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https://github.com/wpilibsuite/allwpilib
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138 lines
3.5 KiB
C++
138 lines
3.5 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 AnalogTrigger;
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namespace sim {
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/**
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* Class to control a simulated analog trigger.
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*/
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class AnalogTriggerSim {
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public:
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/**
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* Constructs from an AnalogTrigger object.
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*
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* @param analogTrigger AnalogTrigger to simulate
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*/
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explicit AnalogTriggerSim(const AnalogTrigger& analogTrigger);
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/**
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* Creates an AnalogTriggerSim for an analog input channel.
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*
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* @param channel analog input channel
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* @return Simulated object
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* @throws std::out_of_range if no AnalogTrigger is configured for that
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* channel
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*/
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static AnalogTriggerSim CreateForChannel(int channel);
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/**
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* Creates an AnalogTriggerSim for a simulated index.
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* The index is incremented for each simulated AnalogTrigger.
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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 AnalogTriggerSim CreateForIndex(int index);
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/**
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* Register a callback on whether the analog trigger is initialized.
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*
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* @param callback the callback that will be called whenever the analog
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* trigger is 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]]
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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 if this analog trigger 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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* Change whether this analog trigger has been 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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* Register a callback on the lower bound.
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*
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* @param callback the callback that will be called whenever the lower bound
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* is changed
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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]]
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std::unique_ptr<CallbackStore> RegisterTriggerLowerBoundCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Get the lower bound.
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*
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* @return the lower bound
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*/
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double GetTriggerLowerBound() const;
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/**
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* Change the lower bound.
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*
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* @param triggerLowerBound the new lower bound
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*/
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void SetTriggerLowerBound(double triggerLowerBound);
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/**
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* Register a callback on the upper bound.
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*
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* @param callback the callback that will be called whenever the upper bound
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* is changed
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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]]
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std::unique_ptr<CallbackStore> RegisterTriggerUpperBoundCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Get the upper bound.
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*
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* @return the upper bound
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*/
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double GetTriggerUpperBound() const;
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/**
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* Change the upper bound.
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*
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* @param triggerUpperBound the new upper bound
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*/
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void SetTriggerUpperBound(double triggerUpperBound);
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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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explicit AnalogTriggerSim(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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