BuiltInAccelerometerSim.h

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 <hal/Accelerometer.h>
 
#include "frc/simulation/CallbackStore.h"
 
namespace frc {
 
class BuiltInAccelerometer;
 
namespace sim {
 
/**
 * Class to control a simulated built-in accelerometer.
 */
class BuiltInAccelerometerSim {
 public:
  /**
   * Constructs for the first built-in accelerometer.
   */
  BuiltInAccelerometerSim();
 
  /**
   * Constructs from a BuiltInAccelerometer object.
   *
   * @param accel BuiltInAccelerometer to simulate
   */
  explicit BuiltInAccelerometerSim(const BuiltInAccelerometer& accel);
 
  /**
   * Register a callback to be run when this accelerometer activates.
   *
   * @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> RegisterActiveCallback(NotifyCallback callback,
                                                        bool initialNotify);
 
  /**
   * Check whether the accelerometer is active.
   *
   * @return true if active
   */
  bool GetActive() const;
 
  /**
   * Define whether this accelerometer is active.
   *
   * @param active the new state
   */
  void SetActive(bool active);
 
  /**
   * Register a callback to be run whenever the range changes.
   *
   * @param callback the callback
   * @param initialNotify whether to call the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
                                                       bool initialNotify);
 
  /**
   * Check the range of this accelerometer.
   *
   * @return the accelerometer range
   */
  HAL_AccelerometerRange GetRange() const;
 
  /**
   * Change the range of this accelerometer.
   *
   * @param range the new accelerometer range
   */
  void SetRange(HAL_AccelerometerRange range);
 
  /**
   * Register a callback to be run whenever the X axis value changes.
   *
   * @param callback the callback
   * @param initialNotify whether to call the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
                                                   bool initialNotify);
 
  /**
   * Measure the X axis value.
   *
   * @return the X axis measurement
   */
  double GetX() const;
 
  /**
   * Change the X axis value of the accelerometer.
   *
   * @param x the new reading of the X axis
   */
  void SetX(double x);
 
  /**
   * Register a callback to be run whenever the Y axis value changes.
   *
   * @param callback the callback
   * @param initialNotify whether to call the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
                                                   bool initialNotify);
 
  /**
   * Measure the Y axis value.
   *
   * @return the Y axis measurement
   */
  double GetY() const;
 
  /**
   * Change the Y axis value of the accelerometer.
   *
   * @param y the new reading of the Y axis
   */
  void SetY(double y);
 
  /**
   * Register a callback to be run whenever the Z axis value changes.
   *
   * @param callback the callback
   * @param initialNotify whether to call the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
                                                   bool initialNotify);
 
  /**
   * Measure the Z axis value.
   *
   * @return the Z axis measurement
   */
  double GetZ() const;
 
  /**
   * Change the Z axis value of the accelerometer.
   *
   * @param z the new reading of the Z axis
   */
  void SetZ(double z);
 
  /**
   * Reset all simulation data of this object.
   */
  void ResetData();
 
 private:
  int m_index;
};
}  // namespace sim
}  // namespace frc