robot-rust 0.2.1

The robot-rust project, bindings for wpilib, ctre, and rev in rust.
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/*
 * 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 "rev/config/BaseConfig.h"

namespace rev::detached {

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

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

    /**
     * Applies settings from another SignalsConfig 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 SignalsConfig to copy settings from
     * @return The updated SignalsConfig for method chaining
     */
    SignalsConfig& Apply(SignalsConfig& config);

    /**
     * Set the period (ms) of the status frame that provides the signal
     * returned by DetachedEncoder::GetPosition(). The default period
     * is 20ms.
     *
     * <p>If multiple periods are set for signals within the same status
     * frame, the minimum given value will be used.
     *
     * @param periodMs The period in milliseconds
     * @return The modified SignalsConfig object for method chaining
     */
    SignalsConfig& EncoderPositionPeriodMs(int period_ms);

    /**
     * Set the period (ms) of the status frame that provides the signal
     * returned by DetachedEncoder::GetVelocity(). The default period
     * is 20ms.
     *
     * <p>If multiple periods are set for signals within the same status
     * frame, the minimum given value will be used.
     *
     * @param periodMs The period in milliseconds
     * @return The modified SignalsConfig object for method chaining
     */
    SignalsConfig& EncoderVelocityPeriodMs(int period_ms);

    /**
     * Set the period (ms) of the status frame that provides the signal
     * returned by DetachedEncoder::GetAngle(). The default period
     * is 20ms.
     *
     * <p>If multiple periods are set for signals within the same status
     * frame, the minimum given value will be used.
     *
     * @param periodMs The period in milliseconds
     * @return The modified SignalsConfig object for method chaining
     */
    SignalsConfig& EncoderAnglePeriodMs(int period_ms);

private:
    void SetPeriodMsCore(int parameterId, int period_ms);
};  // class SignalsConfig

}  // namespace rev::detached