Counter.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.  */
/*----------------------------------------------------------------------------*/

#ifndef CPPCOUNTER_H_
#define CPPCOUNTER_H_

#include "AnalogTriggerOutput.h"
#include "CounterBase.h"
#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"

class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
{
public:
        typedef enum {kTwoPulse=0, kSemiperiod=1, kPulseLength=2, kExternalDirection=3} Mode;

        Counter();
        explicit Counter(uint32_t channel);
        Counter(uint8_t moduleNumber, uint32_t channel);
        explicit Counter(DigitalSource *source);
        explicit Counter(DigitalSource &source);
        explicit Counter(AnalogTrigger *trigger);
        explicit Counter(AnalogTrigger &trigger);
        Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted);
        virtual ~Counter();

        void SetUpSource(uint32_t channel);
        void SetUpSource(uint8_t moduleNumber, uint32_t channel);
        void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
        void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
        void SetUpSource(DigitalSource *source);
        void SetUpSource(DigitalSource &source);
        void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
        void ClearUpSource();

        void SetDownSource(uint32_t channel);
        void SetDownSource(uint8_t moduleNumber, uint32_t channel);
        void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
        void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
        void SetDownSource(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
        void Start();
        int32_t Get();
        void Reset();
        void Stop();
        double GetPeriod();
        void SetMaxPeriod(double maxPeriod);
        void SetUpdateWhenEmpty(bool enabled);
        bool GetStopped();
        bool GetDirection();
        void SetSamplesToAverage(int samplesToAverage);
        int GetSamplesToAverage();
        uint32_t GetIndex() {return m_index;}
        
        
        void UpdateTable();
        void StartLiveWindowMode();
        void StopLiveWindowMode();
        virtual std::string GetSmartDashboardType();
        void InitTable(ITable *subTable);
        ITable * GetTable();
protected:
        DigitalSource *m_upSource;              
        DigitalSource *m_downSource;    
        tCounter *m_counter;                            
private:
        void InitCounter(Mode mode = kTwoPulse);

        bool m_allocatedUpSource;               
        bool m_allocatedDownSource;     
        uint32_t m_index;                                       
        
        ITable *m_table;
};

#endif