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wpilibc/src/main/native/include/wpi/simulation/EncoderSim.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 Encoder;
+
+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);
+
+  /**
+   * 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);
+
+  /**
+   * 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);
+
+  /**
+   * Register a callback on the Initialized property of the encoder.
+   *
+   * @param callback the callback that will be called whenever the Initialized
+   *                 property is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Read the Initialized value of the encoder.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Change the Initialized value of the encoder.
+   *
+   * @param initialized the new value
+   */
+  void SetInitialized(bool initialized);
+
+  /**
+   * Register a callback on the count property of the encoder.
+   *
+   * @param callback the callback that will be called whenever the count
+   *                 property is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCountCallback(NotifyCallback callback,
+                                                       bool initialNotify);
+
+  /**
+   * Read the count of the encoder.
+   *
+   * @return the count
+   */
+  int GetCount() const;
+
+  /**
+   * Change the count of the encoder.
+   *
+   * @param count the new count
+   */
+  void SetCount(int count);
+
+  /**
+   * Register a callback on the period of the encoder.
+   *
+   * @param callback the callback that will be called whenever the period is
+   *                 changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPeriodCallback(NotifyCallback callback,
+                                                        bool initialNotify);
+
+  /**
+   * Read the period of the encoder.
+   *
+   * @return the encoder period
+   */
+  double GetPeriod() const;
+
+  /**
+   * Change the encoder period.
+   *
+   * @param period the new period
+   */
+  void SetPeriod(double period);
+
+  /**
+   * Register a callback to be called whenever the encoder is reset.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterResetCallback(NotifyCallback callback,
+                                                       bool initialNotify);
+
+  /**
+   * Check if the encoder has been reset.
+   *
+   * @return true if reset
+   */
+  bool GetReset() const;
+
+  /**
+   * Change the reset property of the encoder.
+   *
+   * @param reset the new value
+   */
+  void SetReset(bool reset);
+
+  /**
+   * Register a callback to be run whenever the max period of the encoder is
+   * changed.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterMaxPeriodCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the max period of the encoder.
+   *
+   * @return the max period of the encoder
+   */
+  double GetMaxPeriod() const;
+
+  /**
+   * Change the max period of the encoder.
+   *
+   * @param maxPeriod the new value
+   */
+  void SetMaxPeriod(double maxPeriod);
+
+  /**
+   * Register a callback on the direction of the encoder.
+   *
+   * @param callback the callback that will be called whenever the direction
+   *                 is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDirectionCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the direction of the encoder.
+   *
+   * @return the direction of the encoder
+   */
+  bool GetDirection() const;
+
+  /**
+   * Set the direction of the encoder.
+   *
+   * @param direction the new direction
+   */
+  void SetDirection(bool direction);
+
+  /**
+   * Register a callback on the reverse direction.
+   *
+   * @param callback the callback that will be called whenever the reverse
+   *                 direction is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterReverseDirectionCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the reverse direction of the encoder.
+   *
+   * @return the reverse direction of the encoder
+   */
+  bool GetReverseDirection() const;
+
+  /**
+   * Set the reverse direction.
+   *
+   * @param reverseDirection the new value
+   */
+  void SetReverseDirection(bool reverseDirection);
+
+  /**
+   * Register a callback on the samples-to-average value of this encoder.
+   *
+   * @param callback the callback that will be called whenever the
+   *                 samples-to-average is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSamplesToAverageCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Get the samples-to-average value.
+   *
+   * @return the samples-to-average value
+   */
+  int GetSamplesToAverage() const;
+
+  /**
+   * Set the samples-to-average value.
+   *
+   * @param samplesToAverage the new value
+   */
+  void SetSamplesToAverage(int samplesToAverage);
+
+  /**
+   * Register a callback on the distance per pulse value of this encoder.
+   *
+   * @param callback the callback that will be called whenever the
+   *                 distance per pulse is changed
+   * @param initialNotify if true, the callback will be run on the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Read the distance per pulse of the encoder.
+   *
+   * @return the encoder distance per pulse
+   */
+  double GetDistancePerPulse() const;
+
+  /**
+   * Change the encoder distance per pulse.
+   *
+   * @param distancePerPulse the new distance per pulse
+   */
+  void SetDistancePerPulse(double distancePerPulse);
+
+  /**
+   * Resets all simulation data for this encoder.
+   */
+  void ResetData();
+
+  /**
+   * Change the encoder distance.
+   *
+   * @param distance the new distance
+   */
+  void SetDistance(double distance);
+
+  /**
+   * Read the distance of the encoder.
+   *
+   * @return the encoder distance
+   */
+  double GetDistance() const;
+
+  /**
+   * Change the rate of the encoder.
+   *
+   * @param rate the new rate
+   */
+  void SetRate(double rate);
+
+  /**
+   * Get the rate of the encoder.
+   *
+   * @return the rate of change
+   */
+  double GetRate() const;
+
+ private:
+  explicit EncoderSim(int index) : m_index{index} {}
+
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc