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