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package com.grt192.sensor;
import com.grt192.core.Sensor;
import com.grt192.event.component.SwitchListener;
import edu.wpi.first.wpilibj.DigitalInput;
import java.util.Vector;
/**
* A simple switch utilizing a GPIO port
* Binary switch
* @author Bonan
*/
public class GRTSwitch extends Sensor {
public static final double CLOSED = Sensor.TRUE;
public static final double OPEN = Sensor.FALSE;
private DigitalInput input;
private Vector switchListeners;
public GRTSwitch(int i, int i0) {
this(i, i0, "");
}
public GRTSwitch(int channel, int pollTime, String id) {
this.sleepTime = pollTime;
input = new DigitalInput(channel);
setState("State", OPEN);
this.id = id;
switchListeners = new Vector();
}
public DigitalInput getInput() {
return input;
}
public void setInput(DigitalInput input) {
this.input = input;
}
public void poll() {
double previous = getState("State");
setState("State", input.get() ? CLOSED : OPEN);
if(getState("State") != previous){
notifyListeners(getState("State") == CLOSED);
}
}
private void notifyListeners(boolean closing) {
for (int i = 0; i < switchListeners.size(); i++) {
if (closing) {
((SwitchListener) switchListeners.elementAt(i)).switchPressed(this);
}else
((SwitchListener) switchListeners.elementAt(i)).switchReleased(this);
}
}
public void addSwitchListener(SwitchListener listener) {
switchListeners.addElement(listener);
}
public void removeSwitchListener(SwitchListener listener) {
switchListeners.removeElement(listener);
}
}