#include <CanandSettingsManager.h>

Public Member Functions
	CanandSettingsManager (CanandDevice &dev)

T	GetSettings (units::second_t timeout, units::second_t missingTimeout, uint32_t missingAttempts)

std::vector< uint8_t >	FetchMissingSettings (units::second_t timeout, int attempts)

void	StartFetchSettings ()

T	SetSettings (T &settings, units::second_t timeout, int attempts)

bool	SetSettings (T &settings, units::second_t timeout)

T	SendReceiveSettingCommand (uint8_t cmd, units::second_t timeout, bool clearKnown)

T	GetKnownSettings ()

void	HandleSetting (CanandMessage &msg)

void	SetSettingById (uint8_t settingId, uint8_t *value, uint8_t length, uint8_t flags)

void	SetSettingById (uint8_t settingId, uint64_t value, uint8_t flags)

SettingResult	ConfirmSetSetting (uint8_t settingIdx, uint8_t *payload, uint8_t length, units::second_t timeout, uint8_t flags)

SettingResult	ConfirmSetSetting (uint8_t settingIdx, uint64_t payload, units::second_t timeout, uint8_t flags)

SettingResult	FetchSetting (uint8_t settingIdx, units::second_t timeout)

void	SendSettingCommand (uint8_t settingCmdIdx)

Detailed Description

template<class T>
requires std::is_base_of<CanandSettings, T>
class redux::canand::CanandSettingsManager< T >

Common logic for settings management for CanandDevices.

This class holds a CanandSettings cache of known settings received from the CAN bus, and offers a series of helper functions that provide common logic for bulk settings operations.

Constructor & Destructor Documentation

◆ CanandSettingsManager()

template<class T >

redux::canand::CanandSettingsManager< T >::CanandSettingsManager ( CanandDevice & dev )

inline

Constructor.

Parameters

dev	the CanandDevice to associate with.

Member Function Documentation

◆ ConfirmSetSetting() [1/2]

template<class T >

SettingResult redux::canand::CanandSettingsManager< T >::ConfirmSetSetting	(	uint8_t	settingIdx,
		uint64_t	payload,
		units::second_t	timeout,
		uint8_t	flags
	)

inline

Potentially blocking operation to send a setting and wait for a report setting message to be received to confirm the operation.

Parameters

settingIdx	Setting index to set and listen for
payload	the 48 bits to send.
timeout	the timeout to wait before giving up in seconds. Passing in 0 will return instantly (not block)
flags	optional flags to send to the device specifying how the setting will be set.

Returns: the value received by the report setting packet if existent or kTimeout otherwise. If timeout = 0, return "payload" (assume success)

◆ ConfirmSetSetting() [2/2]

template<class T >

SettingResult redux::canand::CanandSettingsManager< T >::ConfirmSetSetting	(	uint8_t	settingIdx,
		uint8_t *	payload,
		uint8_t	length,
		units::second_t	timeout,
		uint8_t	flags
	)

inline

Potentially blocking operation to send a setting and wait for a report setting message to be received to confirm the operation.

Parameters

settingIdx	Setting index to set and listen for
payload	the bytes to send.
length	the length of the payload.
timeout	the timeout to wait before giving up in seconds. Passing in 0 will return instantly (not block)
flags	optional flags to send to the device specifying how the setting will be set.

Returns: the value received by the report setting packet if existent or kTimeout otherwise. If timeout = 0, return "payload" (assume success)

◆ FetchMissingSettings()

template<class T >

std::vector< uint8_t > redux::canand::CanandSettingsManager< T >::FetchMissingSettings	(	units::second_t	timeout,
		int	attempts
	)

inline

Attempt to fill out the known settings with the set of settings it is missing.

Parameters

timeout	maximum timeout per setting index (seconds)
attempts	number of attempts to fetch a setting index (should be at least 1)

Returns: a std::vector of setting indexes that were not able to be received despite attempts/timeout

◆ FetchSetting()

template<class T >

SettingResult redux::canand::CanandSettingsManager< T >::FetchSetting	(	uint8_t	settingIdx,
		units::second_t	timeout
	)

inline

Fetches a setting from the device and returns the received result.

Parameters

settingIdx	Setting index to fetch
timeout	timeout to wait before giving up in seconds. Passing in 0 will return a timeout.

Returns: SettingResult representing the setting result.

◆ GetKnownSettings()

template<class T >

T redux::canand::CanandSettingsManager< T >::GetKnownSettings ( )

inline

Return a CanandSettings of known settings. The object returned is a copy of this object's internal copy.

Returns: known settings

◆ GetSettings()

template<class T >

T redux::canand::CanandSettingsManager< T >::GetSettings	(	units::second_t	timeout,
		units::second_t	missingTimeout,
		uint32_t	missingAttempts
	)

inline

Fetches the device's current configuration in a blocking manner.

This function will block for at least timeout seconds waiting for the device to reply, so it is best to put this in a teleop or autonomous init function, rather than the main loop.

Parameters

timeout	maximum number of seconds to wait for settings before giving up
missingTimeout	maximum number of seconds to wait for each settings retry before giving up
missingAttempts	if >0, lists how many times to attempt fetching missing settings.

Returns: CanandSettings representing what has been received of the device's configuration.

◆ HandleSetting()

template<class T >

void redux::canand::CanandSettingsManager< T >::HandleSetting ( CanandMessage & msg )

inline

Setting handler to put in CanandDevice::HandleMessage

Parameters

msg	the CanandMessage containing settings data.

◆ SendReceiveSettingCommand()

template<class T >

T redux::canand::CanandSettingsManager< T >::SendReceiveSettingCommand	(	uint8_t	cmd,
		units::second_t	timeout,
		bool	clearKnown
	)

inline

Runs a setting command that may mutate all settings and trigger a response.

Typically used with "reset factory default" type commands

Parameters

cmd	setting index
timeout	total timeout for all settings to be returned
clearKnown	whether to clear the set of known settings

Returns: the set of known settings.

◆ SendSettingCommand()

template<class T >

void redux::canand::CanandSettingsManager< T >::SendSettingCommand ( uint8_t settingCmdIdx )

inline

Sends a setting command with no arguments.

Parameters

settingCmdIdx the index of the setting command to send.

◆ SetSettingById() [1/2]

template<class T >

void redux::canand::CanandSettingsManager< T >::SetSettingById	(	uint8_t	settingId,
		uint64_t	value,
		uint8_t	flags
	)

inline

Directly sends a CAN message to the associated CanandDevice to set a setting by index. This function does not block nor check if a report settings message is sent in response.

Device subclasses will usually have a more user-friendly settings interface, eliminating the need to call this function directly in the vast majority of cases.

Parameters

settingId	setting id to use
value	48-bit long
flags	flags

◆ SetSettingById() [2/2]

template<class T >

void redux::canand::CanandSettingsManager< T >::SetSettingById	(	uint8_t	settingId,
		uint8_t *	value,
		uint8_t	length,
		uint8_t	flags
	)

inline

Directly sends a CAN message to the associated CanandDevice to set a setting by index. This function does not block nor check if a report settings message is sent in response.

Device subclasses will usually have a more user-friendly settings interface, eliminating the need to call this function directly in the vast majority of cases.

Parameters

settingId	the setting id
value	the raw numerical value. Only the first 6 bytes will be used.
length	the length of the buffer specified.
flags	optional flags to send to the device specifying how the setting will be set.

◆ SetSettings() [1/2]

template<class T >

bool redux::canand::CanandSettingsManager< T >::SetSettings	(	T &	settings,
		units::second_t	timeout
	)

inline

Applies the settings from a CanandSettings to the device.

Parameters

settings	the CanandSettings to update the device with
timeout	maximum time in seconds to wait for each setting to be confirmed. Set to 0 to not check (and not block).

Returns: true if successful, false if a setting operation failed

◆ SetSettings() [2/2]

template<class T >

T redux::canand::CanandSettingsManager< T >::SetSettings	(	T &	settings,
		units::second_t	timeout,
		int	attempts
	)

inline

Applies the settings from a CanandSettings to the device, with fine grained control over failure-handling.

This overload allows specifiyng the number of retries per setting as well as the confirmation timeout. Additionally, it returns a CanandSettings object of settings that were not able to be successfully applied.

Parameters

settings	the CanandSettings to update the device with
timeout	maximum time in seconds to wait for each setting to be confirmed. Set to 0 to not check (and not block).
attempts	the maximum number of attempts to write each individual setting

Returns: a CanandSettings object of unsuccessfully set settings.

◆ StartFetchSettings()

template<class T >

void redux::canand::CanandSettingsManager< T >::StartFetchSettings ( )

inline

Tells the device to begin transmitting its settings. Once they are all transmitted (typically after ~200-300ms), the values can be retrieved from GetKnownSettings()

The documentation for this class was generated from the following file:

src/main/native/include/redux/canand/CanandSettingsManager.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CanandSettingsManager()

Member Function Documentation

◆ ConfirmSetSetting() [1/2]

◆ ConfirmSetSetting() [2/2]

◆ FetchMissingSettings()

◆ FetchSetting()

◆ GetKnownSettings()

◆ GetSettings()

◆ HandleSetting()

◆ SendReceiveSettingCommand()

◆ SendSettingCommand()

◆ SetSettingById() [1/2]

◆ SetSettingById() [2/2]

◆ SetSettings() [1/2]

◆ SetSettings() [2/2]

◆ StartFetchSettings()