CorePigeon2.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/phoenixpro/hardware/ParentDevice.hpp"
#include "ctre/phoenixpro/spns/SpnValue.hpp"
#include "ctre/phoenixpro/Utils.hpp"
 
#include "ctre/phoenixpro/sim/Pigeon2SimState.hpp"
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/dimensionless.h>
#include <units/magnetic_field_strength.h>
#include <units/temperature.h>
#include <units/time.h>
#include <units/voltage.h>
 
namespace ctre {
namespace phoenixpro {
 
namespace hardware {
namespace core {
    class CorePigeon2;
}
}
 
namespace configs {
 
/**
 * Class description for the Pigeon 2 IMU sensor that measures orientation.
 *
 * This handles the configurations for the hardware#Pigeon2
 */
class Pigeon2Configuration : public ParentConfiguration
{
public:
    /**
     * \brief True if we should factory default newer unsupported configs,
     *        false to leave newer unsupported configs alone.
     *
     * \details This flag addresses a corner case where the device may have
     *          firmware with newer configs that didn't exist when this
     *          version of the API was built. If this occurs and this
     *          flag is true, unsupported new configs will be factory
     *          defaulted to avoid unexpected behavior.
     *
     *          This is also the behavior in Phoenix 5, so this flag
     *          is defaulted to true to match.
     */
    bool FutureProofConfigs{true};
 
    
    /**
     * \brief  Configs for Pigeon 2's Mount Pose configuration.
     *
     * \details  These configs allow the Pigeon2 to be mounted in whatever
     *           orientation that's desired and ensure the reported
     *           Yaw/Pitch/Roll is from the robot's reference.
     */
    MountPoseConfigs MountPose;
    
    /**
     * \brief  Configs to trim the Pigeon2's gyroscope.
     *
     * \details  Pigeon2 allows the user to trim the gyroscope's
     *           sensitivity. While this isn't necessary for the Pigeon2,
     *           as it comes calibrated out-of-the-box, users can make use
     *           of this to make the Pigeon2 even more accurate for their
     *           application.
     */
    GyroTrimConfigs GyroTrim;
    
    /**
     * \brief  Configs to enable/disable various features of the Pigeon2.
     *
     * \details  These configs allow the user to enable or disable various
     *           aspects of the Pigeon2.
     */
    Pigeon2FeaturesConfigs Pigeon2Features;
 
    /**
     * \brief Get the string representation of this configuration
     */
    std::string ToString() const
    {
        std::stringstream ss;
        ss << MountPose.ToString();
        ss << GyroTrim.ToString();
        ss << Pigeon2Features.ToString();
        return ss.str();
    }
 
    /**
     * \brief Get the serialized form of this configuration
     */
    std::string Serialize() const
    {
        std::stringstream ss;
        ss << MountPose.Serialize();
        ss << GyroTrim.Serialize();
        ss << Pigeon2Features.Serialize();
        return ss.str();
    }
 
    /**
     * \brief Take a string and deserialize it to this configuration
     */
    ctre::phoenix::StatusCode Deserialize(const std::string& string)
    {
        ctre::phoenix::StatusCode err = ctre::phoenix::StatusCode::OK;
        err = MountPose.Deserialize(string);
        err = GyroTrim.Deserialize(string);
        err = Pigeon2Features.Deserialize(string);
        return err;
    }
};
 
/**
 * Class description for the Pigeon 2 IMU sensor that measures orientation.
 *
 * This handles the configurations for the hardware#Pigeon2
 */
class Pigeon2Configurator : public ParentConfigurator
{
    Pigeon2Configurator (hardware::DeviceIdentifier id):
        ParentConfigurator{std::move(id)}
    {}
 
    friend hardware::core::CorePigeon2;
public:
 
    /**
     * Delete the copy constructor, we can only pass by reference
     */
    Pigeon2Configurator(const Pigeon2Configurator&) = delete;
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(Pigeon2Configuration& configs) const
    {
        return Refresh(configs, defaultTimeoutSeconds);
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(Pigeon2Configuration& configs, units::time::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const Pigeon2Configuration& configs)
    {
        return Apply(configs, defaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const Pigeon2Configuration& configs, units::time::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, configs.FutureProofConfigs, false);
    }
 
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(MountPoseConfigs& configs) const
    {
        return Refresh(configs, defaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(MountPoseConfigs& configs, units::time::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const MountPoseConfigs& configs)
    {
        return Apply(configs, defaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const MountPoseConfigs& configs, units::time::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(GyroTrimConfigs& configs) const
    {
        return Refresh(configs, defaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(GyroTrimConfigs& configs, units::time::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const GyroTrimConfigs& configs)
    {
        return Apply(configs, defaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const GyroTrimConfigs& configs, units::time::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(Pigeon2FeaturesConfigs& configs) const
    {
        return Refresh(configs, defaultTimeoutSeconds);
    }
    /**
     * \brief Refreshes the values of the specified config group.
     *
     * \details Call to refresh the selected configs from the device.
     *
     * \param configs The configs to refresh
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of refreshing the configs
     */
    ctre::phoenix::StatusCode Refresh(Pigeon2FeaturesConfigs& configs, units::time::second_t timeoutSeconds) const
    {
        std::string ref;
        ctre::phoenix::StatusCode ret = GetConfigsPrivate(ref, timeoutSeconds);
        configs.Deserialize(ref);
        return ret;
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const Pigeon2FeaturesConfigs& configs)
    {
        return Apply(configs, defaultTimeoutSeconds);
    }
 
    /**
     * \brief Applies the contents of the specified config to the device.
     *
     * \details Call to apply the selected configs.
     *
     * \param configs Configs to apply against.
     * \param timeoutSeconds Maximum amount of time to wait when performing configuration
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode Apply(const Pigeon2FeaturesConfigs& configs, units::time::second_t timeoutSeconds)
    {
        return SetConfigsPrivate(configs.Serialize(), timeoutSeconds, false, false);
    }
 
    
    /**
     * \brief The yaw to set the Pigeon2 to right now.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     *
     * \param newValue Value to set to.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue)
    {
        return SetYaw(newValue, defaultTimeoutSeconds);
    }
    /**
     * \brief The yaw to set the Pigeon2 to right now.
     *
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     *
     * \param newValue Value to set to.
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
    {
        std::stringstream ss;
        char *ref;
        c_ctre_phoenixpro_serialize_double(1012, newValue.to<double>(), &ref); if(ref != nullptr) { ss << ref; free(ref); }
        return SetConfigsPrivate(ss.str(), timeoutSeconds, false, true);
    }
    
    /**
     * \brief Clear the sticky faults in the device.
     *
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     *
     * This will wait up to #defaultTimeoutSeconds.
     *
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults()
    {
        return ClearStickyFaults(defaultTimeoutSeconds);
    }
    /**
     * \brief Clear the sticky faults in the device.
     *
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     *
     * This is available in the configurator in case the user wants
     * to initialize their device entirely without passing a device
     * reference down to the code that performs the initialization.
     * In this case, the user passes down the configurator object
     * and performs all the initialization code on the object.
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
    {
        std::stringstream ss;
        char *ref;
        c_ctre_phoenixpro_serialize_double(1476, 0, &ref); if(ref != nullptr) { ss << ref; free(ref); }
        return SetConfigsPrivate(ss.str(), timeoutSeconds, false, true);
    }
};
 
}
 
namespace hardware {
namespace core {
 
/**
 * Class description for the Pigeon 2 IMU sensor that measures orientation.
 */
class CorePigeon2 : public ParentDevice
{
private:
    configs::Pigeon2Configurator _configs;
 
    bool _isInitialized = false;
    bool _isVersionOk = false;
    StatusSignalValue<int> &_version = GetVersion();
    double _timeToRefreshVersion = GetCurrentTimeSeconds();
 
    StatusSignalValue<int> &_resetFlags = LookupStatusSignalValue<int>(ctre::phoenixpro::spns::SpnValue::Startup_ResetFlags, "ResetFlags", false);
    units::time::second_t _resetTimestamp{0_s};
 
    double _creationTime = GetCurrentTimeSeconds();
 
    void ReportIfTooOld();
 
 
public:
    /**
     * Constructs a new Pigeon 2 sensor 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
     */
    CorePigeon2(int deviceId, std::string canbus = "");
 
    CorePigeon2(CorePigeon2 const &) = delete;
    CorePigeon2 &operator=(CorePigeon2 const &) = delete;
 
    /**
     * \returns true if device has reset since the previous call of this routine.
     */
    bool HasResetOccurred();
 
    /**
     * \brief Gets the configurator for this Pigeon2
     *
     * \details Gets the configurator for this Pigeon2
     *
     * \returns Configurator for this Pigeon2
     */
    configs::Pigeon2Configurator &GetConfigurator()
    {
        return _configs;
    }
 
    /**
     * \brief Gets the configurator for this Pigeon2
     *
     * \details Gets the configurator for this Pigeon2
     *
     * \returns Configurator for this Pigeon2
     */
    configs::Pigeon2Configurator const &GetConfigurator() const
    {
        return _configs;
    }
 
 
private:
    std::unique_ptr<sim::Pigeon2SimState> _simState{};
public:
    /**
     * \brief Get the simulation state for this device.
     *
     * \details This function reuses an allocated simulation
     * state object, so it is safe to call this function multiple
     * times in a robot loop.
     *
     * \returns Simulation state
     */
    sim::Pigeon2SimState &GetSimState()
    {
        if (_simState == nullptr)
            _simState = std::make_unique<sim::Pigeon2SimState>(*this);
        return *_simState;
    }
 
 
    
    /**
     * \brief App Major Version number.
     *
     *  Minimum Value: 0
     *  Maximum Value: 255
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  VersionMajor Status Signal Value object
     */
    StatusSignalValue<int> &GetVersionMajor();
    
    /**
     * \brief App Minor Version number.
     *
     *  Minimum Value: 0
     *  Maximum Value: 255
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  VersionMinor Status Signal Value object
     */
    StatusSignalValue<int> &GetVersionMinor();
    
    /**
     * \brief App Bugfix Version number.
     *
     *  Minimum Value: 0
     *  Maximum Value: 255
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  VersionBugfix Status Signal Value object
     */
    StatusSignalValue<int> &GetVersionBugfix();
    
    /**
     * \brief App Build Version number.
     *
     *  Minimum Value: 0
     *  Maximum Value: 255
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  VersionBuild Status Signal Value object
     */
    StatusSignalValue<int> &GetVersionBuild();
    
    /**
     * \brief Full Version.  The format is a four byte value.
     *
     * \details Full Version of firmware in device. The format is a four
     * byte value.
     *
     *  Minimum Value: 0
     *  Maximum Value: 4294967295
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Version Status Signal Value object
     */
    StatusSignalValue<int> &GetVersion();
    
    /**
     * \brief Integer representing all faults
     *
     * \details This returns the fault flags reported by the device. These
     * are device specific and are not used directly in typical
     * applications. Use the signal specific GetFault_*() methods instead.
     *  
     *
     *  Minimum Value: 0
     *  Maximum Value: 1048575
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  FaultField Status Signal Value object
     */
    StatusSignalValue<int> &GetFaultField();
    
    /**
     * \brief Integer representing all sticky faults
     *
     * \details This returns the persistent "sticky" fault flags reported
     * by the device. These are device specific and are not used directly
     * in typical applications. Use the signal specific GetStickyFault_*()
     * methods instead.  
     *
     *  Minimum Value: 0
     *  Maximum Value: 1048575
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFaultField Status Signal Value object
     */
    StatusSignalValue<int> &GetStickyFaultField();
    
    /**
     * \brief Current reported yaw of the Pigeon2.
     *
     *  Minimum Value: -368640.0
     *  Maximum Value: 368639.99725341797
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN: 100.0 Hz
     *
     * \returns  Yaw Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetYaw();
    
    /**
     * \brief Current reported pitch of the Pigeon2.
     *
     *  Minimum Value: -90.0
     *  Maximum Value: 89.9560546875
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN: 100.0 Hz
     *
     * \returns  Pitch Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetPitch();
    
    /**
     * \brief Current reported roll of the Pigeon2.
     *
     *  Minimum Value: -180.0
     *  Maximum Value: 179.9560546875
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN: 100.0 Hz
     *
     * \returns  Roll Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetRoll();
    
    /**
     * \brief The W component of the reported Quaternion.
     *
     *  Minimum Value: -1.0001220852154804
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 50.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  QuatW Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetQuatW();
    
    /**
     * \brief The X component of the reported Quaternion.
     *
     *  Minimum Value: -1.0001220852154804
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 50.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  QuatX Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetQuatX();
    
    /**
     * \brief The Y component of the reported Quaternion.
     *
     *  Minimum Value: -1.0001220852154804
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 50.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  QuatY Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetQuatY();
    
    /**
     * \brief The Z component of the reported Quaternion.
     *
     *  Minimum Value: -1.0001220852154804
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 50.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  QuatZ Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetQuatZ();
    
    /**
     * \brief The X component of the gravity vector.
     *
     * \details This is the X component of the reported gravity-vector.
     * The gravity vector is not the acceleration experienced by the
     * Pigeon2, rather it is where the Pigeon2 believes "Down" is. This
     * can be used for mechanisms that are linearly related to gravity,
     * such as an arm pivoting about a point, as the contribution of
     * gravity to the arm is directly proportional to the contribution of
     * gravity about one of these primary axis.
     *
     *  Minimum Value: -1.000030518509476
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  GravityVectorX Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetGravityVectorX();
    
    /**
     * \brief The Y component of the gravity vector.
     *
     * \details This is the X component of the reported gravity-vector.
     * The gravity vector is not the acceleration experienced by the
     * Pigeon2, rather it is where the Pigeon2 believes "Down" is. This
     * can be used for mechanisms that are linearly related to gravity,
     * such as an arm pivoting about a point, as the contribution of
     * gravity to the arm is directly proportional to the contribution of
     * gravity about one of these primary axis.
     *
     *  Minimum Value: -1.000030518509476
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  GravityVectorY Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetGravityVectorY();
    
    /**
     * \brief The Z component of the gravity vector.
     *
     * \details This is the Z component of the reported gravity-vector.
     * The gravity vector is not the acceleration experienced by the
     * Pigeon2, rather it is where the Pigeon2 believes "Down" is. This
     * can be used for mechanisms that are linearly related to gravity,
     * such as an arm pivoting about a point, as the contribution of
     * gravity to the arm is directly proportional to the contribution of
     * gravity about one of these primary axis.
     *
     *  Minimum Value: -1.000030518509476
     *  Maximum Value: 1.0
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  GravityVectorZ Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetGravityVectorZ();
    
    /**
     * \brief Temperature of the Pigeon 2.
     *
     *  Minimum Value: -128.0
     *  Maximum Value: 127.99609375
     *  Default Value: 0
     *  Units: ℃
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  Temperature Status Signal Value object
     */
    StatusSignalValue<units::temperature::celsius_t> &GetTemperature();
    
    /**
     * \brief Whether the no-motion calibration feature is enabled.
     *
     *  Default Value: 0
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  NoMotionEnabled Status Signal Value object
     */
    StatusSignalValue<bool> &GetNoMotionEnabled();
    
    /**
     * \brief The number of times a no-motion event occurred, wraps at 15.
     *
     *  Minimum Value: 0
     *  Maximum Value: 15
     *  Default Value: 0
     *  Units: 
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  NoMotionCount Status Signal Value object
     */
    StatusSignalValue<units::dimensionless::scalar_t> &GetNoMotionCount();
    
    /**
     * \brief Whether the temperature-compensation feature is disabled.
     *
     *  Default Value: 0
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  TemperatureCompensationDisabled Status Signal Value object
     */
    StatusSignalValue<bool> &GetTemperatureCompensationDisabled();
    
    /**
     * \brief How long the Pigeon 2's been up in seconds, caps at 255
     * seconds.
     *
     *  Minimum Value: 0
     *  Maximum Value: 255
     *  Default Value: 0
     *  Units: s
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  UpTime Status Signal Value object
     */
    StatusSignalValue<units::time::second_t> &GetUpTime();
    
    /**
     * \brief The accumulated gyro about the X axis without any sensor
     * fusing.
     *
     *  Minimum Value: -23040.0
     *  Maximum Value: 23039.9560546875
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccumGyroX Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetAccumGyroX();
    
    /**
     * \brief The accumulated gyro about the Y axis without any sensor
     * fusing.
     *
     *  Minimum Value: -23040.0
     *  Maximum Value: 23039.9560546875
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccumGyroY Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetAccumGyroY();
    
    /**
     * \brief The accumulated gyro about the Z axis without any sensor
     * fusing.
     *
     *  Minimum Value: -23040.0
     *  Maximum Value: 23039.9560546875
     *  Default Value: 0
     *  Units: deg
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccumGyroZ Status Signal Value object
     */
    StatusSignalValue<units::angle::degree_t> &GetAccumGyroZ();
    
    /**
     * \brief The angular velocity (ω) of the Pigeon 2 about the X axis.
     *
     *  Minimum Value: -1998.048780487805
     *  Maximum Value: 1997.987804878049
     *  Default Value: 0
     *  Units: dps
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AngularVelocityX Status Signal Value object
     */
    StatusSignalValue<units::angular_velocity::degrees_per_second_t> &GetAngularVelocityX();
    
    /**
     * \brief The angular velocity (ω) of the Pigeon 2 about the Y axis.
     *
     *  Minimum Value: -1998.048780487805
     *  Maximum Value: 1997.987804878049
     *  Default Value: 0
     *  Units: dps
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AngularVelocityY Status Signal Value object
     */
    StatusSignalValue<units::angular_velocity::degrees_per_second_t> &GetAngularVelocityY();
    
    /**
     * \brief The angular velocity (ω) of the Pigeon 2 about the Z axis.
     *
     *  Minimum Value: -1998.048780487805
     *  Maximum Value: 1997.987804878049
     *  Default Value: 0
     *  Units: dps
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AngularVelocityZ Status Signal Value object
     */
    StatusSignalValue<units::angular_velocity::degrees_per_second_t> &GetAngularVelocityZ();
    
    /**
     * \brief The acceleration measured by Pigeon2 in the X direction.
     *
     * \details This value includes the acceleration due to gravity. If
     * this is undesirable, get the gravity vector and subtract out the
     * contribution in this direction.
     *
     *  Minimum Value: -2.0
     *  Maximum Value: 1.99993896484375
     *  Default Value: 0
     *  Units: g
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccelerationX Status Signal Value object
     */
    StatusSignalValue<units::acceleration::standard_gravity_t> &GetAccelerationX();
    
    /**
     * \brief The acceleration measured by Pigeon2 in the Y direction.
     *
     * \details This value includes the acceleration due to gravity. If
     * this is undesirable, get the gravity vector and subtract out the
     * contribution in this direction.
     *
     *  Minimum Value: -2.0
     *  Maximum Value: 1.99993896484375
     *  Default Value: 0
     *  Units: g
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccelerationY Status Signal Value object
     */
    StatusSignalValue<units::acceleration::standard_gravity_t> &GetAccelerationY();
    
    /**
     * \brief The acceleration measured by Pigeon2 in the Z direction.
     *
     * \details This value includes the acceleration due to gravity. If
     * this is undesirable, get the gravity vector and subtract out the
     * contribution in this direction.
     *
     *  Minimum Value: -2.0
     *  Maximum Value: 1.99993896484375
     *  Default Value: 0
     *  Units: g
     *
     * Default Rates:
     *  CAN 2.0: 10.0 Hz
     *  CAN FD: 100.0 Hz
     *
     * \returns  AccelerationZ Status Signal Value object
     */
    StatusSignalValue<units::acceleration::standard_gravity_t> &GetAccelerationZ();
    
    /**
     * \brief Measured supply voltage to the Pigeon2.
     *
     *  Minimum Value: 0.0
     *  Maximum Value: 31.99951171875
     *  Default Value: 0
     *  Units: V
     *
     * Default Rates:
     *  CAN: 10.0 Hz
     *
     * \returns  SupplyVoltage Status Signal Value object
     */
    StatusSignalValue<units::voltage::volt_t> &GetSupplyVoltage();
    
    /**
     * \brief The biased magnitude of the magnetic field measured by the
     * Pigeon 2 in the X direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  MagneticFieldX Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetMagneticFieldX();
    
    /**
     * \brief The biased magnitude of the magnetic field measured by the
     * Pigeon 2 in the Y direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  MagneticFieldY Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetMagneticFieldY();
    
    /**
     * \brief The biased magnitude of the magnetic field measured by the
     * Pigeon 2 in the Z direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  MagneticFieldZ Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetMagneticFieldZ();
    
    /**
     * \brief The raw magnitude of the magnetic field measured by the
     * Pigeon 2 in the X direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  RawMagneticFieldX Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetRawMagneticFieldX();
    
    /**
     * \brief The raw magnitude of the magnetic field measured by the
     * Pigeon 2 in the Y direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  RawMagneticFieldY Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetRawMagneticFieldY();
    
    /**
     * \brief The raw magnitude of the magnetic field measured by the
     * Pigeon 2 in the Z direction. This is only valid after performing a
     * magnetometer calibration.
     *
     *  Minimum Value: -19660.8
     *  Maximum Value: 19660.2
     *  Default Value: 0
     *  Units: uT
     *
     * Default Rates:
     *  CAN: 5.0 Hz
     *
     * \returns  RawMagneticFieldZ Status Signal Value object
     */
    StatusSignalValue<units::magnetic_field_strength::microtesla_t> &GetRawMagneticFieldZ();
    
    /**
     * \brief Hardware fault occurred
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_Hardware Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_Hardware();
    
    /**
     * \brief Hardware fault occurred
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_Hardware Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_Hardware();
    
    /**
     * \brief Device supply voltage dropped to near brownout levels
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_Undervoltage Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_Undervoltage();
    
    /**
     * \brief Device supply voltage dropped to near brownout levels
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_Undervoltage Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_Undervoltage();
    
    /**
     * \brief Device boot while detecting the enable signal
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_BootDuringEnable Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_BootDuringEnable();
    
    /**
     * \brief Device boot while detecting the enable signal
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_BootDuringEnable Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_BootDuringEnable();
    
    /**
     * \brief Bootup checks failed: Accelerometer
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_BootupAccelerometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_BootupAccelerometer();
    
    /**
     * \brief Bootup checks failed: Accelerometer
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_BootupAccelerometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_BootupAccelerometer();
    
    /**
     * \brief Bootup checks failed: Gyroscope
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_BootupGyroscope Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_BootupGyroscope();
    
    /**
     * \brief Bootup checks failed: Gyroscope
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_BootupGyroscope Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_BootupGyroscope();
    
    /**
     * \brief Bootup checks failed: Magnetometer
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_BootupMagnetometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_BootupMagnetometer();
    
    /**
     * \brief Bootup checks failed: Magnetometer
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_BootupMagnetometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_BootupMagnetometer();
    
    /**
     * \brief Motion Detected during bootup.
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_BootIntoMotion Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_BootIntoMotion();
    
    /**
     * \brief Motion Detected during bootup.
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_BootIntoMotion Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_BootIntoMotion();
    
    /**
     * \brief Motion stack data acquisition was slower than expected
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_DataAcquiredLate Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_DataAcquiredLate();
    
    /**
     * \brief Motion stack data acquisition was slower than expected
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_DataAcquiredLate Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_DataAcquiredLate();
    
    /**
     * \brief Motion stack loop time was slower than expected.
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_LoopTimeSlow Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_LoopTimeSlow();
    
    /**
     * \brief Motion stack loop time was slower than expected.
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_LoopTimeSlow Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_LoopTimeSlow();
    
    /**
     * \brief Magnetometer values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_SaturatedMagneter Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_SaturatedMagneter();
    
    /**
     * \brief Magnetometer values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_SaturatedMagneter Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_SaturatedMagneter();
    
    /**
     * \brief Accelerometer values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_SaturatedAccelometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_SaturatedAccelometer();
    
    /**
     * \brief Accelerometer values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_SaturatedAccelometer Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_SaturatedAccelometer();
    
    /**
     * \brief Gyroscope values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  Fault_SaturatedGyrosscope Status Signal Value object
     */
    StatusSignalValue<bool> &GetFault_SaturatedGyrosscope();
    
    /**
     * \brief Gyroscope values are saturated
     *
     *  Default Value: False
     *
     * Default Rates:
     *  CAN: 4.0 Hz
     *
     * \returns  StickyFault_SaturatedGyrosscope Status Signal Value object
     */
    StatusSignalValue<bool> &GetStickyFault_SaturatedGyrosscope();
 
 
 
    /**
     * \brief Control motor with generic control request object. User must make
     *        sure the specified object is castable to a valid control request,
     *        otherwise this function will fail at run-time and return the NotSupported
     *        StatusCode
     *
     * \param request                Control object to request of the device
     * \returns Status Code of the request, 0 is OK
     */
    ctre::phoenix::StatusCode SetControl(controls::ControlRequest& request)
    {
        controls::ControlRequest *ptr = &request;
        (void)ptr;
        
        return ctre::phoenix::StatusCode::NotSupported;
    }
    /**
     * \brief Control motor with generic control request object. User must make
     *        sure the specified object is castable to a valid control request,
     *        otherwise this function will fail at run-time and return the corresponding
     *        StatusCode
     *
     * \param request                Control object to request of the device
     * \returns Status Code of the request, 0 is OK
     */
    ctre::phoenix::StatusCode SetControl(controls::ControlRequest&& request)
    {
        return SetControl(request);
    }
 
    
    /**
     * \brief The yaw to set the Pigeon2 to right now.
     *
     * \param newValue Value to set to.
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
    {
        return GetConfigurator().SetYaw(newValue, timeoutSeconds);
    }
    /**
     * \brief The yaw to set the Pigeon2 to right now.
     *
     * This will wait up to 0.050 seconds (50ms) by default.
     *
     * \param newValue Value to set to.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue)
    {
        return SetYaw(newValue, 0.050_s);
    }
    
    /**
     * \brief Clear the sticky faults in the device.
     *
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     * \param timeoutSeconds Maximum time to wait up to in seconds.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
    {
        return GetConfigurator().ClearStickyFaults(timeoutSeconds);
    }
    /**
     * \brief Clear the sticky faults in the device.
     *
     * \details This typically has no impact on the device functionality. 
     * Instead, it just clears telemetry faults that are accessible via
     * API and Tuner Self-Test.
     *
     * This will wait up to 0.050 seconds (50ms) by default.
     * \returns StatusCode of the set command
     */
    ctre::phoenix::StatusCode ClearStickyFaults()
    {
        return ClearStickyFaults(0.050_s);
    }
};
 
}
}
 
}
}