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https://github.com/wpilibsuite/allwpilib
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55 lines
2.0 KiB
C++
55 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017 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 <atomic>
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#include <memory>
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#include <support/mutex.h>
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#include "MockData/AnalogGyroData.h"
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#include "MockData/NotifyListenerVector.h"
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namespace hal {
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class AnalogGyroData {
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public:
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int32_t RegisterAngleCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelAngleCallback(int32_t uid);
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void InvokeAngleCallback(HAL_Value value);
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double GetAngle();
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void SetAngle(double angle);
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int32_t RegisterRateCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelRateCallback(int32_t uid);
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void InvokeRateCallback(HAL_Value value);
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double GetRate();
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void SetRate(double rate);
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int32_t RegisterInitializedCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelInitializedCallback(int32_t uid);
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void InvokeInitializedCallback(HAL_Value value);
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HAL_Bool GetInitialized();
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void SetInitialized(HAL_Bool initialized);
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virtual void ResetData();
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private:
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wpi::mutex m_registerMutex;
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std::atomic<double> m_angle{0.0};
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std::shared_ptr<NotifyListenerVector> m_angleCallbacks = nullptr;
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std::atomic<double> m_rate{0.0};
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std::shared_ptr<NotifyListenerVector> m_rateCallbacks = nullptr;
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std::atomic<HAL_Bool> m_initialized{false};
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std::shared_ptr<NotifyListenerVector> m_initializedCallbacks = nullptr;
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};
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extern AnalogGyroData* SimAnalogGyroData;
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} // namespace hal
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