SparkBase.h

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/*
 * Copyright (c) 2018-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
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 *    contributors may be used to endorse or promote products derived from
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#pragma once
 
#include <atomic>
 
#include <wpi/hardware/bus/CANPort.hpp>
 
#include "rev/ConfigureTypes.h"
#include "rev/REVLibError.h"
#include "rev/SparkAbsoluteEncoder.h"
#include "rev/SparkAnalogSensor.h"
#include "rev/SparkClosedLoopController.h"
#include "rev/SparkLimitSwitch.h"
#include "rev/SparkLowLevel.h"
#include "rev/SparkRelativeEncoder.h"
#include "rev/SparkSoftLimit.h"
#include "rev/util/Signal.h"
 
// Defined in HIL tester source
class ConfigBase;
 
namespace rev::spark {
 
class SparkBaseConfig;
 
class SparkBase : public SparkLowLevel {
    friend class SparkMax;
    friend class SparkFlex;
    friend class SparkLimitSwitch;
    friend class SparkSoftLimit;
    friend class SparkRelativeEncoder;
    friend class SparkMaxAlternateEncoder;
    friend class SparkAbsoluteEncoder;
    friend class SparkSim;
    friend class SparkClosedLoopController;
 
    // Defined in HIL tester source
    friend class ::ConfigBase;
 
public:
    enum class IdleMode { kCoast = 0, kBrake = 1 };
 
    enum class SoftLimitDirection { kForward, kReverse };
 
    enum class ResetMode { kNoResetSafeParameters, kResetSafeParameters };
 
    enum class PersistMode { kNoPersistParameters, kPersistParameters };
 
    struct Faults {
        bool other{};
        bool motorType{};
        bool sensor{};
        bool can{};
        bool temperature{};
        bool gateDriver{};
        bool escEeprom{};
        bool firmware{};
        int rawBits{};
 
        Faults() = default;
 
        explicit Faults(uint16_t faults) {
            rawBits = faults;
            other = (faults & 0x1) != 0;
            motorType = (faults & 0x2) != 0;
            sensor = (faults & 0x4) != 0;
            can = (faults & 0x8) != 0;
            temperature = (faults & 0x10) != 0;
            gateDriver = (faults & 0x20) != 0;
            escEeprom = (faults & 0x40) != 0;
            firmware = (faults & 0x80) != 0;
        }
    };
 
    struct Warnings {
        bool brownout{};
        bool overcurrent{};
        bool escEeprom{};
        bool extEeprom{};
        bool sensor{};
        bool stall{};
        bool hasReset{};
        bool other{};
        int rawBits{};
 
        Warnings() = default;
 
        explicit Warnings(uint16_t warnings) {
            rawBits = warnings;
            brownout = (warnings & 0x1) != 0;
            overcurrent = (warnings & 0x2) != 0;
            escEeprom = (warnings & 0x4) != 0;
            extEeprom = (warnings & 0x8) != 0;
            sensor = (warnings & 0x10) != 0;
            stall = (warnings & 0x20) != 0;
            hasReset = (warnings & 0x40) != 0;
            other = (warnings & 0x80) != 0;
        }
    };
 
    ~SparkBase() override = default;
 
    /**** Speed Controller Interface ****/
    void SetThrottle(double throttle) override;
 
    void SetVoltage(wpi::units::volt_t output) override;
 
    double GetThrottle() const override;
 
    [[deprecated("Use SparkBaseConfig.Inverted() with Configure() instead")]]
    void SetInverted(bool isInverted) override;
 
    [[deprecated(
        "Use SparkBaseConfigAccessor.GetInverted() via SparkMax.configAccessor "
        "or SparkFlex.configAccessor instead")]]
    bool GetInverted() const override;
 
    void Disable() override;
 
    void
    StopMotor();  // override; TODO: (2027 - StopMotor moved to MotorSafety)
 
    /* ***** Extended Functions ****** */
 
    virtual REVLibError Configure(SparkBaseConfig& config,
                                  rev::ResetMode resetMode,
                                  rev::PersistMode persistMode);
 
    virtual REVLibError ConfigureAsync(SparkBaseConfig& config,
                                       rev::ResetMode resetMode,
                                       rev::PersistMode persistMode);
 
    SparkRelativeEncoder& GetEncoder();
 
    SparkAnalogSensor& GetAnalog();
 
    virtual SparkAbsoluteEncoder& GetAbsoluteEncoder();
 
    SparkClosedLoopController& GetClosedLoopController();
 
    virtual SparkLimitSwitch& GetForwardLimitSwitch();
 
    virtual SparkLimitSwitch& GetReverseLimitSwitch();
 
    SparkSoftLimit& GetForwardSoftLimit();
 
    SparkSoftLimit& GetReverseSoftLimit();
 
    rev::REVLibError ResumeFollowerMode();
 
    rev::REVLibError ResumeFollowerModeAsync();
 
    rev::REVLibError PauseFollowerMode();
 
    rev::REVLibError PauseFollowerModeAsync();
 
    rev::util::Signal<bool> IsFollower() const;
 
    rev::util::Signal<bool> HasActiveFault() const;
 
    rev::util::Signal<bool> HasStickyFault() const;
 
    rev::util::Signal<bool> HasActiveWarning() const;
 
    rev::util::Signal<bool> HasStickyWarning() const;
 
    rev::util::Signal<Faults> GetFaults() const;
 
    rev::util::Signal<Faults> GetStickyFaults() const;
 
    rev::util::Signal<Warnings> GetWarnings() const;
 
    rev::util::Signal<Warnings> GetStickyWarnings() const;
 
    rev::util::Signal<double> GetBusVoltage() const;
 
    rev::util::Signal<double> GetAppliedOutput() const;
 
    rev::util::Signal<double> GetOutputCurrent() const;
 
    rev::util::Signal<double> GetMotorTemperature() const;
 
    REVLibError ClearFaults();
 
    REVLibError SetCANTimeout(int milliseconds);
 
    REVLibError GetLastError();
 
protected:
    // Only used for Get() or Set() API
    double m_setpoint{0.0};
 
    SparkBase(wpi::CANPort canPort, int deviceID, MotorType type,
              SparkModel model);
 
    // Used by the HIL tester
    SparkRelativeEncoder GetEncoderEvenIfAlreadyCreated();
 
    uint8_t GetMotorInterface();
 
    SparkBase::SparkModel GetSparkModel();
 
protected:
    SparkRelativeEncoder m_RelativeEncoder;
    std::atomic<bool> m_relativeEncoderCreated{false};
 
    SparkAnalogSensor m_AnalogSensor;
    std::atomic<bool> m_analogSensorCreated{false};
 
    SparkAbsoluteEncoder m_AbsoluteEncoder;
    std::atomic<bool> m_absoluteEncoderCreated{false};
 
    SparkClosedLoopController m_ClosedLoopController;
    std::atomic<bool> m_closedLoopControllerCreated{false};
 
    SparkLimitSwitch m_ForwardLimitSwitch;
    std::atomic<bool> m_forwardLimitSwitchCreated{false};
 
    SparkLimitSwitch m_ReverseLimitSwitch;
    std::atomic<bool> m_reverseLimitSwitchCreated{false};
 
    SparkSoftLimit m_ForwardSoftLimit;
    std::atomic<bool> m_forwardSoftLimitCreated{false};
 
    SparkSoftLimit m_ReverseSoftLimit;
    std::atomic<bool> m_reverseSoftLimitCreated{false};
};
 
}  // namespace rev::spark