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https://github.com/wpilibsuite/allwpilib
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80 lines
2.1 KiB
C++
80 lines
2.1 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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#pragma once
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#include <memory>
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#include "frc/simulation/CallbackStore.h"
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namespace frc {
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class DutyCycle;
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namespace sim {
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/**
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* Class to control a simulated duty cycle digital input.
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*/
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class DutyCycleSim {
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public:
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/**
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* Constructs from a DutyCycle object.
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*
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* @param dutyCycle DutyCycle to simulate
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*/
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explicit DutyCycleSim(const DutyCycle& dutyCycle);
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/**
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* Creates a DutyCycleSim for a digital input channel.
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*
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* @param channel digital input channel
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* @return Simulated object
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* @throws std::out_of_range if no DutyCycle is configured for that channel
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*/
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static DutyCycleSim CreateForChannel(int channel);
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/**
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* Creates a DutyCycleSim for a simulated index.
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* The index is incremented for each simulated DutyCycle.
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*
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* @param index simulator index
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* @return Simulated object
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*/
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static DutyCycleSim CreateForIndex(int index);
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std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify);
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bool GetInitialized() const;
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void SetInitialized(bool initialized);
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std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
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NotifyCallback callback, bool initialNotify);
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int GetFrequency() const;
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void SetFrequency(int count);
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std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
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bool initialNotify);
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double GetOutput() const;
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void SetOutput(double period);
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void ResetData();
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private:
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explicit DutyCycleSim(int index) : m_index{index} {}
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int m_index;
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};
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} // namespace sim
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} // namespace frc
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