Merge pull request #44 from robotpy/follow-sw

Add configXXXLimitSwitchSource to simulation

ctre/talonsrx.py

@@ -36,52 +36,3 @@ class TalonSRX(BaseMotorController):
     def __init__(self, deviceNumber):
         super().__init__(deviceNumber | 0x02040000)
         hal.report(hal.UsageReporting.kResourceType_CANTalonSRX, deviceNumber + 1)
-
-    def configForwardLimitSwitchSource(self, type, normalOpenOrClose, timeoutMs: int):
-        """
-        Configures a limit switch for a local/remote source.
-
-        For example, a CAN motor controller may need to monitor the Limit-R pin
-        of another Talon, CANifier, or local Gadgeteer feedback connector.
-
-        If the sensor is remote, a device ID of zero is assumed.
-        If that's not desired, use the four parameter version of this function.
-
-        :param type:
-            Limit switch source.
-            User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
-        :param normalOpenOrClose:
-            Setting for normally open, normally closed, or disabled. This setting
-            matches the web-based configuration drop down.
-        :param timeoutMs:
-            Timeout value in ms. If nonzero, function will wait for
-            config success and report an error if it times out.
-            If zero, no blocking or checking is performed.
-        :returns: Error Code generated by function. 0 indicates no error.
-        """
-        return super().configForwardLimitSwitchSource(type, normalOpenOrClose, 0x00000000, timeoutMs)
-
-    def configReverseLimitSwitchSource(self, type, normalOpenOrClose, timeoutMs: int):
-        """
-        Configures a limit switch for a local/remote source.
-        
-        For example, a CAN motor controller may need to monitor the Limit-R pin
-        of another Talon, CANifier, or local Gadgeteer feedback connector.
-        
-        If the sensor is remote, a device ID of zero is assumed. If that's not
-        desired, use the four parameter version of this function.
-        
-        :param type:
-            Limit switch source. See :class:`.LimitSwitchSource` User can choose
-            between the feedback connector, remote Talon SRX, CANifier, or
-            deactivate the feature.
-        :param normalOpenOrClose:
-            Setting for normally open, normally closed, or disabled. This
-            setting matches the web-based configuration drop down.
-        :param timeoutMs:
-            Timeout value in ms. If nonzero, function will wait for config
-            success and report an error if it times out. If zero, no
-            blocking or checking is performed.
-        :returns: Error Code generated by function. 0 indicates no error.
-        """
-        return super().configReverseLimitSwitchSource(type, normalOpenOrClose, 0x00000000, timeoutMs)

gen/MotController_data.yml

@@ -1,6 +1,6 @@
 ---
 sim_extra: |
-  from .ctre_sim_enums import ControlMode, FeedbackDevice
+  from .ctre_sim_enums import ControlMode, FeedbackDevice, LimitSwitchSource
   from wpilib import Notifier
   
   _feedback2key = {
@@ -90,6 +90,12 @@ c_MotController_Create1:
       'limit_switch_closed_for': False,
       'limit_switch_closed_rev': False,
       
+      # Remote limit switches?
+      'limit_switch_remote_for': LimitSwitchSource.Deactivated,
+      'limit_switch_remote_rev': LimitSwitchSource.Deactivated,
+      'limit_switch_follow_for': deviceId,
+      'limit_switch_follow_rev': deviceId,
+      
       # These two values are set when the set()/setDemand() functions are called
       'control_mode': 0,
       'value': 0.0, # percent throttle
@@ -564,7 +570,8 @@ c_MotController_ConfigVelocityMeasurementWindow:
     :returns: Error Code generated by function. 0 indicates no error.
 c_MotController_ConfigForwardLimitSwitchSource:
   code: |
-    raise NotImplementedError
+    self.hal_data['limit_switch_remote_for'] = type
+    self.hal_data['limit_switch_follow_for'] = deviceID
   doc: |
     Configures the forward limit switch for a remote source. For example, a
     CAN motor controller may need to monitor the Limit-F pin of another Talon
@@ -585,7 +592,8 @@ c_MotController_ConfigForwardLimitSwitchSource:
     :returns: Error Code generated by function. 0 indicates no error.
 c_MotController_ConfigReverseLimitSwitchSource:
   code: |
-    raise NotImplementedError
+    self.hal_data['limit_switch_remote_rev'] = type
+    self.hal_data['limit_switch_follow_rev'] = deviceID
   doc: |
     Configures the reverse limit switch for a remote source. For example, a
     CAN motor controller may need to monitor the Limit-R pin of another Talon
@@ -1334,19 +1342,24 @@ c_MotController_GetPinStateQuadIdx:
   get: quad_pin_idx
 c_MotController_IsFwdLimitSwitchClosed:
   code: |
-    retval = 1 if self.hal_data['limit_switch_closed_for'] else 0
+    data = self.hal_data
+    if self.hal_data['limit_switch_remote_for'] != LimitSwitchSource.Deactivated:
+        data = hal_data['CAN'][self.hal_data['limit_switch_follow_for']]
+    retval = 1 if data['limit_switch_closed_for'] else 0
 c_MotController_IsRevLimitSwitchClosed:
   code: |
-    retval = 1 if self.hal_data['limit_switch_closed_rev'] else 0
+    data = self.hal_data
+    if self.hal_data['limit_switch_remote_rev'] != LimitSwitchSource.Deactivated:
+        data = hal_data['CAN'][self.hal_data['limit_switch_follow_rev']]
+    retval = 1 if data['limit_switch_closed_rev'] else 0
 c_MotController_GetFaults:
   code: |
     raise NotImplementedError
 c_MotController_GetStickyFaults:
   code: |
     raise NotImplementedError
 c_MotController_ClearStickyFaults:
-  code: |
-    raise NotImplementedError
+  code: pass
   doc: |
     Clears all sticky faults.
     
@@ -1394,7 +1407,12 @@ c_MotController_GetQuadPinStates:
               self.hal_data['quad_pin_idx'])
 c_MotController_GetLimitSwitchState:
   code: |
-    retval = self.hal_data['limit_switch_closed_for'], self.hal_data['limit_switch_closed_rev']
+    fwd_data = rev_data = self.hal_data
+    if self.hal_data['limit_switch_remote_for'] != LimitSwitchSource.Deactivated:
+        fwd_data = hal_data['CAN'][self.hal_data['limit_switch_follow_for']]
+    if self.hal_data['limit_switch_remote_rev'] != LimitSwitchSource.Deactivated:
+        rev_data = hal_data['CAN'][self.hal_data['limit_switch_follow_rev']]
+    retval = fwd_data['limit_switch_closed_for'], rev_data['limit_switch_closed_rev']
   doc: |
     :returns: Forward Limit switch closed, Reverse Limit switch closed
 c_MotController_GetClosedLoopTarget:

tests/test_talonsrx.py

@@ -78,16 +78,6 @@ def test_talon_initSendable(talon, sendablebuilder):
     assert talon.get() == 3
 
 
-@pytest.mark.xfail(raises=NotImplementedError)
-def test_talon_configForwardLimitSwitchSource(talon):
-    talon.configForwardLimitSwitchSource(1, 2, 3)
-
-
-@pytest.mark.xfail(raises=NotImplementedError)
-def test_talon_configReverseLimitSwitchSource(talon):
-    talon.configReverseLimitSwitchSource(1, 2, 3)
-
-
 def test_talon_configPeakCurrentLimit(talon):
     talon.configPeakCurrentLimit(1, 2)
 
@@ -314,6 +304,41 @@ def test_basemotorcontroller_getErrorDerivative(talon, cdata):
     cdata['pid1_errorDerivative'] = 50.
     assert talon.getErrorDerivative(1) == 50.
 
+def test_basemotorcontroller_limitSwitches(ctre, hal_data, talon, cdata):
+
+    # local
+    for v in (True, False):
+        cdata['limit_switch_closed_for'] = v
+        cdata['limit_switch_closed_rev'] = not v
+        assert talon.isFwdLimitSwitchClosed() == v
+        assert talon.isRevLimitSwitchClosed() == (not v)
+
+        assert talon.getLimitSwitchState() == (v, (not v))
+
+    # remote
+    talon.configForwardLimitSwitchSource(talon.LimitSwitchSource.RemoteTalonSRX,
+                                         talon.LimitSwitchNormal.NormallyOpen, 2, 0)
+    talon.configReverseLimitSwitchSource(talon.LimitSwitchSource.RemoteTalonSRX,
+                                         talon.LimitSwitchNormal.NormallyOpen, 2, 0)
+
+    # The above should work without us creating the remote talon?
+    talon2 = ctre.WPI_TalonSRX(2)
+    cdata2 = hal_data['CAN'][2]
+
+    for v in (True, False):
+        cdata['limit_switch_closed_for'] = not v
+        cdata2['limit_switch_closed_for'] = v
+        cdata['limit_switch_closed_rev'] = v
+        cdata2['limit_switch_closed_rev'] = not v
+
+        assert talon.isFwdLimitSwitchClosed() == v
+        assert talon.isRevLimitSwitchClosed() == (not v)
+        assert talon2.isFwdLimitSwitchClosed() == v
+        assert talon2.isRevLimitSwitchClosed() == (not v)
+
+        assert talon.getLimitSwitchState() == (v, (not v))
+        assert talon2.getLimitSwitchState() == (v, (not v))
+
 
 @pytest.mark.xfail(raises=NotImplementedError)
 def test_basemotorcontroller_getFaults(talon, ctre):