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wpilibj/src/main/java/org/wpilib/simulation/PWMSim.java

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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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.hal.simulation.PWMDataJNI;
+import edu.wpi.first.wpilibj.PWM;
+
+/** Class to control a simulated PWM output. */
+public class PWMSim {
+  private final int m_index;
+
+  /**
+   * Constructs from a PWM object.
+   *
+   * @param pwm PWM to simulate
+   */
+  public PWMSim(PWM pwm) {
+    m_index = pwm.getChannel();
+  }
+
+  /**
+   * Constructs from a PWM channel number.
+   *
+   * @param channel Channel number
+   */
+  public PWMSim(int channel) {
+    m_index = channel;
+  }
+
+  /**
+   * Register a callback to be run when the PWM is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = PWMDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, PWMDataJNI::cancelInitializedCallback);
+  }
+
+  /**
+   * Check whether the PWM has been initialized.
+   *
+   * @return true if initialized
+   */
+  public boolean getInitialized() {
+    return PWMDataJNI.getInitialized(m_index);
+  }
+
+  /**
+   * Define whether the PWM has been initialized.
+   *
+   * @param initialized whether this object is initialized
+   */
+  public void setInitialized(boolean initialized) {
+    PWMDataJNI.setInitialized(m_index, initialized);
+  }
+
+  /**
+   * Register a callback to be run when the PWM raw value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public CallbackStore registerPulseMicrosecondCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = PWMDataJNI.registerPulseMicrosecondCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, PWMDataJNI::cancelPulseMicrosecondCallback);
+  }
+
+  /**
+   * Get the PWM pulse microsecond value.
+   *
+   * @return the PWM pulse microsecond value
+   */
+  public int getPulseMicrosecond() {
+    return PWMDataJNI.getPulseMicrosecond(m_index);
+  }
+
+  /**
+   * Set the PWM pulse microsecond value.
+   *
+   * @param microsecondPulseTime the PWM pulse microsecond value
+   */
+  public void setPulseMicrosecond(int microsecondPulseTime) {
+    PWMDataJNI.setPulseMicrosecond(m_index, microsecondPulseTime);
+  }
+
+  /**
+   * Register a callback to be run when the PWM period scale changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial value
+   * @return the {@link CallbackStore} object associated with this callback.
+   */
+  public CallbackStore registerOutputPeriodCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = PWMDataJNI.registerOutputPeriodCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, PWMDataJNI::cancelOutputPeriodCallback);
+  }
+
+  /**
+   * Get the PWM period scale.
+   *
+   * @return the PWM period scale
+   */
+  public int getOutputPeriod() {
+    return PWMDataJNI.getOutputPeriod(m_index);
+  }
+
+  /**
+   * Set the PWM period scale.
+   *
+   * @param period the PWM period scale
+   */
+  public void setOutputPeriod(int period) {
+    PWMDataJNI.setOutputPeriod(m_index, period);
+  }
+
+  /** Reset all simulation data. */
+  public void resetData() {
+    PWMDataJNI.resetData(m_index);
+  }
+}