y2024/joystick_reader.cc

#include <unistd.h>

#include <cmath>
#include <cstdio>
#include <cstring>

#include "aos/actions/actions.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "frc971/input/action_joystick_input.h"
#include "frc971/input/driver_station_data.h"
#include "frc971/input/drivetrain_input.h"
#include "frc971/input/joystick_input.h"
#include "frc971/input/redundant_joystick_data.h"
#include "frc971/zeroing/wrap.h"
#include "y2024/constants/constants_generated.h"
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
#include "y2024/control_loops/superstructure/superstructure_goal_static.h"
#include "y2024/control_loops/superstructure/superstructure_status_static.h"

using frc971::CreateProfileParameters;
using frc971::input::driver_station::ButtonLocation;
using frc971::input::driver_station::ControlBit;
using frc971::input::driver_station::JoystickAxis;
using frc971::input::driver_station::POVLocation;
using Side = frc971::control_loops::drivetrain::RobotSide;

namespace y2024::input::joysticks {

namespace superstructure = y2024::control_loops::superstructure;

// TODO(Xander): add x,y location from physical wiring
const ButtonLocation kIntake(0, 0);
const ButtonLocation kSpit(0, 0);
const ButtonLocation kCatapultLoad(0, 0);
const ButtonLocation kAmp(0, 0);
const ButtonLocation kTrap(0, 0);
const ButtonLocation kAutoAim(0, 0);
const ButtonLocation kAimSpeaker(0, 0);
const ButtonLocation kAimPodium(0, 0);
const ButtonLocation kShoot(0, 0);
const ButtonLocation kClimb(0, 0);
const ButtonLocation kExtraButtonOne(0, 0);
const ButtonLocation kExtraButtonTwo(0, 0);
const ButtonLocation kExtraButtonThree(0, 0);
const ButtonLocation kExtraButtonFour(0, 0);

class Reader : public ::frc971::input::ActionJoystickInput {
 public:
  Reader(::aos::EventLoop *event_loop, const y2024::Constants *robot_constants)
      : ::frc971::input::ActionJoystickInput(
            event_loop,
            ::y2024::control_loops::drivetrain::GetDrivetrainConfig(event_loop),
            ::frc971::input::DrivetrainInputReader::InputType::kPistol,
            {.use_redundant_joysticks = true}),
        superstructure_goal_sender_(
            event_loop->MakeSender<control_loops::superstructure::GoalStatic>(
                "/superstructure")),
        superstructure_status_fetcher_(
            event_loop->MakeFetcher<control_loops::superstructure::Status>(
                "/superstructure")),
        robot_constants_(CHECK_NOTNULL(robot_constants)) {}

  void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }

  void HandleTeleop(
      const ::frc971::input::driver_station::Data &data) override {
    (void)data;
    superstructure_status_fetcher_.Fetch();
    if (!superstructure_status_fetcher_.get()) {
      AOS_LOG(ERROR, "Got no superstructure status message.\n");
      return;
    }

    aos::Sender<superstructure::GoalStatic>::StaticBuilder
        superstructure_goal_builder =
            superstructure_goal_sender_.MakeStaticBuilder();

    if (data.IsPressed(kIntake)) {
      // Intake is pressed
      superstructure_goal_builder->set_intake_goal(
          superstructure::IntakeGoal::INTAKE);
    } else if (data.IsPressed(kSpit)) {
      // If Intake not pressed and spit pressed, spit
      superstructure_goal_builder->set_intake_goal(
          superstructure::IntakeGoal::SPIT);
    }

    // Set note goal for the robot. Loading the catapult will always be
    // preferred over scoring in the Amp or Trap.
    if (data.IsPressed(kCatapultLoad)) {
      superstructure_goal_builder->set_note_goal(
          superstructure::NoteGoal::CATAPULT);
    } else if (data.IsPressed(kAmp)) {
      superstructure_goal_builder->set_note_goal(superstructure::NoteGoal::AMP);
    } else if (data.IsPressed(kTrap)) {
      superstructure_goal_builder->set_note_goal(
          superstructure::NoteGoal::TRAP);
    }

    // Firing note when requested
    superstructure_goal_builder->set_fire(data.IsPressed(kShoot));

    // Shooter goal contains all speaker-related goals
    auto shooter_goal = superstructure_goal_builder->add_shooter_goal();

    shooter_goal->set_auto_aim(data.IsPressed(kAimSpeaker));

    // Updating aiming for shooter goal, only one type of aim should be possible
    // at a time, auto-aiming is preferred over the setpoints.
    if (data.IsPressed(kAutoAim)) {
      shooter_goal->set_auto_aim(true);
    } else if (data.IsPressed(kAimSpeaker)) {
      auto catapult_goal = shooter_goal->add_catapult_goal();
      catapult_goal->set_shot_velocity(robot_constants_->common()
                                           ->shooter_speaker_set_point()
                                           ->shot_velocity());
      PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
          shooter_goal->add_altitude_position(),
          robot_constants_->common()
              ->shooter_speaker_set_point()
              ->altitude_position());
      PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
          shooter_goal->add_turret_position(), robot_constants_->common()
                                                   ->shooter_speaker_set_point()
                                                   ->turret_position());
    } else if (data.IsPressed(kAimPodium)) {
      auto catapult_goal = shooter_goal->add_catapult_goal();
      catapult_goal->set_shot_velocity(robot_constants_->common()
                                           ->shooter_podium_set_point()
                                           ->shot_velocity());
      PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
          shooter_goal->add_altitude_position(),
          robot_constants_->common()
              ->shooter_podium_set_point()
              ->altitude_position());
      PopulateStaticZeroingSingleDOFProfiledSubsystemGoal(
          shooter_goal->add_turret_position(), robot_constants_->common()
                                                   ->shooter_podium_set_point()
                                                   ->turret_position());
    }

    // Extend climbers if pressed, retract otherwise
    if (data.IsPressed(kClimb)) {
      superstructure_goal_builder->set_climber_goal(
          superstructure::ClimberGoal::FULL_EXTEND);
    } else {
      superstructure_goal_builder->set_climber_goal(
          superstructure::ClimberGoal::RETRACT);
    }

    superstructure_goal_builder.CheckOk(superstructure_goal_builder.Send());
  }

 private:
  ::aos::Sender<control_loops::superstructure::GoalStatic>
      superstructure_goal_sender_;
  ::aos::Fetcher<control_loops::superstructure::Status>
      superstructure_status_fetcher_;
  const y2024::Constants *robot_constants_;
};

}  // namespace y2024::input::joysticks

int main(int argc, char **argv) {
  ::aos::InitGoogle(&argc, &argv);

  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
      aos::configuration::ReadConfig("aos_config.json");
  frc971::constants::WaitForConstants<y2024::Constants>(&config.message());

  ::aos::ShmEventLoop constant_fetcher_event_loop(&config.message());
  frc971::constants::ConstantsFetcher<y2024::Constants> constants_fetcher(
      &constant_fetcher_event_loop);
  const y2024::Constants *robot_constants = &constants_fetcher.constants();

  ::aos::ShmEventLoop event_loop(&config.message());
  ::y2024::input::joysticks::Reader reader(&event_loop, robot_constants);

  event_loop.Run();

  return 0;
}