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https://github.com/wpilibsuite/allwpilib
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131 lines
3.2 KiB
C++
131 lines
3.2 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 DutyCycle;
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namespace sim {
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/**
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* Class to control a simulated duty cycle digital input.
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*/
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class DutyCycleSim {
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public:
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/**
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* Constructs from a DutyCycle object.
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*
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* @param dutyCycle DutyCycle to simulate
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*/
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explicit DutyCycleSim(const DutyCycle& dutyCycle);
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/**
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* Creates a DutyCycleSim for a digital input channel.
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*
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* @param channel digital input channel
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* @return Simulated object
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* @throws std::out_of_range if no DutyCycle is configured for that channel
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*/
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static DutyCycleSim CreateForChannel(int channel);
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/**
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* Creates a DutyCycleSim for a simulated index.
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* The index is incremented for each simulated DutyCycle.
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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 DutyCycleSim CreateForIndex(int index);
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/**
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* Register a callback to be run when this duty cycle input 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]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Check whether this duty cycle input 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 duty cycle input 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 frequency 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> RegisterFrequencyCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Measure the frequency.
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*
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* @return the duty cycle frequency
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*/
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int GetFrequency() const;
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/**
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* Change the duty cycle frequency.
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*
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* @param frequency the new frequency
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*/
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void SetFrequency(int frequency);
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/**
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* Register a callback to be run whenever the output 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> RegisterOutputCallback(
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NotifyCallback callback, bool initialNotify);
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/**
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* Measure the output from this duty cycle port.
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*
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* @return the output value
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*/
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double GetOutput() const;
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/**
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* Change the duty cycle output.
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*
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* @param output the new output value
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*/
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void SetOutput(double output);
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/**
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* Reset all simulation data for the duty cycle output.
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*/
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void ResetData();
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private:
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explicit DutyCycleSim(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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