Source code

001/*
002 * Copyright (C) Cross The Road Electronics.  All rights reserved.
003 * License information can be found in CTRE_LICENSE.txt
004 * For support and suggestions contact support@ctr-electronics.com or file
005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
006 */
007package com.ctre.phoenix6.configs;
008
009import com.ctre.phoenix6.StatusCode;
010import com.ctre.phoenix6.hardware.DeviceIdentifier;
011import com.ctre.phoenix6.configs.jni.ConfigJNI;
012import com.ctre.phoenix6.spns.*;
013
014/**
015 * Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the
016 * distance to the front of the device.
017 *
018 * This defines all configurations for the {@link com.ctre.phoenix6.hardware.CANrange}.
019 */
020public class CANrangeConfigurator extends ParentConfigurator {
021    public CANrangeConfigurator(DeviceIdentifier id) {
022        super(id);
023    }
024
025    /**
026     * Refreshes the values of the specified config group.
027     * <p>
028     * This will wait up to {@link #DefaultTimeoutSeconds}.
029     * <p>
030     * Call to refresh the selected configs from the device.
031     *
032     * @param configs The configs to refresh
033     * @return StatusCode of refreshing the configs
034     */
035    public final StatusCode refresh(CANrangeConfiguration configs) {
036        return refresh(configs, DefaultTimeoutSeconds);
037    }
038
039    /**
040     * Refreshes the values of the specified config group.
041     * <p>
042     * Call to refresh the selected configs from the device.
043     *
044     * @param configs The configs to refresh
045     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
046     * @return StatusCode of refreshing the configs
047     */
048    public final StatusCode refresh(CANrangeConfiguration configs, double timeoutSeconds) {
049        StringBuilder serializedString = new StringBuilder();
050        StatusCode err = getConfigsPrivate(serializedString, timeoutSeconds);
051        if (err == StatusCode.OK) {
052            /* Only deserialize if we successfully got configs */
053            configs.deserialize(serializedString.toString());
054        }
055        return err;
056    }
057
058    /**
059     * Applies the contents of the specified config to the device.
060     * <p>
061     * This will wait up to {@link #DefaultTimeoutSeconds}.
062     * <p>
063     * Call to apply the selected configs.
064     *
065     * @param configs Configs to apply against.
066     * @return StatusCode of the set command
067     */
068    public final StatusCode apply(CANrangeConfiguration configs) {
069        return apply(configs, DefaultTimeoutSeconds);
070    }
071
072    /**
073     * Applies the contents of the specified config to the device.
074     * <p>
075     * Call to apply the selected configs.
076     *
077     * @param configs Configs to apply against.
078     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
079     * @return StatusCode of the set command
080     */
081    public final StatusCode apply(CANrangeConfiguration configs, double timeoutSeconds) {
082        return setConfigsPrivate(configs.serialize(), timeoutSeconds, configs.FutureProofConfigs, false);
083    }
084
085
086    /**
087     * Refreshes the values of the specified config group.
088     * <p>
089     * This will wait up to {@link #DefaultTimeoutSeconds}.
090     * <p>
091     * Call to refresh the selected configs from the device.
092     *
093     * @param configs The configs to refresh
094     * @return StatusCode of refreshing the configs
095     */
096    public final StatusCode refresh(CustomParamsConfigs configs) {
097        return refresh(configs, DefaultTimeoutSeconds);
098    }
099
100    /**
101     * Refreshes the values of the specified config group.
102     * <p>
103     * Call to refresh the selected configs from the device.
104     *
105     * @param configs The configs to refresh
106     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
107     * @return StatusCode of refreshing the configs
108     */
109    public final StatusCode refresh(CustomParamsConfigs configs, double timeoutSeconds) {
110        StringBuilder serializedString = new StringBuilder();
111        StatusCode err = getConfigsPrivate(serializedString, timeoutSeconds);
112        if (err == StatusCode.OK) {
113            /* Only deserialize if we successfully got configs */
114            configs.deserialize(serializedString.toString());
115        }
116        return err;
117    }
118
119    /**
120     * Applies the contents of the specified config to the device.
121     * <p>
122     * This will wait up to {@link #DefaultTimeoutSeconds}.
123     * <p>
124     * Call to apply the selected configs.
125     *
126     * @param configs Configs to apply against.
127     * @return StatusCode of the set command
128     */
129    public final StatusCode apply(CustomParamsConfigs configs) {
130        return apply(configs, DefaultTimeoutSeconds);
131    }
132
133    /**
134     * Applies the contents of the specified config to the device.
135     * <p>
136     * Call to apply the selected configs.
137     *
138     * @param configs Configs to apply against.
139     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
140     * @return StatusCode of the set command
141     */
142    public final StatusCode apply(CustomParamsConfigs configs, double timeoutSeconds) {
143        return setConfigsPrivate(configs.serialize(), timeoutSeconds, false, false);
144    }
145
146
147    /**
148     * Refreshes the values of the specified config group.
149     * <p>
150     * This will wait up to {@link #DefaultTimeoutSeconds}.
151     * <p>
152     * Call to refresh the selected configs from the device.
153     *
154     * @param configs The configs to refresh
155     * @return StatusCode of refreshing the configs
156     */
157    public final StatusCode refresh(ToFParamsConfigs configs) {
158        return refresh(configs, DefaultTimeoutSeconds);
159    }
160
161    /**
162     * Refreshes the values of the specified config group.
163     * <p>
164     * Call to refresh the selected configs from the device.
165     *
166     * @param configs The configs to refresh
167     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
168     * @return StatusCode of refreshing the configs
169     */
170    public final StatusCode refresh(ToFParamsConfigs configs, double timeoutSeconds) {
171        StringBuilder serializedString = new StringBuilder();
172        StatusCode err = getConfigsPrivate(serializedString, timeoutSeconds);
173        if (err == StatusCode.OK) {
174            /* Only deserialize if we successfully got configs */
175            configs.deserialize(serializedString.toString());
176        }
177        return err;
178    }
179
180    /**
181     * Applies the contents of the specified config to the device.
182     * <p>
183     * This will wait up to {@link #DefaultTimeoutSeconds}.
184     * <p>
185     * Call to apply the selected configs.
186     *
187     * @param configs Configs to apply against.
188     * @return StatusCode of the set command
189     */
190    public final StatusCode apply(ToFParamsConfigs configs) {
191        return apply(configs, DefaultTimeoutSeconds);
192    }
193
194    /**
195     * Applies the contents of the specified config to the device.
196     * <p>
197     * Call to apply the selected configs.
198     *
199     * @param configs Configs to apply against.
200     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
201     * @return StatusCode of the set command
202     */
203    public final StatusCode apply(ToFParamsConfigs configs, double timeoutSeconds) {
204        return setConfigsPrivate(configs.serialize(), timeoutSeconds, false, false);
205    }
206
207
208    /**
209     * Refreshes the values of the specified config group.
210     * <p>
211     * This will wait up to {@link #DefaultTimeoutSeconds}.
212     * <p>
213     * Call to refresh the selected configs from the device.
214     *
215     * @param configs The configs to refresh
216     * @return StatusCode of refreshing the configs
217     */
218    public final StatusCode refresh(ProximityParamsConfigs configs) {
219        return refresh(configs, DefaultTimeoutSeconds);
220    }
221
222    /**
223     * Refreshes the values of the specified config group.
224     * <p>
225     * Call to refresh the selected configs from the device.
226     *
227     * @param configs The configs to refresh
228     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
229     * @return StatusCode of refreshing the configs
230     */
231    public final StatusCode refresh(ProximityParamsConfigs configs, double timeoutSeconds) {
232        StringBuilder serializedString = new StringBuilder();
233        StatusCode err = getConfigsPrivate(serializedString, timeoutSeconds);
234        if (err == StatusCode.OK) {
235            /* Only deserialize if we successfully got configs */
236            configs.deserialize(serializedString.toString());
237        }
238        return err;
239    }
240
241    /**
242     * Applies the contents of the specified config to the device.
243     * <p>
244     * This will wait up to {@link #DefaultTimeoutSeconds}.
245     * <p>
246     * Call to apply the selected configs.
247     *
248     * @param configs Configs to apply against.
249     * @return StatusCode of the set command
250     */
251    public final StatusCode apply(ProximityParamsConfigs configs) {
252        return apply(configs, DefaultTimeoutSeconds);
253    }
254
255    /**
256     * Applies the contents of the specified config to the device.
257     * <p>
258     * Call to apply the selected configs.
259     *
260     * @param configs Configs to apply against.
261     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
262     * @return StatusCode of the set command
263     */
264    public final StatusCode apply(ProximityParamsConfigs configs, double timeoutSeconds) {
265        return setConfigsPrivate(configs.serialize(), timeoutSeconds, false, false);
266    }
267
268
269    /**
270     * Refreshes the values of the specified config group.
271     * <p>
272     * This will wait up to {@link #DefaultTimeoutSeconds}.
273     * <p>
274     * Call to refresh the selected configs from the device.
275     *
276     * @param configs The configs to refresh
277     * @return StatusCode of refreshing the configs
278     */
279    public final StatusCode refresh(FovParamsConfigs configs) {
280        return refresh(configs, DefaultTimeoutSeconds);
281    }
282
283    /**
284     * Refreshes the values of the specified config group.
285     * <p>
286     * Call to refresh the selected configs from the device.
287     *
288     * @param configs The configs to refresh
289     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
290     * @return StatusCode of refreshing the configs
291     */
292    public final StatusCode refresh(FovParamsConfigs configs, double timeoutSeconds) {
293        StringBuilder serializedString = new StringBuilder();
294        StatusCode err = getConfigsPrivate(serializedString, timeoutSeconds);
295        if (err == StatusCode.OK) {
296            /* Only deserialize if we successfully got configs */
297            configs.deserialize(serializedString.toString());
298        }
299        return err;
300    }
301
302    /**
303     * Applies the contents of the specified config to the device.
304     * <p>
305     * This will wait up to {@link #DefaultTimeoutSeconds}.
306     * <p>
307     * Call to apply the selected configs.
308     *
309     * @param configs Configs to apply against.
310     * @return StatusCode of the set command
311     */
312    public final StatusCode apply(FovParamsConfigs configs) {
313        return apply(configs, DefaultTimeoutSeconds);
314    }
315
316    /**
317     * Applies the contents of the specified config to the device.
318     * <p>
319     * Call to apply the selected configs.
320     *
321     * @param configs Configs to apply against.
322     * @param timeoutSeconds Maximum amount of time to wait when performing configuration
323     * @return StatusCode of the set command
324     */
325    public final StatusCode apply(FovParamsConfigs configs, double timeoutSeconds) {
326        return setConfigsPrivate(configs.serialize(), timeoutSeconds, false, false);
327    }
328
329    
330    /**
331     * Clear the sticky faults in the device.
332     * <p>
333     * This typically has no impact on the device functionality.  Instead,
334     * it just clears telemetry faults that are accessible via API and
335     * Tuner Self-Test.
336     * <p>
337     * This will wait up to {@link #DefaultTimeoutSeconds}.
338     * <p>
339     * This is available in the configurator in case the user wants
340     * to initialize their device entirely without passing a device
341     * reference down to the code that performs the initialization.
342     * In this case, the user passes down the configurator object
343     * and performs all the initialization code on the object.
344     * 
345     * @return StatusCode of the set command
346     */
347    public final StatusCode clearStickyFaults() {
348        return clearStickyFaults(DefaultTimeoutSeconds);
349    }
350    /**
351     * Clear the sticky faults in the device.
352     * <p>
353     * This typically has no impact on the device functionality.  Instead,
354     * it just clears telemetry faults that are accessible via API and
355     * Tuner Self-Test.
356     * <p>
357     * This is available in the configurator in case the user wants
358     * to initialize their device entirely without passing a device
359     * reference down to the code that performs the initialization.
360     * In this case, the user passes down the configurator object
361     * and performs all the initialization code on the object.
362     * 
363     * @param timeoutSeconds Maximum time to wait up to in seconds.
364     * @return StatusCode of the set command
365     */
366    public final StatusCode clearStickyFaults(double timeoutSeconds) {
367        String serialized = ConfigJNI.Serializedouble(SpnValue.SPN_ClearStickyFaults.value, 0);
368        return setConfigsPrivate(serialized, timeoutSeconds, false, true);
369    }
370    
371    /**
372     * Clear sticky fault: Hardware fault occurred
373     * <p>
374     * This will wait up to {@link #DefaultTimeoutSeconds}.
375     * <p>
376     * This is available in the configurator in case the user wants
377     * to initialize their device entirely without passing a device
378     * reference down to the code that performs the initialization.
379     * In this case, the user passes down the configurator object
380     * and performs all the initialization code on the object.
381     * 
382     * @return StatusCode of the set command
383     */
384    public final StatusCode clearStickyFault_Hardware() {
385        return clearStickyFault_Hardware(DefaultTimeoutSeconds);
386    }
387    /**
388     * Clear sticky fault: Hardware fault occurred
389     * <p>
390     * This is available in the configurator in case the user wants
391     * to initialize their device entirely without passing a device
392     * reference down to the code that performs the initialization.
393     * In this case, the user passes down the configurator object
394     * and performs all the initialization code on the object.
395     * 
396     * @param timeoutSeconds Maximum time to wait up to in seconds.
397     * @return StatusCode of the set command
398     */
399    public final StatusCode clearStickyFault_Hardware(double timeoutSeconds) {
400        String serialized = ConfigJNI.Serializedouble(SpnValue.ClearStickyFault_Hardware.value, 0);
401        return setConfigsPrivate(serialized, timeoutSeconds, false, true);
402    }
403    
404    /**
405     * Clear sticky fault: Device supply voltage dropped to near brownout
406     * levels
407     * <p>
408     * This will wait up to {@link #DefaultTimeoutSeconds}.
409     * <p>
410     * This is available in the configurator in case the user wants
411     * to initialize their device entirely without passing a device
412     * reference down to the code that performs the initialization.
413     * In this case, the user passes down the configurator object
414     * and performs all the initialization code on the object.
415     * 
416     * @return StatusCode of the set command
417     */
418    public final StatusCode clearStickyFault_Undervoltage() {
419        return clearStickyFault_Undervoltage(DefaultTimeoutSeconds);
420    }
421    /**
422     * Clear sticky fault: Device supply voltage dropped to near brownout
423     * levels
424     * <p>
425     * This is available in the configurator in case the user wants
426     * to initialize their device entirely without passing a device
427     * reference down to the code that performs the initialization.
428     * In this case, the user passes down the configurator object
429     * and performs all the initialization code on the object.
430     * 
431     * @param timeoutSeconds Maximum time to wait up to in seconds.
432     * @return StatusCode of the set command
433     */
434    public final StatusCode clearStickyFault_Undervoltage(double timeoutSeconds) {
435        String serialized = ConfigJNI.Serializedouble(SpnValue.ClearStickyFault_Undervoltage.value, 0);
436        return setConfigsPrivate(serialized, timeoutSeconds, false, true);
437    }
438    
439    /**
440     * Clear sticky fault: Device boot while detecting the enable signal
441     * <p>
442     * This will wait up to {@link #DefaultTimeoutSeconds}.
443     * <p>
444     * This is available in the configurator in case the user wants
445     * to initialize their device entirely without passing a device
446     * reference down to the code that performs the initialization.
447     * In this case, the user passes down the configurator object
448     * and performs all the initialization code on the object.
449     * 
450     * @return StatusCode of the set command
451     */
452    public final StatusCode clearStickyFault_BootDuringEnable() {
453        return clearStickyFault_BootDuringEnable(DefaultTimeoutSeconds);
454    }
455    /**
456     * Clear sticky fault: Device boot while detecting the enable signal
457     * <p>
458     * This is available in the configurator in case the user wants
459     * to initialize their device entirely without passing a device
460     * reference down to the code that performs the initialization.
461     * In this case, the user passes down the configurator object
462     * and performs all the initialization code on the object.
463     * 
464     * @param timeoutSeconds Maximum time to wait up to in seconds.
465     * @return StatusCode of the set command
466     */
467    public final StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds) {
468        String serialized = ConfigJNI.Serializedouble(SpnValue.ClearStickyFault_BootDuringEnable.value, 0);
469        return setConfigsPrivate(serialized, timeoutSeconds, false, true);
470    }
471    
472    /**
473     * Clear sticky fault: An unlicensed feature is in use, device may not
474     * behave as expected.
475     * <p>
476     * This will wait up to {@link #DefaultTimeoutSeconds}.
477     * <p>
478     * This is available in the configurator in case the user wants
479     * to initialize their device entirely without passing a device
480     * reference down to the code that performs the initialization.
481     * In this case, the user passes down the configurator object
482     * and performs all the initialization code on the object.
483     * 
484     * @return StatusCode of the set command
485     */
486    public final StatusCode clearStickyFault_UnlicensedFeatureInUse() {
487        return clearStickyFault_UnlicensedFeatureInUse(DefaultTimeoutSeconds);
488    }
489    /**
490     * Clear sticky fault: An unlicensed feature is in use, device may not
491     * behave as expected.
492     * <p>
493     * This is available in the configurator in case the user wants
494     * to initialize their device entirely without passing a device
495     * reference down to the code that performs the initialization.
496     * In this case, the user passes down the configurator object
497     * and performs all the initialization code on the object.
498     * 
499     * @param timeoutSeconds Maximum time to wait up to in seconds.
500     * @return StatusCode of the set command
501     */
502    public final StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds) {
503        String serialized = ConfigJNI.Serializedouble(SpnValue.ClearStickyFault_UnlicensedFeatureInUse.value, 0);
504        return setConfigsPrivate(serialized, timeoutSeconds, false, true);
505    }
506}