CANcoder.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix6/core/CoreCANcoder.hpp"
 
#include <wpi/hal/SimDevice.hpp>
#include <wpi/telemetry/TelemetryLoggable.hpp>
 
namespace ctre {
namespace phoenix6 {
namespace hardware {
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(push)
#pragma warning(disable : 4250)
#endif
 
/**
 * Class for CANcoder, a CAN based magnetic encoder that provides absolute and
 * relative position along with filtered velocity.
 */
class CANcoder : public core::CoreCANcoder, public wpi::telemetry::TelemetryLoggable {
    /*
     * The StatusSignal getters are copies so that calls
     * to the WPI interface do not update any references
     *
     * These are also mutable so the const getter methods are
     * properly managed.
     */
    mutable StatusSignal<wpi::units::turn_t> m_position = GetPosition(false);
    mutable StatusSignal<wpi::units::turns_per_second_t> m_velocity = GetVelocity(false);
 
    wpi::hal::SimDevice m_simCANcoder;
    wpi::hal::SimDouble m_simSupplyVoltage;
    wpi::hal::SimDouble m_simPosition;
    wpi::hal::SimDouble m_simRawPosition;
    wpi::hal::SimDouble m_simVelocity;
 
    int32_t m_simPeriodicUid{-1};
    std::vector<int32_t> m_simValueChangedUids;
 
    static void OnValueChanged(
        const char *name, void *param, HAL_SimValueHandle handle,
        HAL_Bool readonly, const struct HAL_Value *value
    );
    static void OnPeriodic(void *param);
 
public:
    /**
     * Constructs a new CANcoder object.
     *
     * \param deviceId    ID of the device, as configured in Phoenix Tuner
     * \param canbus      The CAN bus this device is on
     */
    CANcoder(int deviceId, CANBus canbus);
 
    ~CANcoder();
 
    /**
     * \brief Constructs a stubbed-out CANcoder, where all status signals, controls,
     * configs, etc. perform no action and immediately return OK. This can be used to
     * silence error messages for devices that have been completely removed from the robot.
     *
     * \returns Stubbed-out CANcoder
     */
    static CANcoder None()
    {
        return CANcoder{-1, CANBus{}};
    }
 
    /**
     * \brief Logs the object to a wpi::telemetry::TelemetryTable.
     *
     * \param table Telemetry table
     */
    void LogTo(wpi::telemetry::TelemetryTable &table) const override;
 
    /**
     * \brief Gets the telemetry table type.
     *
     * \returns Table type
     */
    std::string_view GetTelemetryType() const override { return "CANcoder"; }
};
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(pop)
#endif
 
}
}
}