Package edu.wpi.first.wpilibj.simulation

Class RoboRioSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.RoboRioSim

public final class RoboRioSim
extends Object

A utility class to control a simulated RoboRIO.

Method Summary

Modifier and Type	Method	Description
static double	getBrownoutVoltage()	Measure the Brownout voltage.
static String	getComments()	Get the comments string.
static double	getCPUTemp()	Get the cpu temp.
static boolean	getFPGAButton()	Query the state of the FPGA button.
static RobotController.RadioLEDState	getRadioLEDState()	Get the state of the radio led.
static String	getSerialNumber()	Get the serial number.
static int	getTeamNumber()	Get the team number.
static boolean	getUserActive3V3()	Get the 3.3V rail active state.
static boolean	getUserActive5V()	Get the 5V rail active state.
static boolean	getUserActive6V()	Get the 6V rail active state.
static double	getUserCurrent3V3()	Measure the 3.3V rail current.
static double	getUserCurrent5V()	Measure the 5V rail current.
static double	getUserCurrent6V()	Measure the 6V rail current.
static int	getUserFaults3V3()	Get the 3.3V rail number of faults.
static int	getUserFaults5V()	Get the 5V rail number of faults.
static int	getUserFaults6V()	Get the 6V rail number of faults.
static double	getUserVoltage3V3()	Measure the 3.3V rail voltage.
static double	getUserVoltage5V()	Measure the 5V rail voltage.
static double	getUserVoltage6V()	Measure the 6V rail voltage.
static double	getVInCurrent()	Measure the Vin current.
static double	getVInVoltage()	Measure the Vin voltage.
static CallbackStore	registerBrownoutVoltageCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the Brownout voltage changes.
static CallbackStore	registerCPUTempCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the cpu temp changes.
static CallbackStore	registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the FPGA button state changes.
static CallbackStore	registerRadioLEDStateCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the Radio led state changes.
static CallbackStore	registerTeamNumberCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the team number changes.
static CallbackStore	registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 3.3V rail active state changes.
static CallbackStore	registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 5V rail active state changes.
static CallbackStore	registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 6V rail active state changes.
static CallbackStore	registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 3.3V rail current changes.
static CallbackStore	registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 5V rail current changes.
static CallbackStore	registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 6V rail current changes.
static CallbackStore	registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 3.3V rail number of faults changes.
static CallbackStore	registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 5V rail number of faults changes.
static CallbackStore	registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 6V rail number of faults changes.
static CallbackStore	registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 3.3V rail voltage changes.
static CallbackStore	registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 5V rail voltage changes.
static CallbackStore	registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the 6V rail voltage changes.
static CallbackStore	registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the Vin current changes.
static CallbackStore	registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run whenever the Vin voltage changes.
static void	resetData()	Reset all simulation data.
static void	setBrownoutVoltage(double vInVoltage)	Define the Brownout voltage.
static void	setComments(String comments)	Set the comments string.
static void	setCPUTemp(double cpuTemp)	Set the cpu temp.
static void	setFPGAButton(boolean fpgaButton)	Define the state of the FPGA button.
static void	setRadioLEDState(RobotController.RadioLEDState state)	Set the state of the radio led.
static void	setSerialNumber(String serialNumber)	Set the serial number.
static void	setTeamNumber(int teamNumber)	Set the team number.
static void	setUserActive3V3(boolean userActive3V3)	Set the 3.3V rail active state.
static void	setUserActive5V(boolean userActive5V)	Set the 5V rail active state.
static void	setUserActive6V(boolean userActive6V)	Set the 6V rail active state.
static void	setUserCurrent3V3(double userCurrent3V3)	Define the 3.3V rail current.
static void	setUserCurrent5V(double userCurrent5V)	Define the 5V rail current.
static void	setUserCurrent6V(double userCurrent6V)	Define the 6V rail current.
static void	setUserFaults3V3(int userFaults3V3)	Set the 3.3V rail number of faults.
static void	setUserFaults5V(int userFaults5V)	Set the 5V rail number of faults.
static void	setUserFaults6V(int userFaults6V)	Set the 6V rail number of faults.
static void	setUserVoltage3V3(double userVoltage3V3)	Define the 3.3V rail voltage.
static void	setUserVoltage5V(double userVoltage5V)	Define the 5V rail voltage.
static void	setUserVoltage6V(double userVoltage6V)	Define the 6V rail voltage.
static void	setVInCurrent(double vInCurrent)	Define the Vin current.
static void	setVInVoltage(double vInVoltage)	Define the Vin voltage.

Methods inherited from class java.lang.Object

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

Method Details

registerFPGAButtonCallback

public static CallbackStore registerFPGAButtonCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the FPGA button state changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getFPGAButton

public static boolean getFPGAButton()

Query the state of the FPGA button.

Returns:

the FPGA button state

setFPGAButton

public static void setFPGAButton(boolean fpgaButton)

Define the state of the FPGA button.

Parameters:

fpgaButton - the new state

registerVInVoltageCallback

public static CallbackStore registerVInVoltageCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the Vin voltage changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getVInVoltage

public static double getVInVoltage()

Measure the Vin voltage.

Returns:

the Vin voltage

setVInVoltage

public static void setVInVoltage(double vInVoltage)

Define the Vin voltage.

Parameters:

vInVoltage - the new voltage

registerVInCurrentCallback

public static CallbackStore registerVInCurrentCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the Vin current changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getVInCurrent

public static double getVInCurrent()

Measure the Vin current.

Returns:

the Vin current

setVInCurrent

public static void setVInCurrent(double vInCurrent)

Define the Vin current.

Parameters:

vInCurrent - the new current

registerUserVoltage6VCallback

public static CallbackStore registerUserVoltage6VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 6V rail voltage changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserVoltage6V

public static double getUserVoltage6V()

Measure the 6V rail voltage.

Returns:

the 6V rail voltage

setUserVoltage6V

public static void setUserVoltage6V(double userVoltage6V)

Define the 6V rail voltage.

Parameters:

userVoltage6V - the new voltage

registerUserCurrent6VCallback

public static CallbackStore registerUserCurrent6VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 6V rail current changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserCurrent6V

public static double getUserCurrent6V()

Measure the 6V rail current.

Returns:

the 6V rail current

setUserCurrent6V

public static void setUserCurrent6V(double userCurrent6V)

Define the 6V rail current.

Parameters:

userCurrent6V - the new current

registerUserActive6VCallback

public static CallbackStore registerUserActive6VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 6V rail active state changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserActive6V

public static boolean getUserActive6V()

Get the 6V rail active state.

Returns:

true if the 6V rail is active

setUserActive6V

public static void setUserActive6V(boolean userActive6V)

Set the 6V rail active state.

Parameters:

userActive6V - true to make rail active

registerUserVoltage5VCallback

public static CallbackStore registerUserVoltage5VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 5V rail voltage changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserVoltage5V

public static double getUserVoltage5V()

Measure the 5V rail voltage.

Returns:

the 5V rail voltage

setUserVoltage5V

public static void setUserVoltage5V(double userVoltage5V)

Define the 5V rail voltage.

Parameters:

userVoltage5V - the new voltage

registerUserCurrent5VCallback

public static CallbackStore registerUserCurrent5VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 5V rail current changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserCurrent5V

public static double getUserCurrent5V()

Measure the 5V rail current.

Returns:

the 5V rail current

setUserCurrent5V

public static void setUserCurrent5V(double userCurrent5V)

Define the 5V rail current.

Parameters:

userCurrent5V - the new current

registerUserActive5VCallback

public static CallbackStore registerUserActive5VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 5V rail active state changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserActive5V

public static boolean getUserActive5V()

Get the 5V rail active state.

Returns:

true if the 5V rail is active

setUserActive5V

public static void setUserActive5V(boolean userActive5V)

Set the 5V rail active state.

Parameters:

userActive5V - true to make rail active

registerUserVoltage3V3Callback

public static CallbackStore registerUserVoltage3V3Callback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 3.3V rail voltage changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserVoltage3V3

public static double getUserVoltage3V3()

Measure the 3.3V rail voltage.

Returns:

the 3.3V rail voltage

setUserVoltage3V3

public static void setUserVoltage3V3(double userVoltage3V3)

Define the 3.3V rail voltage.

Parameters:

userVoltage3V3 - the new voltage

registerUserCurrent3V3Callback

public static CallbackStore registerUserCurrent3V3Callback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 3.3V rail current changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserCurrent3V3

public static double getUserCurrent3V3()

Measure the 3.3V rail current.

Returns:

the 3.3V rail current

setUserCurrent3V3

public static void setUserCurrent3V3(double userCurrent3V3)

Define the 3.3V rail current.

Parameters:

userCurrent3V3 - the new current

registerUserActive3V3Callback

public static CallbackStore registerUserActive3V3Callback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 3.3V rail active state changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserActive3V3

public static boolean getUserActive3V3()

Get the 3.3V rail active state.

Returns:

true if the 3.3V rail is active

setUserActive3V3

public static void setUserActive3V3(boolean userActive3V3)

Set the 3.3V rail active state.

Parameters:

userActive3V3 - true to make rail active

registerUserFaults6VCallback

public static CallbackStore registerUserFaults6VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 6V rail number of faults changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserFaults6V

public static int getUserFaults6V()

Get the 6V rail number of faults.

Returns:

number of faults

setUserFaults6V

public static void setUserFaults6V(int userFaults6V)

Set the 6V rail number of faults.

Parameters:

userFaults6V - number of faults

registerUserFaults5VCallback

public static CallbackStore registerUserFaults5VCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 5V rail number of faults changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserFaults5V

public static int getUserFaults5V()

Get the 5V rail number of faults.

Returns:

number of faults

setUserFaults5V

public static void setUserFaults5V(int userFaults5V)

Set the 5V rail number of faults.

Parameters:

userFaults5V - number of faults

registerUserFaults3V3Callback

public static CallbackStore registerUserFaults3V3Callback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the 3.3V rail number of faults changes.

Parameters:

callback - the callback

initialNotify - whether the callback should be called with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getUserFaults3V3

public static int getUserFaults3V3()

Get the 3.3V rail number of faults.

Returns:

number of faults

setUserFaults3V3

public static void setUserFaults3V3(int userFaults3V3)

Set the 3.3V rail number of faults.

Parameters:

userFaults3V3 - number of faults

registerBrownoutVoltageCallback

public static CallbackStore registerBrownoutVoltageCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the Brownout voltage changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getBrownoutVoltage

public static double getBrownoutVoltage()

Measure the Brownout voltage.

Returns:

the Brownout voltage

setBrownoutVoltage

public static void setBrownoutVoltage(double vInVoltage)

Define the Brownout voltage.

Parameters:

vInVoltage - the new voltage

registerCPUTempCallback

public static CallbackStore registerCPUTempCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the cpu temp changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getCPUTemp

public static double getCPUTemp()

Get the cpu temp.

Returns:

the cpu temp.

setCPUTemp

public static void setCPUTemp(double cpuTemp)

Set the cpu temp.

Parameters:

cpuTemp - the new cpu temp.

registerTeamNumberCallback

public static CallbackStore registerTeamNumberCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the team number changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getTeamNumber

public static int getTeamNumber()

Get the team number.

Returns:

the team number.

setTeamNumber

public static void setTeamNumber(int teamNumber)

Set the team number.

Parameters:

teamNumber - the new team number.

getSerialNumber

public static String getSerialNumber()

Get the serial number.

Returns:

The serial number.

setSerialNumber

public static void setSerialNumber(String serialNumber)

Set the serial number.

Parameters:

serialNumber - The serial number.

getComments

public static String getComments()

Get the comments string.

Returns:

The comments string.

setComments

public static void setComments(String comments)

Set the comments string.

Parameters:

comments - The comments string.

registerRadioLEDStateCallback

public static CallbackStore registerRadioLEDStateCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run whenever the Radio led state changes.

Parameters:

callback - the callback

initialNotify - whether to call the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getRadioLEDState

public static RobotController.RadioLEDState getRadioLEDState()

Get the state of the radio led.

Returns:

The state of the radio led.

setRadioLEDState

public static void setRadioLEDState(RobotController.RadioLEDState state)

Set the state of the radio led.

Parameters:

state - The state of the radio led.

resetData

public static void resetData()

Reset all simulation data.