mirror of
https://github.com/wpilibsuite/allwpilib
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86 lines
2.9 KiB
C++
86 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/simulation/DutyCycleSim.h"
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#include <memory>
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#include <stdexcept>
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#include <utility>
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#include <hal/simulation/DutyCycleData.h>
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#include "frc/DutyCycle.h"
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using namespace frc;
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using namespace frc::sim;
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DutyCycleSim::DutyCycleSim(const DutyCycle& dutyCycle)
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: m_index{dutyCycle.GetFPGAIndex()} {}
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DutyCycleSim DutyCycleSim::CreateForChannel(int channel) {
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int index = HALSIM_FindDutyCycleForChannel(channel);
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if (index < 0) throw std::out_of_range("no duty cycle found for channel");
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return DutyCycleSim{index};
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}
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DutyCycleSim DutyCycleSim::CreateForIndex(int index) {
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return DutyCycleSim{index};
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}
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std::unique_ptr<CallbackStore> DutyCycleSim::RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleInitializedCallback);
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store->SetUid(HALSIM_RegisterDutyCycleInitializedCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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bool DutyCycleSim::GetInitialized() const {
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return HALSIM_GetDutyCycleInitialized(m_index);
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}
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void DutyCycleSim::SetInitialized(bool initialized) {
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HALSIM_SetDutyCycleInitialized(m_index, initialized);
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}
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std::unique_ptr<CallbackStore> DutyCycleSim::RegisterFrequencyCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleFrequencyCallback);
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store->SetUid(HALSIM_RegisterDutyCycleFrequencyCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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int DutyCycleSim::GetFrequency() const {
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return HALSIM_GetDutyCycleFrequency(m_index);
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}
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void DutyCycleSim::SetFrequency(int count) {
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HALSIM_SetDutyCycleFrequency(m_index, count);
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}
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std::unique_ptr<CallbackStore> DutyCycleSim::RegisterOutputCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleOutputCallback);
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store->SetUid(HALSIM_RegisterDutyCycleOutputCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double DutyCycleSim::GetOutput() const {
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return HALSIM_GetDutyCycleOutput(m_index);
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}
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void DutyCycleSim::SetOutput(double period) {
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HALSIM_SetDutyCycleOutput(m_index, period);
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}
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void DutyCycleSim::ResetData() { HALSIM_ResetDutyCycleData(m_index); }
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