Package edu.wpi.first.hal

Class SimDevice

java.lang.Object
edu.wpi.first.hal.SimDevice
All Implemented Interfaces:
AutoCloseable
public class SimDevice
extends Object
implements AutoCloseable
A wrapper around a simulator device handle.

Teams: if you are using this class, you are likely confusing it for SimDeviceSim.

Vendors: This class should be used from inside the device class to define the properties/fields of the device. Use create(java.lang.String) to get a SimDevice object, then use createDouble(String, Direction, double) or similar to define the device's fields. See ADXRS450_Gyro for an example implementation.

  • Constructor Details

    • SimDevice

      public SimDevice​(int handle)
      Wraps a simulated device handle as returned by SimDeviceJNI.createSimDevice().
      Parameters:
      handle - simulated device handle

  • Method Details

    • create

      public static SimDevice create​(String name)
      Creates a simulated device.

      The device name must be unique. Returns null if the device name already exists. If multiple instances of the same device are desired, recommend appending the instance/unique identifer in brackets to the base name, e.g. "device[1]".

      null is returned if not in simulation.

      Parameters:
      name - device name
      Returns:
      simulated device object

    • create

      public static SimDevice create​(String name, int index)
      Creates a simulated device.

      The device name must be unique. Returns null if the device name already exists. This is a convenience method that appends index in brackets to the device name, e.g. passing index=1 results in "device[1]" for the device name.

      null is returned if not in simulation.

      Parameters:
      name - device name
      index - device index number to append to name
      Returns:
      simulated device object

    • create

      public static SimDevice create​(String name, int index, int channel)
      Creates a simulated device.

      The device name must be unique. Returns null if the device name already exists. This is a convenience method that appends index and channel in brackets to the device name, e.g. passing index=1 and channel=2 results in "device[1,2]" for the device name.

      null is returned if not in simulation.

      Parameters:
      name - device name
      index - device index number to append to name
      channel - device channel number to append to name
      Returns:
      simulated device object

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • getNativeHandle

      public int getNativeHandle()
      Get the internal device handle.
      Returns:
      internal handle

    • createValue

      public SimValue createValue​(String name, SimDevice.Direction direction, HALValue initialValue)
      Creates a value on the simulated device.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      initialValue - initial value
      Returns:
      simulated value object

    • createInt

      public SimInt createInt​(String name, SimDevice.Direction direction, int initialValue)
      Creates an int value on the simulated device.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      initialValue - initial value
      Returns:
      simulated double value object

    • createLong

      public SimLong createLong​(String name, SimDevice.Direction direction, long initialValue)
      Creates a long value on the simulated device.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      initialValue - initial value
      Returns:
      simulated double value object

    • createDouble

      public SimDouble createDouble​(String name, SimDevice.Direction direction, double initialValue)
      Creates a double value on the simulated device.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      initialValue - initial value
      Returns:
      simulated double value object

    • createEnum

      public SimEnum createEnum​(String name, SimDevice.Direction direction, String[] options, int initialValue)
      Creates an enumerated value on the simulated device.

      Enumerated values are always in the range 0 to numOptions-1.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      options - array of option descriptions
      initialValue - initial value (selection)
      Returns:
      simulated enum value object

    • createEnumDouble

      public SimEnum createEnumDouble​(String name, SimDevice.Direction direction, String[] options, double[] optionValues, int initialValue)
      Creates an enumerated value on the simulated device with double values.

      Enumerated values are always in the range 0 to numOptions-1.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      options - array of option descriptions
      optionValues - array of option values (must be the same size as options)
      initialValue - initial value (selection)
      Returns:
      simulated enum value object

    • createBoolean

      public SimBoolean createBoolean​(String name, SimDevice.Direction direction, boolean initialValue)
      Creates a boolean value on the simulated device.

      Returns null if not in simulation.

      Parameters:
      name - value name
      direction - input/output/bidir (from perspective of user code)
      initialValue - initial value
      Returns:
      simulated boolean value object