AnalogTriggerSim.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 <memory>
 
#include "frc/simulation/CallbackStore.h"
 
namespace frc {
 
class AnalogTrigger;
 
namespace sim {
 
/**
 * Class to control a simulated analog trigger.
 */
class AnalogTriggerSim {
 public:
  /**
   * Constructs from an AnalogTrigger object.
   *
   * @param analogTrigger AnalogTrigger to simulate
   */
  explicit AnalogTriggerSim(const AnalogTrigger& analogTrigger);
 
  /**
   * Creates an AnalogTriggerSim for an analog input channel.
   *
   * @param channel analog input channel
   * @return Simulated object
   * @throws std::out_of_range if no AnalogTrigger is configured for that
   *         channel
   */
  static AnalogTriggerSim CreateForChannel(int channel);
 
  /**
   * Creates an AnalogTriggerSim for a simulated index.
   * The index is incremented for each simulated AnalogTrigger.
   *
   * @param index simulator index
   * @return Simulated object
   */
  static AnalogTriggerSim CreateForIndex(int index);
 
  /**
   * Register a callback on whether the analog trigger is initialized.
   *
   * @param callback the callback that will be called whenever the analog
   *                 trigger is initialized
   * @param initialNotify if true, the callback will be run on the initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check if this analog trigger has been initialized.
   *
   * @return true if initialized
   */
  bool GetInitialized() const;
 
  /**
   * Change whether this analog trigger has been initialized.
   *
   * @param initialized the new value
   */
  void SetInitialized(bool initialized);
 
  /**
   * Register a callback on the lower bound.
   *
   * @param callback the callback that will be called whenever the lower bound
   *                 is changed
   * @param initialNotify if true, the callback will be run on the initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterTriggerLowerBoundCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the lower bound.
   *
   * @return the lower bound
   */
  double GetTriggerLowerBound() const;
 
  /**
   * Change the lower bound.
   *
   * @param triggerLowerBound the new lower bound
   */
  void SetTriggerLowerBound(double triggerLowerBound);
 
  /**
   * Register a callback on the upper bound.
   *
   * @param callback the callback that will be called whenever the upper bound
   *                 is changed
   * @param initialNotify if true, the callback will be run on the initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterTriggerUpperBoundCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the upper bound.
   *
   * @return the upper bound
   */
  double GetTriggerUpperBound() const;
 
  /**
   * Change the upper bound.
   *
   * @param triggerUpperBound the new upper bound
   */
  void SetTriggerUpperBound(double triggerUpperBound);
 
  /**
   * Reset all simulation data for this object.
   */
  void ResetData();
 
 private:
  explicit AnalogTriggerSim(int index) : m_index{index} {}
 
  int m_index;
};
}  // namespace sim
}  // namespace frc