EmptyAnimation.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/controls/ControlRequest.hpp"
#include <wpi/units/frequency.hpp>
#include <wpi/units/time.hpp>
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * An empty animation, clearing any animation in the specified slot.
 */
class EmptyAnimation final : public ControlRequest {
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override;
 
public:
    /**
     * \brief The slot of this animation, within [0, 7]. Each slot on the CANdle can
     * store and run one animation.
     */
    int Slot;
 
    /**
     * \brief The frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     */
    wpi::units::hertz_t UpdateFreqHz{0_Hz};
 
    /**
     * \brief An empty animation, clearing any animation in the specified slot.
     * 
     * \param Slot The slot of this animation, within [0, 7]. Each slot on the
     *             CANdle can store and run one animation.
     */
    constexpr EmptyAnimation(int Slot) : ControlRequest{},
        Slot{std::move(Slot)}
    {}
 
    constexpr ~EmptyAnimation() override {}
 
    /**
     * \brief Gets the name of this control request.
     *
     * \returns Name of the control request
     */
    constexpr std::string_view GetName() const override
    {
        return "EmptyAnimation";
    }
 
    /**
     * \brief Modifies this Control Request's Slot parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * The slot of this animation, within [0, 7]. Each slot on the CANdle can store
     * and run one animation.
     *
     * \param newSlot Parameter to modify
     * \returns Itself
     */
    constexpr EmptyAnimation &WithSlot(int newSlot)
    {
        Slot = std::move(newSlot);
        return *this;
    }
 
    /**
     * \brief Sets the frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     *
     * \param newUpdateFreqHz Parameter to modify
     * \returns Itself
     */
    constexpr EmptyAnimation &WithUpdateFreqHz(wpi::units::hertz_t newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return *this;
    }
 
    /**
     * \brief Returns a string representation of the object.
     *
     * \returns a string representation of the object.
     */
    std::string ToString() const override;
 
    /**
     * \brief Gets information about this control request.
     *
     * \returns Map of control parameter names and corresponding applied values
     */
    std::map<std::string_view, std::string> GetControlInfo() const override;
};
 
}
}
}