1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
// 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 <memory>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class AnalogInput;
namespace sim {
/**
* Class to control a simulated analog input.
*/
class AnalogInputSim {
public:
/**
* Constructs from an AnalogInput object.
*
* @param analogInput AnalogInput to simulate
*/
explicit AnalogInputSim(const AnalogInput& analogInput);
/**
* Constructs from an analog input channel number.
*
* @param channel Channel number
*/
explicit AnalogInputSim(int channel);
/**
* Register a callback on whether the analog input is initialized.
*
* @param callback the callback that will be called whenever the analog input
* is initialized
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if this analog input has been initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Change whether this analog input has been initialized.
*
* @param initialized the new value
*/
void SetInitialized(bool initialized);
/**
* Register a callback on the number of average bits.
*
* @param callback the callback that will be called whenever the number of
* average bits is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAverageBitsCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the number of average bits.
*
* @return the number of average bits
*/
int GetAverageBits() const;
/**
* Change the number of average bits.
*
* @param averageBits the new value
*/
void SetAverageBits(int averageBits);
/**
* Register a callback on the amount of oversampling bits.
*
* @param callback the callback that will be called whenever the oversampling
* bits are changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterOversampleBitsCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the amount of oversampling bits.
*
* @return the amount of oversampling bits
*/
int GetOversampleBits() const;
/**
* Change the amount of oversampling bits.
*
* @param oversampleBits the new value
*/
void SetOversampleBits(int oversampleBits);
/**
* Register a callback on the voltage.
*
* @param callback the callback that will be called whenever the voltage is
* changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterVoltageCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the voltage.
*
* @return the voltage
*/
double GetVoltage() const;
/**
* Change the voltage.
*
* @param voltage the new value
*/
void SetVoltage(double voltage);
/**
* Register a callback on whether the accumulator is initialized.
*
* @param callback the callback that will be called whenever the accumulator
* is initialized
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorInitializedCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check if the accumulator has been initialized.
*
* @return true if initialized
*/
bool GetAccumulatorInitialized() const;
/**
* Change whether the accumulator has been initialized.
*
* @param accumulatorInitialized the new value
*/
void SetAccumulatorInitialized(bool accumulatorInitialized);
/**
* Register a callback on the accumulator value.
*
* @param callback the callback that will be called whenever the accumulator
* value is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorValueCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator value.
*
* @return the accumulator value
*/
int64_t GetAccumulatorValue() const;
/**
* Change the accumulator value.
*
* @param accumulatorValue the new value
*/
void SetAccumulatorValue(int64_t accumulatorValue);
/**
* Register a callback on the accumulator count.
*
* @param callback the callback that will be called whenever the accumulator
* count is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorCountCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator count.
*
* @return the accumulator count.
*/
int64_t GetAccumulatorCount() const;
/**
* Change the accumulator count.
*
* @param accumulatorCount the new count.
*/
void SetAccumulatorCount(int64_t accumulatorCount);
/**
* Register a callback on the accumulator center.
*
* @param callback the callback that will be called whenever the accumulator
* center is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorCenterCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator center.
*
* @return the accumulator center
*/
int GetAccumulatorCenter() const;
/**
* Change the accumulator center.
*
* @param accumulatorCenter the new center
*/
void SetAccumulatorCenter(int accumulatorCenter);
/**
* Register a callback on the accumulator deadband.
*
* @param callback the callback that will be called whenever the accumulator
* deadband is changed
* @param initialNotify if true, the callback will be run on the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterAccumulatorDeadbandCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the accumulator deadband.
*
* @return the accumulator deadband
*/
int GetAccumulatorDeadband() const;
/**
* Change the accumulator deadband.
*
* @param accumulatorDeadband the new deadband
*/
void SetAccumulatorDeadband(int accumulatorDeadband);
/**
* Reset all simulation data for this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc