odomChassisController.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/chassis/model/skidSteerModel.hpp"
#include "okapi/api/coreProsAPI.hpp"
#include "okapi/api/odometry/odometry.hpp"
#include "okapi/api/odometry/point.hpp"
#include "okapi/api/units/QSpeed.hpp"
#include "okapi/api/util/abstractRate.hpp"
#include "okapi/api/util/logging.hpp"
#include "okapi/api/util/timeUtil.hpp"
#include <atomic>
#include <memory>
#include <valarray>
 
namespace okapi {
class OdomChassisController : public ChassisController {
  public:
  OdomChassisController(TimeUtil itimeUtil,
                        std::shared_ptr<Odometry> iodometry,
                        const StateMode &imode = StateMode::FRAME_TRANSFORMATION,
                        const QLength &imoveThreshold = 0_mm,
                        const QAngle &iturnThreshold = 0_deg,
                        std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger());
 
  ~OdomChassisController() override;
 
  OdomChassisController(const OdomChassisController &) = delete;
  OdomChassisController(OdomChassisController &&other) = delete;
  OdomChassisController &operator=(const OdomChassisController &other) = delete;
  OdomChassisController &operator=(OdomChassisController &&other) = delete;
 
  virtual void
  driveToPoint(const Point &ipoint, bool ibackwards = false, const QLength &ioffset = 0_mm) = 0;
 
  virtual void turnToPoint(const Point &ipoint) = 0;
 
  virtual void turnToAngle(const QAngle &iangle) = 0;
 
  virtual OdomState getState() const;
 
  virtual void setState(const OdomState &istate);
 
  void setDefaultStateMode(const StateMode &imode);
 
  virtual void setMoveThreshold(const QLength &imoveThreshold);
 
  virtual void setTurnThreshold(const QAngle &iturnTreshold);
 
  virtual QLength getMoveThreshold() const;
 
  virtual QAngle getTurnThreshold() const;
 
  void startOdomThread();
 
  CrossplatformThread *getOdomThread() const;
 
  std::shared_ptr<Odometry> getOdometry();
 
  protected:
  std::shared_ptr<Logger> logger;
  TimeUtil timeUtil;
  QLength moveThreshold;
  QAngle turnThreshold;
  std::shared_ptr<Odometry> odom;
  CrossplatformThread *odomTask{nullptr};
  std::atomic_bool dtorCalled{false};
  StateMode defaultStateMode{StateMode::FRAME_TRANSFORMATION};
  std::atomic_bool odomTaskRunning{false};
 
  static void trampoline(void *context);
  void loop();
};
} // namespace okapi