SparkLowLevel.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:
 *
 * 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
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 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include <stdint.h>
 
#include <string>
#include <vector>
 
#include <wpi/hardware/motor/MotorController.hpp>
 
#include "rev/ClosedLoopTypes.h"
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
// Defined in HIL tester source
class ConfigBase;
 
namespace rev::spark {
 
class SparkBase;
 
class SparkLowLevel : public wpi::MotorController {
    friend class SparkBase;
    friend class SparkMax;
    friend class SparkFlex;
    friend class SparkAnalogSensor;
    friend class SparkMaxAlternateEncoder;
    friend class SparkLimitSwitch;
    friend class SparkClosedLoopController;
    friend class SparkRelativeEncoder;
    friend class SparkAbsoluteEncoder;
    friend class SparkFlexExternalEncoder;
    friend class SparkAbsoluteEncoderSim;
    friend class SparkAnalogSensorSim;
    friend class SparkExternalEncoderSim;
    friend class SparkLimitSwitchSim;
    friend class SparkMaxAlternateEncoderSim;
    friend class SparkRelativeEncoderSim;
    friend class SparkSimFaultManager;
 
    // Defined in HIL tester source
    friend class ::ConfigBase;
 
public:
    static const uint16_t kAPIMajorVersion;
    static const uint8_t kAPIMinorVersion;
    static const uint8_t kAPIBuildVersion;
    static const uint32_t kAPIVersion;
 
    enum class MotorType { kBrushed = 0, kBrushless = 1 };
 
    enum class ControlType {
        kDutyCycle = 0,
        kVelocity = 1,
        kVoltage = 2,
        kPosition = 3,
        kCurrent = 4,
        kMAXMotionPositionControl = 5,
        kMAXMotionVelocityControl = 6,
    };
 
    enum class ParameterStatus {
        kOK = 0,
        kInvalidID = 1,
        kMismatchType = 2,
        kAccessMode = 3,
        kInvalid = 4,
        kNotImplementedDeprecated = 5,
    };
 
    enum class PeriodicFrame {
        kStatus0 = 0,
        kStatus1 = 1,
        kStatus2 = 2,
        kStatus3 = 3,
        kStatus4 = 4,
        kStatus5 = 5,
        kStatus6 = 6,
        kStatus7 = 7,
        kStatus8 = 8,
        kStatus9 = 9,
    };
 
    struct PeriodicStatus0 {
        double appliedOutput;
        double voltage;
        double current;
        uint8_t motorTemperature;
        bool hardForwardLimitReached;
        bool hardReverseLimitReached;
        bool softForwardLimitReached;
        bool softReverseLimitReached;
        bool inverted;
        bool primaryHeartbeatLock;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus1 {
        bool otherFault;
        bool motorTypeFault;
        bool sensorFault;
        bool canFault;
        bool temperatureFault;
        bool drvFault;
        bool escEepromFault;
        bool firmwareFault;
        bool brownoutWarning;
        bool overcurrentWarning;
        bool escEepromWarning;
        bool extEepromWarning;
        bool sensorWarning;
        bool stallWarning;
        bool hasResetWarning;
        bool otherWarning;
        bool otherStickyFault;
        bool motorTypeStickyFault;
        bool sensorStickyFault;
        bool canStickyFault;
        bool temperatureStickyFault;
        bool drvStickyFault;
        bool escEepromStickyFault;
        bool firmwareStickyFault;
        bool brownoutStickyWarning;
        bool overcurrentStickyWarning;
        bool escEepromStickyWarning;
        bool extEepromStickyWarning;
        bool sensorStickyWarning;
        bool stallStickyWarning;
        bool hasResetStickyWarning;
        bool otherStickyWarning;
        bool isFollower;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus2 {
        double primaryEncoderVelocity;
        double primaryEncoderPosition;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus3 {
        double analogVoltage;
        double analogVelocity;
        double analogPosition;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus4 {
        double externalOrAltEncoderVelocity;
        double externalOrAltEncoderPosition;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus5 {
        double dutyCycleEncoderVelocity;
        double dutyCycleEncoderPosition;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus6 {
        double unadjustedDutyCycle;
        double dutyCyclePeriod;
        bool dutyCycleNoSignal;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus7 {
        double iAccumulation;
        uint64_t timestamp;
    };
 
    struct PeriodicStatus8 {
        double setpoint;
        bool isAtSetpoint;
        ClosedLoopSlot selectedPidSlot;
        uint64_t timestamp;
    };
    struct PeriodicStatus9 {
        double maxMotionSetpointPosition;
        double maxMotionSetpointVelocity;
        uint64_t timestamp;
    };
 
    enum class SparkModel {
        kUnknown = 0,
        kSparkFlex = 1,
        kSparkMax = 2,
    };
 
    virtual ~SparkLowLevel();
 
    uint32_t GetFirmwareVersion();
 
    uint32_t GetFirmwareVersion(bool& isDebugBuild);
 
    std::string GetFirmwareString();
 
    std::vector<uint8_t> GetSerialNumber();
 
    int GetBusId() const;
 
    int GetDeviceId() const;
 
    MotorType GetMotorType();
 
    rev::util::Signal<PeriodicStatus0> GetPeriodicStatus0() const;
 
    rev::util::Signal<PeriodicStatus1> GetPeriodicStatus1() const;
 
    rev::util::Signal<PeriodicStatus2> GetPeriodicStatus2() const;
 
    rev::util::Signal<PeriodicStatus3> GetPeriodicStatus3() const;
 
    rev::util::Signal<PeriodicStatus4> GetPeriodicStatus4() const;
 
    rev::util::Signal<PeriodicStatus5> GetPeriodicStatus5() const;
 
    rev::util::Signal<PeriodicStatus6> GetPeriodicStatus6() const;
 
    rev::util::Signal<PeriodicStatus7> GetPeriodicStatus7() const;
 
    rev::util::Signal<PeriodicStatus8> GetPeriodicStatus8() const;
 
    rev::util::Signal<PeriodicStatus9> GetPeriodicStatus9() const;
 
    void SetPeriodicFrameTimeout(int timeoutMs);
 
    void SetCANMaxRetries(int numRetries);
 
    void SetControlFramePeriodMs(int periodMs);
 
    void CreateSimFaultManager();
 
protected:
    REVLibError SetpointCommand(
        double value, SparkLowLevel::ControlType ctrl = ControlType::kDutyCycle,
        ClosedLoopSlot pidSlot = ClosedLoopSlot::kSlot0,
        double arbFeedforward = 0, int arbFFUnits = 0);
 
    float GetSafeFloat(float f);
 
    MotorType m_motorType;
    SparkModel m_expectedSparkModel;
    // The type is void* because we don't want to expose c_Spark_handle to
    // the consumers of this header file
    void* m_sparkMaxHandle{};
 
private:
    SparkLowLevel(int busID, int deviceID, MotorType type, SparkModel model);
 
    int m_busID;
    int m_deviceID;
};
 
}  // namespace rev::spark