Add registerSimValue callbacks

- Fixes #90
robotpy · May 3, 2024 · 07d1a9a · 07d1a9a
1 parent 143c2b5
commit 07d1a9a
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Showing 4 changed files with 119 additions and 4 deletions.
diff --git a/subprojects/robotpy-hal/gen/simulation/SimDeviceData.yml b/subprojects/robotpy-hal/gen/simulation/SimDeviceData.yml
@@ -1,5 +1,9 @@
 ---
 
+extra_includes:
+- sim_value_cb.h
+- pybind11/functional.h
+
 strip_prefixes:
 - HALSIM_
 
@@ -9,10 +13,13 @@ functions:
   HALSIM_RegisterSimDeviceCreatedCallback:
     ignore: true
   HALSIM_CancelSimDeviceCreatedCallback:
+    ignore: true
   HALSIM_RegisterSimDeviceFreedCallback:
     ignore: true
   HALSIM_CancelSimDeviceCreatedCallback:
+    ignore: true
   HALSIM_CancelSimDeviceFreedCallback:
+    ignore: true
   HALSIM_GetSimDeviceHandle:
   HALSIM_GetSimDeviceName:
   HALSIM_GetSimValueDeviceHandle:
@@ -21,14 +28,53 @@ functions:
   HALSIM_RegisterSimValueCreatedCallback:
     ignore: true
   HALSIM_CancelSimDeviceCreatedCallback:
+    ignore: true
   HALSIM_CancelSimValueCreatedCallback:
-  HALSIM_RegisterSimValueChangedCallback:
     ignore: true
+  HALSIM_RegisterSimValueChangedCallback:
+    param_override:
+      handle:
+        name: value
+      param:
+        ignore: true
+    cpp_code: |
+      [](hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
+        auto cb = std::make_unique<SimValueCB>(fn, HALSIM_CancelSimValueChangedCallback);
+        auto uid = HALSIM_RegisterSimValueChangedCallback(simvalue, cb.get(),
+          [](const char* name, void* param,
+             HAL_SimValueHandle handle,
+             int32_t direction,
+             const struct HAL_Value* value) {
+          ((SimValueCB*)param)->m_fn(name, handle, (HAL_SimValueDirection)direction, *value);
+        }, initialNotify);
+        cb->SetUID(uid);
+        return std::move(cb);
+      }
   HALSIM_CancelSimDeviceCreatedCallback:
+    ignore: true
   HALSIM_CancelSimValueChangedCallback:
-  HALSIM_RegisterSimValueResetCallback:
     ignore: true
+  HALSIM_RegisterSimValueResetCallback:
+    param_override:
+      handle:
+        name: value
+      param:
+        ignore: true
+    cpp_code: |
+      [](hal::SimValue &simvalue, std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)> fn, bool initialNotify) -> std::unique_ptr<SimValueCB> {
+        auto cb = std::make_unique<SimValueCB>(fn, HALSIM_CancelSimValueResetCallback);
+        auto uid = HALSIM_RegisterSimValueChangedCallback(simvalue, cb.get(),
+          [](const char* name, void* param,
+             HAL_SimValueHandle handle,
+             int32_t direction,
+             const struct HAL_Value* value) {
+          ((SimValueCB*)param)->m_fn(name, handle, (HAL_SimValueDirection)direction, *value);
+        }, initialNotify);
+        cb->SetUID(uid);
+        return std::move(cb);
+      }
   HALSIM_CancelSimValueResetCallback:
+    ignore: true
   HALSIM_GetSimValueHandle:
   HALSIM_EnumerateSimValues:
     ignore: true

diff --git a/subprojects/robotpy-hal/hal/simulation/main.cpp b/subprojects/robotpy-hal/hal/simulation/main.cpp
@@ -3,6 +3,7 @@
 #include <pybind11/functional.h>
 
 #include "sim_cb.h"
+#include "sim_value_cb.h"
 
 void HALSIM_ResetGlobalHandles();
 
@@ -12,6 +13,10 @@ RPYBUILD_PYBIND11_MODULE(m) {
   cls_SimCB.doc() = "Simulation callback handle";
   cls_SimCB.def("cancel", &SimCB::Cancel, py::doc("Cancel the callback"));
 
+  py::class_<SimValueCB> cls_SimValueCB(m, "SimValueCB");
+  cls_SimValueCB.doc() = "Simulation callback handle";
+  cls_SimValueCB.def("cancel", &SimValueCB::Cancel, py::doc("Cancel the callback"));
+
   initWrapper(m);
 
   m.def(

diff --git a/subprojects/robotpy-hal/hal/simulation/sim_value_cb.h b/subprojects/robotpy-hal/hal/simulation/sim_value_cb.h
@@ -0,0 +1,37 @@
+
+#pragma once
+
+#include <hal/SimDevice.h>
+
+class SimValueCB {
+public:
+
+    using FnType = std::function<void(const char *, HAL_SimValueHandle, HAL_SimValueDirection, HAL_Value)>;
+
+    SimValueCB(FnType fn, std::function<void(int32_t)> cancel) :
+        m_fn(fn),
+        m_cancel(cancel)
+    {}
+
+    void SetUID(int32_t uid) {
+        m_uid = uid;
+    }
+
+    ~SimValueCB() {
+        Cancel();
+    }
+
+    void Cancel() {
+        if (m_valid) {
+            m_cancel(m_uid);
+            m_valid = false;
+        }
+    }
+
+    FnType m_fn;
+
+private:
+    bool m_valid = true;
+    int32_t m_uid;
+    std::function<void(int32_t)> m_cancel;
+};
diff --git a/subprojects/robotpy-hal/tests/test_hal_simulation.py b/subprojects/robotpy-hal/tests/test_hal_simulation.py
@@ -1,5 +1,32 @@
+import hal
 import hal.simulation
 
+import typing
 
-def test_hal_simulation():
-    pass
+
+def test_value_changed_callback():
+
+    recv_name: typing.Optional[str] = None
+    recv_value: typing.Optional[hal.Value] = None
+
+    def cb(name: str, handle: int, direction: hal.SimValueDirection, value: hal.Value):
+        nonlocal recv_name, recv_value
+        recv_name = name
+        recv_value = value
+        print(name, value)
+
+    dev = hal.SimDevice("simd")
+    val = dev.createInt("answer", 0, 42)
+
+    # Must keep the returned value alive or the callback will be unregistered
+    unused = hal.simulation.registerSimValueChangedCallback(val, cb, True)
+
+    assert recv_name == "answer"
+    assert recv_value is not None
+    assert recv_value.value == 42
+
+    val.set(84)
+
+    assert recv_name == "answer"
+    assert recv_value is not None
+    assert recv_value.value == 84