SignalsConfig.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
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#pragma once
 
#include "rev/config/BaseConfig.h"
 
namespace rev::spark {
 
class SignalsConfig : public BaseConfig {
public:
    SignalsConfig() = default;
    ~SignalsConfig() override = default;
 
    SignalsConfig(const SignalsConfig&) = default;
    SignalsConfig& operator=(const SignalsConfig&) = delete;
    SignalsConfig(SignalsConfig&&) noexcept = delete;
    SignalsConfig& operator=(SignalsConfig&&) noexcept = delete;
 
    SignalsConfig& Apply(SignalsConfig& config);
 
    SignalsConfig& AppliedOutputPeriodMs(int periodMs);
 
    SignalsConfig& BusVoltagePeriodMs(int periodMs);
 
    SignalsConfig& OutputCurrentPeriodMs(int periodMs);
 
    SignalsConfig& MotorTemperaturePeriodMs(int periodMs);
 
    SignalsConfig& LimitsPeriodMs(int periodMs);
 
    SignalsConfig& FaultsPeriodMs(int periodMs);
 
    SignalsConfig& FaultsAlwaysOn(bool enabled);
 
    SignalsConfig& WarningsPeriodMs(int periodMs);
 
    SignalsConfig& WarningsAlwaysOn(bool enabled);
 
    SignalsConfig& PrimaryEncoderVelocityPeriodMs(int periodMs);
 
    SignalsConfig& PrimaryEncoderVelocityAlwaysOn(bool enabled);
 
    SignalsConfig& PrimaryEncoderPositionPeriodMs(int periodMs);
 
    SignalsConfig& PrimaryEncoderPositionAlwaysOn(bool enabled);
 
    SignalsConfig& AnalogVoltagePeriodMs(int periodMs);
 
    SignalsConfig& AnalogVoltageAlwaysOn(bool enabled);
 
    SignalsConfig& AnalogVelocityPeriodMs(int periodMs);
 
    SignalsConfig& AnalogVelocityAlwaysOn(bool enabled);
 
    SignalsConfig& AnalogPositionPeriodMs(int periodMs);
 
    SignalsConfig& AnalogPositionAlwaysOn(bool enabled);
 
    SignalsConfig& ExternalOrAltEncoderVelocity(int periodMs);
 
    SignalsConfig& ExternalOrAltEncoderVelocityAlwaysOn(bool enabled);
 
    SignalsConfig& ExternalOrAltEncoderPosition(int periodMs);
 
    SignalsConfig& ExternalOrAltEncoderPositionAlwaysOn(bool enabled);
 
    SignalsConfig& AbsoluteEncoderVelocityPeriodMs(int periodMs);
 
    SignalsConfig& AbsoluteEncoderVelocityAlwaysOn(bool enabled);
 
    SignalsConfig& AbsoluteEncoderPositionPeriodMs(int periodMs);
 
    SignalsConfig& AbsoluteEncoderPositionAlwaysOn(bool enabled);
 
    SignalsConfig& UnadjustedDutyCyclePeriodMs(int periodMs);
 
    SignalsConfig& UnadjustedDutyCyclePeriodAlwaysOn(bool enabled);
 
    SignalsConfig& DutyCyclePeriodMs(int periodMs);
 
    SignalsConfig& DutyCyclePeriodAlwaysOn(bool enabled);
 
    SignalsConfig& IAccumulationPeriodMs(int periodMs);
 
    SignalsConfig& IAccumulationAlwaysOn(bool enabled);
 
    SignalsConfig& SetpointPeriodMs(int periodMs);
 
    SignalsConfig& SetpointAlwaysOn(bool enabled);
 
    SignalsConfig& IsAtSetpointPeriodMs(int periodMs);
 
    SignalsConfig& IsAtSetpointAlwaysOn(bool enabled);
 
    SignalsConfig& SelectedSlotPeriodMs(int periodMs);
 
    SignalsConfig& SelectedSlotAlwaysOn(bool enabled);
 
    SignalsConfig& MaxMotionSetpointPositionPeriodMs(int periodMs);
 
    SignalsConfig& MaxMotionSetpointPositionAlwaysOn(bool enabled);
 
    SignalsConfig& MaxMotionSetpointVelocityPeriodMs(int periodMs);
 
    SignalsConfig& MaxMotionSetpointVelocityAlwaysOn(bool enabled);
 
private:
    void SetPeriodMsCore(int parameterId, int periodMs);
    void SetAlwaysOnCore(int parameterId, bool enabled);
};  // class SignalsConfig
 
}  // namespace rev::spark