AutoFeedEnable.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include <wpi/system/Notifier.hpp>
#include <mutex>
#include <stdint.h>
 
namespace ctre {
namespace phoenix6 {
namespace wpiutils {
 
/**
 * \brief Automatically feeds the non-FRC enable signal to devices
 * in simulation and hardware-attached simulation.
 */
class AutoFeedEnable final {
private:
    std::mutex _lck;
    uint32_t _startCount = 0;
    wpi::Notifier _enableNotifier;
 
    AutoFeedEnable();
 
public:
    /**
     * \brief Gets the AutoFeedEnable instance.
     *
     * \returns AutoFeedEnable instance
     */
    static AutoFeedEnable &GetInstance();
 
    /**
     * \brief Starts feeding the enable signal to CTRE actuators.
     */
    void Start();
    /**
     * \brief Stops feeding the enable signal to CTRE actuators.
     * The enable signal will only be stopped when all actuators
     * have requested to stop the enable signal.
     */
    void Stop();
};
 
}
}
}