Faults.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
#include <sstream>
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
/**
 * All the faults available to motor controllers
 */
struct Faults {
    /**
     * Motor Controller is under 6.5V
     */
    bool UnderVoltage;
    /**
     * Forward limit switch is tripped and device is trying to go forward
     * Only trips when the device is limited
     */
    bool ForwardLimitSwitch;
    /**
     * Reverse limit switch is tripped and device is trying to go reverse
     * Only trips when the device is limited
     */
    bool ReverseLimitSwitch;
    /**
     * Sensor is beyond forward soft limit and device is trying to go forward
     * Only trips when the device is limited
     */
    bool ForwardSoftLimit;
    /**
     * Sensor is beyond reverse soft limit and device is trying to go reverse
     * Only trips when the device is limited
     */
    bool ReverseSoftLimit;
    /**
     * Device detects hardware failure
     */
    bool HardwareFailure;
    /**
     * Device was powered-on or reset while robot is enabled.
     * Check your breakers and wiring.
     */
    bool ResetDuringEn;
    /**
     * Device's sensor overflowed
     */
    bool SensorOverflow;
    /**
     * Device detects its sensor is out of phase
     */
    bool SensorOutOfPhase;
    /**
     * Not used, @see ResetDuringEn
     */
    bool HardwareESDReset;
    /**
     * Remote Sensor is no longer detected on bus
     */
    bool RemoteLossOfSignal;
    /**
     * API error detected.  Make sure API and firmware versions are compatible.
     */
    bool APIError;
    /**
     * Supply is well above the rated voltage of the hardware. This fault is specific to Brushless.
     */
    bool SupplyOverV;
    /**
     * Supply is rapidly fluctuating and unstable. This fault is specific to Brushless.
     */
    bool SupplyUnstable;
    
    /**
     * @return true if any faults are tripped
     */
    bool HasAnyFault() const {
        return  UnderVoltage |
                ForwardLimitSwitch |
                ReverseLimitSwitch |
                ForwardSoftLimit |
                ReverseSoftLimit |
                HardwareFailure |
                ResetDuringEn |
                SensorOverflow |
                SensorOutOfPhase |
                HardwareESDReset |
                RemoteLossOfSignal |
                APIError |
                SupplyOverV |
                SupplyUnstable;
    }
    /**
     * @return Current fault list as a bit field
     */
    int ToBitfield() const {
        int retval = 0;
        int mask = 1;
        retval |= UnderVoltage ? mask : 0; mask <<= 1;
        retval |= ForwardLimitSwitch ? mask : 0; mask <<= 1;
        retval |= ReverseLimitSwitch ? mask : 0; mask <<= 1;
        retval |= ForwardSoftLimit ? mask : 0; mask <<= 1;
        retval |= ReverseSoftLimit ? mask : 0; mask <<= 1;
        retval |= HardwareFailure ? mask : 0; mask <<= 1;
        retval |= ResetDuringEn ? mask : 0; mask <<= 1;
        retval |= SensorOverflow ? mask : 0; mask <<= 1;
        retval |= SensorOutOfPhase ? mask : 0; mask <<= 1;
        retval |= HardwareESDReset ? mask : 0; mask <<= 1;
        retval |= RemoteLossOfSignal ? mask : 0; mask <<= 1;
        retval |= APIError ? mask : 0; mask <<= 1;
        retval |= SupplyOverV ? mask : 0; mask <<= 1;
        retval |= SupplyUnstable ? mask : 0; mask <<= 1;
        return retval;
    }
    /**
     * Creates fault list with specified bit field of faults
     * 
     * @param bits bit field of faults to update with
     */
    Faults(int bits) {
        int mask = 1;
        UnderVoltage = (bits & mask) ? true : false; mask <<= 1;
        ForwardLimitSwitch = (bits & mask) ? true : false; mask <<= 1;
        ReverseLimitSwitch = (bits & mask) ? true : false; mask <<= 1;
        ForwardSoftLimit = (bits & mask) ? true : false; mask <<= 1;
        ReverseSoftLimit = (bits & mask) ? true : false; mask <<= 1;
        HardwareFailure = (bits & mask) ? true : false; mask <<= 1;
        ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
        SensorOverflow = (bits & mask) ? true : false; mask <<= 1;
        SensorOutOfPhase = (bits & mask) ? true : false; mask <<= 1;
        HardwareESDReset = (bits & mask) ? true : false; mask <<= 1;
        RemoteLossOfSignal = (bits & mask) ? true : false; mask <<= 1;
        APIError = (bits & mask) ? true : false; mask <<= 1;
        SupplyOverV = (bits & mask) ? true : false; mask <<= 1;
        SupplyUnstable = (bits & mask) ? true : false; mask <<= 1;
    }
    Faults() {
        UnderVoltage = false;
        ForwardLimitSwitch = false;
        ReverseLimitSwitch = false;
        ForwardSoftLimit = false;
        ReverseSoftLimit = false;
        HardwareFailure =false;
        ResetDuringEn = false;
        SensorOverflow = false;
        SensorOutOfPhase = false;
        HardwareESDReset = false;
        RemoteLossOfSignal = false;
        APIError = false;
        SupplyOverV = false;
        SupplyUnstable = false;
    }
    /**
     * @return string representation of current faults tripped
     */
    std::string ToString() {
        std::stringstream work;
        work << " UnderVoltage:" << (UnderVoltage ? "1" : "0");
        work << " ForwardLimitSwitch:" << (ForwardLimitSwitch ? "1" : "0");
        work << " ReverseLimitSwitch:" << (ReverseLimitSwitch ? "1" : "0");
        work << " ForwardSoftLimit:" << (ForwardSoftLimit ? "1" : "0");
        work << " ReverseSoftLimit:" << (ReverseSoftLimit ? "1" : "0");
        work << " HardwareFailure:" << (HardwareFailure ? "1" : "0");
        work << " ResetDuringEn:" << (ResetDuringEn ? "1" : "0");
        work << " SensorOverflow:" << (SensorOverflow ? "1" : "0");
        work << " SensorOutOfPhase:" << (SensorOutOfPhase ? "1" : "0");
        work << " HardwareESDReset:" << (HardwareESDReset ? "1" : "0");
        work << " RemoteLossOfSignal:" << (RemoteLossOfSignal ? "1" : "0");
        work << " APIError:" << (APIError ? "1" : "0");
        work << " SupplyOverV:" << (SupplyOverV ? "1" : "0");
        work << " SupplyUnstable:" << (SupplyUnstable ? "1" : "0");
        return work.str();
    }
};
 
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre