y2022/actors/auto_splines.h

#ifndef Y2022_ACTORS_AUTO_SPLINES_H_
#define Y2022_ACTORS_AUTO_SPLINES_H_

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

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

*/

namespace y2022::actors {

class AutonomousSplines {
 public:
  AutonomousSplines()
      : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/test_spline.json")),
        spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_5_ball_1.json")),
        spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_5_ball_2.json")),
        spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_5_ball_3.json")),
        spline_two1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_2_ball.json")),
        spline_two2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
            "splines/spline_2_ball_2.json")) {}

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

  flatbuffers::Offset<frc971::MultiSpline> Spline1(
      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
          *builder,
      aos::Alliance alliance);
  flatbuffers::Offset<frc971::MultiSpline> Spline2(
      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
          *builder,
      aos::Alliance alliance);
  flatbuffers::Offset<frc971::MultiSpline> Spline3(
      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
          *builder,
      aos::Alliance alliance);

  flatbuffers::Offset<frc971::MultiSpline> SplineTwoBall1(
      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
          *builder,
      aos::Alliance alliance);
  flatbuffers::Offset<frc971::MultiSpline> SplineTwoBall2(
      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
          *builder,
      aos::Alliance alliance);

 private:
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_1_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_2_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_3_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_two1_;
  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_two2_;
};

}  // namespace y2022::actors

#endif  // Y2022_ACTORS_AUTO_SPLINES_H_