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wpilibc/src/main/native/include/wpi/simulation/CTREPCMSim.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "frc/PneumaticsBase.h"
+#include "frc/simulation/CallbackStore.h"
+#include "frc/simulation/PneumaticsBaseSim.h"
+
+namespace frc::sim {
+
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
+class CTREPCMSim : public PneumaticsBaseSim {
+ public:
+  /**
+   * Constructs with the default PCM module number (CAN ID).
+   */
+  CTREPCMSim();
+
+  /**
+   * Constructs from a PCM module number (CAN ID).
+   *
+   * @param module module number
+   */
+  explicit CTREPCMSim(int module);
+
+  explicit CTREPCMSim(const PneumaticsBase& pneumatics);
+
+  ~CTREPCMSim() override = default;
+
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify) override;
+
+  bool GetInitialized() const override;
+
+  void SetInitialized(bool initialized) override;
+
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+      int channel, NotifyCallback callback, bool initialNotify) override;
+
+  bool GetSolenoidOutput(int channel) const override;
+
+  void SetSolenoidOutput(int channel, bool solenoidOutput) override;
+
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+      NotifyCallback callback, bool initialNotify) override;
+
+  bool GetCompressorOn() const override;
+
+  void SetCompressorOn(bool compressorOn) override;
+
+  /**
+   * Register a callback to be run whenever the closed loop state changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterClosedLoopEnabledCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check whether the closed loop compressor control is active.
+   *
+   * @return true if active
+   */
+  bool GetClosedLoopEnabled() const;
+
+  /**
+   * Turn on/off the closed loop control of the compressor.
+   *
+   * @param closedLoopEnabled whether the control loop is active
+   */
+  void SetClosedLoopEnabled(bool closedLoopEnabled);
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+      NotifyCallback callback, bool initialNotify) override;
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  bool GetPressureSwitch() const override;
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  void SetPressureSwitch(bool pressureSwitch) override;
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
+      NotifyCallback callback, bool initialNotify) override;
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  double GetCompressorCurrent() const override;
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  void SetCompressorCurrent(double compressorCurrent) override;
+
+  uint8_t GetAllSolenoidOutputs() const override;
+
+  void SetAllSolenoidOutputs(uint8_t outputs) override;
+
+  void ResetData() override;
+};
+}  // namespace frc::sim