mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
82 lines
3.2 KiB
C++
82 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <atomic>
|
|
#include <memory>
|
|
|
|
#include <support/mutex.h>
|
|
|
|
#include "MockData/NotifyListenerVector.h"
|
|
#include "MockData/PWMData.h"
|
|
|
|
namespace hal {
|
|
class PWMData {
|
|
public:
|
|
int32_t RegisterInitializedCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelInitializedCallback(int32_t uid);
|
|
void InvokeInitializedCallback(HAL_Value value);
|
|
HAL_Bool GetInitialized();
|
|
void SetInitialized(HAL_Bool initialized);
|
|
|
|
int32_t RegisterRawValueCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelRawValueCallback(int32_t uid);
|
|
void InvokeRawValueCallback(HAL_Value value);
|
|
int32_t GetRawValue();
|
|
void SetRawValue(int32_t rawValue);
|
|
|
|
int32_t RegisterSpeedCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelSpeedCallback(int32_t uid);
|
|
void InvokeSpeedCallback(HAL_Value value);
|
|
double GetSpeed();
|
|
void SetSpeed(double speed);
|
|
|
|
int32_t RegisterPositionCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelPositionCallback(int32_t uid);
|
|
void InvokePositionCallback(HAL_Value value);
|
|
double GetPosition();
|
|
void SetPosition(double position);
|
|
|
|
int32_t RegisterPeriodScaleCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelPeriodScaleCallback(int32_t uid);
|
|
void InvokePeriodScaleCallback(HAL_Value value);
|
|
int32_t GetPeriodScale();
|
|
void SetPeriodScale(int32_t periodScale);
|
|
|
|
int32_t RegisterZeroLatchCallback(HAL_NotifyCallback callback, void* param,
|
|
HAL_Bool initialNotify);
|
|
void CancelZeroLatchCallback(int32_t uid);
|
|
void InvokeZeroLatchCallback(HAL_Value value);
|
|
HAL_Bool GetZeroLatch();
|
|
void SetZeroLatch(HAL_Bool zeroLatch);
|
|
|
|
virtual void ResetData();
|
|
|
|
private:
|
|
wpi::mutex m_registerMutex;
|
|
std::atomic<HAL_Bool> m_initialized{false};
|
|
std::shared_ptr<NotifyListenerVector> m_initializedCallbacks = nullptr;
|
|
std::atomic<int32_t> m_rawValue{0};
|
|
std::shared_ptr<NotifyListenerVector> m_rawValueCallbacks = nullptr;
|
|
std::atomic<double> m_speed{0};
|
|
std::shared_ptr<NotifyListenerVector> m_speedCallbacks = nullptr;
|
|
std::atomic<double> m_position{0};
|
|
std::shared_ptr<NotifyListenerVector> m_positionCallbacks = nullptr;
|
|
std::atomic<int32_t> m_periodScale{0};
|
|
std::shared_ptr<NotifyListenerVector> m_periodScaleCallbacks = nullptr;
|
|
std::atomic<HAL_Bool> m_zeroLatch{false};
|
|
std::shared_ptr<NotifyListenerVector> m_zeroLatchCallbacks = nullptr;
|
|
};
|
|
extern PWMData* SimPWMData;
|
|
} // namespace hal
|