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https://github.com/wpilibsuite/allwpilib
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140 lines
4.0 KiB
C++
140 lines
4.0 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/PneumaticsBase.h"
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#include "frc/simulation/CallbackStore.h"
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#include "frc/simulation/PneumaticsBaseSim.h"
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namespace frc::sim {
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/**
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* Class to control a simulated Pneumatic Control Module (PCM).
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*/
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class CTREPCMSim : public PneumaticsBaseSim {
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public:
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/**
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* Constructs with the default PCM module number (CAN ID).
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*/
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CTREPCMSim();
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/**
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* Constructs from a PCM module number (CAN ID).
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*
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* @param module module number
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*/
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explicit CTREPCMSim(int module);
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explicit CTREPCMSim(const PneumaticsBase& pneumatics);
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~CTREPCMSim() override = default;
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify) override;
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bool GetInitialized() const override;
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void SetInitialized(bool initialized) override;
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
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int channel, NotifyCallback callback, bool initialNotify) override;
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bool GetSolenoidOutput(int channel) const override;
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void SetSolenoidOutput(int channel, bool solenoidOutput) override;
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[[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
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NotifyCallback callback, bool initialNotify) override;
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bool GetCompressorOn() const override;
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void SetCompressorOn(bool compressorOn) override;
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/**
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* Register a callback to be run whenever the closed loop state changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the
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* 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>
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RegisterClosedLoopEnabledCallback(NotifyCallback callback,
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bool initialNotify);
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/**
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* Check whether the closed loop compressor control is active.
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*
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* @return true if active
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*/
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bool GetClosedLoopEnabled() const;
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/**
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* Turn on/off the closed loop control of the compressor.
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*
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* @param closedLoopEnabled whether the control loop is active
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*/
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void SetClosedLoopEnabled(bool closedLoopEnabled);
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/**
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* Register a callback to be run whenever the pressure switch value changes.
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*
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* @param callback the callback
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* @param initialNotify whether the callback should be called with the
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* 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> RegisterPressureSwitchCallback(
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NotifyCallback callback, bool initialNotify) override;
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/**
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* Check the value of the pressure switch.
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*
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* @return the pressure switch value
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*/
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bool GetPressureSwitch() const override;
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/**
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* Set the value of the pressure switch.
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*
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* @param pressureSwitch the new value
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*/
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void SetPressureSwitch(bool pressureSwitch) override;
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/**
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* Register a callback to be run whenever the compressor current 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]] std::unique_ptr<CallbackStore>
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RegisterCompressorCurrentCallback(NotifyCallback callback,
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bool initialNotify) override;
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/**
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* Read the compressor current.
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*
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* @return the current of the compressor connected to this module
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*/
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double GetCompressorCurrent() const override;
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/**
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* Set the compressor current.
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*
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* @param compressorCurrent the new compressor current
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*/
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void SetCompressorCurrent(double compressorCurrent) override;
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uint8_t GetAllSolenoidOutputs() const override;
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void SetAllSolenoidOutputs(uint8_t outputs) override;
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void ResetData() override;
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};
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} // namespace frc::sim
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