ServoHub.h

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/*
 * Copyright (c) 2024-2026 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
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include <stdint.h>
 
#include <vector>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "rev/ConfigureTypes.h"
#include "rev/REVLibError.h"
#include "rev/ServoChannel.h"
#include "rev/ServoHubLowLevel.h"
#include "rev/config/ServoHubConfig.h"
#include "rev/config/ServoHubConfigAccessor.h"
#include "rev/util/Signal.h"
 
namespace rev::servohub {
 
class ServoHub : public ServoHubLowLevel {
    friend class ServoHubSim;
 
public:
    ServoHubConfigAccessor configAccessor;
 
public:
    ServoHub(wpi::CANPort canPort, int deviceID);
 
    ~ServoHub() override;
 
    enum class ResetMode { kNoResetSafeParameters, kResetSafeParameters };
 
    REVLibError Configure(
        ServoHubConfig& config,
        rev::ResetMode resetMode = rev::ResetMode::kNoResetSafeParameters);
 
    REVLibError ConfigureAsync(
        ServoHubConfig& config,
        rev::ResetMode resetMode = rev::ResetMode::kNoResetSafeParameters);
 
    rev::util::Signal<bool> HasActiveFault() const;
 
    rev::util::Signal<bool> HasStickyFault() const;
 
    rev::util::Signal<bool> HasActiveWarning() const;
 
    rev::util::Signal<bool> HasStickyWarning() const;
 
    struct Faults {
        bool regulatorPowerGood{};
        bool hardware{};
        bool firmware{};
        bool lowBattery{};
        uint16_t rawBits{};
 
        Faults() = default;
        explicit Faults(uint16_t faults);
    };
 
    rev::util::Signal<Faults> GetFaults() const;
 
    rev::util::Signal<Faults> GetStickyFaults() const;
 
    struct Warnings {
        bool brownout{};
        bool canWarning{};
        bool canBusOff{};
        bool hasReset{};
        bool channel0Overcurrent{};
        bool channel1Overcurrent{};
        bool channel2Overcurrent{};
        bool channel3Overcurrent{};
        bool channel4Overcurrent{};
        bool channel5Overcurrent{};
        uint16_t rawBits{};
 
        Warnings() = default;
        explicit Warnings(uint16_t warnings);
    };
 
    rev::util::Signal<Warnings> GetWarnings() const;
 
    rev::util::Signal<Warnings> GetStickyWarnings() const;
 
    REVLibError ClearFaults();
 
    rev::util::Signal<double> GetDeviceVoltage() const;
 
    rev::util::Signal<double> GetDeviceCurrent() const;
 
    rev::util::Signal<double> GetServoVoltage() const;
 
    ServoChannel& GetServoChannel(ServoChannel::ChannelId channelId);
 
    enum class Bank { kBank0_2 = 0, kBank3_5 = 1 };
 
    REVLibError SetBankPulsePeriod(Bank bank, int pulsePeriod_us);
 
private:
    std::vector<ServoChannel> m_servoChannels;
};
 
}  // namespace rev::servohub