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 "frc/DriverStation.h"
#include "ctre/phoenixpro/unmanaged/Unmanaged.hpp"
#include "hal/simulation/MockHooks.h"
 
namespace ctre {
namespace phoenixpro {
namespace wpiutils {
 
class AutoFeedEnable {
public:
    static AutoFeedEnable &GetInstance()
    {
        static AutoFeedEnable *autoFeedEnable = new AutoFeedEnable{};
        return *autoFeedEnable;
    }
 
private:
    int32_t m_simPeriodicUid{-1};
 
    AutoFeedEnable()
    {
        m_simPeriodicUid = HALSIM_RegisterSimPeriodicBeforeCallback(OnPeriodic, this);
    }
    ~AutoFeedEnable()
    {
        if (m_simPeriodicUid >= 0)
        {
            HALSIM_CancelSimPeriodicBeforeCallback(m_simPeriodicUid);
            m_simPeriodicUid = -1;
        }
    }
 
    static void OnPeriodic(void *param)
    {
        (void)param;
        if (frc::DriverStation::IsEnabled())
        {
            ctre::phoenix::unmanaged::FeedEnable(100);
        }
    }
};
 
}
}
}