wpilibc/simulation/include/DoubleSolenoid.h

/*----------------------------------------------------------------------------*/
/* 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 "simulation/SimContinuousOutput.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITableListener.h"

#include <memory>

/**
 * DoubleSolenoid class for running 2 channels of high voltage Digital Output
 * (PCM).
 *
 * The DoubleSolenoid class is typically used for pneumatics solenoids that
 * have two positions controlled by two separate channels.
 */
class DoubleSolenoid : public LiveWindowSendable, public ITableListener
{
public:
	enum Value
	{
		kOff,
		kForward,
		kReverse
	};

	explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
	DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel);
	virtual ~DoubleSolenoid();
	virtual void Set(Value value);
	virtual Value Get() const;

	void ValueChanged(ITable* source, llvm::StringRef key,
                    std::shared_ptr<nt::Value> value, bool isNew) override;
	void UpdateTable() override;
	void StartLiveWindowMode() override;
	void StopLiveWindowMode() override;
	std::string GetSmartDashboardType() const override;
	void InitTable(std::shared_ptr<ITable> subTable) override;
	std::shared_ptr<ITable> GetTable() const override;

private:
    SimContinuousOutput* m_impl;
    Value m_value;
    bool m_reversed;

	std::shared_ptr<ITable> m_table;
};