StickyFaults.h

#pragma once
#include <sstream>
namespace ctre {
namespace phoenix {
namespace motorcontrol {
 
struct StickyFaults {
    bool UnderVoltage;
    bool ForwardLimitSwitch;
    bool ReverseLimitSwitch;
    bool ForwardSoftLimit;
    bool ReverseSoftLimit;
    bool ResetDuringEn;
    bool SensorOverflow;
    bool SensorOutOfPhase;
    bool HardwareESDReset;
    bool RemoteLossOfSignal;
    bool APIError;
    bool SupplyOverV;
    bool SupplyUnstable;
 
    bool HasAnyFault() const {
        return  UnderVoltage |
                ForwardLimitSwitch |
                ReverseLimitSwitch |
                ForwardSoftLimit |
                ReverseSoftLimit |
                ResetDuringEn |
                SensorOverflow |
                SensorOutOfPhase |
                HardwareESDReset |
                RemoteLossOfSignal |
                APIError |
                SupplyOverV |
                SupplyUnstable;
    }
    int ToBitfield() const {
        int retval = 0;
        int mask = 1;
        retval |= UnderVoltage ? mask : 0; mask <<= 1;
        retval |= ForwardLimitSwitch ? mask : 0; mask <<= 1;
        retval |= ReverseLimitSwitch ? mask : 0; mask <<= 1;
        retval |= ForwardSoftLimit ? mask : 0; mask <<= 1;
        retval |= ReverseSoftLimit ? mask : 0; mask <<= 1;
        retval |= ResetDuringEn ? mask : 0; mask <<= 1;
        retval |= SensorOverflow ? mask : 0; mask <<= 1;
        retval |= SensorOutOfPhase ? mask : 0; mask <<= 1;
        retval |= HardwareESDReset ? mask : 0; mask <<= 1;
        retval |= RemoteLossOfSignal ? mask : 0; mask <<= 1;
        retval |= APIError ? mask : 0; mask <<= 1;
        retval |= SupplyOverV ? mask : 0; mask <<= 1;
        retval |= SupplyUnstable ? mask : 0; mask <<= 1;
        return retval;
    }
    StickyFaults(int bits) {
        int mask = 1;
        UnderVoltage = (bits & mask) ? true : false; mask <<= 1;
        ForwardLimitSwitch = (bits & mask) ? true : false; mask <<= 1;
        ReverseLimitSwitch = (bits & mask) ? true : false; mask <<= 1;
        ForwardSoftLimit = (bits & mask) ? true : false; mask <<= 1;
        ReverseSoftLimit = (bits & mask) ? true : false; mask <<= 1;
        ResetDuringEn = (bits & mask) ? true : false; mask <<= 1;
        SensorOverflow = (bits & mask) ? true : false; mask <<= 1;
        SensorOutOfPhase = (bits & mask) ? true : false; mask <<= 1;
        HardwareESDReset = (bits & mask) ? true : false; mask <<= 1;
        RemoteLossOfSignal = (bits & mask) ? true : false; mask <<= 1;
        APIError = (bits & mask) ? true : false; mask <<= 1;
        SupplyOverV = (bits & mask) ? true : false; mask <<= 1;
        SupplyUnstable = (bits & mask) ? true : false; mask <<= 1;
    }
    StickyFaults() {
        UnderVoltage = false;
        ForwardLimitSwitch = false;
        ReverseLimitSwitch = false;
        ForwardSoftLimit = false;
        ReverseSoftLimit = false;
        ResetDuringEn = false;
        SensorOverflow = false;
        SensorOutOfPhase = false;
        HardwareESDReset = false;
        RemoteLossOfSignal = false;
        APIError = false;
        SupplyOverV = false;
        SupplyUnstable = false;
    }
    std::string ToString() {
        std::stringstream work;
        work << " UnderVoltage:" << (UnderVoltage ? "1" : "0");
        work << " ForwardLimitSwitch:" << (ForwardLimitSwitch ? "1" : "0");
        work << " ReverseLimitSwitch:" << (ReverseLimitSwitch ? "1" : "0");
        work << " ForwardSoftLimit:" << (ForwardSoftLimit ? "1" : "0");
        work << " ReverseSoftLimit:" << (ReverseSoftLimit ? "1" : "0");
        work << " ResetDuringEn:" << (ResetDuringEn ? "1" : "0");
        work << " SensorOverflow:" << (SensorOverflow ? "1" : "0");
        work << " SensorOutOfPhase:" << (SensorOutOfPhase ? "1" : "0");
        work << " HardwareESDReset:" << (HardwareESDReset ? "1" : "0");
        work << " RemoteLossOfSignal:" << (RemoteLossOfSignal ? "1" : "0");
        work << " APIError:" << (APIError ? "1" : "0");
        work << " SupplyOverV:" << (SupplyOverV ? "1" : "0");
        work << " SupplyUnstable:" << (SupplyUnstable ? "1" : "0");
        return work.str();
    }
};
 
} // namespace motorcontrol
} // namespace phoenix
} // namespace ctre