CANCoderFaults.h

#pragma once
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
 
            struct CANCoderFaults {
                bool HardwareFault;
                bool APIError;
                bool UnderVoltage;
                bool ResetDuringEn;
                bool MagnetTooWeak;
                bool HasAnyFault() const {
                    return  HardwareFault |
                            APIError |
                            UnderVoltage |
                            ResetDuringEn |
                            MagnetTooWeak;
                }
                int ToBitfield() const {
                    int retval = 0;
                    int mask = 1;
                    retval |= HardwareFault ? mask : 0; mask <<= 1;
                    retval |= APIError      ? mask : 0; mask <<= 1;
                    retval |= UnderVoltage  ? mask : 0; mask <<= 1;
                    retval |= ResetDuringEn ? mask : 0; mask <<= 1; 
                    mask <<= 3; /* 3 faults currently unused */
                    retval |= MagnetTooWeak ? mask : 0; mask <<= 1;
                    return retval;
                }
                void Update(int bits) {
                    int mask = 1;
                    HardwareFault = (bits & mask) ? true : false; mask <<= 1;
                    APIError =      (bits & mask) ? true : false; mask <<= 1;
                    UnderVoltage =  (bits & mask) ? true : false; mask <<= 1;
                    ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
                    mask <<= 3; /* 3 faults currently unused */
                    MagnetTooWeak = (bits & mask) ? true : false; mask <<= 1;
                }
                CANCoderFaults(int bits) {
                    Update(bits);
                }
                CANCoderFaults() {
                    HardwareFault = false;
                    APIError = false;
                    UnderVoltage = false;
                    ResetDuringEn = false;
                    MagnetTooWeak = false;
                }
            };
 
        } // namespace sensors
    } // namespace phoenix
} // namespace ctre