mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-29 02:21:44 +00:00
124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include "wpi/hardware/pneumatic/PneumaticsBase.hpp"
|
|
#include "wpi/simulation/CallbackStore.hpp"
|
|
#include "wpi/simulation/PneumaticsBaseSim.hpp"
|
|
|
|
namespace wpi {
|
|
|
|
class Compressor;
|
|
|
|
namespace sim {
|
|
|
|
/**
|
|
* Class to control a simulated Pneumatic Control Module (PCM).
|
|
*/
|
|
class REVPHSim : public PneumaticsBaseSim {
|
|
public:
|
|
/**
|
|
* Constructs with the default PCM module number (CAN ID).
|
|
*/
|
|
REVPHSim();
|
|
|
|
/**
|
|
* Constructs from a PCM module number (CAN ID).
|
|
*
|
|
* @param module module number
|
|
*/
|
|
explicit REVPHSim(int module);
|
|
|
|
explicit REVPHSim(const PneumaticsBase& pneumatics);
|
|
|
|
~REVPHSim() override = default;
|
|
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
|
|
NotifyCallback callback, bool initialNotify) override;
|
|
|
|
bool GetInitialized() const override;
|
|
|
|
void SetInitialized(bool solenoidInitialized) override;
|
|
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
|
|
int channel, NotifyCallback callback, bool initialNotify) override;
|
|
|
|
bool GetSolenoidOutput(int channel) const override;
|
|
|
|
void SetSolenoidOutput(int channel, bool solenoidOutput) override;
|
|
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
|
|
NotifyCallback callback, bool initialNotify) override;
|
|
|
|
/**
|
|
* Check if the compressor is on.
|
|
*
|
|
* @return true if the compressor is active
|
|
*/
|
|
bool GetCompressorOn() const override;
|
|
|
|
/**
|
|
* Set whether the compressor is active.
|
|
*
|
|
* @param compressorOn the new value
|
|
*/
|
|
void SetCompressorOn(bool compressorOn) override;
|
|
|
|
/**
|
|
* Register a callback to be run whenever the closed loop state changes.
|
|
*
|
|
* @param callback the callback
|
|
* @param initialNotify whether the callback should be called with the
|
|
* initial value
|
|
* @return the CallbackStore object associated with this callback
|
|
*/
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterCompressorConfigTypeCallback(
|
|
NotifyCallback callback, bool initialNotify);
|
|
|
|
/**
|
|
* Check whether the closed loop compressor control is active.
|
|
*
|
|
* @return compressor config type
|
|
*/
|
|
int GetCompressorConfigType() const;
|
|
|
|
/**
|
|
* Turn on/off the closed loop control of the compressor.
|
|
*
|
|
* @param compressorConfigType compressor config type
|
|
*/
|
|
void SetCompressorConfigType(int compressorConfigType);
|
|
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
|
|
NotifyCallback callback, bool initialNotify) override;
|
|
|
|
bool GetPressureSwitch() const override;
|
|
|
|
void SetPressureSwitch(bool pressureSwitch) override;
|
|
|
|
[[nodiscard]]
|
|
std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
|
|
NotifyCallback callback, bool initialNotify) override;
|
|
|
|
double GetCompressorCurrent() const override;
|
|
|
|
void SetCompressorCurrent(double compressorCurrent) override;
|
|
|
|
uint8_t GetAllSolenoidOutputs() const override;
|
|
|
|
void SetAllSolenoidOutputs(uint8_t outputs) override;
|
|
|
|
void ResetData() override;
|
|
};
|
|
} // namespace sim
|
|
} // namespace wpi
|