Relay.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 RELAY_H_
#define RELAY_H_

#include "SensorBase.h"
#include "tables/ITableListener.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITable.h"

class DigitalModule;

class Relay : public SensorBase, public ITableListener, public LiveWindowSendable {
public:
    typedef enum {kOff, kOn, kForward, kReverse} Value;
    typedef enum {kBothDirections, kForwardOnly, kReverseOnly} Direction;

    Relay(uint32_t channel, Direction direction = kBothDirections);
    Relay(uint8_t moduleNumber, uint32_t channel, Direction direction = kBothDirections);
    virtual ~Relay();

    void Set(Value value);
    Value Get();
    
    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();
    
    ITable *m_table;

private:
    void InitRelay(uint8_t moduleNumber);

    uint32_t m_channel;
    Direction m_direction;
    DigitalModule *m_module;
};

#endif