m_hasSource; }
+            set
+            {
+                if (m_hasSource == value) return;
+                m_hasSource = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public bool[] Buttons
+        {
+            get { return m_buttons; }
+            internal set
+            {
+                if (m_buttons == value) return;
+                m_buttons = value;
+                OnPropertyChanged(value);
+            }
+        }
+        public double[] Axes
+        {
+            get { return m_axes; }
+            internal set
+            {
+                if (m_axes == value) return;
+                m_axes = value;
+                OnPropertyChanged(value);
+            }
+        }
+        public ushort LeftRumble
+        {
+            get { return m_leftRumble; }
+            internal set
+            {
+                if (m_leftRumble == value) return;
+                m_leftRumble = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public ushort RightRumble
+        {
+            get { return m_rightRumble; }
+            internal set
+            {
+                if (m_rightRumble == value) return;
+                m_rightRumble = value;
+                OnPropertyChanged(value);
+            }
+        }
+        public int IsXbox
+        {
+            get { return m_isXbox; }
+            internal set
+            {
+                if (m_isXbox == value) return;
+                m_isXbox = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public byte Type
+        {
+            get { return m_type; }
+            internal set
+            {
+                if (m_type == value) return;
+                m_type = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public int[] Povs
+        {
+            get { return m_povs; }
+            internal set
+            {
+                if (m_povs == value) return;
+                m_povs = value;
+                OnPropertyChanged(value);
+            }
+        }
+
+        public string Name
+        {
+            get { return m_name; }
+            internal set
+            {
+                if (m_name == value) return;
+                m_name = value;
+                OnPropertyChanged(value);
+            }
+        }
+    }
+
+    public class DriverStationData : DataBase
+    {
+        public override void ResetData()
+        {
+            foreach (var joystickData in Joysticks)
+            {
+                joystickData.ResetData();
+            }
+            ControlData.ResetData();
+            m_allianceStation = 0;
+        }
+
+        internal DriverStationData()
+        {
+            List<JoystickData> data = new List<JoystickData>();
+
+            for (int i = 0; i < 6; i++)
+            {
+                data.Add(new JoystickData());
+            }
+
+            Joysticks = data.AsReadOnly();
+        }
+
+
+        public IReadOnlyList<JoystickData> Joysticks { get; } 
+        public DSControlData ControlData { get; } = new DSControlData();
+        private HALAllianceStationID m_allianceStation = 0;
+
+        public HALAllianceStationID AllianceStation
+        {
+            get { return m_allianceStation; }
+            set
+            {
+                if (m_allianceStation == value) return;
+                m_allianceStation = value;
+                OnPropertyChanged(value);
+            }
+        }
     }
 }
diff --git a/HAL-Simulation/Data/EncoderData.cs b/HAL-Simulation/Data/EncoderData.cs
@@ -16,6 +16,8 @@ public class EncoderData : NotifyDataBase
 
         public Dictionary<string, dynamic> Config = null;
 
+        internal EncoderData() { }
+
         public override void ResetData()
         {
             m_hasSource = false;