SparkSimFaultManager.h

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/*
 * Copyright (c) 2024 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.
 * 2. Redistributions in binary form must reproduce the above copyright
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#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKSIMFAULTMANAGER_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKSIMFAULTMANAGER_H_
 
#include <string>
 
#include <frc/simulation/SimDeviceSim.h>
#include <hal/SimDevice.h>
 
#include "rev/SparkBase.h"
#include "rev/SparkFlex.h"
#include "rev/SparkMax.h"
 
namespace rev::spark {
 
class SparkSimFaultManager {
public:
    explicit SparkSimFaultManager(SparkMax* motor);
    explicit SparkSimFaultManager(SparkFlex* motor);
 
    void SetFaults(const SparkBase::Faults& faults);
    void SetStickyFaults(const SparkBase::Faults& faults);
    void SetWarnings(const SparkBase::Warnings& warnings);
    void SetStickyWarnings(const SparkBase::Warnings& warnings);
 
private:
    void SetupSimDevice();
 
    hal::SimBoolean m_otherFault;
    hal::SimBoolean m_motorTypeFault;
    hal::SimBoolean m_sensorFault;
    hal::SimBoolean m_canFault;
    hal::SimBoolean m_temperatureFault;
    hal::SimBoolean m_drvFault;
    hal::SimBoolean m_escEepromFault;
    hal::SimBoolean m_firmwareFault;
    hal::SimBoolean m_brownoutWarning;
    hal::SimBoolean m_overCurrentWarning;
    hal::SimBoolean m_escEepromWarning;
    hal::SimBoolean m_extEepromWarning;
    hal::SimBoolean m_sensorWarning;
    hal::SimBoolean m_stallWarning;
    hal::SimBoolean m_hasResetWarning;
    hal::SimBoolean m_otherWarning;
    hal::SimBoolean m_otherStickyFault;
    hal::SimBoolean m_motorTypeStickyFault;
    hal::SimBoolean m_sensorStickyFault;
    hal::SimBoolean m_canStickyFault;
    hal::SimBoolean m_temperatureStickyFault;
    hal::SimBoolean m_drvStickyFault;
    hal::SimBoolean m_escEepromStickyFault;
    hal::SimBoolean m_firmwareStickyFault;
    hal::SimBoolean m_brownoutStickyWarning;
    hal::SimBoolean m_overCurrentStickyWarning;
    hal::SimBoolean m_escEepromStickyWarning;
    hal::SimBoolean m_extEepromStickyWarning;
    hal::SimBoolean m_sensorStickyWarning;
    hal::SimBoolean m_stallStickyWarning;
    hal::SimBoolean m_hasResetStickyWarning;
    hal::SimBoolean m_otherStickyWarning;
 
    SparkBase* m_spark;
    const char* simDeviceName;
};
 
}  // namespace rev::spark
 
#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SPARKSIMFAULTMANAGER_H_