[sim] Fix ADXRS450_GyroSim and DutyCycleEncoderSim (#2963)

These were broken by #2952. Also fix Java ADXRS450_Gyro angle/rate SimValue names.
wpilibsuite · Dec 24, 2020 · a8bb2ef · a8bb2ef
1 parent 240c629
commit a8bb2ef
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Showing 8 changed files with 23 additions and 14 deletions.
diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -60,6 +60,8 @@ void DutyCycleEncoder::Init() {
   if (m_simDevice) {
     m_simPosition =
         m_simDevice.CreateDouble("position", hal::SimDevice::kInput, 0.0);
+    m_simDistancePerRotation = m_simDevice.CreateDouble(
+        "distance_per_rot", hal::SimDevice::kOutput, 1.0);
     m_simIsConnected =
         m_simDevice.CreateBoolean("connected", hal::SimDevice::kInput, true);
   } else {
@@ -101,6 +103,7 @@ units::turn_t DutyCycleEncoder::Get() const {
 
 void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
   m_distancePerRotation = distancePerRotation;
+  m_simDistancePerRotation.Set(distancePerRotation);
 }
 
 double DutyCycleEncoder::GetDistancePerRotation() const {

diff --git a/wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp b/wpilibc/src/main/native/cpp/simulation/ADXRS450_GyroSim.cpp
@@ -18,10 +18,10 @@ using namespace frc::sim;
 ADXRS450_GyroSim::ADXRS450_GyroSim(const frc::ADXRS450_Gyro& gyro) {
   wpi::SmallString<128> fullname;
   wpi::raw_svector_ostream os(fullname);
-  os << "ADXRS450_Gyro" << '[' << gyro.GetPort() << ']';
+  os << "Gyro:ADXRS450" << '[' << gyro.GetPort() << ']';
   frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
-  m_simAngle = deviceSim.GetDouble("Angle");
-  m_simRate = deviceSim.GetDouble("Rate");
+  m_simAngle = deviceSim.GetDouble("angle_x");
+  m_simRate = deviceSim.GetDouble("rate_x");
 }
 
 void ADXRS450_GyroSim::SetAngle(units::degree_t angle) {

diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -18,10 +18,11 @@ using namespace frc::sim;
 DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
   wpi::SmallString<128> fullname;
   wpi::raw_svector_ostream os(fullname);
-  os << "DutyCycleEncoder" << '[' << encoder.GetFPGAIndex() << ']';
+  os << "DutyCycle:DutyCycleEncoder" << '[' << encoder.GetSourceChannel()
+     << ']';
   frc::sim::SimDeviceSim deviceSim{fullname.c_str()};
-  m_simPosition = deviceSim.GetDouble("Position");
-  m_simDistancePerRotation = deviceSim.GetDouble("DistancePerRotation");
+  m_simPosition = deviceSim.GetDouble("position");
+  m_simDistancePerRotation = deviceSim.GetDouble("distance_per_rot");
 }
 
 void DutyCycleEncoderSim::Set(units::turn_t turns) {

diff --git a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -183,6 +183,7 @@ class DutyCycleEncoder : public ErrorBase,
 
   hal::SimDevice m_simDevice;
   hal::SimDouble m_simPosition;
+  hal::SimDouble m_simDistancePerRotation;
   hal::SimBoolean m_simIsConnected;
 };
 }  // namespace frc
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -72,8 +72,8 @@ public ADXRS450_Gyro(SPI.Port port) {
     m_simDevice = SimDevice.create("Gyro:ADXRS450", port.value);
     if (m_simDevice != null) {
       m_simConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
-      m_simAngle = m_simDevice.createDouble("angle", SimDevice.Direction.kInput, 0.0);
-      m_simRate = m_simDevice.createDouble("rate", SimDevice.Direction.kInput, 0.0);
+      m_simAngle = m_simDevice.createDouble("angle_x", SimDevice.Direction.kInput, 0.0);
+      m_simRate = m_simDevice.createDouble("rate_x", SimDevice.Direction.kInput, 0.0);
     }
 
     m_spi.setClockRate(3000000);

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -32,6 +32,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
 
   protected SimDevice m_simDevice;
   protected SimDouble m_simPosition;
+  protected SimDouble m_simDistancePerRotation;
   protected SimBoolean m_simIsConnected;
 
   /**
@@ -72,6 +73,8 @@ private void init() {
 
     if (m_simDevice != null) {
       m_simPosition = m_simDevice.createDouble("position", SimDevice.Direction.kInput, 0.0);
+      m_simDistancePerRotation = m_simDevice.createDouble("distance_per_rot",
+          SimDevice.Direction.kOutput, 1.0);
       m_simIsConnected = m_simDevice.createBoolean("connected", SimDevice.Direction.kInput, true);
     } else {
       m_counter = new Counter();

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXRS450_GyroSim.java
@@ -24,9 +24,9 @@ public class ADXRS450_GyroSim {
    * @param gyro ADXRS450_Gyro to simulate
    */
   public ADXRS450_GyroSim(ADXRS450_Gyro gyro) {
-    SimDeviceSim wrappedSimDevice = new SimDeviceSim("ADXRS450_Gyro" + "[" + gyro.getPort() + "]");
-    m_simAngle = wrappedSimDevice.getDouble("Angle");
-    m_simRate = wrappedSimDevice.getDouble("Rate");
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("Gyro:ADXRS450" + "[" + gyro.getPort() + "]");
+    m_simAngle = wrappedSimDevice.getDouble("angle_x");
+    m_simRate = wrappedSimDevice.getDouble("rate_x");
   }
 
   /**

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DutyCycleEncoderSim.java
@@ -23,9 +23,10 @@ public class DutyCycleEncoderSim {
    * @param encoder DutyCycleEncoder to simulate
    */
   public DutyCycleEncoderSim(DutyCycleEncoder encoder) {
-    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycleEncoder" + "[" + encoder.getFPGAIndex() + "]");
-    m_simPosition = wrappedSimDevice.getDouble("Position");
-    m_simDistancePerRotation = wrappedSimDevice.getDouble("DistancePerRotation");
+    SimDeviceSim wrappedSimDevice = new SimDeviceSim("DutyCycle:DutyCycleEncoder" + "["
+        + encoder.getSourceChannel() + "]");
+    m_simPosition = wrappedSimDevice.getDouble("position");
+    m_simDistancePerRotation = wrappedSimDevice.getDouble("distance_per_rot");
   }
 
   /**