SwerveModuleTelemetryConfig.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 <wpi/math/kinematics/SwerveModuleVelocity.hpp>
#include <wpi/math/kinematics/struct/SwerveModuleVelocityStruct.hpp>
 
#include "yams/motorcontrollers/SmartMotorControllerConfig.hpp"
#include "yams/telemetry/SmartMotorControllerTelemetry.hpp"
#include "yams/telemetry/StructTelemetry.hpp"
 
namespace yams::telemetry {
 
class SwerveModuleTelemetryConfig {
 public:
  using TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity;
 
  enum class DoubleTelemetryField {
    AbsoluteEncoder,
  };
 
  enum class StructTelemetryField {
    State,
  };
 
  SwerveModuleTelemetryConfig();
 
  explicit SwerveModuleTelemetryConfig(TelemetryVerbosity verbosity);
 
  SwerveModuleTelemetryConfig& WithDataLogName(const std::string& dataLogName);
 
  SwerveModuleTelemetryConfig& WithNetworkTables(bool enabled);
 
  SwerveModuleTelemetryConfig& WithoutNetworkTables();
 
  SwerveModuleTelemetryConfig& WithTelemetryVerbosity(TelemetryVerbosity verbosity);
 
  SwerveModuleTelemetryConfig& WithAbsoluteEncoder();
  SwerveModuleTelemetryConfig& WithState();
 
  std::optional<std::string> GetDataLogName() const;
  bool GetNT4Enabled() const;
 
  std::unordered_map<DoubleTelemetryField, DoubleTelemetry<DoubleTelemetryField>>&
  GetDoubleFields();
 
  std::unordered_map<StructTelemetryField,
                     StructTelemetry<wpi::math::SwerveModuleVelocity, StructTelemetryField>>&
  GetStructFields();
 
  SwerveModuleTelemetryConfig& WithCustom(DoubleTelemetryField field, bool value);
  SwerveModuleTelemetryConfig& WithCustom(StructTelemetryField field, bool value);
  SwerveModuleTelemetryConfig& WithCustom(const std::vector<DoubleTelemetryField>& fields,
                                          bool value);
  SwerveModuleTelemetryConfig& WithCustom(const std::vector<StructTelemetryField>& fields,
                                          bool value);
 
 private:
  std::optional<std::string> m_dataLogName;
  bool m_nt4Telemetry{true};
 
  std::unordered_map<DoubleTelemetryField, DoubleTelemetry<DoubleTelemetryField>> m_doubleFields;
  std::unordered_map<StructTelemetryField,
                     StructTelemetry<wpi::math::SwerveModuleVelocity, StructTelemetryField>>
      m_structFields;
};
 
}  // namespace yams::telemetry