Add documentation for simulation extensions #6729
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Gold856
commented
Jun 10, 2024
| Several devices in the HAL have functions that allow you to feed data from an external source into the HAL. The full list can be found in the HAL subdirectory in `include/hal/simulation`. For example, the AccelerometerData header declares functions that update the X, Y, and Z axes with data. Some functions accept callbacks; the I2CData header declares functions which accept other functions with parameters that allow it to accept data. This allows the implementation of a simulation extension that interfaces with an I2C bus and connects it to the HAL, allowing the use of real I2C hardware in simulation. Note that these callbacks are called synchronously and in the same thread as the robot program; long delays in callbacks will block the main thread and can cause loop overruns. | ||
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| ## Building the extension | ||
| To build an extension for use in a robot project, you'll need to build with Gradle. The easiest way to get a working build.gradle file is to copy the build.gradle file from halsim_xrp. It doesn't have any tests, and it only depends on halsim_ws_core. The important line is `lib project: ':wpinet', library: 'wpinet', linkage: 'shared'`. This tells Gradle to link the extension with wpinet using shared libraries. Other libraries can be included in a similar way by referencing the Gradle subproject name. Note that you do not need to include the HAL since it is automatically included. |
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shared/plugins/setupBuild.gradle allows you to include wpiutil, wpinet, and ntcore by putting it in the ext block. halsim_ds_socket does this by putting includeWpiutil = true in its ext block, but other extensions do it manually. Is the ext block preferred over manually handling dependencies?
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PeterJohnson
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Jul 16, 2024
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Added a README.md describing how to build a simulation extension.
Also added a README.md for the DS extension.
Replaces #6162.