StrobeAnimation.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 "ctre/phoenix6/networking/interfaces/Control_Interface.h"
#include <sstream>
 
#include "ctre/phoenix6/signals/RGBWColor.hpp"
#include <units/frequency.h>
#include <units/time.h>
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * Animation that strobes the LEDs a specified color.
 * 
 * 
 */
class StrobeAnimation : public ControlRequest
{
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override
    {
        if (req.get() != this)
        {
            auto const reqCast = dynamic_cast<StrobeAnimation *>(req.get());
            if (reqCast != nullptr)
            {
                *reqCast = *this;
            }
            else
            {
                req = std::make_shared<StrobeAnimation>(*this);
            }
        }
 
        return c_ctre_phoenix6_RequestControlStrobeAnimation(network, deviceHash, UpdateFreqHz.to<double>(), LEDStartIndex, LEDEndIndex, Slot, Color.Red, Color.Green, Color.Blue, Color.White, FrameRate.to<double>());
    }
 
public:
    /**
     * \brief 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.
     */
    int LEDStartIndex;
    /**
     * \brief 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.
     */
    int LEDEndIndex;
    /**
     * \brief The slot of this animation, within [0, 7]. Each slot on the CANdle can
     * store and run one animation.
     */
    int Slot = 0;
    /**
     * \brief The color to use in the animation.
     */
    signals::RGBWColor Color = signals::RGBWColor{};
    /**
     * \brief 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.
     * 
     * - Units: Hz
     * 
     */
    units::frequency::hertz_t FrameRate = 4_Hz;
 
    /**
     * \brief The period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * 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.
     */
    units::frequency::hertz_t UpdateFreqHz{20_Hz};
 
    /**
     * \brief Animation that strobes the LEDs a specified color.
     * 
     * \details 
     * 
     * \param 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.
     * \param 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.
     */
    StrobeAnimation(int LEDStartIndex, int LEDEndIndex) : ControlRequest{"StrobeAnimation"},
        LEDStartIndex{std::move(LEDStartIndex)},
        LEDEndIndex{std::move(LEDEndIndex)}
    {}
    StrobeAnimation(int LEDStartIndex, int LEDEndIndex) : ControlRequest{"StrobeAnimation"}, {…}
    
    /**
     * \brief Modifies this Control Request's LEDStartIndex parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * 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.
     *
     * \param newLEDStartIndex Parameter to modify
     * \returns Itself
     */
    StrobeAnimation &WithLEDStartIndex(int newLEDStartIndex)
    {
        LEDStartIndex = std::move(newLEDStartIndex);
        return *this;
    }
    StrobeAnimation &WithLEDStartIndex(int newLEDStartIndex) {…}
    
    /**
     * \brief Modifies this Control Request's LEDEndIndex parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * 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.
     *
     * \param newLEDEndIndex Parameter to modify
     * \returns Itself
     */
    StrobeAnimation &WithLEDEndIndex(int newLEDEndIndex)
    {
        LEDEndIndex = std::move(newLEDEndIndex);
        return *this;
    }
    StrobeAnimation &WithLEDEndIndex(int newLEDEndIndex) {…}
    
    /**
     * \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
     */
    StrobeAnimation &WithSlot(int newSlot)
    {
        Slot = std::move(newSlot);
        return *this;
    }
    StrobeAnimation &WithSlot(int newSlot) {…}
    
    /**
     * \brief Modifies this Control Request's Color parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * The color to use in the animation.
     *
     * \param newColor Parameter to modify
     * \returns Itself
     */
    StrobeAnimation &WithColor(signals::RGBWColor newColor)
    {
        Color = std::move(newColor);
        return *this;
    }
    StrobeAnimation &WithColor(signals::RGBWColor newColor) {…}
    
    /**
     * \brief Modifies this Control Request's FrameRate parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * 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.
     * 
     * - Units: Hz
     * 
     *
     * \param newFrameRate Parameter to modify
     * \returns Itself
     */
    StrobeAnimation &WithFrameRate(units::frequency::hertz_t newFrameRate)
    {
        FrameRate = std::move(newFrameRate);
        return *this;
    }
    StrobeAnimation &WithFrameRate(units::frequency::hertz_t newFrameRate) {…}
    /**
     * \brief Sets the period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * 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
     */
    StrobeAnimation &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return *this;
    }
    StrobeAnimation &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz) {…}
    /**
     * \brief Returns a string representation of the object.
     *
     * \returns a string representation of the object.
     */
    std::string ToString() const override
    {
        std::stringstream ss;
        ss << "Control: StrobeAnimation" << std::endl;
        ss << "    LEDStartIndex: " << LEDStartIndex << std::endl;
        ss << "    LEDEndIndex: " << LEDEndIndex << std::endl;
        ss << "    Slot: " << Slot << std::endl;
        ss << "    Color: " << Color << std::endl;
        ss << "    FrameRate: " << FrameRate.to<double>() << " Hz" << std::endl;
        return ss.str();
    }
    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, std::string> GetControlInfo() const override
    {
        std::map<std::string, std::string> controlInfo;
        std::stringstream ss;
        controlInfo["Name"] = GetName();
        ss << LEDStartIndex; controlInfo["LEDStartIndex"] = ss.str(); ss.str(std::string{});
        ss << LEDEndIndex; controlInfo["LEDEndIndex"] = ss.str(); ss.str(std::string{});
        ss << Slot; controlInfo["Slot"] = ss.str(); ss.str(std::string{});
        ss << Color; controlInfo["Color"] = ss.str(); ss.str(std::string{});
        ss << FrameRate.to<double>(); controlInfo["FrameRate"] = ss.str(); ss.str(std::string{});
        return controlInfo;
    }
    std::map<std::string, std::string> GetControlInfo() const override {…}
};
class StrobeAnimation : public ControlRequest {…};
 
}
}
}