asyncMotionProfileControllerBuilder.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/chassis/controller/chassisController.hpp"
#include "okapi/api/control/async/asyncLinearMotionProfileController.hpp"
#include "okapi/api/control/async/asyncMotionProfileController.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/impl/device/motor/motor.hpp"
#include "okapi/impl/device/motor/motorGroup.hpp"
#include "okapi/impl/util/timeUtilFactory.hpp"
 
namespace okapi {
class AsyncMotionProfileControllerBuilder {
  public:
  explicit AsyncMotionProfileControllerBuilder(
    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
 
  AsyncMotionProfileControllerBuilder &withOutput(const Motor &ioutput,
                                                  const QLength &idiameter,
                                                  const AbstractMotor::GearsetRatioPair &ipair);
 
  AsyncMotionProfileControllerBuilder &withOutput(const MotorGroup &ioutput,
                                                  const QLength &idiameter,
                                                  const AbstractMotor::GearsetRatioPair &ipair);
 
  AsyncMotionProfileControllerBuilder &
  withOutput(const std::shared_ptr<ControllerOutput<double>> &ioutput,
             const QLength &idiameter,
             const AbstractMotor::GearsetRatioPair &ipair);
 
  AsyncMotionProfileControllerBuilder &withOutput(ChassisController &icontroller);
 
  AsyncMotionProfileControllerBuilder &
  withOutput(const std::shared_ptr<ChassisController> &icontroller);
 
  AsyncMotionProfileControllerBuilder &withOutput(const std::shared_ptr<ChassisModel> &imodel,
                                                  const ChassisScales &iscales,
                                                  const AbstractMotor::GearsetRatioPair &ipair);
 
  AsyncMotionProfileControllerBuilder &withLimits(const PathfinderLimits &ilimits);
 
  AsyncMotionProfileControllerBuilder &withTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
 
  AsyncMotionProfileControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
 
  AsyncMotionProfileControllerBuilder &parentedToCurrentTask();
 
  AsyncMotionProfileControllerBuilder &notParentedToCurrentTask();
 
  std::shared_ptr<AsyncLinearMotionProfileController> buildLinearMotionProfileController();
 
  std::shared_ptr<AsyncMotionProfileController> buildMotionProfileController();
 
  private:
  std::shared_ptr<Logger> logger;
 
  bool hasLimits{false};
  PathfinderLimits limits;
 
  bool hasOutput{false};
  std::shared_ptr<ControllerOutput<double>> output;
  QLength diameter;
 
  bool hasModel{false};
  std::shared_ptr<ChassisModel> model;
  ChassisScales scales{{1, 1}, imev5GreenTPR};
  AbstractMotor::GearsetRatioPair pair{AbstractMotor::gearset::invalid};
  TimeUtilFactory timeUtilFactory = TimeUtilFactory();
  std::shared_ptr<Logger> controllerLogger = Logger::getDefaultLogger();
 
  bool isParentedToCurrentTask{true};
};
} // namespace okapi