SwerveDriveTelemetry.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <cstddef>
#include <memory>
#include <optional>
#include <set>
#include <wpi/nt/NetworkTable.hpp>
 
#include "yams/telemetry/SwerveDriveTelemetryConfig.hpp"
 
namespace yams::mechanisms::swerve {
template <std::size_t NumModules>
class SwerveDrive;
}
 
namespace yams::telemetry {
 
class SwerveDriveTelemetry {
 public:
  using DoubleTelemetryField = SwerveDriveTelemetryConfig::DoubleTelemetryField;
  using BooleanTelemetryField = SwerveDriveTelemetryConfig::BooleanTelemetryField;
  using StructTelemetryField = SwerveDriveTelemetryConfig::StructTelemetryField;
  using StructArrayTelemetryField = SwerveDriveTelemetryConfig::StructArrayTelemetryField;
 
  explicit SwerveDriveTelemetry(SwerveDriveTelemetryConfig config);
 
  template <std::size_t NumModules>
  void SetupTelemetry(mechanisms::swerve::SwerveDrive<NumModules>* drive);
 
  template <std::size_t NumModules>
  void Publish(mechanisms::swerve::SwerveDrive<NumModules>* drive);
 
  template <std::size_t NumModules>
  void ApplyTuningValues(mechanisms::swerve::SwerveDrive<NumModules>* drive);
 
  template <std::size_t NumModules>
  void StopTuning(mechanisms::swerve::SwerveDrive<NumModules>* drive);
 
  void Close();
 
 private:
  enum class TuningMode {
    AutoAlign,
    Drive,
    DriveInPlace,
    DriveVoltage,
    Azimuth,
    AzimuthVoltage,
  };
 
  SwerveDriveTelemetryConfig m_config;
  std::optional<std::set<TuningMode>> m_lastModes;
 
  std::shared_ptr<wpi::nt::NetworkTable> m_dataTable;
  std::shared_ptr<wpi::nt::NetworkTable> m_tuningTable;
};
 
}  // namespace yams::telemetry