robot-rust 0.1.0

The robot-rust project, bindings for wpilib, ctre, and rev in rust.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134

/*
 * Copyright (c) 2024-2025 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_
#define FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_

#include <string>

#include <hal/SimDevice.h>

#include "rev/ServoHub.h"

namespace rev::servohub {

class ServoHubSimFaultManager {
public:
    /**
     * Create a Fault Manager object, which allows you to get and set the status
     * of simulated faults on your simulated Servo Hub. Constructing this object
     * will also cause the Fault Manager to appear in the sim gui. The state of
     * faults can be fetched on the original Servo Hub Object.
     *
     * @param servoHub The ServoHub associated with the Fault Manager
     */
    explicit ServoHubSimFaultManager(ServoHub* servoHub);

    ServoHubSimFaultManager() = delete;

    /**
     * Set the state of the simulated faults of the device.
     *
     * <p>Use device.getFaults() to get the object and modify the parameters.
     *
     * @param faults a Faults object indicating the state of the faults
     */
    void SetFaults(const ServoHub::Faults& faults);

    /**
     * Set the state of the simulated sticky faults of the device.
     *
     * <p>Use device.getStickyFaults() to get the object and modify the
     * parameters.
     *
     * @param faults a Faults object indicating the state of the sticky faults
     */
    void SetStickyFaults(const ServoHub::Faults& faults);

    /**
     * Set the state of the simulated warnings of the device.
     *
     * <p>Use device.getWarnings() to get the object and modify the parameters.
     *
     * @param warnings a Warnings object indicating the state of the warnings
     */
    void SetWarnings(const ServoHub::Warnings& warnings);

    /**
     * Set the state of the simulated sticky warnings of the device.
     *
     * <p>Use device.getStickyWarnings() to get the object and modify the
     * parameters.
     *
     * @param warnings a Warnings object indicating the state of the sticky
     * warnings
     */
    void SetStickyWarnings(const ServoHub::Warnings& warnings);

private:
    void SetupSimDevice();

    hal::SimBoolean m_regulatorPGoodFault;
    hal::SimBoolean m_firmwareFault;
    hal::SimBoolean m_hardwareFault;
    hal::SimBoolean m_lowBatteryFault;

    hal::SimBoolean m_regulatorPGoodStickyFault;
    hal::SimBoolean m_firmwareStickyFault;
    hal::SimBoolean m_hardwareStickyFault;
    hal::SimBoolean m_lowBatteryStickyFault;

    hal::SimBoolean m_brownoutWarning;
    hal::SimBoolean m_canWarning;
    hal::SimBoolean m_canBusOffWarning;
    hal::SimBoolean m_hasResetWarning;
    hal::SimBoolean m_channel0OvercurrentWarning;
    hal::SimBoolean m_channel1OvercurrentWarning;
    hal::SimBoolean m_channel2OvercurrentWarning;
    hal::SimBoolean m_channel3OvercurrentWarning;
    hal::SimBoolean m_channel4OvercurrentWarning;
    hal::SimBoolean m_channel5OvercurrentWarning;

    hal::SimBoolean m_brownoutStickyWarning;
    hal::SimBoolean m_canStickyWarning;
    hal::SimBoolean m_canBusOffStickyWarning;
    hal::SimBoolean m_hasResetStickyWarning;
    hal::SimBoolean m_channel0OvercurrentStickyWarning;
    hal::SimBoolean m_channel1OvercurrentStickyWarning;
    hal::SimBoolean m_channel2OvercurrentStickyWarning;
    hal::SimBoolean m_channel3OvercurrentStickyWarning;
    hal::SimBoolean m_channel4OvercurrentStickyWarning;
    hal::SimBoolean m_channel5OvercurrentStickyWarning;

    ServoHub* m_servoHub;
    std::string simDeviceName;
};

}  // namespace rev::servohub

#endif  // FRC_REVLIB_SRC_MAIN_NATIVE_INCLUDE_REV_SIM_SERVOHUBSIMFAULTMANAGER_H_