mirror of
https://github.com/wpilibsuite/allwpilib
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104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 FIRST. 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 <memory>
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#include "frc/simulation/CallbackStore.h"
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namespace frc {
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class Compressor;
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namespace 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 PCMSim {
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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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PCMSim();
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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 PCMSim(int module);
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/**
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* Constructs from a Compressor object.
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*
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* @param compressor Compressor connected to PCM to simulate
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*/
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explicit PCMSim(const Compressor& compressor);
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std::unique_ptr<CallbackStore> RegisterSolenoidInitializedCallback(
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int channel, NotifyCallback callback, bool initialNotify);
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bool GetSolenoidInitialized(int channel) const;
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void SetSolenoidInitialized(int channel, bool solenoidInitialized);
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std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
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int channel, NotifyCallback callback, bool initialNotify);
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bool GetSolenoidOutput(int channel) const;
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void SetSolenoidOutput(int channel, bool solenoidOutput);
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std::unique_ptr<CallbackStore> RegisterCompressorInitializedCallback(
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NotifyCallback callback, bool initialNotify);
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bool GetCompressorInitialized() const;
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void SetCompressorInitialized(bool compressorInitialized);
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std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
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NotifyCallback callback, bool initialNotify);
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bool GetCompressorOn() const;
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void SetCompressorOn(bool compressorOn);
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std::unique_ptr<CallbackStore> RegisterClosedLoopEnabledCallback(
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NotifyCallback callback, bool initialNotify);
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bool GetClosedLoopEnabled() const;
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void SetClosedLoopEnabled(bool closedLoopEnabled);
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std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
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NotifyCallback callback, bool initialNotify);
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bool GetPressureSwitch() const;
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void SetPressureSwitch(bool pressureSwitch);
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std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
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NotifyCallback callback, bool initialNotify);
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double GetCompressorCurrent() const;
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void SetCompressorCurrent(double compressorCurrent);
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uint8_t GetAllSolenoidOutputs() const;
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void SetAllSolenoidOutputs(uint8_t outputs);
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void ResetData();
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private:
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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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