y2024/autonomous/autonomous_actor.h

#ifndef Y2024_AUTONOMOUS_AUTONOMOUS_ACTOR_H_
#define Y2024_AUTONOMOUS_AUTONOMOUS_ACTOR_H_

#include "aos/actions/actions.h"
#include "aos/actions/actor.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "y2024/autonomous/auto_splines.h"
#include "y2024/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2024/control_loops/superstructure/superstructure_status_generated.h"

namespace y2024::autonomous {

class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
 public:
  explicit AutonomousActor(::aos::EventLoop *event_loop);

  bool RunAction(
      const ::frc971::autonomous::AutonomousActionParams *params) override;

 private:
  void SendSuperstructureGoal();

  void Reset();

  void SendStartingPosition(const Eigen::Vector3d &start);
  void MaybeSendStartingPosition();
  void SplineAuto();
  void Replan();

  aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
      localizer_control_sender_;
  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
  aos::Fetcher<aos::RobotState> robot_state_fetcher_;

  aos::TimerHandler *replan_timer_;
  aos::TimerHandler *button_poll_;

  aos::Alliance alliance_ = aos::Alliance::kInvalid;
  AutonomousSplines auto_splines_;
  bool user_indicated_safe_to_reset_ = false;
  bool sent_starting_position_ = false;

  bool is_planned_ = false;

  std::optional<Eigen::Vector3d> starting_position_;

  bool preloaded_ = false;

  aos::Sender<control_loops::superstructure::Goal> superstructure_goal_sender_;
  aos::Fetcher<y2024::control_loops::superstructure::Status>
      superstructure_status_fetcher_;

  std::optional<SplineHandle> test_spline_;

  // List of arm angles from arm::PointsList
  const ::std::vector<::Eigen::Matrix<double, 3, 1>> points_;
};

}  // namespace y2024::autonomous

#endif  // Y2024_AUTONOMOUS_AUTONOMOUS_ACTOR_H_