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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <hal/SimDevice.h>
#include <units/length.h>
namespace frc {
class Ultrasonic;
namespace sim {
/**
* Class to control a simulated {@link Ultrasonic}.
*/
class UltrasonicSim {
public:
/**
* Constructor.
*
* @param ultrasonic The real ultrasonic to simulate
*/
explicit UltrasonicSim(const Ultrasonic& ultrasonic);
/**
* Constructor.
*
* @param ping unused.
* @param echo the ultrasonic's echo channel.
*/
UltrasonicSim(int ping, int echo);
/**
* Sets if the range measurement is valid.
*
* @param valid True if valid
*/
void SetRangeValid(bool valid);
/**
* Sets the range measurement.
*
* @param range The range.
*/
void SetRange(units::inch_t range);
private:
hal::SimBoolean m_simRangeValid;
hal::SimDouble m_simRange;
};
} // namespace sim
} // namespace frc