allwpilib/wpilibc/src/main/native/include/frc/simulation/EncoderSim.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2020 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.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <exception>
#include <memory>
#include <utility>

#include <hal/simulation/EncoderData.h>

#include "CallbackStore.h"
#include "frc/Encoder.h"

namespace frc {
namespace sim {

/**
 * Class to control a simulated encoder.
 */
class EncoderSim {
 public:
  /**
   * Constructs from an Encoder object.
   *
   * @param encoder Encoder to simulate
   */
  explicit EncoderSim(const Encoder& encoder)
      : m_index{encoder.GetFPGAIndex()} {}

  /**
   * Creates an EncoderSim for a digital input channel.  Encoders take two
   * channels, so either one may be specified.
   *
   * @param channel digital input channel
   * @return Simulated object
   * @throws NoSuchElementException if no Encoder is configured for that channel
   */
  static EncoderSim CreateForChannel(int channel) {
    int index = HALSIM_FindEncoderForChannel(channel);
    if (index < 0) throw std::out_of_range("no encoder found for channel");
    return EncoderSim{index};
  }

  /**
   * Creates an EncoderSim for a simulated index.
   * The index is incremented for each simulated Encoder.
   *
   * @param index simulator index
   * @return Simulated object
   */
  static EncoderSim CreateForIndex(int index) { return EncoderSim{index}; }

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

  bool GetInitialized() const { return HALSIM_GetEncoderInitialized(m_index); }

  void SetInitialized(bool initialized) {
    HALSIM_SetEncoderInitialized(m_index, initialized);
  }

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

  int GetCount() const { return HALSIM_GetEncoderCount(m_index); }

  void SetCount(int count) { HALSIM_SetEncoderCount(m_index, count); }

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

  double GetPeriod() const { return HALSIM_GetEncoderPeriod(m_index); }

  void SetPeriod(double period) { HALSIM_SetEncoderPeriod(m_index, period); }

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

  bool GetReset() const { return HALSIM_GetEncoderReset(m_index); }

  void SetReset(bool reset) { HALSIM_SetEncoderReset(m_index, reset); }

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

  double GetMaxPeriod() const { return HALSIM_GetEncoderMaxPeriod(m_index); }

  void SetMaxPeriod(double maxPeriod) {
    HALSIM_SetEncoderMaxPeriod(m_index, maxPeriod);
  }

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

  bool GetDirection() const { return HALSIM_GetEncoderDirection(m_index); }

  void SetDirection(bool direction) {
    HALSIM_SetEncoderDirection(m_index, direction);
  }

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

  bool GetReverseDirection() const {
    return HALSIM_GetEncoderReverseDirection(m_index);
  }

  void SetReverseDirection(bool reverseDirection) {
    HALSIM_SetEncoderReverseDirection(m_index, reverseDirection);
  }

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

  int GetSamplesToAverage() const {
    return HALSIM_GetEncoderSamplesToAverage(m_index);
  }

  void SetSamplesToAverage(int samplesToAverage) {
    HALSIM_SetEncoderSamplesToAverage(m_index, samplesToAverage);
  }

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

  double GetDistancePerPulse() const {
    return HALSIM_GetEncoderDistancePerPulse(m_index);
  }

  void SetDistancePerPulse(double distancePerPulse) {
    HALSIM_SetEncoderDistancePerPulse(m_index, distancePerPulse);
  }

  void ResetData() { HALSIM_ResetEncoderData(m_index); }

  void SetDistance(double distance) {
    HALSIM_SetEncoderDistance(m_index, distance);
  }

  double GetDistance() { return HALSIM_GetEncoderDistance(m_index); }

  void SetRate(double rate) { HALSIM_SetEncoderRate(m_index, rate); }

  double GetRate() { return HALSIM_GetEncoderRate(m_index); }

 private:
  explicit EncoderSim(int index) : m_index{index} {}

  int m_index;
};
}  // namespace sim
}  // namespace frc