DetachedEncoderLowLevel.h

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/*
 * Copyright (c) 2025-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 */
 
#pragma once
 
#include <stdint.h>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
namespace rev::detached {
 
class DetachedEncoderLowLevel {
public:
    virtual ~DetachedEncoderLowLevel();
 
    wpi::CANPort GetCanPort() const;
 
    int GetDeviceId() const;
 
    enum class EncoderModel {
        kUnknown = 0,
        kMAXSplineEncoder = 1,
    };
 
    EncoderModel GetEncoderModel() const;
 
    struct FirmwareVersion {
        int year;
        int minor;
        int fix;
        int prerelease;
        int hardwareMajor;
        int hardwareMinor;
    };
 
    FirmwareVersion GetFirmwareVersion() const;
 
    struct PeriodicStatus0 {
        EncoderModel model;
    };
 
    PeriodicStatus0 GetPeriodicStatus0() const;
 
    struct PeriodicStatus1 {
        bool unexpectedFault;
        bool hasResetFault;
        bool canTxFault;
        bool canRxFault;
        bool eepromFault;
        bool stickyUnexpectedFault;
        bool stickyHasResetFault;
        bool stickyCanTxFault;
        bool stickyCanRxFault;
        bool stickyEepromFault;
        uint64_t timestamp;
    };
 
    rev::util::Signal<PeriodicStatus1> GetPeriodicStatus1() const;
 
    struct PeriodicStatus2 {
        float rawAngle;
        float angle;
        uint64_t timestamp;
    };
 
    rev::util::Signal<PeriodicStatus2> GetPeriodicStatus2() const;
 
    struct PeriodicStatus3 {
        float position;
        uint64_t timestamp;
    };
 
    rev::util::Signal<PeriodicStatus3> GetPeriodicStatus3() const;
 
    struct PeriodicStatus4 {
        float velocity;
        uint64_t timestamp;
    };
 
    rev::util::Signal<PeriodicStatus4> GetPeriodicStatus4() const;
 
    void CreateSimFaultManager();
 
protected:
    DetachedEncoderLowLevel(wpi::CANPort canPort, int deviceID,
                            EncoderModel model);
 
    // Opaque pointer to underlying driver.
    void* m_detachedEncoderHandle{nullptr};
 
private:
    int m_busID;
    int m_deviceID;
};
 
}  // namespace rev::detached