wpilibc/Athena/include/DigitalInput.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"

#include <memory>
#include <cstdint>

class DigitalGlitchFilter;

/**
 * Class to read a digital input.
 * This class will read digital inputs and return the current value on the
 * channel. Other devices
 * such as encoders, gear tooth sensors, etc. that are implemented elsewhere
 * will automatically
 * allocate digital inputs and outputs as required. This class is only for
 * devices like switches
 * etc. that aren't implemented anywhere else.
 */
class DigitalInput : public DigitalSource, public LiveWindowSendable {
 public:
  explicit DigitalInput(uint32_t channel);
  virtual ~DigitalInput();
  bool Get() const;
  uint32_t GetChannel() const;

  // Digital Source Interface
  virtual uint32_t GetChannelForRouting() const;
  virtual uint32_t GetModuleForRouting() const;
  virtual bool GetAnalogTriggerForRouting() const;

  void UpdateTable();
  void StartLiveWindowMode();
  void StopLiveWindowMode();
  std::string GetSmartDashboardType() const;
  void InitTable(std::shared_ptr<ITable> subTable);
  std::shared_ptr<ITable> GetTable() const;

 private:
  uint32_t m_channel;

  std::shared_ptr<ITable> m_table;
  friend class DigitalGlitchFilter;
};