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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 <hal/Accelerometer.h>
#include "frc/simulation/CallbackStore.h"
namespace frc {
class BuiltInAccelerometer;
namespace sim {
/**
* Class to control a simulated built-in accelerometer.
*/
class BuiltInAccelerometerSim {
public:
/**
* Constructs for the first built-in accelerometer.
*/
BuiltInAccelerometerSim();
/**
* Constructs from a BuiltInAccelerometer object.
*
* @param accel BuiltInAccelerometer to simulate
*/
explicit BuiltInAccelerometerSim(const BuiltInAccelerometer& accel);
/**
* Register a callback to be run when this accelerometer activates.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
bool initialNotify);
/**
* Check whether the accelerometer is active.
*
* @return true if active
*/
bool GetActive() const;
/**
* Define whether this accelerometer is active.
*
* @param active the new state
*/
void SetActive(bool active);
/**
* Register a callback to be run whenever the range changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
bool initialNotify);
/**
* Check the range of this accelerometer.
*
* @return the accelerometer range
*/
HAL_AccelerometerRange GetRange() const;
/**
* Change the range of this accelerometer.
*
* @param range the new accelerometer range
*/
void SetRange(HAL_AccelerometerRange range);
/**
* Register a callback to be run whenever the X axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the X axis value.
*
* @return the X axis measurement
*/
double GetX() const;
/**
* Change the X axis value of the accelerometer.
*
* @param x the new reading of the X axis
*/
void SetX(double x);
/**
* Register a callback to be run whenever the Y axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the Y axis value.
*
* @return the Y axis measurement
*/
double GetY() const;
/**
* Change the Y axis value of the accelerometer.
*
* @param y the new reading of the Y axis
*/
void SetY(double y);
/**
* Register a callback to be run whenever the Z axis value changes.
*
* @param callback the callback
* @param initialNotify whether to call the callback with the initial state
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
bool initialNotify);
/**
* Measure the Z axis value.
*
* @return the Z axis measurement
*/
double GetZ() const;
/**
* Change the Z axis value of the accelerometer.
*
* @param z the new reading of the Z axis
*/
void SetZ(double z);
/**
* Reset all simulation data of this object.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc