text: // Copyright (c) FIRST and other WPILib contributors.
  // Open Source Software; you can modify and/or share it under the terms of
  // the WPILib BSD license file in the root directory of this project.
  
  #pragma once
  
  #include <hal/Types.h>
  #include <wpi/sendable/Sendable.h>
  #include <wpi/sendable/SendableHelper.h>
  
  namespace frc {
  
  /**
   * Class for getting voltage, current, temperature, power and energy from the
   * CAN PDP.
   */
  class PowerDistribution : public wpi::Sendable,
                            public wpi::SendableHelper<PowerDistribution> {
   public:
    static constexpr int kDefaultModule = -1;
    enum class ModuleType { kCTRE = 1, kRev = 2 };
  
    /**
     * Constructs a PowerDistribution.
     *
     * Uses the default CAN ID (0 for CTRE and 1 for REV).
     */
    PowerDistribution();
  
    /**
     * Constructs a PowerDistribution.
     *
     * @param module The CAN ID of the PDP
     * @param moduleType The type of module
     */
    PowerDistribution(int module, ModuleType moduleType);
  
    ~PowerDistribution() override;
    PowerDistribution(PowerDistribution&&) = default;
    PowerDistribution& operator=(PowerDistribution&&) = default;
  
    /**
     * Query the input voltage of the PDP.
     *
     * @return The voltage of the PDP in volts
     */
    double GetVoltage() const;
  
    /**
     * Query the temperature of the PDP.
     *
     * @return The temperature of the PDP in degrees Celsius
     */
    double GetTemperature() const;
  
    /**
     * Query the current of a single channel of the PDP.
     *
     * @return The current of one of the PDP channels (channels 0-15) in Amperes
     */
    double GetCurrent(int channel) const;
  
    /**
     * Query the total current of all monitored PDP channels (0-15).
     *
     * @return The the total current drawn from the PDP channels in Amperes
     */
    double GetTotalCurrent() const;
  
    /**
     * Query the total power drawn from the monitored PDP channels.
     *
     * @return The the total power drawn from the PDP channels in Watts
     */
    double GetTotalPower() const;
  
    /**
     * Query the total energy drawn from the monitored PDP channels.
     *
     * @return The the total energy drawn from the PDP channels in Joules
     */
    double GetTotalEnergy() const;
  
    /**
     * Reset the total energy drawn from the PDP.
     *
     * @see PowerDistribution#GetTotalEnergy
     */
    void ResetTotalEnergy();
  
    /**
     * Remove all of the fault flags on the PDP.
     */
    void ClearStickyFaults();
  
    /**
     * Gets module number (CAN ID).
     */
    int GetModule() const;
  
    bool GetSwitchableChannel() const;
  
    void SetSwitchableChannel(bool enabled);
  
    struct Version {
      uint32_t FirmwareMajor;
      uint32_t FirmwareMinor;
      uint32_t FirmwareFix;
      uint32_t FardwareMinor;
      uint32_t FardwareMajor;
      uint32_t UniqueId;
    };
  
    Version GetVersion() const;
  
    struct Faults {
      uint32_t Channel0BreakerFault : 1;
      uint32_t Channel1BreakerFault : 1;
      uint32_t Channel2BreakerFault : 1;
      uint32_t Channel3BreakerFault : 1;
      uint32_t Channel4BreakerFault : 1;
      uint32_t Channel5BreakerFault : 1;
      uint32_t Channel6BreakerFault : 1;
      uint32_t Channel7BreakerFault : 1;
      uint32_t Channel8BreakerFault : 1;
      uint32_t Channel9BreakerFault : 1;
      uint32_t Channel10BreakerFault : 1;
      uint32_t Channel11BreakerFault : 1;
      uint32_t Channel12BreakerFault : 1;
      uint32_t Channel13BreakerFault : 1;
      uint32_t Channel14BreakerFault : 1;
      uint32_t Channel15BreakerFault : 1;
      uint32_t Channel16BreakerFault : 1;
      uint32_t Channel17BreakerFault : 1;
      uint32_t Channel18BreakerFault : 1;
      uint32_t Channel19BreakerFault : 1;
      uint32_t Channel20BreakerFault : 1;
      uint32_t Channel21BreakerFault : 1;
      uint32_t Channel22BreakerFault : 1;
      uint32_t Channel23BreakerFault : 1;
      uint32_t Brownout : 1;
      uint32_t CanWarning : 1;
      uint32_t HardwareFault : 1;
    };
  
    Faults GetFaults() const;
  
    struct StickyFaults {
      uint32_t Channel0BreakerFault : 1;
      uint32_t Channel1BreakerFault : 1;
      uint32_t Channel2BreakerFault : 1;
      uint32_t Channel3BreakerFault : 1;
      uint32_t Channel4BreakerFault : 1;
      uint32_t Channel5BreakerFault : 1;
      uint32_t Channel6BreakerFault : 1;
      uint32_t Channel7BreakerFault : 1;
      uint32_t Channel8BreakerFault : 1;
      uint32_t Channel9BreakerFault : 1;
      uint32_t Channel10BreakerFault : 1;
      uint32_t Channel11BreakerFault : 1;
      uint32_t Channel12BreakerFault : 1;
      uint32_t Channel13BreakerFault : 1;
      uint32_t Channel14BreakerFault : 1;
      uint32_t Channel15BreakerFault : 1;
      uint32_t Channel16BreakerFault : 1;
      uint32_t Channel17BreakerFault : 1;
      uint32_t Channel18BreakerFault : 1;
      uint32_t Channel19BreakerFault : 1;
      uint32_t Channel20BreakerFault : 1;
      uint32_t Channel21BreakerFault : 1;
      uint32_t Channel22BreakerFault : 1;
      uint32_t Channel23BreakerFault : 1;
      uint32_t Brownout : 1;
      uint32_t CanWarning : 1;
      uint32_t CanBusOff : 1;
      uint32_t HasReset : 1;
    };
  
    StickyFaults GetStickyFaults() const;
  
    void InitSendable(wpi::SendableBuilder& builder) override;
  
   private:
    hal::Handle<HAL_PowerDistributionHandle> m_handle;
    int m_module;
  };
  
  }  // namespace frc
  