Package edu.wpi.first.hal

Class SimDeviceJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.SimDeviceJNI

public class SimDeviceJNI
extends JNIWrapper

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static int	kBidir
static int	kInput
static int	kOutput

Method Summary

Modifier and Type	Method	Description
static int	createSimDevice(String name)	Creates a simulated device.
static int	createSimValue(int device, String name, int direction, HALValue initialValue)	Creates a value on a simulated device.
static int	createSimValueBoolean(int device, String name, int direction, boolean initialValue)	Creates a boolean value on a simulated device.
static int	createSimValueDouble(int device, String name, int direction, double initialValue)	Creates a double value on a simulated device.
static int	createSimValueEnum(int device, String name, int direction, String[] options, int initialValue)	Creates an enumerated value on a simulated device.
static int	createSimValueEnumDouble(int device, String name, int direction, String[] options, double[] optionValues, int initialValue)	Creates an enumerated value on a simulated device with double values.
static int	createSimValueInt(int device, String name, int direction, int initialValue)	Creates an int value on a simulated device.
static int	createSimValueLong(int device, String name, int direction, long initialValue)	Creates a long value on a simulated device.
static void	freeSimDevice(int handle)	Frees a simulated device.
static String	getSimDeviceName(int handle)	Get the name of a simulated device.
static HALValue	getSimValue(int handle)	Gets a simulated value.
static boolean	getSimValueBoolean(int handle)	Gets a simulated value (boolean).
static double	getSimValueDouble(int handle)	Gets a simulated value (double).
static int	getSimValueEnum(int handle)	Gets a simulated value (enum).
static int	getSimValueInt(int handle)	Gets a simulated value (int).
static long	getSimValueLong(int handle)	Gets a simulated value (long).
static void	resetSimValue(int handle)	Resets a simulated double or integral value to 0.
static void	setSimValue(int handle, HALValue value)	Sets a simulated value.
static void	setSimValueBoolean(int handle, boolean value)	Sets a simulated value (boolean).
static void	setSimValueDouble(int handle, double value)	Sets a simulated value (double).
static void	setSimValueEnum(int handle, int value)	Sets a simulated value (enum).
static void	setSimValueInt(int handle, int value)	Sets a simulated value (int).
static void	setSimValueLong(int handle, long value)	Sets a simulated value (long).

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

kInput

public static final int kInput

See Also:

Constant Field Values

kOutput

public static final int kOutput

See Also:

Constant Field Values

kBidir

public static final int kBidir

See Also:

Constant Field Values

Method Details

createSimDevice

public static int createSimDevice(String name)

Creates a simulated device.

The device name must be unique. 0 is returned if the device name already exists. If multiple instances of the same device are desired, recommend appending the instance/unique identifier in brackets to the base name, e.g. "device[1]".

0 is returned if not in simulation.

Parameters:

name - device name

Returns:

simulated device handle

freeSimDevice

public static void freeSimDevice(int handle)

Frees a simulated device.

This also allows the same device name to be used again. This also frees all the simulated values created on the device.

Parameters:

handle - simulated device handle

getSimDeviceName

public static String getSimDeviceName(int handle)

Get the name of a simulated device.

Parameters:

handle - simulated device handle

Returns:

name of the simulated device

createSimValue

public static int createSimValue(int device, String name, int direction, HALValue initialValue)

Creates a value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

initialValue - initial value

Returns:

simulated value handle

createSimValueInt

public static int createSimValueInt(int device, String name, int direction, int initialValue)

Creates an int value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

initialValue - initial value

Returns:

simulated value handle

createSimValueLong

public static int createSimValueLong(int device, String name, int direction, long initialValue)

Creates a long value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

initialValue - initial value

Returns:

simulated value handle

createSimValueDouble

public static int createSimValueDouble(int device, String name, int direction, double initialValue)

Creates a double value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

initialValue - initial value

Returns:

simulated value handle

createSimValueEnum

public static int createSimValueEnum(int device, String name, int direction, String[] options, int initialValue)

Creates an enumerated value on a simulated device.

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

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

options - array of option descriptions

initialValue - initial value (selection)

Returns:

simulated value handle

createSimValueEnumDouble

public static int createSimValueEnumDouble(int device, String name, int direction, String[] options, double[] optionValues, int initialValue)

Creates an enumerated value on a simulated device with double values.

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

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

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 value handle

createSimValueBoolean

public static int createSimValueBoolean(int device, String name, int direction, boolean initialValue)

Creates a boolean value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters:

device - simulated device handle

name - value name

direction - input/output/bidir (from perspective of user code)

initialValue - initial value

Returns:

simulated value handle

getSimValue

public static HALValue getSimValue(int handle)

Gets a simulated value.

Parameters:

handle - simulated value handle

Returns:

The current value

getSimValueInt

public static int getSimValueInt(int handle)

Gets a simulated value (int).

Parameters:

handle - simulated value handle

Returns:

The current value

getSimValueLong

public static long getSimValueLong(int handle)

Gets a simulated value (long).

Parameters:

handle - simulated value handle

Returns:

The current value

getSimValueDouble

public static double getSimValueDouble(int handle)

Gets a simulated value (double).

Parameters:

handle - simulated value handle

Returns:

The current value

getSimValueEnum

public static int getSimValueEnum(int handle)

Gets a simulated value (enum).

Parameters:

handle - simulated value handle

Returns:

The current value

getSimValueBoolean

public static boolean getSimValueBoolean(int handle)

Gets a simulated value (boolean).

Parameters:

handle - simulated value handle

Returns:

The current value

setSimValue

public static void setSimValue(int handle, HALValue value)

Sets a simulated value.

Parameters:

handle - simulated value handle

value - the value to set

setSimValueInt

public static void setSimValueInt(int handle, int value)

Sets a simulated value (int).

Parameters:

handle - simulated value handle

value - the value to set

setSimValueLong

public static void setSimValueLong(int handle, long value)

Sets a simulated value (long).

Parameters:

handle - simulated value handle

value - the value to set

setSimValueDouble

public static void setSimValueDouble(int handle, double value)

Sets a simulated value (double).

Parameters:

handle - simulated value handle

value - the value to set

setSimValueEnum

public static void setSimValueEnum(int handle, int value)

Sets a simulated value (enum).

Parameters:

handle - simulated value handle

value - the value to set

setSimValueBoolean

public static void setSimValueBoolean(int handle, boolean value)

Sets a simulated value (boolean).

Parameters:

handle - simulated value handle

value - the value to set

resetSimValue

public static void resetSimValue(int handle)

Resets a simulated double or integral value to 0. Has no effect on other value types. Use this instead of Set(0) for resetting incremental sensor values like encoder counts or gyro accumulated angle to ensure correct behavior in a distributed system (e.g. WebSockets).

Parameters:

handle - simulated value handle