CANdleSimState.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/phoenix/StatusCodes.h"
#include "ctre/phoenix6/signals/SpnEnums.hpp"
#include <wpi/units/current.hpp>
#include <wpi/units/dimensionless.hpp>
#include <wpi/units/temperature.hpp>
#include <wpi/units/voltage.hpp>
 
namespace ctre {
namespace phoenix6 {
 
namespace hardware {
namespace core {
    /* forward proto */
    class CoreCANdle;
}
}
 
namespace sim {
 
    /**
     * \brief Class to control the state of a simulated hardware#CANdle.
     */
    class CANdleSimState
    {
    private:
        int _id;
 
    public:
        /**
         * \brief Creates an object to control the state of the given hardware#CANdle.
         *
         * \details Note the recommended method of accessing simulation features is to
         *          use hardware#CANdle#GetSimState.
         *
         * \param device Device to which this simulation state is attached
         */
        CANdleSimState(hardware::core::CoreCANdle const &device);
        /* disallow copy, allow move */
        CANdleSimState(CANdleSimState const &) = delete;
        CANdleSimState(CANdleSimState &&) = default;
        CANdleSimState &operator=(CANdleSimState const &) = delete;
        CANdleSimState &operator=(CANdleSimState &&) = default;
 
        /**
         * \brief Gets the last status code generated by a simulation function.
         *
         * \details Not all functions return a status code but can potentially report errors.
         * This function can be used to retrieve those status codes.
         *
         * \returns Last status code generated by a simulation function
         */
        ctre::phoenix::StatusCode GetLastStatusCode() const;
 
        /**
         * \brief Gets the simulated VBat modulated output of the CANdle.
         *
         * \returns VBat modulation duty cycle
         */
        wpi::units::scalar_t GetVBatModulation() const;
 
        /**
         * \brief Sets the simulated supply voltage of the CANdle.
         *
         * \details The minimum allowed supply voltage is 4 V - values below this
         * will be promoted to 4 V.
         *
         * \param volts The supply voltage in Volts
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetSupplyVoltage(wpi::units::volt_t volts);
 
        /**
         * \brief Sets the simulated 5V rail voltage of the CANdle.
         *
         * \param volts The 5V rail voltage in Volts
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetFiveVRailVoltage(wpi::units::volt_t volts);
 
        /**
         * \brief Sets the simulated output current of the CANdle.
         *
         * \param amps The output current in Amps
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetOutputCurrent(wpi::units::ampere_t amps);
 
        /**
         * \brief Sets the simulated temperature of the CANdle.
         *
         * \param temperature The device temperature in ℃
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetDeviceTemp(wpi::units::celsius_t temperature);
    };
}
 
}
}