SimHooks.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 <stdint.h>
 
#include "wpi/hal/DriverStationTypes.hpp"
#include "wpi/hal/HALBase.h"
#include "wpi/units/time.hpp"
 
namespace wpi::sim {
 
/**
 * Override the HAL runtime type (simulated/real).
 *
 * @param type runtime type
 */
void SetRuntimeType(HAL_RuntimeType type);
 
/**
 * Waits until the user program has started.
 */
void WaitForProgramStart();
 
/**
 * Sets flag that indicates if the user program has started.
 *
 * @param started true if started
 */
void SetProgramStarted(bool started);
 
/**
 * Returns true if the user program has started.
 *
 * @return True if the user program has started.
 */
bool GetProgramStarted();
 
/**
 * Sets the user program state (control word).
 *
 * @param controlWord control word
 */
void SetProgramState(wpi::hal::ControlWord controlWord);
 
/**
 * Gets the user program state (control word).
 *
 * @return Control word
 */
wpi::hal::ControlWord GetProgramState();
 
/**
 * Restart the simulator time.
 */
void RestartTiming();
 
/**
 * Pause the simulator time.
 */
void PauseTiming();
 
/**
 * Resume the simulator time.
 */
void ResumeTiming();
 
/**
 * Check if the simulator time is paused.
 *
 * @return true if paused
 */
bool IsTimingPaused();
 
/**
 * Advance the simulator time and wait for all notifiers to run.
 *
 * @param delta the amount to advance (in seconds)
 */
void StepTiming(wpi::units::second_t delta);
 
/**
 * Advance the simulator time and return immediately.
 *
 * @param delta the amount to advance (in seconds)
 */
void StepTimingAsync(wpi::units::second_t delta);
 
}  // namespace wpi::sim