WPI_CANCoder.h

Go to the documentation of this file.

/* Copyright (C) Cross The Road Electronics 2024 */
/**
 * WPI Compliant CANcoder class.
 * WPILIB's object model requires many interfaces to be implemented to use
 * the various features.
 * This includes...
 * - LiveWindow/Test mode features
 * - Simulation Hooks
 */
 
#pragma once
 
#include "ctre/phoenix/sensors/CANCoder.h"
#include "ctre/phoenix/WPI_CallbackHelper.h"
 
#include <mutex>
 
//Need to disable certain warnings for WPI headers.
#if __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#elif _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4522 4458 4522)
#endif
 
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableHelper.h"
#include "wpi/raw_ostream.h"
#include <hal/SimDevice.h>
 
//Put the warning settings back to normal
#if __GNUC__
#pragma GCC diagnostic pop
#elif _MSC_VER
#pragma warning(pop)
#endif
 
namespace ctre
{
namespace phoenix
{
namespace sensors
{
 
/**
 * CTRE CANCoder.
 * 
 * @deprecated This device's Phoenix 5 API is deprecated for removal in the
 * 2025 season. Users should update to Phoenix 6 firmware and migrate to the
 * Phoenix 6 API. A migration guide is available at
 * https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.
 *
 * If the Phoenix 5 API must be used for this device, the device must have 22.X
 * firmware. This firmware is available in Tuner X after selecting Phoenix 5 in
 * the firmware year dropdown.
 */
class [[deprecated("This device's Phoenix 5 API is deprecated for removal in the 2025 season."
                "Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API."
                "A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html")]]
WPI_CANCoder : public CANCoder,
               public wpi::Sendable,
                         public wpi::SendableHelper<WPI_CANCoder>
{
  public:
    /**
     * Construtor for CANCoder.
     *
     * @param deviceNumber CAN Device ID of the CANCoder.
       * @param canbus Name of the CANbus; can be a CANivore device name or serial number.
       *               Pass in nothing or "rio" to use the roboRIO.
     */
    WPI_CANCoder(int deviceNumber, std::string const &canbus = "");
 
    ~WPI_CANCoder();
 
    WPI_CANCoder() = delete;
    WPI_CANCoder(WPI_CANCoder const &) = delete;
    WPI_CANCoder &operator=(WPI_CANCoder const &) = delete;
 
    void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
 
    hal::SimDevice m_simCANCoder;
    hal::SimDouble m_simVbat;
    hal::SimDouble m_simPosition;
    hal::SimDouble m_simAbsPosition;
    hal::SimDouble m_simRawPosition;
    hal::SimDouble m_simVelocity;
 
  static void OnValueChanged(const char* name, void* param, HAL_SimValueHandle handle,
                               HAL_Bool readonly, const struct HAL_Value* value);
    static void OnPeriodic(void* param);
};
 
} //namespace sensors
} //namespace phoenix
} //namespace ctre