y2020/actors/auto_splines.h

#ifndef y2020_ACTORS_AUTO_SPLINES_H_
#define y2020_ACTORS_AUTO_SPLINES_H_

#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
/*

  The cooridinate system for the autonomous splines is the same as the spline
  python generator and drivetrain spline systems.

*/

namespace y2020 {
namespace actors {

class AutonomousSplines {
 public:
  AutonomousSplines()
      : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/test_spline.json")),
        spline_red_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_red_a.json")),
        spline_blue_a_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_blue_a.json")),
        spline_red_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_red_b.json")),
        spline_blue_b_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_blue_b.json")),
        autonav_bounce_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_bounce_1.json")),
        autonav_bounce_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_bounce_2.json")),
        autonav_bounce_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_bounce_3.json")),
        autonav_bounce_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_bounce_4.json")),
        autonav_barrel_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_barrel.json")),
        autonav_slalom_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/autonav_slalom.json")) {}

  static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
      aos::Alliance alliance);
  static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);

  flatbuffers::Offset<frc971::MultiSpline> TestSpline(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> SplineRedA(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_a_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> SplineBlueA(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_a_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> SplineRedB(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_red_b_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> SplineBlueB(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(spline_blue_b_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce1(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_1_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce2(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_2_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce3(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_3_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavBounce4(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_bounce_4_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavBarrel(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_barrel_,
                                                    builder->fbb());
  }
  flatbuffers::Offset<frc971::MultiSpline> AutoNavSlalom(
      aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
    return aos::CopyFlatBuffer<frc971::MultiSpline>(autonav_slalom_,
                                                    builder->fbb());
  }

 private:
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_a_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_a_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_red_b_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_blue_b_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_1_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_2_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_3_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_bounce_4_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_barrel_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> autonav_slalom_;
};

}  // namespace actors
}  // namespace y2020

#endif  // y2020_ACTORS_AUTO_SPLINES_H_