SmartDashboard/SendableGyro.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. 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 __SENDABLE_GYRO_H__
#define __SENDABLE_GYRO_H__

#include "Gyro.h"
#include "NetworkTables/NetworkTableChangeListener.h"
#include "SmartDashboard/SmartDashboardData.h"
#include "Task.h"

class NetworkTable;

class SendableGyro : public Gyro, public SmartDashboardData, public NetworkTableChangeListener
{
public:
        SendableGyro(UINT8 moduleNumber, UINT32 channel);
        SendableGyro(UINT32 channel);
        SendableGyro(AnalogChannel* channel);
        virtual ~SendableGyro();

        // Gyro overrides
        virtual float GetAngle();
        virtual void Reset();

        void SetUpdatePeriod(double period);
        double GetUpdatePeriod();
        void ResetToAngle(double angle);

        // SmartDashboardData interface
        virtual std::string GetType() {return "Gyro";}
        virtual NetworkTable *GetTable();

private:
        // NetworkTableChangeListener interface
        virtual void ValueChanged(NetworkTable *table, const char *name, NetworkTables_Types type);
        virtual void ValueConfirmed(NetworkTable *table, const char *name, NetworkTables_Types type) {}

        void PublishTaskRun();

        static int InitPublishTask(SendableGyro *obj) {obj->PublishTaskRun();return 0;}

        double m_offset;
        double m_period;
        NetworkTable *m_table;
        Task m_publisher;
        bool m_runPublisher;
};

#endif