ThunderAutoProject.hpp

#pragma once
 
#include <ThunderLib/Auto/ThunderAutoTrajectory.hpp>
#include <ThunderLib/Auto/ThunderAutoMode.hpp>
#include <frc2/command/Command.h>
#include <frc2/command/CommandPtr.h>
#include <unordered_map>
#include <unordered_set>
#include <filesystem>
#include <string>
#include <optional>
#include <string>
#include <string_view>
#include <memory>
#include <mutex>
 
namespace thunder {
 
namespace driver {
 
class ThunderAutoProject;
 
}  // namespace driver
 
class ThunderAutoProject final {
 public:
  ThunderAutoProject() noexcept;
 
  explicit ThunderAutoProject(const std::filesystem::path& projectPath) noexcept;
 
  ~ThunderAutoProject() noexcept;
 
  bool load(const std::filesystem::path& projectPath) noexcept;
 
  bool discoverAndLoadFromDeployDirectory() noexcept;
 
  bool isLoaded() const noexcept;
 
  explicit operator bool() const noexcept;
 
  std::string getName() const noexcept;
 
  void registerActionCommand(const std::string& actionName, frc2::CommandPtr command);
 
  void registerActionCommand(const std::string& actionName, std::shared_ptr<frc2::Command> command);
 
  bool isActionCommandRegistered(const std::string& actionName) const noexcept;
 
  bool hasAction(const std::string& actionName) const noexcept;
 
  frc2::CommandPtr getActionCommand(const std::string& actionName) const noexcept;
 
  using BooleanConditionFunc = std::function<bool()>;
 
  void registerBooleanCondition(const std::string& conditionName, BooleanConditionFunc condition);
 
  bool isBooleanConditionRegistered(const std::string& conditionName) const noexcept;
 
  BooleanConditionFunc getBooleanCondition(const std::string& conditionName) const noexcept;
 
  using SwitchConditionFunc = std::function<int()>;
 
  void registerSwitchCondition(const std::string& conditionName, SwitchConditionFunc condition);
 
  bool isSwitchConditionRegistered(const std::string& conditionName) const noexcept;
 
  SwitchConditionFunc getSwitchCondition(const std::string& conditionName) const noexcept;
 
  [[nodiscard]]
  std::unique_ptr<ThunderAutoTrajectory> getTrajectory(const std::string& trajectoryName) const noexcept;
 
  bool hasTrajectory(const std::string& trajectoryName) const noexcept;
 
  std::unordered_set<std::string> getTrajectoryNames() const noexcept;
 
  [[nodiscard]]
  std::unique_ptr<ThunderAutoMode> getAutoMode(const std::string& autoModeName) const noexcept;
 
  bool hasAutoMode(const std::string& autoModeName) const noexcept;
 
  std::unordered_set<std::string> getAutoModeNames() const noexcept;
 
  FieldSymmetry getFieldSymmetry() const noexcept;
 
  FieldDimensions getFieldDimensions() const noexcept;
 
  void setRemoteUpdatesEnabled(bool enabled) noexcept;
 
  void enableRemoteUpdates() noexcept;
 
  void disableRemoteUpdates() noexcept;
 
  bool areRemoteUpdatesEnabled() const noexcept;
 
  using RemoteUpdateCallbackFunc = std::function<void()>;
  using RemoteUpdateSubscriberID = size_t;
 
  RemoteUpdateSubscriberID registerRemoteUpdateSubscriber(RemoteUpdateCallbackFunc callback) noexcept;
 
  bool unregisterRemoteUpdateSubscriber(RemoteUpdateSubscriberID id) noexcept;
 
  driver::ThunderAutoProject* getHandle() noexcept;
  const driver::ThunderAutoProject* getHandle() const noexcept;
 
 private:
  driver::ThunderAutoProject* m_handle;
 
  std::unordered_map<std::string, std::shared_ptr<frc2::Command>> m_actionCommands;
  std::unordered_map<std::string, BooleanConditionFunc> m_booleanConditions;
  std::unordered_map<std::string, SwitchConditionFunc> m_switchConditions;
};
 
}  // namespace thunder