ServoHubLowLevel.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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#pragma once
 
#include <stdint.h>
 
#include <string>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
namespace rev::servohub {
 
class ServoHubLowLevel {
    friend class ServoChannel;
    friend class ServoHubSimFaultManager;
 
public:
    virtual ~ServoHubLowLevel();
 
    wpi::CANPort GetCanPort() const;
 
    int GetDeviceId() const;
 
    struct FirmwareVersion {
        uint8_t firmwareFix;
        uint8_t firmwareMinor;
        uint8_t firmwareYear;
        uint8_t hardwareMinor;
        uint8_t hardwareMajor;
    };
    FirmwareVersion GetFirmwareVersion() const;
 
    std::string GetFirmwareVersionString() const;
 
    void SetPeriodicFrameTimeout(int timeout_ms);
 
    REVLibError SetCANTimeout(int timeout_ms);
 
    void SetCANMaxRetries(int numRetries);
 
    void SetControlFramePeriodMs(int period_ms);
 
    int GetControlFramePeriodMs() const;
 
    enum class CommunicationMode { kNone = 0, kCAN = 1, kRS_485 = 2 };
 
    struct PeriodicStatus0 {
        double voltage;
        double servoVoltage;
        double deviceCurrent;
        bool primaryHeartbeatLock;
        bool systemEnabled;
        CommunicationMode communicationMode;
        bool programmingEnabled;
        bool activelyProgramming;
        uint64_t timestamp;
    };
    rev::util::Signal<PeriodicStatus0> GetPeriodicStatus0() const;
 
    struct PeriodicStatus1 {
        bool regulatorPowerGoodFault;
        bool brownout;
        bool canWarning;
        bool canBusOff;
        bool hardwareFault;
        bool firmwareFault;
        bool hasReset;
        bool lowBatteryFault;
        bool channel0Overcurrent;
        bool channel1Overcurrent;
        bool channel2Overcurrent;
        bool channel3Overcurrent;
        bool channel4Overcurrent;
        bool channel5Overcurrent;
        bool stickyRegulatorPowerGoodFault;
        bool stickyBrownout;
        bool stickyCanWarning;
        bool stickyCanBusOff;
        bool stickyHardwareFault;
        bool stickyFirmwareFault;
        bool stickyHasReset;
        bool stickyLowBatteryFault;
        bool stickyChannel0Overcurrent;
        bool stickyChannel1Overcurrent;
        bool stickyChannel2Overcurrent;
        bool stickyChannel3Overcurrent;
        bool stickyChannel4Overcurrent;
        bool stickyChannel5Overcurrent;
        uint64_t timestamp;
    };
    rev::util::Signal<PeriodicStatus1> GetPeriodicStatus1() const;
 
    struct PeriodicStatus2 {
        uint16_t channel0PulseWidth;
        uint16_t channel1PulseWidth;
        uint16_t channel2PulseWidth;
        bool channel0Enabled;
        bool channel1Enabled;
        bool channel2Enabled;
        bool channel0OutOfRange;
        bool channel1OutOfRange;
        bool channel2OutOfRange;
        uint64_t timestamp;
    };
    rev::util::Signal<PeriodicStatus2> GetPeriodicStatus2() const;
 
    struct PeriodicStatus3 {
        uint16_t channel3PulseWidth;
        uint16_t channel4PulseWidth;
        uint16_t channel5PulseWidth;
        bool channel3Enabled;
        bool channel4Enabled;
        bool channel5Enabled;
        bool channel3OutOfRange;
        bool channel4OutOfRange;
        bool channel5OutOfRange;
        uint64_t timestamp;
    };
    rev::util::Signal<PeriodicStatus3> GetPeriodicStatus3() const;
 
    struct PeriodicStatus4 {
        double channel0Current;
        double channel1Current;
        double channel2Current;
        double channel3Current;
        double channel4Current;
        double channel5Current;
        uint64_t timestamp;
    };
    rev::util::Signal<PeriodicStatus4> GetPeriodicStatus4() const;
 
    void CreateSimFaultManager();
 
protected:
    ServoHubLowLevel(wpi::CANPort canPort, int deviceID);
 
    // The type is void* because we don't want to expose c_ServoHub_handle to
    // the consumers of this header file
    void* m_servoHubHandle{nullptr};
 
private:
    int m_busID;
    int m_deviceID;
};
 
}  // namespace rev::servohub