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9c3b51ca0f
- Remove sim checkstyle suppression - Add [[nodiscard]] to C++ register callback functions - Add a couple of missing sim functions Co-authored-by: Peter Johnson <johnson.peter@gmail.com> Co-authored-by: Starlight220 <yotamshlomi@gmail.com>
119 lines
2.8 KiB
C++
119 lines
2.8 KiB
C++
// 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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#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 AnalogGyro;
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namespace sim {
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/**
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* Class to control a simulated analog gyro.
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*/
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class AnalogGyroSim {
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public:
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/**
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* Constructs from an AnalogGyro object.
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*
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* @param gyro AnalogGyro to simulate
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*/
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explicit AnalogGyroSim(const AnalogGyro& gyro);
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/**
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* Constructs from an analog input channel number.
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*
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* @param channel Channel number
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*/
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explicit AnalogGyroSim(int channel);
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/**
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* Register a callback on the angle.
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*
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* @param callback the callback that will be called whenever the angle changes
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterAngleCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Get the current angle of the gyro.
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*
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* @return the angle measured by the gyro
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*/
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double GetAngle() const;
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/**
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* Change the angle measured by the gyro.
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*
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* @param angle the new value
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*/
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void SetAngle(double angle);
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/**
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* Register a callback on the rate.
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*
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* @param callback the callback that will be called whenever the rate changes
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterRateCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Get the rate of angle change on this gyro.
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*
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* @return the rate
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*/
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double GetRate() const;
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/**
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* Change the rate of the gyro.
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*
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* @param rate the new rate
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*/
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void SetRate(double rate);
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/**
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* Register a callback on whether the gyro is initialized.
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*
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* @param callback the callback that will be called whenever the gyro is
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* initialized
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* @param initialNotify if true, the callback will be run on the initial value
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Check if the gyro is initialized.
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*
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* @return true if initialized
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*/
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bool GetInitialized() const;
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/**
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* Set whether this gyro is initialized.
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*
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* @param initialized the new value
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*/
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void SetInitialized(bool initialized);
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/**
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* Reset all simulation data for this object.
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*/
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void ResetData();
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private:
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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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