DigitalOutput.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 DIGITAL_OUTPUT_H_
#define DIGITAL_OUTPUT_H_

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

class DigitalModule;

class DigitalOutput : public DigitalSource, public ITableListener, public LiveWindowSendable
{
public:
        explicit DigitalOutput(uint32_t channel);
        DigitalOutput(uint8_t moduleNumber, uint32_t channel);
        virtual ~DigitalOutput();
        void Set(uint32_t value);
        uint32_t GetChannel();
        void Pulse(float length);
        bool IsPulsing();
        void SetPWMRate(float rate);
        void EnablePWM(float initialDutyCycle);
        void DisablePWM();
        void UpdateDutyCycle(float dutyCycle);

        // Digital Source Interface
        virtual uint32_t GetChannelForRouting();
        virtual uint32_t GetModuleForRouting();
        virtual bool GetAnalogTriggerForRouting();
        virtual void RequestInterrupts(tInterruptHandler handler, void *param);
        virtual void RequestInterrupts();

        void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
        
        virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
        void UpdateTable();
        void StartLiveWindowMode();
        void StopLiveWindowMode();
        std::string GetSmartDashboardType();
        void InitTable(ITable *subTable);
        ITable * GetTable();

private:
        void InitDigitalOutput(uint8_t moduleNumber, uint32_t channel);

        uint32_t m_channel;
        uint32_t m_pwmGenerator;
        DigitalModule *m_module;
        
        ITable *m_table;
};

#endif