CANdiSimState.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix/StatusCodes.h"
#include "ctre/phoenix6/signals/SpnEnums.hpp"
#include "ctre/phoenix6/sim/ChassisReference.hpp"
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/voltage.h>
 
namespace ctre {
namespace phoenix6 {
 
namespace hardware {
namespace core {
    /* forward proto */
    class CoreCANdi;
}
}
 
namespace sim {
 
    /**
     * \brief Class to control the state of a simulated hardware#CANdi.
     */
    class CANdiSimState
    {
    private:
        int _id;
 
    public:
        /**
         * \brief Creates an object to control the state of the given hardware#CANdi.
         *
         * \details Note the recommended method of accessing simulation features is to
         *          use hardware#CANdi#GetSimState.
         *
         * \param device Device to which this simulation state is attached
         */
        CANdiSimState(hardware::core::CoreCANdi const &device);
        /* disallow copy, allow move */
        CANdiSimState(CANdiSimState const &) = delete;
        CANdiSimState(CANdiSimState &&) = default;
        CANdiSimState &operator=(CANdiSimState const &) = delete;
        CANdiSimState &operator=(CANdiSimState &&) = default;
 
        /**
         * \brief Sets the simulated supply voltage of the CANdi.
         *
         * \details The minimum allowed supply voltage is 4 V - values below this
         * will be promoted to 4 V.
         *
         * \param volts The supply voltage in Volts
         * \returns Status code
         */
        ctre::phoenix::StatusCode SetSupplyVoltage(units::voltage::volt_t volts);
    };
}
 
}
}