Source code

001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj.simulation;
006
007import edu.wpi.first.hal.simulation.NotifyCallback;
008import edu.wpi.first.hal.simulation.RoboRioDataJNI;
009
010/** A utility class to control a simulated RoboRIO. */
011public final class RoboRioSim {
012  private RoboRioSim() {
013    // Utility class
014  }
015
016  /**
017   * Register a callback to be run whenever the Vin voltage changes.
018   *
019   * @param callback the callback
020   * @param initialNotify whether to call the callback with the initial state
021   * @return the {@link CallbackStore} object associated with this callback.
022   */
023  public static CallbackStore registerVInVoltageCallback(
024      NotifyCallback callback, boolean initialNotify) {
025    int uid = RoboRioDataJNI.registerVInVoltageCallback(callback, initialNotify);
026    return new CallbackStore(uid, RoboRioDataJNI::cancelVInVoltageCallback);
027  }
028
029  /**
030   * Measure the Vin voltage.
031   *
032   * @return the Vin voltage
033   */
034  public static double getVInVoltage() {
035    return RoboRioDataJNI.getVInVoltage();
036  }
037
038  /**
039   * Define the Vin voltage.
040   *
041   * @param vInVoltage the new voltage
042   */
043  public static void setVInVoltage(double vInVoltage) {
044    RoboRioDataJNI.setVInVoltage(vInVoltage);
045  }
046
047  /**
048   * Register a callback to be run whenever the 3.3V rail voltage changes.
049   *
050   * @param callback the callback
051   * @param initialNotify whether the callback should be called with the initial value
052   * @return the {@link CallbackStore} object associated with this callback.
053   */
054  public static CallbackStore registerUserVoltage3V3Callback(
055      NotifyCallback callback, boolean initialNotify) {
056    int uid = RoboRioDataJNI.registerUserVoltage3V3Callback(callback, initialNotify);
057    return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage3V3Callback);
058  }
059
060  /**
061   * Measure the 3.3V rail voltage.
062   *
063   * @return the 3.3V rail voltage
064   */
065  public static double getUserVoltage3V3() {
066    return RoboRioDataJNI.getUserVoltage3V3();
067  }
068
069  /**
070   * Define the 3.3V rail voltage.
071   *
072   * @param userVoltage3V3 the new voltage
073   */
074  public static void setUserVoltage3V3(double userVoltage3V3) {
075    RoboRioDataJNI.setUserVoltage3V3(userVoltage3V3);
076  }
077
078  /**
079   * Register a callback to be run whenever the 3.3V rail current changes.
080   *
081   * @param callback the callback
082   * @param initialNotify whether the callback should be called with the initial value
083   * @return the {@link CallbackStore} object associated with this callback.
084   */
085  public static CallbackStore registerUserCurrent3V3Callback(
086      NotifyCallback callback, boolean initialNotify) {
087    int uid = RoboRioDataJNI.registerUserCurrent3V3Callback(callback, initialNotify);
088    return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent3V3Callback);
089  }
090
091  /**
092   * Measure the 3.3V rail current.
093   *
094   * @return the 3.3V rail current
095   */
096  public static double getUserCurrent3V3() {
097    return RoboRioDataJNI.getUserCurrent3V3();
098  }
099
100  /**
101   * Define the 3.3V rail current.
102   *
103   * @param userCurrent3V3 the new current
104   */
105  public static void setUserCurrent3V3(double userCurrent3V3) {
106    RoboRioDataJNI.setUserCurrent3V3(userCurrent3V3);
107  }
108
109  /**
110   * Register a callback to be run whenever the 3.3V rail active state changes.
111   *
112   * @param callback the callback
113   * @param initialNotify whether the callback should be called with the initial state
114   * @return the {@link CallbackStore} object associated with this callback.
115   */
116  public static CallbackStore registerUserActive3V3Callback(
117      NotifyCallback callback, boolean initialNotify) {
118    int uid = RoboRioDataJNI.registerUserActive3V3Callback(callback, initialNotify);
119    return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive3V3Callback);
120  }
121
122  /**
123   * Get the 3.3V rail active state.
124   *
125   * @return true if the 3.3V rail is active
126   */
127  public static boolean getUserActive3V3() {
128    return RoboRioDataJNI.getUserActive3V3();
129  }
130
131  /**
132   * Set the 3.3V rail active state.
133   *
134   * @param userActive3V3 true to make rail active
135   */
136  public static void setUserActive3V3(boolean userActive3V3) {
137    RoboRioDataJNI.setUserActive3V3(userActive3V3);
138  }
139
140  /**
141   * Register a callback to be run whenever the 3.3V rail number of faults changes.
142   *
143   * @param callback the callback
144   * @param initialNotify whether the callback should be called with the initial value
145   * @return the {@link CallbackStore} object associated with this callback.
146   */
147  public static CallbackStore registerUserFaults3V3Callback(
148      NotifyCallback callback, boolean initialNotify) {
149    int uid = RoboRioDataJNI.registerUserFaults3V3Callback(callback, initialNotify);
150    return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults3V3Callback);
151  }
152
153  /**
154   * Get the 3.3V rail number of faults.
155   *
156   * @return number of faults
157   */
158  public static int getUserFaults3V3() {
159    return RoboRioDataJNI.getUserFaults3V3();
160  }
161
162  /**
163   * Set the 3.3V rail number of faults.
164   *
165   * @param userFaults3V3 number of faults
166   */
167  public static void setUserFaults3V3(int userFaults3V3) {
168    RoboRioDataJNI.setUserFaults3V3(userFaults3V3);
169  }
170
171  /**
172   * Register a callback to be run whenever the Brownout voltage changes.
173   *
174   * @param callback the callback
175   * @param initialNotify whether to call the callback with the initial state
176   * @return the {@link CallbackStore} object associated with this callback.
177   */
178  public static CallbackStore registerBrownoutVoltageCallback(
179      NotifyCallback callback, boolean initialNotify) {
180    int uid = RoboRioDataJNI.registerBrownoutVoltageCallback(callback, initialNotify);
181    return new CallbackStore(uid, RoboRioDataJNI::cancelBrownoutVoltageCallback);
182  }
183
184  /**
185   * Measure the Brownout voltage.
186   *
187   * @return the Brownout voltage
188   */
189  public static double getBrownoutVoltage() {
190    return RoboRioDataJNI.getBrownoutVoltage();
191  }
192
193  /**
194   * Define the Brownout voltage.
195   *
196   * @param vInVoltage the new voltage
197   */
198  public static void setBrownoutVoltage(double vInVoltage) {
199    RoboRioDataJNI.setBrownoutVoltage(vInVoltage);
200  }
201
202  /**
203   * Register a callback to be run whenever the cpu temp changes.
204   *
205   * @param callback the callback
206   * @param initialNotify whether to call the callback with the initial state
207   * @return the {@link CallbackStore} object associated with this callback.
208   */
209  public static CallbackStore registerCPUTempCallback(
210      NotifyCallback callback, boolean initialNotify) {
211    int uid = RoboRioDataJNI.registerCPUTempCallback(callback, initialNotify);
212    return new CallbackStore(uid, RoboRioDataJNI::cancelCPUTempCallback);
213  }
214
215  /**
216   * Get the cpu temp.
217   *
218   * @return the cpu temp.
219   */
220  public static double getCPUTemp() {
221    return RoboRioDataJNI.getCPUTemp();
222  }
223
224  /**
225   * Set the cpu temp.
226   *
227   * @param cpuTemp the new cpu temp.
228   */
229  public static void setCPUTemp(double cpuTemp) {
230    RoboRioDataJNI.setCPUTemp(cpuTemp);
231  }
232
233  /**
234   * Register a callback to be run whenever the team number changes.
235   *
236   * @param callback the callback
237   * @param initialNotify whether to call the callback with the initial state
238   * @return the {@link CallbackStore} object associated with this callback.
239   */
240  public static CallbackStore registerTeamNumberCallback(
241      NotifyCallback callback, boolean initialNotify) {
242    int uid = RoboRioDataJNI.registerTeamNumberCallback(callback, initialNotify);
243    return new CallbackStore(uid, RoboRioDataJNI::cancelTeamNumberCallback);
244  }
245
246  /**
247   * Get the team number.
248   *
249   * @return the team number.
250   */
251  public static int getTeamNumber() {
252    return RoboRioDataJNI.getTeamNumber();
253  }
254
255  /**
256   * Set the team number.
257   *
258   * @param teamNumber the new team number.
259   */
260  public static void setTeamNumber(int teamNumber) {
261    RoboRioDataJNI.setTeamNumber(teamNumber);
262  }
263
264  /**
265   * Get the serial number.
266   *
267   * @return The serial number.
268   */
269  public static String getSerialNumber() {
270    return RoboRioDataJNI.getSerialNumber();
271  }
272
273  /**
274   * Set the serial number.
275   *
276   * @param serialNumber The serial number.
277   */
278  public static void setSerialNumber(String serialNumber) {
279    RoboRioDataJNI.setSerialNumber(serialNumber);
280  }
281
282  /**
283   * Get the comments string.
284   *
285   * @return The comments string.
286   */
287  public static String getComments() {
288    return RoboRioDataJNI.getComments();
289  }
290
291  /**
292   * Set the comments string.
293   *
294   * @param comments The comments string.
295   */
296  public static void setComments(String comments) {
297    RoboRioDataJNI.setComments(comments);
298  }
299
300  /** Reset all simulation data. */
301  public static void resetData() {
302    RoboRioDataJNI.resetData();
303  }
304}