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wpilibc/src/main/native/include/wpi/simulation/DigitalPWMSim.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 DigitalOutput;
+
+namespace sim {
+
+/**
+ * Class to control a simulated digital PWM output.
+ *
+ * This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
+ * style PWM outputs on a PWM channel.
+ */
+class DigitalPWMSim {
+ public:
+  /**
+   * Constructs from a DigitalOutput object.
+   *
+   * @param digitalOutput DigitalOutput to simulate
+   */
+  explicit DigitalPWMSim(const DigitalOutput& digitalOutput);
+
+  /**
+   * Creates an DigitalPWMSim for a digital I/O channel.
+   *
+   * @param channel DIO channel
+   * @return Simulated object
+   * @throws std::out_of_range if no Digital PWM is configured for that channel
+   */
+  static DigitalPWMSim CreateForChannel(int channel);
+
+  /**
+   * Creates an DigitalPWMSim for a simulated index.
+   * The index is incremented for each simulated DigitalPWM.
+   *
+   * @param index simulator index
+   * @return Simulated object
+   */
+  static DigitalPWMSim CreateForIndex(int index);
+
+  /**
+   * Register a callback to be run when this PWM output 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 PWM output has been initialized.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Define whether this PWM output has been initialized.
+   *
+   * @param initialized whether this object is initialized
+   */
+  void SetInitialized(bool initialized);
+
+  /**
+   * Register a callback to be run whenever the duty cycle value 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> RegisterDutyCycleCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Read the duty cycle value.
+   *
+   * @return the duty cycle value of this PWM output
+   */
+  double GetDutyCycle() const;
+
+  /**
+   * Set the duty cycle value of this PWM output.
+   *
+   * @param dutyCycle the new value
+   */
+  void SetDutyCycle(double dutyCycle);
+
+  /**
+   * Register a callback to be run whenever the pin 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> RegisterPinCallback(NotifyCallback callback,
+                                                     bool initialNotify);
+
+  /**
+   * Check the pin number.
+   *
+   * @return the pin number
+   */
+  int GetPin() const;
+
+  /**
+   * Change the pin number.
+   *
+   * @param pin the new pin number
+   */
+  void SetPin(int pin);
+
+  /**
+   * Reset all simulation data.
+   */
+  void ResetData();
+
+ private:
+  explicit DigitalPWMSim(int index) : m_index{index} {}
+
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc