/* Copyright (C) Cross The Road Electronics 2024 */
package com.ctre.phoenix.led;

import java.util.HashMap;

import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.ErrorCollection;
import com.ctre.phoenix.ParamEnum;

/**
 * CTRE CANdle
 *
 * Device for controlling LEDs from the CAN bus.
 *
 * <pre>
 * {@code
 * // Example usage of a CANdle
 * CANdle candle = new CANdle(0); // creates a new CANdle with ID 0
 *
 * CANdleConfiguration config = new CANdleConfiguration();
 * config.stripType = LEDStripType.RGB; // set the strip type to RGB
 * config.brightnessScalar = 0.5; // dim the LEDs to half brightness
 * candle.configAllSettings(config);
 *
 * candle.setLEDs(255, 255, 255); // set the CANdle LEDs to white
 *
 * // create a rainbow animation:
 * // - max brightness
 * // - half speed
 * // - 64 LEDs
 * RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
 * candle.animate(rainbowAnim);
 *
 * ErrorCode error = candle.getLastError(); // gets the last error generated by the CANdle
 * CANdleFaults faults = new CANdleFaults();
 * ErrorCode faultsError = candle.getFaults(faults); // fills faults with the current CANdle faults; returns the last error generated
 * }
 * </pre>
 *
 * @deprecated This device's Phoenix 5 API is deprecated for removal in the
 * 2027 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.
 * <p>
 * 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.
 */
@Deprecated(since = "2026", forRemoval = true)
public class CANdle {
    private long _handle;

    /**
     * The various LED types that the CANdle can support
     */
    public enum LEDStripType {
        /**
         * LEDs that are controlled by Green-Red-Blue values
         */
        GRB(0),
        /**
         * LEDs that are controlled by Red-Green-Blue values
         */
        RGB(1),
        /**
         * LEDs that are controlled by Blue-Red-Green values
         */
        BRG(2),
        /**
         * LEDs that are controlled by Green-Red-Blue-White values
         */
        GRBW(6),
        /**
         * LEDs that are controlled by Red-Green-Blue-White values
         */
        RGBW(7),
        /**
         * LEDs that are controlled by Blue-Red-Green-White values
         */
        BRGW(8);

        final public int value;

        LEDStripType(int value) {
            this.value = value;
        }
        /** Keep singleton map to quickly lookup enum via int */
        private static HashMap<Integer, LEDStripType> _map = null;
        /** static c'tor, prepare the map */
        static {
            _map = new HashMap<Integer, LEDStripType>();
            for (LEDStripType type : LEDStripType.values()) {
                _map.put(type.value, type);
            }
        }
        /**
         * Get LEDStripType of specified value
         * @param value value of LEDStripType
         * @return LEDStripType of specified value
         */
        public static LEDStripType valueOf(int value) {
            LEDStripType retval = _map.get(value);
            if (retval != null)
                return retval;
            return GRB;
        }
        /**
         * Get LEDStripType of specified value
         * @param value value of LEDStripType
         * @return LEDStripType of specified value
         */
        public static LEDStripType valueOf(double value) {
            return valueOf((int) value); 
        }
    }

    /**
     * The various methods of managing the VBat output behavior
     */
    public enum VBatOutputMode {
        /**
         * VBat output is on at full power, no modulation
         */
        On(0),
        /**
         * VBat output is off, no modulation
         */
        Off(1),
        /**
         * VBat output is on at the specified modulation
         */
        Modulated(2);

        final public int value;

        VBatOutputMode(int value) {
            this.value = value;
        }
        /** Keep singleton map to quickly lookup enum via int */
        private static HashMap<Integer, VBatOutputMode> _map = null;
        /** static c'tor, prepare the map */
        static {
            _map = new HashMap<Integer, VBatOutputMode>();
            for (VBatOutputMode type : VBatOutputMode.values()) {
                _map.put(type.value, type);
            }
        }
        /**
         * Get VBatOutputMode of specified value
         * @param value value of VBatOutputMode
         * @return VBatOutputMode of specified value
         */
        public static VBatOutputMode valueOf(int value) {
            VBatOutputMode retval = _map.get(value);
            if (retval != null)
                return retval;
            return On;
        }
        /**
         * Get VBatOutputMode of specified value
         * @param value value of VBatOutputMode
         * @return VBatOutputMode of specified value
         */
        public static VBatOutputMode valueOf(double value) {
            return valueOf((int) value); 
        }
    }
    
    /**
     * Constructor for a CANdle Device
     * @param deviceId The Device ID of the CANdle
     * @param canbus Name of the CANbus; can be a SocketCAN interface (on Linux),
     *               or a CANivore device name or serial number
     */
    public CANdle(int deviceId, String canbus) {
        _handle = CANdleJNI.Create(deviceId, canbus);
    }
    /**
     * Constructor for a CANdle Device
     * @param deviceId The Device ID of the CANdle
     */
    public CANdle(int deviceId) {
        this(deviceId, "");
    }
    
    public ErrorCode destroyObject() {
        return ErrorCode.valueOf(0);
    }

    /**
     * Gets the Voltage of VBat as measured by CANdle
     * @return Voltage of VBat
     */
    public double getBusVoltage() {
        return CANdleJNI.GetBusVoltage(_handle);
    }
    /**
     * Gets the Voltage of the 5V line as measured by CANdle
     * @return Voltage of the 5V line
     */
    public double get5VRailVoltage() {
        return CANdleJNI.Get5VRailVoltage(_handle);
    }
    /**
     * Gets the low-side current as measured by CANdle
     * @return Current in Amps
     */
    public double getCurrent() {
        return CANdleJNI.GetCurrent(_handle);
    }
    /**
     * Gets the temperature of the CANdle in Celcius
     * @return Temperature in Celcius
     */
    public double getTemperature() {
        return CANdleJNI.GetTemperature(_handle);
    }
    /**
     * Gets the applied vbat modulation in percent.
     * If the CANdle is configured to always enable VBat, this returns 1
     * If the CANdle is confgigured to always disable VBat, this returns 0
     * Otherwise it returns the last set Modulation as a value [0, 1]
     * @return VBat Output Modulation
     */
    public double getVBatModulation() {
        return CANdleJNI.GetVbatModulation(_handle);
    }
    /**
     * Gets the maximum number of simultaneous animations this version of CANdle firmware supports.
     * If you specify an animation slot >= to this return, Phoenix will error out.
     * You can also get the maximum count from a self-test snapshot.
     * @return Maximum number of simultaneous animations this version of firmware supports.
     */
    public int getMaxSimultaneousAnimationCount() {
        return CANdleJNI.GetMaxSimultaneousAnimationCount(_handle);
    }

    /**
     * Animates the CANdle with the passed-in animation
     * If the animation changes after calling this function, 
     *  it must be passed into animate again for the changes to take effect
     * @param animation The animation that CANdle will run. If this is null, it will clear the animation at the specified slot
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode animate(Animation animation) {
        return animate(animation, 0);
    }
    /**
     * Animates the CANdle with the passed-in animation
     * If the animation changes after calling this function, 
     *  it must be passed into animate again for the changes to take effect
     * @param animation The animation that CANdle will run. If this is null, it will clear the animation at the specified slot
     * @param animSlot The animation slot to use for the animation, range is [0, getMaxSimultaneousAnimationCount()) exclusive
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode animate(Animation animation, int animSlot) {
        if(animation == null) return clearAnimation(animSlot);

        BaseStandardAnimation baseStandard = animation.getBaseStandardAnimation();
        if(baseStandard != null) return animate(baseStandard, animSlot);

        BaseTwoSizeAnimation baseTwoSize = animation.getBaseTwoSizeAnimation();
        if(baseTwoSize != null) return animate(baseTwoSize, animSlot);

        return ErrorCode.InvalidParamValue;
    }

    /**
     * Clears the animation occurring in the selected selected animSlot.
     * @param animSlot Animation slot to clear
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode clearAnimation(int animSlot) {
        return ErrorCode.valueOf(CANdleJNI.ClearAnimation(_handle, animSlot));
    }

    private ErrorCode animate(BaseStandardAnimation animation, int animSlot) {
        return ErrorCode.valueOf(
            CANdleJNI.SetStandardAnimation(_handle, 
                animation.getAnimationIdx(), 
                animation.getBrightness(), 
                animation.getSpeed(), 
                animation.getNumLed(),
                animation.getLedOffset(),
                animation.getParam4(),
                animation.getParam5(),
                animation.getReverseDirection(),
                animSlot));
    }
    private ErrorCode animate(BaseTwoSizeAnimation animation, int animSlot) {
        return ErrorCode.valueOf(
            CANdleJNI.SetTwoSizeAnimation(_handle, 
                animation.getAnimationIdx(), 
                animation.getR(), 
                animation.getG(), 
                animation.getB(),
                animation.getW(),
                animation.getSpeed(),
                animation.getNumLed(),
                animation.getLedOffset(),
                animation.getDirection(),
                animation.getSize(),
                animSlot));
    }

    /**
     * Sets a block of LEDs to the specified color
     * @param r The amount of Red to set, range is [0, 255]
     * @param g The amount of Green to set, range is [0, 255]
     * @param b The amount of Blue to set, range is [0, 255]
     * @param w The amount of White to set, range is [0, 255]. This only applies for LED strips with white in them.
     * @param startIdx Where to start setting the LEDs 
     * @param count The number of LEDs to apply this to
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode setLEDs(int r, int g, int b, int w, int startIdx, int count) {
        return ErrorCode.valueOf(CANdleJNI.BlockSet(_handle, r, g, b, w, startIdx, count));
    }
    /**
     * Sets a block of LEDs to the specified color.
     * @param r The amount of Red to set, range is [0, 255]
     * @param g The amount of Green to set, range is [0, 255]
     * @param b The amount of Blue to set, range is [0, 255]
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode setLEDs(int r, int g, int b) {
        return setLEDs(r, g, b, 0, 0, 512);
    }

    /**
     * Modulates the VBat output to the specified duty cycle percentage
     * This function will only do something if the CANdle's VBatOutput is configured to Modulated
     * @param dutyCyclePrcnt The duty cycle of the output modulation [0, 1]
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode modulateVBatOutput(double dutyCyclePrcnt) {
        return ErrorCode.valueOf(CANdleJNI.ModulateVBatOutput(_handle, dutyCyclePrcnt));
    }

    /**
     * Configures what the CANdle should do if it loses communications to the Controller
     * @param disableWhenLOS Set to true to disable the LEDs on Loss of Signal.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configLOSBehavior(boolean disableWhenLOS, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eLossOfSignalBehavior.value, disableWhenLOS ? 1 : 0, 0, 0, timeoutMs));
    }
    /**
     * Configures what the CANdle should do if it loses communications to the Controller
     * @param disableWhenLOS Set to true to disable the LEDs on Loss of Signal.
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configLOSBehavior(boolean disableWhenLOS) {
        int timeoutMs = 0;
        return configLOSBehavior(disableWhenLOS, timeoutMs);
    }
    /**
     * Configures the type of LED the CANdle controls
     * @param type The type of the LEDs the CANdle controls
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configLEDType(LEDStripType type, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eLEDStripType.value, type.value, 0, 0, timeoutMs));
    }
    /**
     * Configures the type of LED the CANdle controls
     * @param type The type of the LEDs the CANdle controls
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configLEDType(LEDStripType type) {
        int timeoutMs = 0;
        return configLEDType(type, timeoutMs);
    }
    /**
     * Configures the brightness scalar to be applied to every LED output.
     * This value is bounded to [0, 1].
     * 
     * Setting this to 1 will allow the LEDs to function at max brightness.
     * Setting this to 0.5 will scale all values to half their applied value.
     * Setting this to 0 will turn off the LEDs.
     * 
     * Forcing the LEDs off this way may be useful in certain testing circumstances 
     * but is generally not necessary. Self-test (Tuner) may be used to verify what 
     * the effective scalar is in case user forgot to restore the scalar to a 
     * non-zero value.
     * 
     * @param brightness Value from [0, 1] that will scale the LED output.
     * @param timeoutMs
                    Timeout value in ms. If nonzero, function will wait for
                    config success and report an error if it times out.
                    If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configBrightnessScalar(double brightness, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eBrightnessCoefficient.value, brightness, 0, 0, timeoutMs));
    }
    /**
     * Configures the brightness scalar to be applied to every LED output.
     * This value is bounded to [0, 1].
     * 
     * Setting this to 1 will allow the LEDs to function at max brightness.
     * Setting this to 0.5 will scale all values to half their applied value.
     * Setting this to 0 will turn off the LEDs.
     * 
     * Forcing the LEDs off this way may be useful in certain testing circumstances 
     * but is generally not necessary. Self-test (Tuner) may be used to verify what 
     * the effective scalar is in case user forgot to restore the scalar to a 
     * non-zero value.
     * 
     * @param brightness Value from [0, 1] that will scale the LED output.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configBrightnessScalar(double brightness) {
        int timeoutMs = 0;
        return configBrightnessScalar(brightness, timeoutMs);
    }

    /**
     * Configures how the status led will behave when the CANdle is actively controlling LEDs
     * If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.
     * @param disableWhenRunning Disables the status LED when the CANdle is running
     * @param timeoutMs
                    Timeout value in ms. If nonzero, function will wait for
                    config success and report an error if it times out.
                    If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configStatusLedState(boolean disableWhenRunning, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eStatusLedState.value, disableWhenRunning ? 1 : 0, 0, 0, timeoutMs));
    }
    /**
     * Configures how the status led will behave when the CANdle is actively controlling LEDs
     * If the CANdle is LOS or not actively commanded a value, it will always turn on its status LED.
     * @param disableWhenRunning Disables the status LED when the CANdle is running
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configStatusLedState(boolean disableWhenRunning) {
        int timeoutMs = 0;
        return configStatusLedState(disableWhenRunning, timeoutMs);
    }
    /**
     * Configures how the VBat Output will behave
     * @param mode VBat Output Behavior
     * @param timeoutMs
                    Timeout value in ms. If nonzero, function will wait for
                    config success and report an error if it times out.
                    If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configVBatOutput(VBatOutputMode mode, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eVBatOutput.value, mode.value, 0, 0, timeoutMs));
    }
    /**
     * Configures how the VBat Output will behave
     * @param mode VBat Output Behavior
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configVBatOutput(VBatOutputMode mode) {
        int timeoutMs = 0;
        return configVBatOutput(mode, timeoutMs);
    }
    /**
     * Configures the enable state for the 5V rail. This also affects the on-board LEDs.
     * @param enable5V True to enable the 5V rail.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configV5Enabled(boolean enable5V, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, ParamEnum.eV5Enabled.value, enable5V ? 1 : 0, 0, 0, timeoutMs));
    }
    /**
     * Configures the enable state for the 5V rail. This also disables the on-board LEDs.
     * @param enable5V True to enable the 5V rail.
     * @return ErrorCode generated by function. OK indicates no error.
     */
    public ErrorCode configV5Enabled(boolean enable5V) {
        int timeoutMs = 0;
        return configV5Enabled(enable5V, timeoutMs);
    }

    /**
     * Gets a parameter. Generally this is not used.
     * This can be utilized in
     * - Using new features without updating API installation.
     * - Errata workarounds to circumvent API implementation.
     * - Allows for rapid testing / unit testing of firmware.
     *
     * @param param
     *            Parameter enumeration.
     * @param ordinal
     *            Ordinal of parameter.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Value of parameter.
     */
    public double configGetParameter(ParamEnum param, int ordinal, int timeoutMs) {
        return CANdleJNI.ConfigGetParameter(_handle, param.value, ordinal, timeoutMs);
    }
    /**
     * Gets a parameter. Generally this is not used.
     * This can be utilized in
     * - Using new features without updating API installation.
     * - Errata workarounds to circumvent API implementation.
     * - Allows for rapid testing / unit testing of firmware.
     *
     * @param param
     *            Parameter enumeration.
     * @param ordinal
     *            Ordinal of parameter.
     * @return Value of parameter.
     */
    public double configGetParameter(ParamEnum param, int ordinal) {
        int timeoutMs = 0;
        return configGetParameter(param, ordinal, timeoutMs);
    }
    /**
     * Sets a parameter. Generally this is not used.
     * This can be utilized in
     * - Using new features without updating API installation.
     * - Errata workarounds to circumvent API implementation.
     * - Allows for rapid testing / unit testing of firmware.
     *
     * @param param
     *            Parameter enumeration.
     * @param value
     *            Value of parameter.
     * @param subValue
     *            Subvalue for parameter. Maximum value of 255.
     * @param ordinal
     *            Ordinal of parameter.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetParameter(_handle, param.value, value, subValue, ordinal, timeoutMs));
    }
    /**
     * Sets a parameter. Generally this is not used.
     * This can be utilized in
     * - Using new features without updating API installation.
     * - Errata workarounds to circumvent API implementation.
     * - Allows for rapid testing / unit testing of firmware.
     *
     * @param param
     *            Parameter enumeration.
     * @param value
     *            Value of parameter.
     * @param subValue
     *            Subvalue for parameter. Maximum value of 255.
     * @param ordinal
     *            Ordinal of parameter.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configSetParameter(ParamEnum param, double value, int subValue, int ordinal) {
        int timeoutMs = 0;
        return configSetParameter(param, value, subValue, ordinal, timeoutMs);
    }
    /**
     * Gets the value of a custom parameter. This is for arbitrary use.
     *
     * Sometimes it is necessary to save calibration/duty cycle/output
     * information in the device. Particularly if the
     * device is part of a subsystem that can be replaced.
     *
     * @param paramIndex
     *            Index of custom parameter. [0-1]
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Value of the custom param.
     */
    public int configGetCustomParam(int paramIndex, int timeoutMs) {
        return CANdleJNI.ConfigGetCustomParam(_handle, paramIndex, timeoutMs);
    }
    /**
     * Gets the value of a custom parameter. This is for arbitrary use.
     *
     * Sometimes it is necessary to save calibration/duty cycle/output
     * information in the device. Particularly if the
     * device is part of a subsystem that can be replaced.
     *
     * @param paramIndex
     *            Index of custom parameter. [0-1]
     * @return Value of the custom param.
     */
    public int configGetCustomParam(int paramIndex) {
        int timeoutMs = 0;
        return configGetCustomParam(paramIndex, timeoutMs);
    }
    /**
     * Sets the value of a custom parameter. This is for arbitrary use.
     *
     * Sometimes it is necessary to save calibration/duty cycle/output
     * information in the device. Particularly if the
     * device is part of a subsystem that can be replaced.
     *
     * @param paramIndex
     *            Index of custom parameter. [0-1]
     * @param value
     *            Value for custom parameter.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configSetCustomParam(int paramIndex, int value, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigSetCustomParam(_handle, value, paramIndex, timeoutMs));
    }
    /**
     * Sets the value of a custom parameter. This is for arbitrary use.
     *
     * Sometimes it is necessary to save calibration/duty cycle/output
     * information in the device. Particularly if the
     * device is part of a subsystem that can be replaced.
     *
     * @param paramIndex
     *            Index of custom parameter. [0-1]
     * @param value
     *            Value for custom parameter.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configSetCustomParam(int paramIndex, int value) {
        int timeoutMs = 0;
        return configSetCustomParam(value, paramIndex, timeoutMs);
    }
    /**
     * Configures all persistent settings to defaults.
     *
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     *
     * @return Error Code generated by function. 0 indicates no error. 
     */
    public ErrorCode configFactoryDefault(int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ConfigFactoryDefault(_handle, timeoutMs));
    }
    /**
     * Configures all persistent settings to defaults.
     *
     * @return Error Code generated by function. 0 indicates no error. 
     */
    public ErrorCode configFactoryDefault() {
        int timeoutMs = 50;
        return configFactoryDefault(timeoutMs);
    }
    /**
     * Gets the CANdle fault status
     *
     * @param toFill Container for fault statuses.
     * @return Error Code generated by function. OK indicates no error.
     */
    public ErrorCode getFaults(CANdleFaults toFill) {
        int faults = CANdleJNI.GetFaults(_handle);
        toFill.update(faults);
        return getLastError();
    }
    /**
     * Gets the CANdle sticky fault status
     *
     * @param toFill Container for sticky fault statuses.
     * @return Error Code generated by function. OK indicates no error.
     */
    public ErrorCode getStickyFaults(CANdleStickyFaults toFill) {
        int faults = CANdleJNI.GetStickyFaults(_handle);
        toFill.update(faults);
        return getLastError();
    }
    /**
     * Clears the sticky faults.
     * 
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode clearStickyFaults(int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.ClearStickyFaults(_handle, timeoutMs));
    }
    /**
     * Clears the sticky faults.
     * 
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode clearStickyFaults() {
        int timeoutMs = 0;
        return clearStickyFaults(timeoutMs);
    }
    /**
     * Returns true if the device has reset since last call.
     *
     * @return Has a Device Reset Occurred?
     */
    public boolean hasResetOccurred() {
        return CANdleJNI.HasResetOccurred(_handle);
    }
    /**
     * Sets the period of the given status frame.
     *
     * @param frame
     *            Frame whose period is to be changed.
     * @param periodMs
     *            Period in ms for the given frame.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode setStatusFramePeriod(CANdleStatusFrame frame, int periodMs, int timeoutMs) {
        return ErrorCode.valueOf(CANdleJNI.SetStatusFramePeriod(_handle, frame.value, periodMs, timeoutMs));
    }
    /**
     * Sets the period of the given status frame.
     *
     * @param frame
     *            Frame whose period is to be changed.
     * @param periodMs
     *            Period in ms for the given frame.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode setStatusFramePeriod(CANdleStatusFrame frame, int periodMs) {
        int timeoutMs = 0;
        return setStatusFramePeriod(frame, periodMs, timeoutMs);
    }
    /**
     * Gets the period of the given status frame.
     *
     * @param frame
     *            Frame to get the period of.
     * @param timeoutMs
     *            Timeout value in ms. If nonzero, function will wait for
     *            config success and report an error if it times out.
     *            If zero, no blocking or checking is performed.
     * @return Period of the given status frame.
     */
    public int getStatusFramePeriod(CANdleStatusFrame frame, int timeoutMs) {
        return CANdleJNI.GetStatusFramePeriod(_handle, frame.value, timeoutMs);
    }
    /**
     * Gets the period of the given status frame.
     *
     * @param frame
     *            Frame to get the period of.
     * @return Period of the given status frame.
     */
    public int getStatusFramePeriod(CANdleStatusFrame frame) {
        int timeoutMs = 0;
        return getStatusFramePeriod(frame, timeoutMs);
    }
    /**
     * Sets the period of the given control frame.
     *
     * @param frame
     *            Frame whose period is to be changed.
     * @param periodMs
     *            Period in ms for the given frame.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode setControlFramePeriod(CANdleControlFrame frame, int periodMs) {
        return ErrorCode.valueOf(CANdleJNI.SetControlFramePeriod(_handle, frame.value, periodMs));
    }

    /**
     * Configures all persistent settings.
     *
     * @param allConfigs        Object with all of the persistant settings
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configAllSettings(CANdleConfiguration allConfigs, int timeoutMs) {
        ErrorCollection errorCollection = new ErrorCollection();
        
        errorCollection.NewError(configFactoryDefault(timeoutMs));
        if(CANdleConfigUtil.stripTypeDifferent(allConfigs)) errorCollection.NewError(configLEDType(allConfigs.stripType, timeoutMs));
        if(CANdleConfigUtil.brightnessScalarDifferent(allConfigs)) errorCollection.NewError(configBrightnessScalar(allConfigs.brightnessScalar, timeoutMs));
        if(CANdleConfigUtil.disableWhenLOSDifferent(allConfigs)) errorCollection.NewError(configLOSBehavior(allConfigs.disableWhenLOS, timeoutMs));
        if(CANdleConfigUtil.statusLedOffWhenActiveDifferent(allConfigs)) errorCollection.NewError(configStatusLedState(allConfigs.statusLedOffWhenActive, timeoutMs));
        if(CANdleConfigUtil.vBatOutputModeDifferent(allConfigs)) errorCollection.NewError(configVBatOutput(allConfigs.vBatOutputMode, timeoutMs));
        if(CANdleConfigUtil.v5EnabledDifferent(allConfigs)) errorCollection.NewError(configV5Enabled(allConfigs.v5Enabled, timeoutMs));

        if(CANdleConfigUtil.customParam0Different(allConfigs)) errorCollection.NewError(configSetCustomParam(0, allConfigs.customParam0, timeoutMs));
        if(CANdleConfigUtil.customParam1Different(allConfigs)) errorCollection.NewError(configSetCustomParam(1, allConfigs.customParam1, timeoutMs));

        return errorCollection._worstError;   
    }
    /**
     * Configures all persistent settings.
     *
     * @param allConfigs        Object with all of the persistant settings
     * @return Error Code generated by function. 0 indicates no error.
     */
    public ErrorCode configAllSettings(CANdleConfiguration allConfigs) {
        int timeoutMs = 50;
        return configAllSettings(allConfigs, timeoutMs);
    }

    /**
     * Gets all persistant settings.
     *
     * @param allConfigs        Object with all of the persistant settings
     * @param timeoutMs
     *              Timeout value in ms. If nonzero, function will wait for
     *              config success and report an error if it times out.
     *              If zero, no blocking or checking is performed.
     */
    public void getAllConfigs(CANdleConfiguration allConfigs, int timeoutMs) {
        allConfigs.brightnessScalar = configGetParameter(ParamEnum.eBrightnessCoefficient, 0, timeoutMs);
        allConfigs.disableWhenLOS = configGetParameter(ParamEnum.eLossOfSignalBehavior, 0, timeoutMs) != 0;
        allConfigs.statusLedOffWhenActive = configGetParameter(ParamEnum.eStatusLedState, 0, timeoutMs) != 0;
        allConfigs.stripType = LEDStripType.valueOf(configGetParameter(ParamEnum.eLEDStripType, 0, timeoutMs));
        allConfigs.vBatOutputMode = VBatOutputMode.valueOf(configGetParameter(ParamEnum.eVBatOutput, 0, timeoutMs));
        allConfigs.v5Enabled = configGetParameter(ParamEnum.eV5Enabled, 0, timeoutMs) != 0;

        allConfigs.customParam0 = (int)configGetParameter(ParamEnum.eCustomParam, 0, timeoutMs);
        allConfigs.customParam1 = (int)configGetParameter(ParamEnum.eCustomParam, 1, timeoutMs);
    }
    /**
     * Gets all persistant settings.
     *
     * @param allConfigs        Object with all of the persistant settings
     */
    public void getAllConfigs(CANdleConfiguration allConfigs) {
        int timeoutMs = 50;
        getAllConfigs(allConfigs, timeoutMs);
    }

    /**
     * Call GetLastError() generated by this object.
     * Not all functions return an error code but can
     * potentially report errors.
     *
     * This function can be used to retrieve those error codes.
     *
     * @return The last ErrorCode generated.
     */
    public ErrorCode getLastError() {
        return ErrorCode.valueOf(CANdleJNI.GetLastError(_handle));
    }
}