SmartMotorControllerTelemetryConfig.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <optional>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "yams/motorcontrollers/SmartMotorControllerConfig.hpp"
#include "yams/telemetry/SmartMotorControllerTelemetry.hpp"
 
namespace yams::telemetry {
 
class SmartMotorControllerTelemetryConfig {
 public:
  SmartMotorControllerTelemetryConfig();
 
  using TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity;
 
  SmartMotorControllerTelemetryConfig& WithDataLogName(const std::string& dataLogName);
 
  SmartMotorControllerTelemetryConfig& WithNetworkTables(bool enabled);
 
  SmartMotorControllerTelemetryConfig& WithoutNetworkTables();
 
  SmartMotorControllerTelemetryConfig& WithTelemetryVerbosity(TelemetryVerbosity verbosity);
 
  // ---- Individual field enable methods ------------------------------------
 
  SmartMotorControllerTelemetryConfig& WithMechanismLowerLimit();
  SmartMotorControllerTelemetryConfig& WithMechanismUpperLimit();
  SmartMotorControllerTelemetryConfig& WithTemperatureLimit();
  SmartMotorControllerTelemetryConfig& WithVelocityControl();
  SmartMotorControllerTelemetryConfig& WithElevatorFeedforward();
  SmartMotorControllerTelemetryConfig& WithArmFeedforward();
  SmartMotorControllerTelemetryConfig& WithSimpleFeedforward();
  SmartMotorControllerTelemetryConfig& WithMotionProfile();
  SmartMotorControllerTelemetryConfig& WithSetpointPosition();
  SmartMotorControllerTelemetryConfig& WithSetpointVelocity();
  SmartMotorControllerTelemetryConfig& WithSetpointForce();
 
  SmartMotorControllerTelemetryConfig& WithCustom(DoubleTelemetryField field, bool enabled);
 
  SmartMotorControllerTelemetryConfig& WithCustom(BooleanTelemetryField field, bool enabled);
 
  SmartMotorControllerTelemetryConfig& WithCustom(const std::vector<DoubleTelemetryField>& fields,
                                                  bool enabled);
 
  SmartMotorControllerTelemetryConfig& WithCustom(const std::vector<BooleanTelemetryField>& fields,
                                                  bool enabled);
 
  SmartMotorControllerTelemetryConfig& WithVelocityMeasurementDelay();
  SmartMotorControllerTelemetryConfig& WithClosedLoopPeriod();
  SmartMotorControllerTelemetryConfig& WithOutputVoltage();
  SmartMotorControllerTelemetryConfig& WithStatorCurrent();
  SmartMotorControllerTelemetryConfig& WithTemperature();
  SmartMotorControllerTelemetryConfig& WithMeasurementPosition();
  SmartMotorControllerTelemetryConfig& WithMeasurementVelocity();
  SmartMotorControllerTelemetryConfig& WithMechanismPosition();
  SmartMotorControllerTelemetryConfig& WithMechanismVelocity();
  SmartMotorControllerTelemetryConfig& WithRotorPosition();
  SmartMotorControllerTelemetryConfig& WithRotorVelocity();
 
  // ---- Accessors ----------------------------------------------------------
 
  std::optional<std::string> GetDataLogName() const;
  bool GetNT4Enabled() const;
 
  std::unordered_map<DoubleTelemetryField, DoubleTelemetry<DoubleTelemetryField>>& GetDoubleFields(
      motorcontrollers::SmartMotorController& smc);
  std::unordered_map<BooleanTelemetryField, BooleanTelemetry<BooleanTelemetryField>>& GetBoolFields(
      motorcontrollers::SmartMotorController& smc);
 
 private:
  std::optional<std::string> m_dataLogName;
  bool m_nt4Telemetry{true};
 
  std::unordered_map<DoubleTelemetryField, DoubleTelemetry<DoubleTelemetryField>> m_doubleFields;
  std::unordered_map<BooleanTelemetryField, BooleanTelemetry<BooleanTelemetryField>> m_boolFields;
};
 
}  // namespace yams::telemetry