frc971/actors/stack_actor.h

#ifndef FRC971_ACTORS_STACK_ACTOR_H_
#define FRC971_ACTORS_STACK_ACTOR_H_

#include <stdint.h>

#include <memory>

#include "aos/common/actions/actions.h"
#include "aos/common/actions/actor.h"
#include "frc971/actors/stack_action.q.h"

namespace frc971 {
namespace actors {

class StackActor
    : public aos::common::actions::ActorBase<StackActionQueueGroup> {
 public:
  explicit StackActor(StackActionQueueGroup *queues);

  void DoProfile(double height, double angle, bool grabbers);

  bool RunAction(const StackParams &params) override;
};

typedef aos::common::actions::TypedAction<StackActionQueueGroup> StackAction;

// Makes a new stackActor action.
::std::unique_ptr<StackAction> MakeStackAction(const StackParams &params);

}  // namespace actors
}  // namespace frc971

#endif