CANdle.h

#pragma once
 
#include "ctre/phoenix/led/Animation.h"
#include "ctre/phoenix/led/BaseStandardAnimation.h"
#include "ctre/phoenix/led/BaseTwoSizeAnimation.h"
#include "ctre/phoenix/led/CANdleFaults.h"
#include "ctre/phoenix/led/CANdleStatusFrame.h"
#include "ctre/phoenix/led/CANdleControlFrame.h"
#include "ctre/phoenix/led/CANdleConfiguration.h"
#include "ctre/phoenix/led/CANdleConfigUtil.h"
#include "ctre/phoenix/led/CANdleLedStripType.h"
#include "ctre/phoenix/led/VBatOutputMode.h"
#include "ctre/phoenix/cci/CANdle_CCI.h"
#include "ctre/phoenix/paramEnum.h"
#include "ctre/phoenix/ErrorCode.h"
 
namespace ctre{ namespace phoenix{ namespace led{
 
class CANdle {
private:
    void *_handle;
 
public:
 
    CANdle(int deviceId, std::string const &canbus = "");
    ~CANdle();
 
    double GetBusVoltage();
    double Get5VRailVoltage();
    double GetCurrent();
    double GetTemperature();
    double GetVBatModulation();
 
    ctre::phoenix::ErrorCode Animate(Animation& animation);
 
    ctre::phoenix::ErrorCode Animate(BaseStandardAnimation& animation);
    ctre::phoenix::ErrorCode Animate(BaseTwoSizeAnimation& animation);
 
    ctre::phoenix::ErrorCode SetLEDs(int r, int g, int b, int w = 0, int startIdx = 0, int count = 512);
 
    ErrorCode ModulateVBatOutput(double dutyCyclePrcnt);
 
    ErrorCode ConfigLOSBehavior(bool disableWhenLOS, int timeoutMs = 0);
    ErrorCode ConfigLEDType(LEDStripType type, int timeoutMs = 0);
    ErrorCode ConfigBrightnessScalar(double brightness, int timeoutMs = 0);
 
    ErrorCode ConfigStatusLedState(bool disableWhenRunning, int timeoutMs = 0);
    ErrorCode ConfigVBatOutput(VBatOutputMode mode, int timeoutMs = 0);
 
    double ConfigGetParameter(ParamEnum param, int ordinal, int timeoutMs = 0);
    ErrorCode ConfigSetParameter(ParamEnum param, double value, int subValue = 0, int ordinal = 0, int timeoutMs = 0);
    int ConfigGetCustomParam(int paramIndex, int timeoutMs = 0);
    ErrorCode ConfigSetCustomParam(int paramIndex, int value, int timeoutMs = 0);
    ErrorCode ConfigFactoryDefault(int timeoutMs = 50);
    ErrorCode GetFaults(CANdleFaults& toFill);
    ErrorCode GetStickyFaults(CANdleStickyFaults& toFill);
    ErrorCode ClearStickyFaults(int timeoutMs = 0);
    bool HasResetOccurred();
    ErrorCode SetStatusFramePeriod(CANdleStatusFrame frame, int periodMs, int timeoutMs = 0);
    int GetStatusFramePeriod(CANdleStatusFrame frame, int timeoutMs = 0);
    ErrorCode SetControlFramePeriod(CANdleControlFrame frame, int periodMs);
 
    ErrorCode ConfigAllSettings(CANdleConfiguration allConfigs, int timeoutMs = 50);
    void GetAllConfigs(CANdleConfiguration allConfigs, int timeoutMs = 50);
 
    ErrorCode GetLastError();
};
 
} // namespace led
} // namespace phoenix
} // namespace ctre