Sim data

src/hal/JoystickDescriptor.cs

@@ -7,6 +7,7 @@ namespace WPIHal;
 public readonly record struct JoystickDescriptor(bool IsXbox, int Type, string Name, int[] AxisTypes, int ButtonCount, int PovCount);
 
 [CustomMarshaller(typeof(JoystickDescriptor), MarshalMode.ManagedToUnmanagedOut, typeof(JoystickDescriptorMarshaller))]
+[CustomMarshaller(typeof(JoystickDescriptor), MarshalMode.ManagedToUnmanagedIn, typeof(JoystickDescriptorMarshaller))]
 public static class JoystickDescriptorMarshaller
 {
     public static JoystickDescriptor ConvertToManaged(NativeJoystickDescriptor unmanaged)
@@ -22,6 +23,11 @@ public static JoystickDescriptor ConvertToManaged(NativeJoystickDescriptor unman
         };
     }
 
+    public static NativeJoystickDescriptor ConvertToUnmanaged(JoystickDescriptor managed)
+    {
+        throw new NotImplementedException();
+    }
+
     [StructLayout(LayoutKind.Sequential)]
     public struct NativeJoystickDescriptor
     {

src/hal/MatchInfo.cs

@@ -8,6 +8,7 @@ namespace WPIHal;
 public record struct MatchInfo(string EventName, MatchType MatchType, int MatchNumber, int ReplayNumber, byte[] GameSpecificMessage);
 
 [CustomMarshaller(typeof(MatchInfo), MarshalMode.ManagedToUnmanagedOut, typeof(MatchInfoMarshaller))]
+[CustomMarshaller(typeof(MatchInfo), MarshalMode.ManagedToUnmanagedIn, typeof(MatchInfoMarshaller))]
 public static class MatchInfoMarshaller
 {
     public static unsafe MatchInfo ConvertToManaged(NativeMatchInfo unmanaged)
@@ -22,6 +23,11 @@ public static unsafe MatchInfo ConvertToManaged(NativeMatchInfo unmanaged)
         };
     }
 
+    public static NativeMatchInfo ConvertToUnmanaged(in MatchInfo managed)
+    {
+        throw new NotImplementedException();
+    }
+
     [StructLayout(LayoutKind.Sequential)]
     public struct NativeMatchInfo
     {

src/hal/Natives/Simulation/AccelerometerData.cs

@@ -0,0 +1,99 @@
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+using unsafe HAL_BufferCallback = delegate* unmanaged[Cdecl]<byte*, void*, byte*, uint, void>;
+using unsafe HAL_NotifyCallback = delegate* unmanaged[Cdecl]<byte*, void*, WPIHal.HalValue*, void>;
+
+namespace WPIHal.Natives.Simulation;
+
+public static unsafe partial class HalAccelerometerData
+{
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_ResetAccelerometerData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void ResetAccelerometerData(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerActiveCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAccelerometerActiveCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAccelerometerActiveCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAccelerometerActiveCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAccelerometerActive")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetAccelerometerActive(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAccelerometerActive")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAccelerometerActive(int index, [MarshalAs(UnmanagedType.I4)] bool active);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerRangeCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAccelerometerRangeCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAccelerometerRangeCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAccelerometerRangeCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAccelerometerRange")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial HalAccelerometer.Range GetAccelerometerRange(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAccelerometerRange")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAccelerometerRange(int index, HalAccelerometer.Range range);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerXCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAccelerometerXCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAccelerometerXCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAccelerometerXCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAccelerometerX")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetAccelerometerX(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAccelerometerX")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAccelerometerX(int index, double x);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerYCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAccelerometerYCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAccelerometerYCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAccelerometerYCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAccelerometerY")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetAccelerometerY(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAccelerometerY")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAccelerometerY(int index, double y);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerZCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAccelerometerZCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAccelerometerZCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAccelerometerZCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAccelerometerZ")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetAccelerometerZ(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAccelerometerZ")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAccelerometerZ(int index, double z);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAccelerometerAllCallbacks")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void RegisterAccelerometerAllCallbacks(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+}

src/hal/Natives/Simulation/AddressableLEDData.cs

@@ -0,0 +1,105 @@
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+using unsafe HAL_BufferCallback = delegate* unmanaged[Cdecl]<byte*, void*, byte*, uint, void>;
+using unsafe HAL_ConstBufferCallback = delegate* unmanaged[Cdecl]<byte*, void*, byte*, uint, void>;
+using unsafe HAL_NotifyCallback = delegate* unmanaged[Cdecl]<byte*, void*, WPIHal.HalValue*, void>;
+
+namespace WPIHal.Natives.Simulation;
+
+public static unsafe partial class HalAddressableLEDData
+{
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_FindAddressableLEDForChannel")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int FindAddressableLEDForChannel(int channel);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_ResetAddressableLEDData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void ResetAddressableLEDData(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDInitializedCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAddressableLEDInitializedCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAddressableLEDInitializedCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAddressableLEDInitializedCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAddressableLEDInitialized")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetAddressableLEDInitialized(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAddressableLEDInitialized")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAddressableLEDInitialized(int index, [MarshalAs(UnmanagedType.I4)] bool initialized);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDOutputPortCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAddressableLEDOutputPortCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAddressableLEDOutputPortCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAddressableLEDOutputPortCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAddressableLEDOutputPort")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int GetAddressableLEDOutputPort(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAddressableLEDOutputPort")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAddressableLEDOutputPort(int index, int outputPort);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDLengthCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAddressableLEDLengthCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAddressableLEDLengthCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAddressableLEDLengthCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAddressableLEDLength")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int GetAddressableLEDLength(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAddressableLEDLength")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAddressableLEDLength(int index, int length);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDRunningCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAddressableLEDRunningCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAddressableLEDRunningCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAddressableLEDRunningCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAddressableLEDRunning")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetAddressableLEDRunning(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAddressableLEDRunning")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAddressableLEDRunning(int index, [MarshalAs(UnmanagedType.I4)] bool running);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDDataCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAddressableLEDDataCallback(int index, HAL_ConstBufferCallback callback, void* param);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAddressableLEDDataCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAddressableLEDDataCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAddressableLEDData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int GetAddressableLEDData(int index, HalAddressableLED.LedData* data);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAddressableLEDData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAddressableLEDData(int index, HalAddressableLED.LedData* data, int length);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAddressableLEDAllCallbacks")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void RegisterAddressableLEDAllCallbacks(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+}

src/hal/Natives/Simulation/AnalogGyroData.cs

@@ -0,0 +1,67 @@
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+using unsafe HAL_BufferCallback = delegate* unmanaged[Cdecl]<byte*, void*, byte*, uint, void>;
+using unsafe HAL_NotifyCallback = delegate* unmanaged[Cdecl]<byte*, void*, WPIHal.HalValue*, void>;
+
+namespace WPIHal.Natives.Simulation;
+
+public static unsafe partial class HalAnalogGyroData
+{
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_ResetAnalogGyroData")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void ResetAnalogGyroData(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAnalogGyroAngleCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAnalogGyroAngleCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAnalogGyroAngleCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAnalogGyroAngleCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAnalogGyroAngle")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetAnalogGyroAngle(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAnalogGyroAngle")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAnalogGyroAngle(int index, double angle);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAnalogGyroRateCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAnalogGyroRateCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAnalogGyroRateCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAnalogGyroRateCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAnalogGyroRate")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial double GetAnalogGyroRate(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAnalogGyroRate")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAnalogGyroRate(int index, double rate);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAnalogGyroInitializedCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial int RegisterAnalogGyroInitializedCallback(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_CancelAnalogGyroInitializedCallback")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void CancelAnalogGyroInitializedCallback(int index, int uid);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_GetAnalogGyroInitialized")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    [return: MarshalAs(UnmanagedType.I4)]
+    public static partial bool GetAnalogGyroInitialized(int index);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_SetAnalogGyroInitialized")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void SetAnalogGyroInitialized(int index, [MarshalAs(UnmanagedType.I4)] bool initialized);
+
+    [LibraryImport("wpiHal", EntryPoint = "HALSIM_RegisterAnalogGyroAllCallbacks")]
+    [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
+    public static partial void RegisterAnalogGyroAllCallbacks(int index, HAL_NotifyCallback callback, void* param, [MarshalAs(UnmanagedType.I4)] bool initialNotify);
+
+}