allwpilib/wpilibc/src/main/native/include/frc/simulation/AnalogOutputSim.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 <memory>
#include <utility>

#include <hal/simulation/AnalogOutData.h>

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

namespace frc {
namespace sim {

/**
 * Class to control a simulated analog output.
 */
class AnalogOutputSim {
 public:
  /**
   * Constructs from an AnalogOutput object.
   *
   * @param analogOutput AnalogOutput to simulate
   */
  explicit AnalogOutputSim(const AnalogOutput& analogOutput)
      : m_index{analogOutput.GetChannel()} {}

  /**
   * Constructs from an analog output channel number.
   *
   * @param channel Channel number
   */
  explicit AnalogOutputSim(int channel) : m_index{channel} {}

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

  double GetVoltage() const { return HALSIM_GetAnalogOutVoltage(m_index); }

  void SetVoltage(double voltage) {
    HALSIM_SetAnalogOutVoltage(m_index, voltage);
  }

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

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

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

  void ResetData() { HALSIM_ResetAnalogOutData(m_index); }

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