CANdi.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/CoreCANdi.hpp"
 
#include <wpi/hal/SimDevice.hpp>
 
namespace ctre {
namespace phoenix6 {
namespace hardware {
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(push)
#pragma warning(disable : 4250)
#endif
 
/**
 * Class for CTR Electronics' CANdi™ branded device,
 * a device that integrates digital signals into the existing CAN bus network.
 */
class CANdi : public core::CoreCANdi {
    /*
     * 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.
     */
 
    wpi::hal::SimDevice m_simCANdi;
    wpi::hal::SimDouble m_simSupplyVoltage;
    wpi::hal::SimDouble m_simRequestedOutputCurrent;
    wpi::hal::SimDouble m_simOutputCurrent;
 
    wpi::hal::SimDevice m_simPwm1;
    wpi::hal::SimDouble m_simPwm1Position;
    wpi::hal::SimBoolean m_simPwm1Connected;
    wpi::hal::SimDouble m_simPwm1Velocity;
    wpi::hal::SimDouble m_simPwm1RiseRise;
    wpi::hal::SimDouble m_simPwm1RiseFall;
 
    wpi::hal::SimDevice m_simPwm2;
    wpi::hal::SimDouble m_simPwm2Position;
    wpi::hal::SimBoolean m_simPwm2Connected;
    wpi::hal::SimDouble m_simPwm2Velocity;
    wpi::hal::SimDouble m_simPwm2RiseRise;
    wpi::hal::SimDouble m_simPwm2RiseFall;
 
    wpi::hal::SimDevice m_simQuadrature;
    wpi::hal::SimDouble m_simQuadPos;
    wpi::hal::SimDouble m_simQuadRawPos;
    wpi::hal::SimDouble m_simQuadVel;
 
    wpi::hal::SimDevice m_simS1DIO;
    wpi::hal::SimBoolean m_simS1Closed;
    wpi::hal::SimEnum m_simS1State;
 
    wpi::hal::SimDevice m_simS2DIO;
    wpi::hal::SimBoolean m_simS2Closed;
    wpi::hal::SimEnum m_simS2State;
 
    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 CANdi object.
     *
     * \param deviceId    ID of the device, as configured in Phoenix Tuner
     * \param canbus      The CAN bus this device is on
     */
    CANdi(int deviceId, CANBus canbus);
 
    ~CANdi();
 
    /**
     * \brief Constructs a stubbed-out CANdi, 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 CANdi
     */
    static CANdi None()
    {
        return CANdi{-1, CANBus{}};
    }
};
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(pop)
#endif
 
}
}
}