steak/include/okapi/impl/control/async/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:
/**
* A builder that creates async motion profile controllers. Use this to build an
* AsyncMotionProfileController or an AsyncLinearMotionProfileController.
*
* @param ilogger The logger this instance will log to.
*/
explicit AsyncMotionProfileControllerBuilder(
const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
/**
* Sets the output. This must be used with buildLinearMotionProfileController().
*
* @param ioutput The output.
* @param idiameter The diameter of the mechanical part the motor spins.
* @param ipair The gearset.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withOutput(const Motor &ioutput,
const QLength &idiameter,
const AbstractMotor::GearsetRatioPair &ipair);
/**
* Sets the output. This must be used with buildLinearMotionProfileController().
*
* @param ioutput The output.
* @param idiameter The diameter of the mechanical part the motor spins.
* @param ipair The gearset.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withOutput(const MotorGroup &ioutput,
const QLength &idiameter,
const AbstractMotor::GearsetRatioPair &ipair);
/**
* Sets the output. This must be used with buildLinearMotionProfileController().
*
* @param ioutput The output.
* @param idiameter The diameter of the mechanical part the motor spins.
* @param ipair The gearset.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &
withOutput(const std::shared_ptr<ControllerOutput<double>> &ioutput,
const QLength &idiameter,
const AbstractMotor::GearsetRatioPair &ipair);
/**
* Sets the output. This must be used with buildMotionProfileController().
*
* @param icontroller The chassis controller to use.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withOutput(ChassisController &icontroller);
/**
* Sets the output. This must be used with buildMotionProfileController().
*
* @param icontroller The chassis controller to use.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &
withOutput(const std::shared_ptr<ChassisController> &icontroller);
/**
* Sets the output. This must be used with buildMotionProfileController().
*
* @param imodel The chassis model to use.
* @param iscales The chassis dimensions.
* @param ipair The gearset.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withOutput(const std::shared_ptr<ChassisModel> &imodel,
const ChassisScales &iscales,
const AbstractMotor::GearsetRatioPair &ipair);
/**
* Sets the limits.
*
* @param ilimits The limits.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withLimits(const PathfinderLimits &ilimits);
/**
* Sets the TimeUtilFactory used when building the controller. The default is the static
* TimeUtilFactory.
*
* @param itimeUtilFactory The TimeUtilFactory.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
/**
* Sets the logger.
*
* @param ilogger The logger.
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
/**
* Parents the internal tasks started by this builder to the current task, meaning they will be
* deleted once the current task is deleted. The `initialize` and `competition_initialize` tasks
* are never parented to. This is the default behavior.
*
* Read more about this in the [builders and tasks tutorial]
* (docs/tutorials/concepts/builders-and-tasks.md).
*
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &parentedToCurrentTask();
/**
* Prevents parenting the internal tasks started by this builder to the current task, meaning they
* will not be deleted once the current task is deleted. This can cause runaway tasks, but is
* sometimes the desired behavior (e.x., if you want to use this builder once in `autonomous` and
* then again in `opcontrol`).
*
* Read more about this in the [builders and tasks tutorial]
* (docs/tutorials/concepts/builders-and-tasks.md).
*
* @return An ongoing builder.
*/
AsyncMotionProfileControllerBuilder &notParentedToCurrentTask();
/**
* Builds the AsyncLinearMotionProfileController.
*
* @return A fully built AsyncLinearMotionProfileController.
*/
std::shared_ptr<AsyncLinearMotionProfileController> buildLinearMotionProfileController();
/**
* Builds the AsyncMotionProfileController.
*
* @return A fully built AsyncMotionProfileController.
*/
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