CANdle.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/core/CoreCANdle.hpp"
 
#include "wpi/sendable/Sendable.h"
#include "wpi/sendable/SendableBuilder.h"
#include "wpi/sendable/SendableHelper.h"
#include <hal/SimDevice.h>
 
namespace ctre {
namespace phoenix6 {
namespace hardware {
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(push)
#pragma warning(disable : 4250)
#endif
 
/**
 * Class for CTR Electronics' CANdle® branded device,
 * a device that controls LEDs over the CAN bus.
 */
class CANdle : public core::CoreCANdle,
               public wpi::Sendable,
               public wpi::SendableHelper<CANdle>
{
    /*
     * The StatusSignal getters are copies so that calls
     * to the WPI interface do not update any references
     *
     * These are also mutable so the const getter methods are
     * properly managed.
     */
 
    hal::SimDevice m_simCANdle;
    hal::SimDouble m_simSupplyVoltage;
    hal::SimDouble m_simFiveVRail;
    hal::SimDouble m_simOutputCurrent;
    hal::SimDouble m_simTemperature;
    hal::SimDouble m_simVBatModulation;
 
    int32_t m_simPeriodicUid{-1};
    std::vector<int32_t> m_simValueChangedUids;
 
    static void OnValueChanged(
        const char *name, void *param, HAL_SimValueHandle handle,
        HAL_Bool readonly, const struct HAL_Value *value
    );
    static void OnPeriodic(void *param);
 
public:
    /** The number of animation slots. */
    static constexpr int kAnimSlotCount = 8;
 
    /**
     * Constructs a new CANdle object.
     *
     * \param deviceId    ID of the device, as configured in Phoenix Tuner
     * \param canbus      The CAN bus this device is on
     */
    CANdle(int deviceId, CANBus canbus = {});
    /**
     * Constructs a new CANdle object.
     *
     * \param deviceId    ID of the device, as configured in Phoenix Tuner
     * \param canbus      Name of the CAN bus this device is on. Possible CAN bus strings are:
     *                    - "rio" for the native roboRIO CAN bus
     *                    - CANivore name or serial number
     *                    - SocketCAN interface (non-FRC Linux only)
     *                    - "*" for any CANivore seen by the program
     *                    - empty string (default) to select the default for the system:
     *                      - "rio" on roboRIO
     *                      - "can0" on Linux
     *                      - "*" on Windows
     *
     * \deprecated Constructing devices with a CAN bus string is deprecated for removal
     * in the 2027 season. Construct devices using a CANBus instance instead.
     */
    [[deprecated(
        "Constructing devices with a CAN bus string is deprecated for removal "
        "in the 2027 season. Construct devices using a CANBus instance instead."
    )]]
    CANdle(int deviceId, std::string canbus);
 
    ~CANdle();
 
    /**
     * \brief Clears all animations on the CANdle. This is equivalent to applying a
     * controls#EmptyAnimation to all the animation slots on the CANdle.
     *
     * \returns Status code of the first failed control call, or OK if all succeeded
     */
    ctre::phoenix::StatusCode ClearAllAnimations();
 
    void InitSendable(wpi::SendableBuilder &builder) override;
};
 
#if defined(_WIN32) || defined(_WIN64)
#pragma warning(pop)
#endif
 
}
}
}