GenericHIDSim.h

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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 <stdint.h>
 
#include "frc/DriverStation.h"
#include "frc/GenericHID.h"
 
namespace frc {
 
class GenericHID;
 
namespace sim {
 
/**
 * Class to control a simulated generic joystick.
 */
class GenericHIDSim {
 public:
  /**
   * Constructs from a GenericHID object.
   *
   * @param joystick joystick to simulate
   */
  explicit GenericHIDSim(const GenericHID& joystick);
 
  /**
   * Constructs from a joystick port number.
   *
   * @param port port number
   */
  explicit GenericHIDSim(int port);
 
  /**
   * Updates joystick data so that new values are visible to the user program.
   */
  void NotifyNewData();
 
  /**
   * Set the value of a given button.
   *
   * @param button the button to set
   * @param value the new value
   */
  void SetRawButton(int button, bool value);
 
  /**
   * Set the value of a given axis.
   *
   * @param axis the axis to set
   * @param value the new value
   */
  void SetRawAxis(int axis, double value);
 
  /**
   * Set the value of a given POV.
   *
   * @param pov the POV to set
   * @param value the new value
   */
  void SetPOV(int pov, DriverStation::POVDirection value);
 
  /**
   * Set the value of the default POV (port 0).
   *
   * @param value the new value
   */
  void SetPOV(DriverStation::POVDirection value);
 
  /**
   * Set the axis count of this device.
   *
   * @param count the new axis count
   */
  void SetAxisCount(int count);
 
  /**
   * Set the POV count of this device.
   *
   * @param count the new POV count
   */
  void SetPOVCount(int count);
 
  /**
   * Set the button count of this device.
   *
   * @param count the new button count
   */
  void SetButtonCount(int count);
 
  /**
   * Set the type of this device.
   *
   * @param type the new device type
   */
  void SetType(GenericHID::HIDType type);
 
  /**
   * Set the name of this device.
   *
   * @param name the new device name
   */
  void SetName(const char* name);
 
  /**
   * Set the type of an axis.
   *
   * @param axis the axis
   * @param type the type
   */
  void SetAxisType(int axis, int type);
 
  /**
   * Read the output of a button.
   *
   * @param outputNumber the button number
   * @return the value of the button (true = pressed)
   */
  bool GetOutput(int outputNumber);
 
  /**
   * Get the encoded 16-bit integer that passes button values.
   *
   * @return the button values
   */
  int64_t GetOutputs();
 
  /**
   * Get the joystick rumble.
   *
   * @param type the rumble to read
   * @return the rumble value
   */
  double GetRumble(GenericHID::RumbleType type);
 
 protected:
  /// GenericHID port.
  int m_port;
};
 
}  // namespace sim
}  // namespace frc