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FRC2016-old/wpilib/cpp/current/include/Counter.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/HAL.hpp"
#include "AnalogTriggerOutput.h"
#include "CounterBase.h"
#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
class DigitalGlitchFilter;
/**
* Class for counting the number of ticks on a digital input channel.
* This is a general purpose class for counting repetitive events. It can return
* the number
* of counts, the period of the most recent cycle, and detect when the signal
* being counted
* has stopped by supplying a maximum cycle time.
*
* All counters will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
class Counter : public SensorBase,
public CounterBase,
public LiveWindowSendable {
public:
explicit Counter(Mode mode = kTwoPulse);
explicit Counter(int32_t channel);
explicit Counter(DigitalSource *source);
explicit Counter(std::shared_ptr<DigitalSource> source);
DEPRECATED("Use pass-by-reference instead.")
explicit Counter(AnalogTrigger *trigger);
explicit Counter(const AnalogTrigger &trigger);
Counter(EncodingType encodingType, DigitalSource *upSource,
DigitalSource *downSource, bool inverted);
Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
std::shared_ptr<DigitalSource> downSource, bool inverted);
virtual ~Counter();
void SetUpSource(int32_t channel);
void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType);
void SetUpSource(DigitalSource *source);
void SetUpSource(std::shared_ptr<DigitalSource> source);
void SetUpSource(DigitalSource &source);
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
void ClearUpSource();
void SetDownSource(int32_t channel);
void SetDownSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType);
void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType);
void SetDownSource(DigitalSource *source);
void SetDownSource(std::shared_ptr<DigitalSource> source);
void SetDownSource(DigitalSource &source);
void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
void ClearDownSource();
void SetUpDownCounterMode();
void SetExternalDirectionMode();
void SetSemiPeriodMode(bool highSemiPeriod);
void SetPulseLengthMode(float threshold);
void SetReverseDirection(bool reverseDirection);
// CounterBase interface
int32_t Get() const override;
void Reset() override;
double GetPeriod() const override;
void SetMaxPeriod(double maxPeriod) override;
void SetUpdateWhenEmpty(bool enabled);
bool GetStopped() const override;
bool GetDirection() const override;
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
uint32_t GetFPGAIndex() const { return m_index; }
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
virtual std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
protected:
// Makes the counter count up.
std::shared_ptr<DigitalSource> m_upSource;
// Makes the counter count down.
std::shared_ptr<DigitalSource> m_downSource;
// The FPGA counter object
void *m_counter = nullptr; ///< The FPGA counter object.
private:
uint32_t m_index = 0; ///< The index of this counter.
std::shared_ptr<ITable> m_table;
friend class DigitalGlitchFilter;
};