RelaySim.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 Relay;
 
namespace sim {
 
/**
 * Class to control a simulated relay.
 */
class RelaySim {
 public:
  /**
   * Constructs from a Relay object.
   *
   * @param relay Relay to simulate
   */
  explicit RelaySim(const Relay& relay);
 
  /**
   * Constructs from a relay channel number.
   *
   * @param channel Channel number
   */
  explicit RelaySim(int channel);
 
  /**
   * Register a callback to be run when the forward direction is initialized.
   *
   * @param callback the callback
   * @param initialNotify whether to run the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterInitializedForwardCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check whether the forward direction has been initialized.
   *
   * @return true if initialized
   */
  bool GetInitializedForward() const;
 
  /**
   * Define whether the forward direction has been initialized.
   *
   * @param initializedForward whether this object is initialized
   */
  void SetInitializedForward(bool initializedForward);
 
  /**
   * Register a callback to be run when the reverse direction is initialized.
   *
   * @param callback the callback
   * @param initialNotify whether to run the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterInitializedReverseCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check whether the reverse direction has been initialized.
   *
   * @return true if initialized
   */
  bool GetInitializedReverse() const;
 
  /**
   * Define whether the reverse direction has been initialized.
   *
   * @param initializedReverse whether this object is initialized
   */
  void SetInitializedReverse(bool initializedReverse);
 
  /**
   * Register a callback to be run when the forward direction changes state.
   *
   * @param callback the callback
   * @param initialNotify whether to run the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterForwardCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check whether the forward direction is active.
   *
   * @return true if active
   */
  bool GetForward() const;
 
  /**
   * Set whether the forward direction is active.
   *
   * @param forward true to make active
   */
  void SetForward(bool forward);
 
  /**
   * Register a callback to be run when the reverse direction changes state.
   *
   * @param callback the callback
   * @param initialNotify whether to run the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterReverseCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Check whether the reverse direction is active.
   *
   * @return true if active
   */
  bool GetReverse() const;
 
  /**
   * Set whether the reverse direction is active.
   *
   * @param reverse true to make active
   */
  void SetReverse(bool reverse);
 
  /**
   * Reset all simulation data.
   */
  void ResetData();
 
 private:
  int m_index;
};
}  // namespace sim
}  // namespace frc