SparkSim.h

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/*
 * Copyright (c) 2024-2026 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
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#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SPARKSIM_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SPARKSIM_H_
 
#include <memory>
#include <string>
 
#include <wpi/math/system/DCMotor.hpp>
#include <wpi/simulation/SimDeviceSim.hpp>
 
#include "rev/SparkBase.h"
#include "rev/sim/MovingAverageFilterSim.h"
#include "rev/sim/SparkAbsoluteEncoderSim.h"
#include "rev/sim/SparkAnalogSensorSim.h"
#include "rev/sim/SparkLimitSwitchSim.h"
#include "rev/sim/SparkRelativeEncoderSim.h"
#include "rev/sim/SparkSimFaultManager.h"
 
namespace rev::spark {
 
class SparkSim {
public:
    SparkSim(SparkBase* spark, wpi::math::DCMotor* motor);
 
    double GetAppliedOutput() const;
    void SetAppliedOutput(double appliedOutput);
 
    double GetSetpoint() const;
    ClosedLoopSlot GetClosedLoopSlot() const;
 
    void iterate(double velocity, double vbus, double dt);
 
    double GetVelocity() const;
    void SetVelocity(double velocity);
 
    double GetPosition() const;
    void SetPosition(double position);
 
    double GetBusVoltage() const;
    void SetBusVoltage(double voltage);
 
    double GetMotorCurrent() const;
    void SetMotorCurrent(double current);
 
    void enable();
    void disable();
    void useDriverStationEnable();
 
    SparkRelativeEncoderSim GetRelativeEncoderSim();
    SparkAbsoluteEncoderSim GetAbsoluteEncoderSim();
    SparkAnalogSensorSim GetAnalogSensorSim();
    SparkLimitSwitchSim GetForwardLimitSwitchSim();
    SparkLimitSwitchSim GetReverseLimitSwitchSim();
    SparkSimFaultManager GetFaultManager();
 
private:
    bool runLimitLogic(bool forward);
 
    wpi::hal::SimDouble m_appliedOutput;
    wpi::hal::SimDouble m_velocity;
    wpi::hal::SimDouble m_position;
    wpi::hal::SimDouble m_busVoltage;
    wpi::hal::SimDouble m_motorCurrent;
    wpi::hal::SimDouble m_setpoint;
    wpi::hal::SimDouble m_arbFF;
    wpi::hal::SimInt m_closedLoopSlot;
    wpi::hal::SimInt m_arbFFUnits;
    SparkBase* m_spark;
    wpi::math::DCMotor* m_dcMotor;
    wpi::hal::SimInt m_controlMode;
    MovingAverageFilterSim m_velocityAverage;
    std::unique_ptr<bool> m_enable;
    std::string m_deviceName;
    std::string m_unknownDeviceTypeMessage;
};
 
}  // namespace rev::spark
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SPARKSIM_H_