WPI_CANCoder.h

 
#pragma once
 
#include "ctre/phoenix/sensors/CANCoder.h"
#include "ctre/phoenix/WPI_CallbackHelper.h"
 
#include <mutex>
 
//Need to disable certain warnings for WPI headers.
#if __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#elif _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4522 4458 4522)
#endif
 
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableHelper.h"
#include "wpi/raw_ostream.h"
#include <hal/SimDevice.h>
 
//Put the warning settings back to normal
#if __GNUC__
#pragma GCC diagnostic pop
#elif _MSC_VER
#pragma warning(pop)
#endif
 
namespace ctre
{
namespace phoenix
{
namespace sensors
{
 
class WPI_CANCoder : public CANCoder,
                     public wpi::Sendable,
                               public wpi::SendableHelper<WPI_CANCoder>
{
  public:
    WPI_CANCoder(int deviceNumber, std::string const &canbus = "");
 
    ~WPI_CANCoder();
 
    WPI_CANCoder() = delete;
    WPI_CANCoder(WPI_CANCoder const &) = delete;
    WPI_CANCoder &operator=(WPI_CANCoder const &) = delete;
 
    void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
 
    hal::SimDevice m_simCANCoder;
    hal::SimDouble m_simVbat;
    hal::SimDouble m_simPosition;
    hal::SimDouble m_simAbsPosition;
    hal::SimDouble m_simRawPosition;
    hal::SimDouble m_simVelocity;
 
  static void OnValueChanged(const char* name, void* param, HAL_SimValueHandle handle,
                               HAL_Bool readonly, const struct HAL_Value* value);
    static void OnPeriodic(void* param);
};
 
} //namespace sensors
} //namespace phoenix
} //namespace ctre