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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 <memory>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class AnalogTrigger;
namespace sim {
/**
* Class to control a simulated analog trigger.
*/
class AnalogTriggerSim {
public:
/**
* Constructs from an AnalogTrigger object.
*
* @param analogTrigger AnalogTrigger to simulate
*/
explicit AnalogTriggerSim(const AnalogTrigger& analogTrigger);
/**
* Creates an AnalogTriggerSim for an analog input channel.
*
* @param channel analog input channel
* @return Simulated object
* @throws std::out_of_range if no AnalogTrigger is configured for that
* channel
*/
static AnalogTriggerSim CreateForChannel(int channel);
/**
* Creates an AnalogTriggerSim for a simulated index.
* The index is incremented for each simulated AnalogTrigger.
*
* @param index simulator index
* @return Simulated object
*/
static AnalogTriggerSim CreateForIndex(int index);
/**
* Register a callback on whether the analog trigger is initialized.
*
* @param callback the callback that will be called whenever the analog
* trigger 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 trigger has been initialized.
*
* @return true if initialized
*/
bool GetInitialized() const;
/**
* Change whether this analog trigger has been initialized.
*
* @param initialized the new value
*/
void SetInitialized(bool initialized);
/**
* Register a callback on the lower bound.
*
* @param callback the callback that will be called whenever the lower bound
* 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> RegisterTriggerLowerBoundCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the lower bound.
*
* @return the lower bound
*/
double GetTriggerLowerBound() const;
/**
* Change the lower bound.
*
* @param triggerLowerBound the new lower bound
*/
void SetTriggerLowerBound(double triggerLowerBound);
/**
* Register a callback on the upper bound.
*
* @param callback the callback that will be called whenever the upper bound
* 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> RegisterTriggerUpperBoundCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the upper bound.
*
* @return the upper bound
*/
double GetTriggerUpperBound() const;
/**
* Change the upper bound.
*
* @param triggerUpperBound the new upper bound
*/
void SetTriggerUpperBound(double triggerUpperBound);
/**
* Reset all simulation data for this object.
*/
void ResetData();
private:
explicit AnalogTriggerSim(int index) : m_index{index} {}
int m_index;
};
} // namespace sim
} // namespace frc