CallbackStore.hpp

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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 <functional>
#include <span>
#include <string_view>
 
#include "wpi/hal/DriverStationTypes.h"
#include "wpi/hal/Value.h"
 
namespace wpi::sim {
 
using NotifyCallback = std::function<void(std::string_view, const HAL_Value*)>;
using ConstBufferCallback = std::function<void(
    std::string_view, const unsigned char* buffer, unsigned int count)>;
using OpModeOptionsCallback =
    std::function<void(std::string_view, std::span<const HAL_OpModeOption>)>;
using CancelCallbackFunc = void (*)(int32_t index, int32_t uid);
using CancelCallbackNoIndexFunc = void (*)(int32_t uid);
using CancelCallbackChannelFunc = void (*)(int32_t index, int32_t channel,
                                           int32_t uid);
 
void CallbackStoreThunk(const char* name, void* param, const HAL_Value* value);
void ConstBufferCallbackStoreThunk(const char* name, void* param,
                                   const unsigned char* buffer,
                                   unsigned int count);
void OpModeOptionsCallbackStoreThunk(const char* name, void* param,
                                     const HAL_OpModeOption* opmodes,
                                     int32_t count);
 
/**
 * Manages simulation callbacks; each object is associated with a callback.
 */
class CallbackStore {
 public:
  CallbackStore(int32_t i, NotifyCallback cb, CancelCallbackNoIndexFunc ccf);
 
  CallbackStore(int32_t i, int32_t u, NotifyCallback cb,
                CancelCallbackFunc ccf);
 
  CallbackStore(int32_t i, int32_t c, int32_t u, NotifyCallback cb,
                CancelCallbackChannelFunc ccf);
 
  CallbackStore(int32_t i, ConstBufferCallback cb,
                CancelCallbackNoIndexFunc ccf);
 
  CallbackStore(int32_t i, int32_t u, ConstBufferCallback cb,
                CancelCallbackFunc ccf);
 
  CallbackStore(int32_t i, int32_t c, int32_t u, ConstBufferCallback cb,
                CancelCallbackChannelFunc ccf);
 
  CallbackStore(int32_t u, OpModeOptionsCallback cb,
                CancelCallbackNoIndexFunc ccf);
 
  CallbackStore(const CallbackStore&) = delete;
  CallbackStore& operator=(const CallbackStore&) = delete;
 
  ~CallbackStore();
 
  void SetUid(int32_t uid);
 
  friend void CallbackStoreThunk(const char* name, void* param,
                                 const HAL_Value* value);
 
  friend void ConstBufferCallbackStoreThunk(const char* name, void* param,
                                            const unsigned char* buffer,
                                            unsigned int count);
 
  friend void OpModeOptionsCallbackStoreThunk(const char* name, void* param,
                                              const HAL_OpModeOption* opmodes,
                                              int32_t count);
 
 private:
  int32_t index;
  int32_t channel;
  int32_t uid;
 
  NotifyCallback callback;
  ConstBufferCallback constBufferCallback;
  OpModeOptionsCallback opModeOptionsCallback;
  union {
    CancelCallbackFunc ccf;
    CancelCallbackChannelFunc cccf;
    CancelCallbackNoIndexFunc ccnif;
  };
  enum CancelType { Normal, Channel, NoIndex };
  CancelType cancelType;
};
}  // namespace wpi::sim