ThunderAutoSendableChooser.hpp

#pragma once
 
#include <ThunderLib/Auto/ThunderAutoProject.hpp>
#include <ThunderLib/Trajectory/TrajectoryRunnerProperties.hpp>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/Command.h>
#include <string_view>
#include <string>
#include <unordered_map>
#include <memory>
#include <optional>
 
namespace thunder {
 
namespace driver {
 
class ThunderAutoSendableChooser;
struct ThunderAutoSendableChooserSelection;
 
}  // namespace driver
 
  enum class ThunderAutoSendableChooserSelectionType {
    NONE,
    AUTO_MODE,
    TRAJECTORY,
    CUSTOM_COMMAND,
  };
 
  struct ThunderAutoSendableChooserSelection {
    ThunderAutoSendableChooserSelectionType type = ThunderAutoSendableChooserSelectionType::NONE;
    std::string projectName;
    std::string itemName;
  };
 
 
class ThunderAutoSendableChooser final {
 public:
  ThunderAutoSendableChooser() noexcept;
 
  explicit ThunderAutoSendableChooser(std::string_view smartDashboardKey) noexcept;
 
  explicit ThunderAutoSendableChooser(const TrajectoryRunnerProperties& runnerProps) noexcept;
 
  ThunderAutoSendableChooser(std::string_view smartDashboardKey,
                             const TrajectoryRunnerProperties& runnerProps) noexcept;
 
  ~ThunderAutoSendableChooser() noexcept;
 
  void setTrajectoryRunnerProperties(const TrajectoryRunnerProperties& runnerProps) noexcept;
 
  void publish(std::string_view smartDashboardKey) noexcept;
 
  void includeProjectSource(std::shared_ptr<ThunderAutoProject> project,
                            bool addAllAutoModes = false,
                            bool addAllTrajectories = false) noexcept;
 
  void addAllTrajectoriesFromProject(const std::string& projectName) noexcept;
 
  void addAllAutoModesFromProject(const std::string& projectName) noexcept;
 
  bool addTrajectoryFromProject(const std::string& projectName, const std::string& trajectoryName) noexcept;
 
  bool addAutoModeFromProject(const std::string& projectName, const std::string& autoModeName) noexcept;
 
  bool addCustomCommand(const std::string& name, frc2::CommandPtr command) noexcept;
 
  bool addCustomCommand(const std::string& name, std::shared_ptr<frc2::Command> command) noexcept;
 
  frc2::CommandPtr getSelectedCommand() const noexcept;
 
  ThunderAutoSendableChooserSelection getSelected() const noexcept;
 
  driver::ThunderAutoSendableChooser* getHandle() noexcept;
  const driver::ThunderAutoSendableChooser* getHandle() const noexcept;
 
  private:
  // Callbacks
  void addChooserSelection(const driver::ThunderAutoSendableChooserSelection& selection) noexcept;
  void publishChooser(const std::string& key) noexcept;
 
  static ThunderAutoSendableChooserSelection convertChooserSelection(const driver::ThunderAutoSendableChooserSelection& driverSelection) noexcept;
 
 private:
  driver::ThunderAutoSendableChooser* m_handle = nullptr;
  frc::SendableChooser<ThunderAutoSendableChooserSelection> m_chooser;
 
  std::optional<TrajectoryRunnerProperties> m_runnerProps;
  std::unordered_map<std::string, std::shared_ptr<ThunderAutoProject>> m_includedProjects;
 
  std::unordered_map<std::string, std::shared_ptr<frc2::Command>> m_customCommands;
};
 
}  // namespace thunder