Unmanaged.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 <wpi/units/time.hpp>
 
namespace ctre {
namespace phoenix6 {
namespace unmanaged {
    /**
     * \brief Feeds the enable signal with a timeout specified in seconds.
     * This function does nothing on a Systemcore during FRC use.
     *
     * A timeout of 0 disables actuators.
     *
     * \param timeoutSeconds Time to remain enabled in seconds
     */
    void FeedEnable(wpi::units::second_t timeoutSeconds);
 
    /**
     * \returns true if non-FRC enabled
     */
    bool GetEnableState();
 
    /**
     * \brief Sets whether to transmit the enable frame.
     * This function does nothing on a Systemcore during FRC use.
     *
     * \param enable true to transmit the enable frame
     */
    void SetTransmitEnable(bool enable);
 
    /**
     * \brief Gets whether the enable frame is being transmitted.
     * This function returns true on a Systemcore during FRC use.
     *
     * \returns true if the enable frame is being transmitted
     */
    bool GetTransmitEnable();
 
    /**
     * \returns The current version of Phoenix
     */
    int GetPhoenixVersion();
 
    /**
     * \brief Gets this API's compliancy version.
     *
     * This is purely used to check the compliancy of API against firmware,
     * and report if there is a mismatch to the user.
     *
     * \returns The current API compliancy
     */
    int GetApiCompliancy();
 
    /**
     * \brief Load and start the Phoenix background tasks.
     *
     * This can be useful if you need the Enable/Disable functionality for CAN
     * devices but aren't using any of the CAN device classes.
     *
     * This function does NOT need to be called if you are using any of the
     * Phoenix CAN device classes.
     */
    void LoadPhoenix();
 
    /**
     * \brief Sets the duration of the delay before starting the Phoenix diagnostics server.
     *
     * \param startTimeSeconds The delay (in seconds) before starting the server. A
     *                         value of 0 will start the server immediately. A negative
     *                         value will signal the server to shutdown or never start.
     */
    void SetPhoenixDiagnosticsStartTime(wpi::units::second_t startTimeSeconds);
}
}
}