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wpilibc/src/main/native/include/wpi/simulation/DIOSim.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/simulation/CallbackStore.h"
+
+namespace frc {
+
+class DigitalInput;
+class DigitalOutput;
+
+namespace sim {
+
+/**
+ * Class to control a simulated digital input or output.
+ */
+class DIOSim {
+ public:
+  /**
+   * Constructs from a DigitalInput object.
+   *
+   * @param input DigitalInput to simulate
+   */
+  explicit DIOSim(const DigitalInput& input);
+
+  /**
+   * Constructs from a DigitalOutput object.
+   *
+   * @param output DigitalOutput to simulate
+   */
+  explicit DIOSim(const DigitalOutput& output);
+
+  /**
+   * Constructs from an digital I/O channel number.
+   *
+   * @param channel Channel number
+   */
+  explicit DIOSim(int channel);
+
+  /**
+   * Register a callback to be run when this DIO is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check whether this DIO has been initialized.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Define whether this DIO has been initialized.
+   *
+   * @param initialized whether this object is initialized
+   */
+  void SetInitialized(bool initialized);
+
+  /**
+   * Register a callback to be run whenever the DIO 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> RegisterValueCallback(NotifyCallback callback,
+                                                       bool initialNotify);
+
+  /**
+   * Read the value of the DIO port.
+   *
+   * @return the DIO value
+   */
+  bool GetValue() const;
+
+  /**
+   * Change the DIO value.
+   *
+   * @param value the new value
+   */
+  void SetValue(bool value);
+
+  /**
+   * Register a callback to be run whenever the pulse length 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> RegisterPulseLengthCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Read the pulse length.
+   *
+   * @return the pulse length of this DIO port
+   */
+  double GetPulseLength() const;
+
+  /**
+   * Change the pulse length of this DIO port.
+   *
+   * @param pulseLength the new pulse length
+   */
+  void SetPulseLength(double pulseLength);
+
+  /**
+   * Register a callback to be run whenever this DIO changes to be an input.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterIsInputCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check whether this DIO port is currently an Input.
+   *
+   * @return true if Input
+   */
+  bool GetIsInput() const;
+
+  /**
+   * Define whether this DIO port is an Input.
+   *
+   * @param isInput whether this DIO should be an Input
+   */
+  void SetIsInput(bool isInput);
+
+  /**
+   * Register a callback to be run whenever the filter index 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> RegisterFilterIndexCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Read the filter index.
+   *
+   * @return the filter index of this DIO port
+   */
+  int GetFilterIndex() const;
+
+  /**
+   * Change the filter index of this DIO port.
+   *
+   * @param filterIndex the new filter index
+   */
+  void SetFilterIndex(int filterIndex);
+
+  /**
+   * Reset all simulation data of this object.
+   */
+  void ResetData();
+
+ private:
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc