CoreCANdle.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/hardware/ParentDevice.hpp"
#include "ctre/phoenix6/configs/Configuration.hpp"
#include "ctre/phoenix6/configs/Configurator.hpp"
#include "ctre/phoenix6/signals/SpnEnums.hpp"
 
#include "ctre/phoenix6/configs/CustomParamsConfigs.hpp"
#include "ctre/phoenix6/configs/LEDConfigs.hpp"
#include "ctre/phoenix6/configs/CANdleFeaturesConfigs.hpp"
#include "ctre/phoenix6/controls/ModulateVBatOut.hpp"
#include "ctre/phoenix6/controls/SolidColor.hpp"
#include "ctre/phoenix6/controls/EmptyAnimation.hpp"
#include "ctre/phoenix6/controls/ColorFlowAnimation.hpp"
#include "ctre/phoenix6/controls/FireAnimation.hpp"
#include "ctre/phoenix6/controls/LarsonAnimation.hpp"
#include "ctre/phoenix6/controls/RainbowAnimation.hpp"
#include "ctre/phoenix6/controls/RgbFadeAnimation.hpp"
#include "ctre/phoenix6/controls/SingleFadeAnimation.hpp"
#include "ctre/phoenix6/controls/StrobeAnimation.hpp"
#include "ctre/phoenix6/controls/TwinkleAnimation.hpp"
#include "ctre/phoenix6/controls/TwinkleOffAnimation.hpp"
#include "ctre/phoenix6/sim/CANdleSimState.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 {
    class CoreCANdle;
}
}
 
namespace configs {
 
/**
 * All configurations for the hardware#CANdle.
 */
class CANdleConfiguration : public ParentConfiguration
{
public:
    constexpr CANdleConfiguration() = default;
 
    /**
     * \brief True if we should factory default newer unsupported configs,
     *        false to leave newer unsupported configs alone.
     *
     * \details This flag addresses a corner case where the device may have
     *          firmware with newer configs that didn't exist when this
     *          version of the API was built. If this occurs and this
     *          flag is true, unsupported new configs will be factory
     *          defaulted to avoid unexpected behavior.
     *
     *          This is also the behavior in Phoenix 5, so this flag
     *          is defaulted to true to match.
     */
    bool FutureProofConfigs{true};
 
 
    /**
     * \brief Custom Params.
     * 
     * \details Custom paramaters that have no real impact on controller.
     * 
     * Parameter list:
     * 
     * - CustomParamsConfigs#CustomParam0
     * - CustomParamsConfigs#CustomParam1
     * 
     */
    CustomParamsConfigs CustomParams;
 
    /**
     * \brief Configs related to CANdle LED control.
     * 
     * \details All the configs related to controlling LEDs with the
     *          CANdle, including LED strip type and brightness.
     * 
     * Parameter list:
     * 
     * - LEDConfigs#StripType
     * - LEDConfigs#BrightnessScalar
     * - LEDConfigs#LossOfSignalBehavior
     * 
     */
    LEDConfigs LED;
 
    /**
     * \brief Configs related to general CANdle features.
     * 
     * \details This includes configs such as disabling the 5V rail and
     *          the behavior of VBat output.
     * 
     * Parameter list:
     * 
     * - CANdleFeaturesConfigs#Enable5VRail
     * - CANdleFeaturesConfigs#VBatOutputMode
     * - CANdleFeaturesConfigs#StatusLedWhenActive
     * 
     */
    CANdleFeaturesConfigs CANdleFeatures;
 
    /**
     * \brief Modifies this configuration's CustomParams parameter and returns itself for
     *        method-chaining and easier to use config API.
     *
     * Custom Params.
     * 
     * \details Custom paramaters that have no real impact on controller.
     * 
     * Parameter list:
     * 
     * - CustomParamsConfigs#CustomParam0
     * - CustomParamsConfigs#CustomParam1
     * 
     *
     * \param newCustomParams Parameter to modify
     * \returns Itself
     */
    constexpr CANdleConfiguration &WithCustomParams(CustomParamsConfigs newCustomParams)
    {
        CustomParams = std::move(newCustomParams);
        return *this;
    }
 
    /**
     * \brief Modifies this configuration's LED parameter and returns itself for
     *        method-chaining and easier to use config API.
     *
     * Configs related to CANdle LED control.
     * 
     * \details All the configs related to controlling LEDs with the
     *          CANdle, including LED strip type and brightness.
     * 
     * Parameter list:
     * 
     * - LEDConfigs#StripType
     * - LEDConfigs#BrightnessScalar
     * - LEDConfigs#LossOfSignalBehavior
     * 
     *
     * \param newLED Parameter to modify
     * \returns Itself
     */
    constexpr CANdleConfiguration &WithLED(LEDConfigs newLED)
    {
        LED = std::move(newLED);
        return *this;
    }
 
    /**
     * \brief Modifies this configuration's CANdleFeatures parameter and returns itself for
     *        method-chaining and easier to use config API.
     *
     * Configs related to general CANdle features.
     * 
     * \details This includes configs such as disabling the 5V rail and
     *          the behavior of VBat output.
     * 
     * Parameter list:
     * 
     * - CANdleFeaturesConfigs#Enable5VRail
     * - CANdleFeaturesConfigs#VBatOutputMode
     * - CANdleFeaturesConfigs#StatusLedWhenActive
     * 
     *
     * \param newCANdleFeatures Parameter to modify
     * \returns Itself
     */
    constexpr CANdleConfiguration &WithCANdleFeatures(CANdleFeaturesConfigs newCANdleFeatures)
    {
        CANdleFeatures = std::move(newCANdleFeatures);
        return *this;
    }
 
    /**
     * \brief Get the string representation of this configuration
     */
    std::string ToString() const override;
 
    /**
     * \brief Get the serialized form of this configuration
     */
    std::string Serialize() const final;
    /**
     * \brief Take a string and deserialize it to this configuration
     */
    ctre::phoenix::StatusCode Deserialize(std::string const &to_deserialize) final;
};
 
/**
 * Handles applying and refreshing configurations for the hardware#CANdle.
 */
class CANdleConfigurator : public ParentConfigurator
{
private:
    CANdleConfigurator(hardware::DeviceIdentifier id) :
        ParentConfigurator{std::move(id)}
    {}
 
    friend hardware::core::CoreCANdle;
 
public:
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CANdleConfiguration &configs)
    {
        return Apply(configs, DefaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CANdleConfiguration &configs, wpi::units::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, configs.FutureProofConfigs, false);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs)
    {
        return Apply(configs, DefaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs, wpi::units::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const LEDConfigs &configs)
    {
        return Apply(configs, DefaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const LEDConfigs &configs, wpi::units::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CANdleFeaturesConfigs &configs)
    {
        return Apply(configs, DefaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of applying the configs
     */
    ctre::phoenix::StatusCode Apply(const CANdleFeaturesConfigs &configs, wpi::units::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CANdleConfiguration &configs) const
    {
        return Refresh(configs, DefaultTimeoutSeconds);
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CANdleConfiguration &configs, wpi::units::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs) const
    {
        return Refresh(configs, DefaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs, wpi::units::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(LEDConfigs &configs) const
    {
        return Refresh(configs, DefaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(LEDConfigs &configs, wpi::units::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #DefaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CANdleFeaturesConfigs &configs) const
    {
        return Refresh(configs, DefaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns Status code of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(CANdleFeaturesConfigs &configs, wpi::units::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
 
    /**
     * \brief Clear the sticky faults in the device.
     * 
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults()
    {
        return ClearStickyFaults(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear the sticky faults in the device.
     * 
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Hardware fault occurred
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Hardware()
    {
        return ClearStickyFault_Hardware(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Hardware fault occurred
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Hardware(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device supply voltage dropped to near
     * brownout levels
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
    {
        return ClearStickyFault_Undervoltage(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device supply voltage dropped to near
     * brownout levels
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device boot while detecting the enable
     * signal
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
    {
        return ClearStickyFault_BootDuringEnable(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device boot while detecting the enable
     * signal
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: An unlicensed feature is in use, device
     * may not behave as expected.
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse()
    {
        return ClearStickyFault_UnlicensedFeatureInUse(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: An unlicensed feature is in use, device
     * may not behave as expected.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device supply voltage is too high (above
     * 30 V).
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Overvoltage()
    {
        return ClearStickyFault_Overvoltage(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device supply voltage is too high (above
     * 30 V).
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Overvoltage(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device 5V line is too high (above 6 V).
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooHigh()
    {
        return ClearStickyFault_5VTooHigh(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device 5V line is too high (above 6 V).
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooHigh(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device 5V line is too low (below 4 V).
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooLow()
    {
        return ClearStickyFault_5VTooLow(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device 5V line is too low (below 4 V).
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooLow(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: Device temperature exceeded limit.
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Thermal()
    {
        return ClearStickyFault_Thermal(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device temperature exceeded limit.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Thermal(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: CANdle output current exceeded the 6 A
     * limit.
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_SoftwareFuse()
    {
        return ClearStickyFault_SoftwareFuse(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: CANdle output current exceeded the 6 A
     * limit.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_SoftwareFuse(wpi::units::second_t timeoutSeconds);
 
    /**
     * \brief Clear sticky fault: CANdle has detected the output pin is
     * shorted.
     * 
     * This will wait up to #DefaultTimeoutSeconds.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_ShortCircuit()
    {
        return ClearStickyFault_ShortCircuit(DefaultTimeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: CANdle has detected the output pin is
     * shorted.
     * 
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_ShortCircuit(wpi::units::second_t timeoutSeconds);
};
 
}
 
namespace hardware {
namespace core {
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(push)
#pragma warning(disable : 4250)
#endif
 
/**
 * Class for CTR Electronics' CANdle® branded device, a device that controls
 * LEDs over the CAN bus.
 */
class CoreCANdle : public ParentDevice
{
private:
    configs::CANdleConfigurator _configs;
 
public:
    /**
     * \brief The configuration class for this device.
     */
    using Configuration = configs::CANdleConfiguration;
 
    /**
     * Constructs a new CANdle object.
     *
     * \param deviceId    ID of the device, as configured in Phoenix Tuner
     * \param canbus      The CAN bus this device is on
     */
    CoreCANdle(int deviceId, CANBus canbus);
 
    /**
     * \brief Constructs a stubbed-out CoreCANdle, 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 CoreCANdle
     */
    static CoreCANdle None()
    {
        return CoreCANdle{-1, CANBus{}};
    }
 
    /**
     * \brief Gets the configurator for this CANdle. Users may use this to refresh
     * and apply configs.
     *
     * \returns Configurator for this CANdle
     */
    configs::CANdleConfigurator &GetConfigurator()
    {
        return _configs;
    }
 
    /**
     * \brief Gets the configurator for this CANdle
     *
     * \details Gets the configurator for this CANdle
     *
     * \returns Configurator for this CANdle
     */
    configs::CANdleConfigurator const &GetConfigurator() const
    {
        return _configs;
    }
 
 
private:
    std::unique_ptr<sim::CANdleSimState> _simState{};
public:
    /**
     * \brief Get the simulation state for this device.
     *
     * \details This function reuses an allocated simulation
     * state object, so it is safe to call this function multiple
     * times in a robot loop.
     *
     * \returns Simulation state
     */
    sim::CANdleSimState &GetSimState()
    {
        if (_simState == nullptr)
            _simState = std::make_unique<sim::CANdleSimState>(*this);
        return *_simState;
    }
 
 
        
    /**
     * \brief App Major Version number.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 255
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns VersionMajor Status Signal Object
     */
    StatusSignal<int> &GetVersionMajor(bool refresh = true);
        
    /**
     * \brief App Minor Version number.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 255
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns VersionMinor Status Signal Object
     */
    StatusSignal<int> &GetVersionMinor(bool refresh = true);
        
    /**
     * \brief App Bugfix Version number.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 255
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns VersionBugfix Status Signal Object
     */
    StatusSignal<int> &GetVersionBugfix(bool refresh = true);
        
    /**
     * \brief App Build Version number.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 255
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns VersionBuild Status Signal Object
     */
    StatusSignal<int> &GetVersionBuild(bool refresh = true);
        
    /**
     * \brief Full Version of firmware in device.  The format is a four
     * byte value.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 4294967295
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Version Status Signal Object
     */
    StatusSignal<int> &GetVersion(bool refresh = true);
        
    /**
     * \brief Integer representing all fault flags reported by the device.
     * 
     * \details These are device specific and are not used directly in
     * typical applications. Use the signal specific GetFault_*() methods
     * instead.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 4294967295
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns FaultField Status Signal Object
     */
    StatusSignal<int> &GetFaultField(bool refresh = true);
        
    /**
     * \brief Integer representing all (persistent) sticky fault flags
     * reported by the device.
     * 
     * \details These are device specific and are not used directly in
     * typical applications. Use the signal specific GetStickyFault_*()
     * methods instead.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 4294967295
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFaultField Status Signal Object
     */
    StatusSignal<int> &GetStickyFaultField(bool refresh = true);
        
    /**
     * \brief Whether the device is Phoenix Pro licensed.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns IsProLicensed Status Signal Object
     */
    StatusSignal<bool> &GetIsProLicensed(bool refresh = true);
        
    /**
     * \brief Measured supply voltage to the CANdle.
     * 
     * - Minimum Value: 0.0
     * - Maximum Value: 32.767
     * - Default Value: 0
     * - Units: V
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns SupplyVoltage Status Signal Object
     */
    StatusSignal<wpi::units::volt_t> &GetSupplyVoltage(bool refresh = true);
        
    /**
     * \brief The measured voltage of the 5V rail line.
     * 
     * - Minimum Value: 0.0
     * - Maximum Value: 10.23
     * - Default Value: 0
     * - Units: V
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns FiveVRailVoltage Status Signal Object
     */
    StatusSignal<wpi::units::volt_t> &GetFiveVRailVoltage(bool refresh = true);
        
    /**
     * \brief The measured output current. This includes both VBat and 5V
     * output current.
     * 
     * - Minimum Value: 0.0
     * - Maximum Value: 10.23
     * - Default Value: 0
     * - Units: A
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns OutputCurrent Status Signal Object
     */
    StatusSignal<wpi::units::ampere_t> &GetOutputCurrent(bool refresh = true);
        
    /**
     * \brief The temperature that the CANdle measures itself to be at.
     * 
     * - Minimum Value: -128
     * - Maximum Value: 127
     * - Default Value: 0
     * - Units: ℃
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns DeviceTemp Status Signal Object
     */
    StatusSignal<wpi::units::celsius_t> &GetDeviceTemp(bool refresh = true);
        
    /**
     * \brief The applied VBat modulation duty cycle.
     * 
     * This signal will report 1.0 if the VBatOutputMode is configured to
     * be always on, and 0.0 if configured to be always off. Otherwise,
     * this will report the applied modulation from the last
     * ModulateVBatOut request.
     * 
     * - Minimum Value: 0.0
     * - Maximum Value: 1.0
     * - Default Value: 0
     * - Units: frac
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns VBatModulation Status Signal Object
     */
    StatusSignal<wpi::units::scalar_t> &GetVBatModulation(bool refresh = true);
        
    /**
     * \brief The maximum number of simultaneous animations supported by
     * the current version of CANdle firmware.
     * 
     * Any control request using an animation slot greater than or equal
     * to this signal will be ignored.
     * 
     * - Minimum Value: 0
     * - Maximum Value: 31
     * - Default Value: 0
     * - Units: 
     * 
     * Default Rates:
     * - CAN 2.0: 10.0 Hz
     * - CAN FD: 10.0 Hz (TimeSynced with Pro)
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns MaxSimultaneousAnimationCount Status Signal Object
     */
    StatusSignal<int> &GetMaxSimultaneousAnimationCount(bool refresh = true);
        
    /**
     * \brief Hardware fault occurred
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_Hardware Status Signal Object
     */
    StatusSignal<bool> &GetFault_Hardware(bool refresh = true);
        
    /**
     * \brief Hardware fault occurred
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_Hardware Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_Hardware(bool refresh = true);
        
    /**
     * \brief Device supply voltage dropped to near brownout levels
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_Undervoltage Status Signal Object
     */
    StatusSignal<bool> &GetFault_Undervoltage(bool refresh = true);
        
    /**
     * \brief Device supply voltage dropped to near brownout levels
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_Undervoltage Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_Undervoltage(bool refresh = true);
        
    /**
     * \brief Device boot while detecting the enable signal
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_BootDuringEnable Status Signal Object
     */
    StatusSignal<bool> &GetFault_BootDuringEnable(bool refresh = true);
        
    /**
     * \brief Device boot while detecting the enable signal
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_BootDuringEnable Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_BootDuringEnable(bool refresh = true);
        
    /**
     * \brief An unlicensed feature is in use, device may not behave as
     * expected.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_UnlicensedFeatureInUse Status Signal Object
     */
    StatusSignal<bool> &GetFault_UnlicensedFeatureInUse(bool refresh = true);
        
    /**
     * \brief An unlicensed feature is in use, device may not behave as
     * expected.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_UnlicensedFeatureInUse Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_UnlicensedFeatureInUse(bool refresh = true);
        
    /**
     * \brief Device supply voltage is too high (above 30 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_Overvoltage Status Signal Object
     */
    StatusSignal<bool> &GetFault_Overvoltage(bool refresh = true);
        
    /**
     * \brief Device supply voltage is too high (above 30 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_Overvoltage Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_Overvoltage(bool refresh = true);
        
    /**
     * \brief Device 5V line is too high (above 6 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_5VTooHigh Status Signal Object
     */
    StatusSignal<bool> &GetFault_5VTooHigh(bool refresh = true);
        
    /**
     * \brief Device 5V line is too high (above 6 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_5VTooHigh Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_5VTooHigh(bool refresh = true);
        
    /**
     * \brief Device 5V line is too low (below 4 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_5VTooLow Status Signal Object
     */
    StatusSignal<bool> &GetFault_5VTooLow(bool refresh = true);
        
    /**
     * \brief Device 5V line is too low (below 4 V).
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_5VTooLow Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_5VTooLow(bool refresh = true);
        
    /**
     * \brief Device temperature exceeded limit.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_Thermal Status Signal Object
     */
    StatusSignal<bool> &GetFault_Thermal(bool refresh = true);
        
    /**
     * \brief Device temperature exceeded limit.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_Thermal Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_Thermal(bool refresh = true);
        
    /**
     * \brief CANdle output current exceeded the 6 A limit.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_SoftwareFuse Status Signal Object
     */
    StatusSignal<bool> &GetFault_SoftwareFuse(bool refresh = true);
        
    /**
     * \brief CANdle output current exceeded the 6 A limit.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_SoftwareFuse Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_SoftwareFuse(bool refresh = true);
        
    /**
     * \brief CANdle has detected the output pin is shorted.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns Fault_ShortCircuit Status Signal Object
     */
    StatusSignal<bool> &GetFault_ShortCircuit(bool refresh = true);
        
    /**
     * \brief CANdle has detected the output pin is shorted.
     * 
     * - Default Value: False
     * 
     * Default Rates:
     * - CAN: 4.0 Hz
     * 
     * This refreshes and returns a cached StatusSignal object.
     * 
     * \param refresh Whether to refresh the StatusSignal before returning it;
     *                defaults to true
     * \returns StickyFault_ShortCircuit Status Signal Object
     */
    StatusSignal<bool> &GetStickyFault_ShortCircuit(bool refresh = true);
 
 
    /**
     * \brief Modulates the CANdle VBat output to the specified duty
     * cycle. This can be used to control a single-color LED strip.
     * 
     * Note that configs::CANdleFeaturesConfigs::VBatOutputMode must be
     * set to signals::VBatOutputModeValue::Modulated.
     * 
     * - ModulateVBatOut Parameters: 
     *   - Output: Proportion of VBat to output in fractional units between 0.0 and
     *             1.0.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::ModulateVBatOut const &request);
 
    /**
     * \brief Sets LEDs to a solid color.
     * 
     * - SolidColor Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Color: The color to apply to the LEDs.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::SolidColor const &request);
 
    /**
     * \brief An empty animation, clearing any animation in the specified
     * slot.
     * 
     * - EmptyAnimation Parameters: 
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::EmptyAnimation const &request);
 
    /**
     * \brief Animation that gradually lights the entire LED strip one LED
     * at a time.
     * 
     * - ColorFlowAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip
     *                    
     *                    If the start index is greater than the end index, the
     *                    direction will be reversed. The direction can also be
     *                    changed using the Direction parameter.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *                  
     *                  If the end index is less than the start index, the direction
     *                  will be reversed. The direction can also be changed using
     *                  the Direction parameter.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - Direction: The direction of the animation.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                turning one on or off.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::ColorFlowAnimation const &request);
 
    /**
     * \brief Animation that looks similar to a flame flickering.
     * 
     * - FireAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip
     *                    
     *                    If the start index is greater than the end index, the
     *                    direction will be reversed. The direction can also be
     *                    changed using the Direction parameter.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *                  
     *                  If the end index is less than the start index, the direction
     *                  will be reversed. The direction can also be changed using
     *                  the Direction parameter.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Brightness: The brightness of the animation, as a scalar from 0.0 to 1.0.
     *   - Direction: The direction of the animation.
     *   - Sparking: The proportion of time in which sparks reignite the fire, as a
     *               scalar from 0.0 to 1.0.
     *   - Cooling: The rate at which the fire cools along the travel, as a scalar
     *              from 0.0 to 1.0.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                advancing the animation of the fire.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::FireAnimation const &request);
 
    /**
     * \brief Animation that bounces a pocket of light across the LED
     * strip.
     * 
     * - LarsonAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - Size: The number of LEDs in the pocket of light, up to 15.
     *   - BounceMode: The behavior of the pocket of light when it reaches the end
     *                 of the strip.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                advancing the pocket of light by one LED.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::LarsonAnimation const &request);
 
    /**
     * \brief Animation that creates a rainbow throughout all the LEDs.
     * 
     * - RainbowAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip
     *                    
     *                    If the start index is greater than the end index, the
     *                    direction will be reversed. The direction can also be
     *                    changed using the Direction parameter.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *                  
     *                  If the end index is less than the start index, the direction
     *                  will be reversed. The direction can also be changed using
     *                  the Direction parameter.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Brightness: The brightness of the animation, as a scalar from 0.0 to 1.0.
     *   - Direction: The direction of the animation.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                advancing the rainbow by about 3 degrees of hue (out of 360
     *                degrees).
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::RainbowAnimation const &request);
 
    /**
     * \brief Animation that fades all the LEDs of a strip simultaneously
     * between Red, Green, and Blue.
     * 
     * - RgbFadeAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Brightness: The brightness of the animation, as a scalar from 0.0 to 1.0.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                adjusting the brightness of the LEDs by 1%.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::RgbFadeAnimation const &request);
 
    /**
     * \brief Animation that fades into and out of a specified color.
     * 
     * - SingleFadeAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                adjusting the brightness of the LEDs by 1%.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::SingleFadeAnimation const &request);
 
    /**
     * \brief Animation that strobes the LEDs a specified color.
     * 
     * - StrobeAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - FrameRate: The frame rate of the animation, from [1, 500] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                turning all LEDs on or off.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::StrobeAnimation const &request);
 
    /**
     * \brief Animation that randomly turns LEDs on and off to a certain
     * color.
     * 
     * - TwinkleAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - MaxLEDsOnProportion: The max proportion of LEDs that can be on, in the
     *                          range [0.1, 1.0].
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                turning one on or off.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::TwinkleAnimation const &request);
 
    /**
     * \brief Animation that randomly turns on LEDs until it reaches the
     * maximum count, and then turns them all off.
     * 
     * - TwinkleOffAnimation Parameters: 
     *   - LEDStartIndex: The index of the first LED this animation controls
     *                    (inclusive). Indices 0-7 control the onboard LEDs, and
     *                    8-399 control an attached LED strip.
     *   - LEDEndIndex: The index of the last LED this animation controls
     *                  (inclusive). Indices 0-7 control the onboard LEDs, and 8-399
     *                  control an attached LED strip.
     *   - Slot: The slot of this animation, within [0, 7]. Each slot on the CANdle
     *           can store and run one animation.
     *   - Color: The color to use in the animation.
     *   - MaxLEDsOnProportion: The max proportion of LEDs that can be on, in the
     *                          range [0.1, 1.0].
     *   - FrameRate: The frame rate of the animation, from [2, 1000] Hz. This
     *                determines the speed of the animation.
     *                
     *                A frame is defined as a transition in the state of the LEDs,
     *                turning one LED on or all LEDs off.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::TwinkleOffAnimation const &request);
 
    /**
     * \brief Apply a generic empty control used to do nothing.
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::EmptyControl const &request);
 
    /**
     * \brief Control device with generic control request object. User must make
     *        sure the specified object is castable to a valid control request,
     *        otherwise this function will fail at run-time and return the NotSupported
     *        StatusCode
     *
     * \param request Control object to request of the device
     * \returns Status code of the request
     */
    ctre::phoenix::StatusCode SetControl(controls::ControlRequest const &request);
 
 
    /**
     * \brief Clear the sticky faults in the device.
     * 
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFaults(timeoutSeconds);
    }
    /**
     * \brief Clear the sticky faults in the device.
     * 
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults()
    {
        return ClearStickyFaults(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Hardware fault occurred
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Hardware(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_Hardware(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Hardware fault occurred
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Hardware()
    {
        return ClearStickyFault_Hardware(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device supply voltage dropped to near
     * brownout levels
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_Undervoltage(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device supply voltage dropped to near
     * brownout levels
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
    {
        return ClearStickyFault_Undervoltage(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device boot while detecting the enable
     * signal
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_BootDuringEnable(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device boot while detecting the enable
     * signal
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
    {
        return ClearStickyFault_BootDuringEnable(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: An unlicensed feature is in use, device
     * may not behave as expected.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_UnlicensedFeatureInUse(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: An unlicensed feature is in use, device
     * may not behave as expected.
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse()
    {
        return ClearStickyFault_UnlicensedFeatureInUse(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device supply voltage is too high (above
     * 30 V).
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Overvoltage(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_Overvoltage(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device supply voltage is too high (above
     * 30 V).
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Overvoltage()
    {
        return ClearStickyFault_Overvoltage(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device 5V line is too high (above 6 V).
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooHigh(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_5VTooHigh(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device 5V line is too high (above 6 V).
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooHigh()
    {
        return ClearStickyFault_5VTooHigh(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device 5V line is too low (below 4 V).
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooLow(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_5VTooLow(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device 5V line is too low (below 4 V).
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_5VTooLow()
    {
        return ClearStickyFault_5VTooLow(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: Device temperature exceeded limit.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Thermal(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_Thermal(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: Device temperature exceeded limit.
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_Thermal()
    {
        return ClearStickyFault_Thermal(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: CANdle output current exceeded the 6 A
     * limit.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_SoftwareFuse(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_SoftwareFuse(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: CANdle output current exceeded the 6 A
     * limit.
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_SoftwareFuse()
    {
        return ClearStickyFault_SoftwareFuse(0.100_s);
    }
 
    /**
     * \brief Clear sticky fault: CANdle has detected the output pin is
     * shorted.
     * 
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_ShortCircuit(wpi::units::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFault_ShortCircuit(timeoutSeconds);
    }
    /**
     * \brief Clear sticky fault: CANdle has detected the output pin is
     * shorted.
     * 
     * This will wait up to 0.100 seconds (100ms) by default.
     * 
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFault_ShortCircuit()
    {
        return ClearStickyFault_ShortCircuit(0.100_s);
    }
 
    void RegisterAlerts(AlertableCollection &collection) override;
};
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(pop)
#endif
 
}
}
 
}
}