RoboRioSim.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 <string>
 
#include <units/current.h>
#include <units/voltage.h>
 
#include "frc/simulation/CallbackStore.h"
 
namespace frc::sim {
 
/**
 * A utility class to control a simulated RoboRIO.
 */
class RoboRioSim {
 public:
  /**
   * Register a callback to be run when the FPGA button state changes.
   *
   * @param callback the callback
   * @param initialNotify whether to run the callback with the initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterFPGAButtonCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Query the state of the FPGA button.
   *
   * @return the FPGA button state
   */
  static bool GetFPGAButton();
 
  /**
   * Define the state of the FPGA button.
   *
   * @param fPGAButton the new state
   */
  static void SetFPGAButton(bool fPGAButton);
 
  /**
   * Register a callback to be run whenever the Vin voltage 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]]
  static std::unique_ptr<CallbackStore> RegisterVInVoltageCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the Vin voltage.
   *
   * @return the Vin voltage
   */
  static units::volt_t GetVInVoltage();
 
  /**
   * Define the Vin voltage.
   *
   * @param vInVoltage the new voltage
   */
  static void SetVInVoltage(units::volt_t vInVoltage);
 
  /**
   * Register a callback to be run whenever the Vin current changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterVInCurrentCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the Vin current.
   *
   * @return the Vin current
   */
  static units::ampere_t GetVInCurrent();
 
  /**
   * Define the Vin current.
   *
   * @param vInCurrent the new current
   */
  static void SetVInCurrent(units::ampere_t vInCurrent);
 
  /**
   * Register a callback to be run whenever the 6V rail voltage changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserVoltage6VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 6V rail voltage.
   *
   * @return the 6V rail voltage
   */
  static units::volt_t GetUserVoltage6V();
 
  /**
   * Define the 6V rail voltage.
   *
   * @param userVoltage6V the new voltage
   */
  static void SetUserVoltage6V(units::volt_t userVoltage6V);
 
  /**
   * Register a callback to be run whenever the 6V rail current changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserCurrent6VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 6V rail current.
   *
   * @return the 6V rail current
   */
  static units::ampere_t GetUserCurrent6V();
 
  /**
   * Define the 6V rail current.
   *
   * @param userCurrent6V the new current
   */
  static void SetUserCurrent6V(units::ampere_t userCurrent6V);
 
  /**
   * Register a callback to be run whenever the 6V rail active state changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserActive6VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 6V rail active state.
   *
   * @return true if the 6V rail is active
   */
  static bool GetUserActive6V();
 
  /**
   * Set the 6V rail active state.
   *
   * @param userActive6V true to make rail active
   */
  static void SetUserActive6V(bool userActive6V);
 
  /**
   * Register a callback to be run whenever the 5V rail voltage changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserVoltage5VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 5V rail voltage.
   *
   * @return the 5V rail voltage
   */
  static units::volt_t GetUserVoltage5V();
 
  /**
   * Define the 5V rail voltage.
   *
   * @param userVoltage5V the new voltage
   */
  static void SetUserVoltage5V(units::volt_t userVoltage5V);
 
  /**
   * Register a callback to be run whenever the 5V rail current changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserCurrent5VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 5V rail current.
   *
   * @return the 5V rail current
   */
  static units::ampere_t GetUserCurrent5V();
 
  /**
   * Define the 5V rail current.
   *
   * @param userCurrent5V the new current
   */
  static void SetUserCurrent5V(units::ampere_t userCurrent5V);
 
  /**
   * Register a callback to be run whenever the 5V rail active state changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserActive5VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 5V rail active state.
   *
   * @return true if the 5V rail is active
   */
  static bool GetUserActive5V();
 
  /**
   * Set the 5V rail active state.
   *
   * @param userActive5V true to make rail active
   */
  static void SetUserActive5V(bool userActive5V);
 
  /**
   * Register a callback to be run whenever the 3.3V rail voltage changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserVoltage3V3Callback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 3.3V rail voltage.
   *
   * @return the 3.3V rail voltage
   */
  static units::volt_t GetUserVoltage3V3();
 
  /**
   * Define the 3.3V rail voltage.
   *
   * @param userVoltage3V3 the new voltage
   */
  static void SetUserVoltage3V3(units::volt_t userVoltage3V3);
 
  /**
   * Register a callback to be run whenever the 3.3V rail current changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserCurrent3V3Callback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the 3.3V rail current.
   *
   * @return the 3.3V rail current
   */
  static units::ampere_t GetUserCurrent3V3();
 
  /**
   * Define the 3.3V rail current.
   *
   * @param userCurrent3V3 the new current
   */
  static void SetUserCurrent3V3(units::ampere_t userCurrent3V3);
 
  /**
   * Register a callback to be run whenever the 3.3V rail active state changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial state
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserActive3V3Callback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 3.3V rail active state.
   *
   * @return true if the 3.3V rail is active
   */
  static bool GetUserActive3V3();
 
  /**
   * Set the 3.3V rail active state.
   *
   * @param userActive3V3 true to make rail active
   */
  static void SetUserActive3V3(bool userActive3V3);
 
  /**
   * Register a callback to be run whenever the 6V rail number of faults
   * changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserFaults6VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 6V rail number of faults.
   *
   * @return number of faults
   */
  static int GetUserFaults6V();
 
  /**
   * Set the 6V rail number of faults.
   *
   * @param userFaults6V number of faults
   */
  static void SetUserFaults6V(int userFaults6V);
 
  /**
   * Register a callback to be run whenever the 5V rail number of faults
   * changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserFaults5VCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 5V rail number of faults.
   *
   * @return number of faults
   */
  static int GetUserFaults5V();
 
  /**
   * Set the 5V rail number of faults.
   *
   * @param userFaults5V number of faults
   */
  static void SetUserFaults5V(int userFaults5V);
 
  /**
   * Register a callback to be run whenever the 3.3V rail number of faults
   * changes.
   *
   * @param callback the callback
   * @param initialNotify whether the callback should be called with the
   *                      initial value
   * @return the CallbackStore object associated with this callback
   */
  [[nodiscard]]
  static std::unique_ptr<CallbackStore> RegisterUserFaults3V3Callback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Get the 3.3V rail number of faults.
   *
   * @return number of faults
   */
  static int GetUserFaults3V3();
 
  /**
   * Set the 3.3V rail number of faults.
   *
   * @param userFaults3V3 number of faults
   */
  static void SetUserFaults3V3(int userFaults3V3);
 
  /**
   * Register a callback to be run whenever the brownout voltage 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]]
  static std::unique_ptr<CallbackStore> RegisterBrownoutVoltageCallback(
      NotifyCallback callback, bool initialNotify);
 
  /**
   * Measure the brownout voltage.
   *
   * @return the brownout voltage
   */
  static units::volt_t GetBrownoutVoltage();
 
  /**
   * Define the brownout voltage.
   *
   * @param brownoutVoltage the new voltage
   */
  static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
 
  /**
   * Get the serial number.
   *
   * @return The serial number.
   */
  static std::string GetSerialNumber();
 
  /**
   * Set the serial number.
   *
   * @param serialNumber The serial number.
   */
  static void SetSerialNumber(std::string_view serialNumber);
 
  /**
   * Get the comments.
   *
   * @return The comments.
   */
  static std::string GetComments();
 
  /**
   * Set the comments.
   *
   * @param comments The comments.
   */
  static void SetComments(std::string_view comments);
 
  /**
   * Reset all simulation data.
   */
  static void ResetData();
};
}  // namespace frc::sim