mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
100 lines
4.0 KiB
C++
100 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "CounterBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include <memory>
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/**
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* Class for counting the number of ticks on a digital input channel.
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*
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* This is a general purpose class for counting repetitive events. It can return
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* the number of counts, the period of the most recent cycle, and detect when
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* the signal being counted has stopped by supplying a maximum cycle time.
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*
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* All counters will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Counter : public SensorBase,
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public CounterBase,
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public LiveWindowSendable {
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public:
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(uint32_t channel);
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// TODO: [Not Supported] explicit Counter(DigitalSource *source);
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// TODO: [Not Supported] explicit Counter(DigitalSource &source);
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// TODO: [Not Supported] explicit Counter(AnalogTrigger *source);
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// TODO: [Not Supported] explicit Counter(AnalogTrigger &source);
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// TODO: [Not Supported] Counter(EncodingType encodingType, DigitalSource
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// *upSource, DigitalSource *downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(uint32_t channel);
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// TODO: [Not Supported] void SetUpSource(AnalogTrigger *analogTrigger,
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// AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetUpSource(AnalogTrigger &analogTrigger,
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// AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetUpSource(DigitalSource *source);
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// TODO: [Not Supported] void SetUpSource(DigitalSource &source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(uint32_t channel);
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// TODO: [Not Supported] void SetDownSource(AnalogTrigger *analogTrigger,
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// AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetDownSource(AnalogTrigger &analogTrigger,
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// AnalogTriggerType triggerType);
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// TODO: [Not Supported] void SetDownSource(DigitalSource *source);
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// TODO: [Not Supported] void SetDownSource(DigitalSource &source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(float threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int32_t Get() const override;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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uint32_t GetFPGAIndex() const { return m_index; }
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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virtual std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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protected:
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// What makes the counter count up.
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// TODO: [Not Supported] DigitalSource *m_upSource;
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// What makes the counter count down.
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// TODO: [Not Supported] DigitalSource *m_downSource;
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void* m_counter; ///< The FPGA counter object.
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private:
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bool m_allocatedUpSource; ///< Was the upSource allocated locally?
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bool m_allocatedDownSource; ///< Was the downSource allocated locally?
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uint32_t m_index; ///< The index of this counter.
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std::shared_ptr<ITable> m_table;
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};
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