DigitalInput.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 "wpi/hal/DIO.h"
#include "wpi/hal/Types.hpp"
#include "wpi/util/sendable/Sendable.hpp"
#include "wpi/util/sendable/SendableHelper.hpp"
 
namespace wpi {
 
/**
 * Class to read a digital input.
 *
 * This class will read digital inputs and return the current value on the
 * channel. Other devices such as encoders, gear tooth sensors, etc. that are
 * implemented elsewhere will automatically allocate digital inputs and outputs
 * as required. This class is only for devices like switches etc. that aren't
 * implemented anywhere else.
 */
class DigitalInput : public wpi::util::Sendable,
                     public wpi::util::SendableHelper<DigitalInput> {
 public:
  /**
   * Create an instance of a Digital Input class.
   *
   * Creates a digital input given a channel.
   *
   * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
   */
  explicit DigitalInput(int channel);
 
  DigitalInput(DigitalInput&&) = default;
  DigitalInput& operator=(DigitalInput&&) = default;
 
  ~DigitalInput() override = default;
 
  /**
   * Get the value from a digital input channel.
   *
   * Retrieve the value of a single digital input channel from the FPGA.
   */
  bool Get() const;
 
  /**
   * @return The GPIO channel number that this object represents.
   */
  int GetChannel() const;
 
  /**
   * Indicates this input is used by a simulated device.
   *
   * @param device simulated device handle
   */
  void SetSimDevice(HAL_SimDeviceHandle device);
 
  void InitSendable(wpi::util::SendableBuilder& builder) override;
 
 private:
  int m_channel;
  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
};
 
}  // namespace wpi