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PJ Reiniger
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Peter Johnson
Peter Johnson
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wpilibj/src/main/java/org/wpilib/simulation/RoboRioSim.java
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wpilibj/src/main/java/org/wpilib/simulation/RoboRioSim.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj.simulation;
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import edu.wpi.first.hal.simulation.NotifyCallback;
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import edu.wpi.first.hal.simulation.RoboRioDataJNI;
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/** A utility class to control a simulated RoboRIO. */
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public final class RoboRioSim {
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private RoboRioSim() {
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// Utility class
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}
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/**
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* Register a callback to be run whenever the Vin voltage changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerVInVoltageCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerVInVoltageCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelVInVoltageCallback);
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}
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/**
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* Measure the Vin voltage.
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*
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* @return the Vin voltage
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*/
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public static double getVInVoltage() {
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return RoboRioDataJNI.getVInVoltage();
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}
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/**
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* Define the Vin voltage.
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*
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* @param vInVoltage the new voltage
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*/
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public static void setVInVoltage(double vInVoltage) {
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RoboRioDataJNI.setVInVoltage(vInVoltage);
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}
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/**
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* Register a callback to be run whenever the 3.3V rail voltage changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserVoltage3V3Callback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserVoltage3V3Callback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserVoltage3V3Callback);
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}
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/**
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* Measure the 3.3V rail voltage.
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*
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* @return the 3.3V rail voltage
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*/
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public static double getUserVoltage3V3() {
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return RoboRioDataJNI.getUserVoltage3V3();
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}
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/**
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* Define the 3.3V rail voltage.
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*
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* @param userVoltage3V3 the new voltage
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*/
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public static void setUserVoltage3V3(double userVoltage3V3) {
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RoboRioDataJNI.setUserVoltage3V3(userVoltage3V3);
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}
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/**
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* Register a callback to be run whenever the 3.3V rail current changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserCurrent3V3Callback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserCurrent3V3Callback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserCurrent3V3Callback);
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}
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/**
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* Measure the 3.3V rail current.
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*
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* @return the 3.3V rail current
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*/
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public static double getUserCurrent3V3() {
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return RoboRioDataJNI.getUserCurrent3V3();
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}
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/**
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* Define the 3.3V rail current.
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*
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* @param userCurrent3V3 the new current
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*/
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public static void setUserCurrent3V3(double userCurrent3V3) {
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RoboRioDataJNI.setUserCurrent3V3(userCurrent3V3);
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}
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/**
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* Register a callback to be run whenever the 3.3V rail active state changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserActive3V3Callback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserActive3V3Callback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserActive3V3Callback);
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}
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/**
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* Get the 3.3V rail active state.
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*
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* @return true if the 3.3V rail is active
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*/
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public static boolean getUserActive3V3() {
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return RoboRioDataJNI.getUserActive3V3();
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}
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/**
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* Set the 3.3V rail active state.
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*
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* @param userActive3V3 true to make rail active
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*/
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public static void setUserActive3V3(boolean userActive3V3) {
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RoboRioDataJNI.setUserActive3V3(userActive3V3);
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}
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/**
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* Register a callback to be run whenever the 3.3V rail number of faults changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the initial value
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerUserFaults3V3Callback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerUserFaults3V3Callback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelUserFaults3V3Callback);
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}
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/**
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* Get the 3.3V rail number of faults.
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*
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* @return number of faults
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*/
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public static int getUserFaults3V3() {
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return RoboRioDataJNI.getUserFaults3V3();
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}
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/**
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* Set the 3.3V rail number of faults.
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*
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* @param userFaults3V3 number of faults
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*/
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public static void setUserFaults3V3(int userFaults3V3) {
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RoboRioDataJNI.setUserFaults3V3(userFaults3V3);
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}
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/**
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* Register a callback to be run whenever the Brownout voltage changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerBrownoutVoltageCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerBrownoutVoltageCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelBrownoutVoltageCallback);
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}
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/**
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* Measure the Brownout voltage.
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*
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* @return the Brownout voltage
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*/
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public static double getBrownoutVoltage() {
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return RoboRioDataJNI.getBrownoutVoltage();
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}
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/**
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* Define the Brownout voltage.
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*
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* @param vInVoltage the new voltage
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*/
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public static void setBrownoutVoltage(double vInVoltage) {
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RoboRioDataJNI.setBrownoutVoltage(vInVoltage);
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}
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/**
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* Register a callback to be run whenever the cpu temp changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerCPUTempCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerCPUTempCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelCPUTempCallback);
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}
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/**
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* Get the cpu temp.
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*
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* @return the cpu temp.
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*/
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public static double getCPUTemp() {
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return RoboRioDataJNI.getCPUTemp();
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}
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/**
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* Set the cpu temp.
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*
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* @param cpuTemp the new cpu temp.
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*/
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public static void setCPUTemp(double cpuTemp) {
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RoboRioDataJNI.setCPUTemp(cpuTemp);
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}
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/**
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* Register a callback to be run whenever the team number changes.
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*
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* @param callback the callback
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* @param initialNotify whether to call the callback with the initial state
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* @return the {@link CallbackStore} object associated with this callback.
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*/
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public static CallbackStore registerTeamNumberCallback(
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NotifyCallback callback, boolean initialNotify) {
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int uid = RoboRioDataJNI.registerTeamNumberCallback(callback, initialNotify);
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return new CallbackStore(uid, RoboRioDataJNI::cancelTeamNumberCallback);
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}
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/**
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* Get the team number.
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*
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* @return the team number.
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*/
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public static int getTeamNumber() {
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return RoboRioDataJNI.getTeamNumber();
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}
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/**
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* Set the team number.
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*
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* @param teamNumber the new team number.
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*/
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public static void setTeamNumber(int teamNumber) {
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RoboRioDataJNI.setTeamNumber(teamNumber);
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}
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/**
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* Get the serial number.
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*
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* @return The serial number.
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*/
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public static String getSerialNumber() {
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return RoboRioDataJNI.getSerialNumber();
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}
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/**
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* Set the serial number.
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*
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* @param serialNumber The serial number.
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*/
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public static void setSerialNumber(String serialNumber) {
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RoboRioDataJNI.setSerialNumber(serialNumber);
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}
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/**
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* Get the comments string.
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*
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* @return The comments string.
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*/
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public static String getComments() {
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return RoboRioDataJNI.getComments();
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}
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/**
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* Set the comments string.
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*
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* @param comments The comments string.
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*/
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public static void setComments(String comments) {
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RoboRioDataJNI.setComments(comments);
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}
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/** Reset all simulation data. */
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public static void resetData() {
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RoboRioDataJNI.resetData();
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}
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}
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