mirror of
https://github.com/wpilibsuite/allwpilib
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137 lines
3.4 KiB
C++
137 lines
3.4 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 DigitalOutput;
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namespace sim {
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/**
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* Class to control a simulated digital PWM output.
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*
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* This is for duty cycle PWM outputs on a DigitalOutput, not for the servo
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* style PWM outputs on a PWM channel.
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*/
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class DigitalPWMSim {
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public:
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/**
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* Constructs from a DigitalOutput object.
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*
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* @param digitalOutput DigitalOutput to simulate
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*/
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explicit DigitalPWMSim(const DigitalOutput& digitalOutput);
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/**
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* Creates an DigitalPWMSim for a digital I/O channel.
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*
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* @param channel DIO channel
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* @return Simulated object
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* @throws std::out_of_range if no Digital PWM is configured for that channel
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*/
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static DigitalPWMSim CreateForChannel(int channel);
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/**
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* Creates an DigitalPWMSim for a simulated index.
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* The index is incremented for each simulated DigitalPWM.
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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 DigitalPWMSim CreateForIndex(int index);
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/**
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* Register a callback to be run when this PWM output is initialized.
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*
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* @param callback the callback
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* @param initialNotify whether to run the callback with the initial state
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* @return the CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Check whether this PWM output has been 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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* Define whether this PWM output has been initialized.
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*
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* @param initialized whether this object is initialized
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*/
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void SetInitialized(bool initialized);
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/**
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* Register a callback to be run whenever the duty cycle value 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 CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterDutyCycleCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Read the duty cycle value.
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*
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* @return the duty cycle value of this PWM output
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*/
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double GetDutyCycle() const;
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/**
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* Set the duty cycle value of this PWM output.
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*
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* @param dutyCycle the new value
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*/
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void SetDutyCycle(double dutyCycle);
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/**
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* Register a callback to be run whenever the pin 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 CallbackStore object associated with this callback
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*/
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[[nodiscard]]
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std::unique_ptr<CallbackStore> RegisterPinCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check the pin number.
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*
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* @return the pin number
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*/
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int GetPin() const;
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/**
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* Change the pin number.
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*
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* @param pin the new pin number
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*/
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void SetPin(int pin);
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/**
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* Reset all simulation data.
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*/
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void ResetData();
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private:
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explicit DigitalPWMSim(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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