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