SwerveModuleTelemetry.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <memory>
#include <string>
#include <wpi/nt/NetworkTable.hpp>
 
#include "yams/telemetry/SwerveModuleTelemetryConfig.hpp"
 
namespace yams::mechanisms::swerve {
class SwerveModule;
}
 
namespace yams::telemetry {
 
class SwerveModuleTelemetry {
 public:
  using DoubleTelemetryField = SwerveModuleTelemetryConfig::DoubleTelemetryField;
  using StructTelemetryField = SwerveModuleTelemetryConfig::StructTelemetryField;
 
  explicit SwerveModuleTelemetry(SwerveModuleTelemetryConfig config);
 
  void SetupTelemetry(const std::string& mechName, mechanisms::swerve::SwerveModule& module);
 
  void Publish(mechanisms::swerve::SwerveModule& module);
 
  void Close();
 
 private:
  SwerveModuleTelemetryConfig m_config;
 
  std::shared_ptr<wpi::nt::NetworkTable> m_dataTable;
  std::shared_ptr<wpi::nt::NetworkTable> m_tuningTable;
};
 
}  // namespace yams::telemetry