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
// 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 Relay;
namespace sim {
/**
* Class to control a simulated relay.
*/
class RelaySim {
public:
/**
* Constructs from a Relay object.
*
* @param relay Relay to simulate
*/
explicit RelaySim(const Relay& relay);
/**
* Constructs from a relay channel number.
*
* @param channel Channel number
*/
explicit RelaySim(int channel);
/**
* Register a callback to be run when the forward direction is initialized.
*
* @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> RegisterInitializedForwardCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether the forward direction has been initialized.
*
* @return true if initialized
*/
bool GetInitializedForward() const;
/**
* Define whether the forward direction has been initialized.
*
* @param initializedForward whether this object is initialized
*/
void SetInitializedForward(bool initializedForward);
/**
* Register a callback to be run when the reverse direction is initialized.
*
* @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> RegisterInitializedReverseCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether the reverse direction has been initialized.
*
* @return true if initialized
*/
bool GetInitializedReverse() const;
/**
* Define whether the reverse direction has been initialized.
*
* @param initializedReverse whether this object is initialized
*/
void SetInitializedReverse(bool initializedReverse);
/**
* Register a callback to be run when the forward direction changes state.
*
* @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> RegisterForwardCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether the forward direction is active.
*
* @return true if active
*/
bool GetForward() const;
/**
* Set whether the forward direction is active.
*
* @param forward true to make active
*/
void SetForward(bool forward);
/**
* Register a callback to be run when the reverse direction changes state.
*
* @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> RegisterReverseCallback(
NotifyCallback callback, bool initialNotify);
/**
* Check whether the reverse direction is active.
*
* @return true if active
*/
bool GetReverse() const;
/**
* Set whether the reverse direction is active.
*
* @param reverse true to make active
*/
void SetReverse(bool reverse);
/**
* Reset all simulation data.
*/
void ResetData();
private:
int m_index;
};
} // namespace sim
} // namespace frc