allwpilib/wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "frc/simulation/DutyCycleSim.h"

#include <memory>
#include <stdexcept>
#include <utility>

#include <hal/simulation/DutyCycleData.h>

#include "frc/DutyCycle.h"

using namespace frc;
using namespace frc::sim;

DutyCycleSim::DutyCycleSim(const DutyCycle& dutyCycle)
    : m_index{dutyCycle.GetFPGAIndex()} {}

DutyCycleSim DutyCycleSim::CreateForChannel(int channel) {
  int index = HALSIM_FindDutyCycleForChannel(channel);
  if (index < 0) throw std::out_of_range("no duty cycle found for channel");
  return DutyCycleSim{index};
}

DutyCycleSim DutyCycleSim::CreateForIndex(int index) {
  return DutyCycleSim{index};
}

std::unique_ptr<CallbackStore> DutyCycleSim::RegisterInitializedCallback(
    NotifyCallback callback, bool initialNotify) {
  auto store = std::make_unique<CallbackStore>(
      m_index, -1, callback, &HALSIM_CancelDutyCycleInitializedCallback);
  store->SetUid(HALSIM_RegisterDutyCycleInitializedCallback(
      m_index, &CallbackStoreThunk, store.get(), initialNotify));
  return store;
}

bool DutyCycleSim::GetInitialized() const {
  return HALSIM_GetDutyCycleInitialized(m_index);
}

void DutyCycleSim::SetInitialized(bool initialized) {
  HALSIM_SetDutyCycleInitialized(m_index, initialized);
}

std::unique_ptr<CallbackStore> DutyCycleSim::RegisterFrequencyCallback(
    NotifyCallback callback, bool initialNotify) {
  auto store = std::make_unique<CallbackStore>(
      m_index, -1, callback, &HALSIM_CancelDutyCycleFrequencyCallback);
  store->SetUid(HALSIM_RegisterDutyCycleFrequencyCallback(
      m_index, &CallbackStoreThunk, store.get(), initialNotify));
  return store;
}

int DutyCycleSim::GetFrequency() const {
  return HALSIM_GetDutyCycleFrequency(m_index);
}

void DutyCycleSim::SetFrequency(int count) {
  HALSIM_SetDutyCycleFrequency(m_index, count);
}

std::unique_ptr<CallbackStore> DutyCycleSim::RegisterOutputCallback(
    NotifyCallback callback, bool initialNotify) {
  auto store = std::make_unique<CallbackStore>(
      m_index, -1, callback, &HALSIM_CancelDutyCycleOutputCallback);
  store->SetUid(HALSIM_RegisterDutyCycleOutputCallback(
      m_index, &CallbackStoreThunk, store.get(), initialNotify));
  return store;
}

double DutyCycleSim::GetOutput() const {
  return HALSIM_GetDutyCycleOutput(m_index);
}

void DutyCycleSim::SetOutput(double period) {
  HALSIM_SetDutyCycleOutput(m_index, period);
}

void DutyCycleSim::ResetData() { HALSIM_ResetDutyCycleData(m_index); }