ServoHubSimFaultManager.h

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/*
 * Copyright (c) 2024 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.
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 * 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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#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_
 
#include <string>
 
#include <hal/SimDevice.h>
 
#include "rev/ServoHub.h"
 
namespace rev::servohub {
 
class ServoHubSimFaultManager {
public:
    explicit ServoHubSimFaultManager(ServoHub* servoHub);
 
    ServoHubSimFaultManager() = delete;
 
    void SetFaults(const ServoHub::Faults& faults);
 
    void SetStickyFaults(const ServoHub::Faults& faults);
 
    void SetWarnings(const ServoHub::Warnings& warnings);
 
    void SetStickyWarnings(const ServoHub::Warnings& warnings);
 
private:
    void SetupSimDevice();
 
    hal::SimBoolean m_regulatorPGoodFault;
    hal::SimBoolean m_firmwareFault;
    hal::SimBoolean m_hardwareFault;
    hal::SimBoolean m_lowBatteryFault;
 
    hal::SimBoolean m_regulatorPGoodStickyFault;
    hal::SimBoolean m_firmwareStickyFault;
    hal::SimBoolean m_hardwareStickyFault;
    hal::SimBoolean m_lowBatteryStickyFault;
 
    hal::SimBoolean m_brownoutWarning;
    hal::SimBoolean m_canWarning;
    hal::SimBoolean m_canBusOffWarning;
    hal::SimBoolean m_hasResetWarning;
    hal::SimBoolean m_channel0OvercurrentWarning;
    hal::SimBoolean m_channel1OvercurrentWarning;
    hal::SimBoolean m_channel2OvercurrentWarning;
    hal::SimBoolean m_channel3OvercurrentWarning;
    hal::SimBoolean m_channel4OvercurrentWarning;
    hal::SimBoolean m_channel5OvercurrentWarning;
 
    hal::SimBoolean m_brownoutStickyWarning;
    hal::SimBoolean m_canStickyWarning;
    hal::SimBoolean m_canBusOffStickyWarning;
    hal::SimBoolean m_hasResetStickyWarning;
    hal::SimBoolean m_channel0OvercurrentStickyWarning;
    hal::SimBoolean m_channel1OvercurrentStickyWarning;
    hal::SimBoolean m_channel2OvercurrentStickyWarning;
    hal::SimBoolean m_channel3OvercurrentStickyWarning;
    hal::SimBoolean m_channel4OvercurrentStickyWarning;
    hal::SimBoolean m_channel5OvercurrentStickyWarning;
 
    ServoHub* m_servoHub;
    std::string simDeviceName;
};
 
}  // namespace rev::servohub
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_