RCRadio3Ch.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include <vector>
#include "ctre/phoenix/CANifier.h"
#include "ctre/phoenix/tasking/IProcessable.h"
 
namespace ctre{
namespace phoenix {
    
/**
 * Class to convert RC PWM signals into CAN signals using CANifier
 */
class RCRadio3Ch : public ctre::phoenix::tasking::IProcessable{
public:
    /**
     * CANifier PWM Channel
     */
    enum Channel{
        /**
         * PWM Channel 1
         */
        Channel1,
        /**
         * PWM Channel 2
         */
        Channel2,
        /**
         * PWM Channel 3
         */
        Channel3,
    };
    /**
     * Status of CANiifer
     */
    enum Status{
        /**
         * CANifier is not communicating over CAN
         */
        LossOfCAN,
        /**
         * CANifier does not detect PWM input
         */
        LossOfPwm,
        /**
         * CANifier is OK
         */
        Okay,
    };
    
    /**
     * Current status of CANifier
     */
    Status CurrentStatus = Status::Okay;
 
    /**
     * Constructor for RCRadio3Ch
     * @param canifier reference to CANifier to use
     */
    RCRadio3Ch(ctre::phoenix::CANifier *canifier);
    /**
     * Gets the microsecond duty cycle of specified channel
     * @param channel channel to read
     * @return duty cycle in micro seconds
     */
    double GetDutyCycleUs(Channel channel);
    /**
     * Gets the percent duty cycle of specified channel
     * @param channel channel to read
     * @return duty cycle in percent [0,1]
     */
    double GetDutyCyclePerc(Channel channel);
    /**
     * Gets whether a switch is on or off for a channel
     * @param channel channel to read
     * @return true if switch is on
     */
    bool GetSwitchValue(Channel channel);
    /**
     * Gets the period of the pwm signal of a channel
     * @param channel channel to read
     * @return period of pwm signal in microseconds
     */
    double GetPeriodUs(Channel channel);
 
    //ILoopable
    /**
     * Call this once every loop, it processes the incoming CANifier signals
     */
    void Process();
 
private:
    int _errorCodes[4];
    ctre::phoenix::CANifier *_canifier;
 
 
    //This is only a 2d array??
    double _pulseWidthAndPeriods[4][2] =
    {
            { 0, 0 },
            { 0, 0 },
            { 0, 0 },
            { 0, 0 },
    };
    double Interpolate(std::vector<double> &xData, std::vector<double> &yData, double x, bool extrapolate);
};
 
}}