SparkBase.h

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/*
 * Copyright (c) 2018-2025 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#ifdef _MSC_VER
// Disable deprecation warnings for this file when using VS compiler
#pragma warning(disable : 4996)
#endif
 
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated"
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
 
#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"
 
// 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() {}
 
        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() {}
 
        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 Set(double speed) override;
 
    void SetVoltage(units::volt_t output) override;
 
    double Get() 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;
 
    /* ***** Extended Functions ****** */
 
    virtual REVLibError Configure(SparkBaseConfig& config, ResetMode resetMode,
                                  PersistMode persistMode);
 
    virtual REVLibError ConfigureAsync(SparkBaseConfig& config,
                                       ResetMode resetMode,
                                       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();
 
    bool IsFollower();
 
    bool HasActiveFault();
 
    bool HasStickyFault();
 
    bool HasActiveWarning();
 
    bool HasStickyWarning();
 
    Faults GetFaults();
 
    Faults GetStickyFaults();
 
    Warnings GetWarnings();
 
    Warnings GetStickyWarnings();
 
    double GetBusVoltage();
 
    double GetAppliedOutput();
 
    double GetOutputCurrent();
 
    double GetMotorTemperature();
 
    REVLibError ClearFaults();
 
    REVLibError SetCANTimeout(int milliseconds);
 
    REVLibError GetLastError();
 
protected:
    // Only used for Get() or Set() API
    double m_setpoint{0.0};
 
    explicit SparkBase(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
 
#ifdef __GNUC__
#pragma GCC diagnostic pop
#endif