001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.wpilibj.simulation;
006
007import edu.wpi.first.hal.simulation.BufferCallback;
008import edu.wpi.first.hal.simulation.ConstBufferCallback;
009import edu.wpi.first.hal.simulation.I2CDataJNI;
010import edu.wpi.first.hal.simulation.NotifyCallback;
011
012/** A class to control a simulated I2C device. */
013public class I2CSim {
014  private final int m_index;
015
016  /**
017   * Construct a new I2C simulation object.
018   *
019   * @param index the HAL index of the I2C object
020   */
021  public I2CSim(int index) {
022    m_index = index;
023  }
024
025  /**
026   * Register a callback to be run when this I2C device is initialized.
027   *
028   * @param callback the callback
029   * @param initialNotify whether to run the callback with the initial state
030   * @return the {@link CallbackStore} object associated with this callback.
031   */
032  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
033    int uid = I2CDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
034    return new CallbackStore(m_index, uid, I2CDataJNI::cancelInitializedCallback);
035  }
036
037  /**
038   * Check whether this I2C device has been initialized.
039   *
040   * @return true if initialized
041   */
042  public boolean getInitialized() {
043    return I2CDataJNI.getInitialized(m_index);
044  }
045
046  /**
047   * Define whether this I2C device has been initialized.
048   *
049   * @param initialized whether this device is initialized
050   */
051  public void setInitialized(boolean initialized) {
052    I2CDataJNI.setInitialized(m_index, initialized);
053  }
054
055  /**
056   * Register a callback to be run whenever a `read` operation is done.
057   *
058   * @param callback the callback that is run on `read` operations
059   * @return the {@link CallbackStore} object associated with this callback.
060   */
061  public CallbackStore registerReadCallback(BufferCallback callback) {
062    int uid = I2CDataJNI.registerReadCallback(m_index, callback);
063    return new CallbackStore(m_index, uid, I2CDataJNI::cancelReadCallback);
064  }
065
066  /**
067   * Register a callback to be run whenever a `write` operation is done.
068   *
069   * @param callback the callback that is run on `write` operations
070   * @return the {@link CallbackStore} object associated with this callback.
071   */
072  public CallbackStore registerWriteCallback(ConstBufferCallback callback) {
073    int uid = I2CDataJNI.registerWriteCallback(m_index, callback);
074    return new CallbackStore(m_index, uid, I2CDataJNI::cancelWriteCallback);
075  }
076
077  /** Reset all I2C simulation data. */
078  public void resetData() {
079    I2CDataJNI.resetData(m_index);
080  }
081}