counter.h

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/*----------------------------------------------------------------------------*/
/* 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"

/**
 * Class for counting the number of ticks on a digital input channel.
 * This is a general purpose class for counting repetitive events. It can return the number
 * of counts, the period of the most recent cycle, and detect when the signal being counted
 * has stopped by supplying a maximum cycle time.
 */
class Counter : public SensorBase, public CounterBase
{
public:
	typedef enum {kTwoPulse=0, kSemiperiod=1, kPulseLength=2, kExternalDirection=3} Mode;

	Counter();
	explicit Counter(UINT32 channel);
	Counter(UINT32 slot, UINT32 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 channel);
	void SetUpSource(UINT32 slot, UINT32 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 channel);
	void SetDownSource(UINT32 slot, UINT32 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 Get();
	void Reset();
	void Stop();
	double GetPeriod();
	void SetMaxPeriod(double maxPeriod);
	void SetUpdateWhenEmpty(bool enabled);
	bool GetStopped();
	bool GetDirection();
private:
	void InitCounter(Mode mode = kTwoPulse);

	DigitalSource *m_upSource;		///< What makes the counter count up.
	DigitalSource *m_downSource;	///< What makes the counter count down.
	bool m_allocatedUpSource;		///< Was the upSource allocated locally?
	bool m_allocatedDownSource;	///< Was the downSource allocated locally?
	tCounter *m_counter;				///< The FPGA counter object.
	UINT32 m_index;					///< The index of this counter.
};

#endif