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https://github.com/wpilibsuite/allwpilib
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ce3bc91946
Also move some things in HAL for consistency. WAS: C++: - C APIs: #include "mockdata/AccelerometerData.h" - User side class: #include "simulation/AccelerometerSim.h" Java: - JNI APIs: hal.sim.mockdata.AccelerometerData (and a few classes in hal.sim) - User side classes: hal.sim.AccelerometerSim IS: C++: - C APIs: #include "hal/simulation/AccelerometerData.h" - C++ class: #include "frc/simulation/AccelerometerSim.h" Java: - JNI APIs: hal.simulation.AccelerometerData - User side class: wpilibj.simulation.AccelerometerSim
73 lines
2.5 KiB
C++
73 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 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 <utility>
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#include <hal/simulation/DutyCycleData.h>
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#include "CallbackStore.h"
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namespace frc {
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namespace sim {
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class DutyCycleSim {
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public:
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explicit DutyCycleSim(int index) { m_index = index; }
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std::unique_ptr<CallbackStore> RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleInitializedCallback);
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store->SetUid(HALSIM_RegisterDutyCycleInitializedCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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bool GetInitialized() const {
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return HALSIM_GetDutyCycleInitialized(m_index);
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}
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void SetInitialized(bool initialized) {
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HALSIM_SetDutyCycleInitialized(m_index, initialized);
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}
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std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleFrequencyCallback);
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store->SetUid(HALSIM_RegisterDutyCycleFrequencyCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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int GetFrequency() const { return HALSIM_GetDutyCycleFrequency(m_index); }
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void SetFrequency(int count) { HALSIM_SetDutyCycleFrequency(m_index, count); }
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std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
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bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelDutyCycleOutputCallback);
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store->SetUid(HALSIM_RegisterDutyCycleOutputCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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double GetOutput() const { return HALSIM_GetDutyCycleOutput(m_index); }
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void SetOutput(double period) { HALSIM_SetDutyCycleOutput(m_index, period); }
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void ResetData() { HALSIM_ResetDutyCycleData(m_index); }
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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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