robot-rust 0.2.1

/*
 * Copyright (c) 2025-2026 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
 * 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.
 */

#pragma once

#include <string>

#include "rev/config/BaseConfig.h"
#include "rev/config/DetachedSignalsConfig.h"

namespace rev::detached {

class DetachedEncoderConfig : public BaseConfig {
public:
    DetachedEncoderConfig() = default;
    ~DetachedEncoderConfig() override = default;

    DetachedEncoderConfig(const DetachedEncoderConfig&) = delete;
    DetachedEncoderConfig& operator=(const DetachedEncoderConfig&) = delete;
    DetachedEncoderConfig(DetachedEncoderConfig&&) noexcept = delete;
    DetachedEncoderConfig& operator=(DetachedEncoderConfig&&) noexcept = delete;

    /**
     * Applies settings from another DetachedEncoderConfig to this one.
     *
     * <p>Settings in the provided config will overwrite existing values in this
     * object. Settings not specified in the provided config remain unchanged.
     *
     * @param config The DetachedEncoderConfig to copy settings from
     * @return The updated DetachedEncoderConfig for method chaining
     */
    DetachedEncoderConfig& Apply(DetachedEncoderConfig& config);

    /**
     * Applies settings from a SignalsConfig to this DetachedEncoderConfig.
     *
     * <p>Settings in the provided config will overwrite existing values in this
     * object. Settings not specified in the provided config remain unchanged.
     *
     * @param config The SignalsConfig to copy settings from
     * @return The updated DetachedEncoderConfig for method chaining
     */
    DetachedEncoderConfig& Apply(SignalsConfig& config);

    /**
     * Set the phase of the encoder.
     *
     * @param inverted The phase of the encoder
     * @return The modified DetachedEncoderConfig object for method chaining
     */
    DetachedEncoderConfig& Inverted(bool inverted);

    /**
     * Set the conversion factor for the velocity of the encoder. Velocity is
     * returned in native units of rotations per minute and will be multiplied
     * by this conversion factor.
     *
     * @param factor The conversion factor to multiply the native units by
     * @return The modified DetachedEncoderConfig object for method chaining
     */
    DetachedEncoderConfig& VelocityConversionFactor(double factor);

    /**
     * Set the sampling depth of the velocity calculation process of the
     * encoder. This value sets the number of samples in the average for
     * velocity readings. This value must be in the range [1, 64].
     * The default value is 64.
     *
     * @param depth The velocity calculation process's sampling depth
     * @return The modified DetachedEncoderConfig object for method chaining
     */
    DetachedEncoderConfig& VelocityAverageDepth(int depth);

    /////////////////////////////////////////////
    // Relative Encoder Specific Settings

    /**
     * Set the conversion factor for the position of the encoder. Position is
     * returned in native units of rotations and will be multiplied by this
     * conversion factor.
     *
     * @param factor The conversion factor to multiply the native units by
     * @return The modified DetachedEncoderConfig object for method chaining
     */
    DetachedEncoderConfig& PositionConversionFactor(double factor);

    /////////////////////////////////////////////
    // Absolute Encoder Specific Settings

    /**
     * Set the conversion factor for the angle of the encoder. Angle is
     * returned in native units of rotations and will be multiplied by this
     * conversion factor.
     *
     * @param factor The conversion factor to multiply the native units by
     * @return The modified DetachedEncoderConfig object for method chaining
     */
    DetachedEncoderConfig& AngleConversionFactor(double factor);

    /**
     * Set the zero offset when using the absolute angle, the position that is
     * reported as zero.
     *
     * <p>The zero offset is specified as the reported position of the encoder
     * in the desired zero position as if the zero offset was set to 0, the
     * position conversion factor was set to 1, and inverted was set to false.
     *
     * NOTE: This parameter is NOT reset when configuring with
     * ResetMode::kResetSafeParameters.
     *
     * @param offset The zero offset in the range [0, 1)
     * @return The modified DetachedEncoderConfig object for method
     * chaining
     */
    DetachedEncoderConfig& ZeroOffset(double offset);

    /**
     * Set whether to enable zero-centering when using the absolute angle. If
     * enabled, the position will be reported in the range (-0.5, 0.5], instead
     * of the default range [0, 1), assuming the default units of rotations.
     *
     * @param zeroCentered Whether to enable zero centering
     * @return The modified DetachedEncoderConfig object for method
     * chaining
     */
    DetachedEncoderConfig& ZeroCentered(bool zeroCentered);

    /**
     * Set the length of the start pulse for this encoder. This pulse will
     * be treated as the 0.0 position.
     *
     * @param startPulseUs The minimum high pulse in microseconds
     * @return The modified DetachedEncoderConfig object for method
     * chaining
     */
    DetachedEncoderConfig& StartPulseUs(double startPulseUs);

    /**
     * Set the length of the end pulse for this encoder. This pulse will be
     * treated as the 1.0 position.
     *
     * @param endPulseUs The minimum low pulse in microseconds
     * @return The modified DetachedEncoderConfig object for method
     * chaining
     */
    DetachedEncoderConfig& EndPulseUs(double endPulseUs);

    /**
     * Set the expected absolute position signal period in us.
     *
     * @param periodUs The expected absolute position signal period
     * @return The modified DetachedEncoderConfig object for method
     * chaining
     */
    DetachedEncoderConfig& AbsolutePeriodUs(double periodUs);

    std::string Flatten() override;

    SignalsConfig signals;
};  // DetachedEncoderConfig

}  // namespace rev::detached