REVPHSim.hpp

Go to the documentation of this file.

// 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 "wpi/hardware/pneumatic/PneumaticsBase.hpp"
#include "wpi/simulation/CallbackStore.hpp"
#include "wpi/simulation/PneumaticsBaseSim.hpp"
 
namespace wpi {
 
class Compressor;
 
namespace sim {
 
/**
 * Class to control a simulated Pneumatic Control Module (PCM).
 */
class REVPHSim : public PneumaticsBaseSim {
 public:
  /**
   * Constructs with the default PCM module number (CAN ID).
   */
  REVPHSim();
 
  /**
   * Constructs from a PCM module number (CAN ID).
   *
   * @param module module number
   */
  explicit REVPHSim(int module);
 
  explicit REVPHSim(const PneumaticsBase& pneumatics);
 
  ~REVPHSim() override = default;
 
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
      NotifyCallback callback, bool initialNotify) override;
 
  bool GetInitialized() const override;
 
  void SetInitialized(bool solenoidInitialized) override;
 
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
      int channel, NotifyCallback callback, bool initialNotify) override;
 
  bool GetSolenoidOutput(int channel) const override;
 
  void SetSolenoidOutput(int channel, bool solenoidOutput) override;
 
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
      NotifyCallback callback, bool initialNotify) override;
 
  /**
   * Check if the compressor is on.
   *
   * @return true if the compressor is active
   */
  bool GetCompressorOn() const override;
 
  /**
   * Set whether the compressor is active.
   *
   * @param compressorOn the new value
   */
  void SetCompressorOn(bool compressorOn) override;
 
  /**
   * Register a callback to be run whenever the closed loop state changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterCompressorConfigTypeCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check whether the closed loop compressor control is active.
   *
   * @return compressor config type
   */
  int GetCompressorConfigType() const;
 
  /**
   * Turn on/off the closed loop control of the compressor.
   *
   * @param compressorConfigType compressor config type
   */
  void SetCompressorConfigType(int compressorConfigType);
 
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
      NotifyCallback callback, bool initialNotify) override;
 
  bool GetPressureSwitch() const override;
 
  void SetPressureSwitch(bool pressureSwitch) override;
 
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
      NotifyCallback callback, bool initialNotify) override;
 
  double GetCompressorCurrent() const override;
 
  void SetCompressorCurrent(double compressorCurrent) override;
 
  uint8_t GetAllSolenoidOutputs() const override;
 
  void SetAllSolenoidOutputs(uint8_t outputs) override;
 
  void ResetData() override;
};
}  // namespace sim
}  // namespace wpi