Public Types
using	BooleanConditionFunc = std::function<bool()>

using	SwitchConditionFunc = std::function<int()>

using	RemoteUpdateCallbackFunc = std::function<void()>

using	RemoteUpdateSubscriberID = size_t

Public Member Functions
	ThunderAutoProject () noexcept

	ThunderAutoProject (const std::filesystem::path &projectPath) noexcept

bool	load (const std::filesystem::path &projectPath) noexcept

bool	discoverAndLoadFromDeployDirectory () noexcept

bool	isLoaded () const noexcept

	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

void	registerBooleanCondition (const std::string &conditionName, BooleanConditionFunc condition)

bool	isBooleanConditionRegistered (const std::string &conditionName) const noexcept

BooleanConditionFunc	getBooleanCondition (const std::string &conditionName) const noexcept

void	registerSwitchCondition (const std::string &conditionName, SwitchConditionFunc condition)

bool	isSwitchConditionRegistered (const std::string &conditionName) const noexcept

SwitchConditionFunc	getSwitchCondition (const std::string &conditionName) const noexcept

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

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

RemoteUpdateSubscriberID	registerRemoteUpdateSubscriber (RemoteUpdateCallbackFunc callback) noexcept

bool	unregisterRemoteUpdateSubscriber (RemoteUpdateSubscriberID id) noexcept

driver::ThunderAutoProject *	getHandle () noexcept

const driver::ThunderAutoProject *	getHandle () const noexcept

Constructor & Destructor Documentation

◆ ThunderAutoProject() [1/2]

thunder::ThunderAutoProject::ThunderAutoProject ( )

noexcept

Default constructor. Creates an empty ThunderAuto project that is not loaded.

◆ ThunderAutoProject() [2/2]

thunder::ThunderAutoProject::ThunderAutoProject ( const std::filesystem::path & projectPath )

explicitnoexcept

Loads a ThunderAuto project from the specified path.

Parameters

projectPath The path to the ThunderAuto project. If an absolute path is provided, it will be used as-is. If a relative path is provided, it will be considered relative to the deploy directory.

Member Function Documentation

◆ areRemoteUpdatesEnabled()

bool thunder::ThunderAutoProject::areRemoteUpdatesEnabled ( ) const

noexcept

Check if remote project updates from ThunderAuto are enabled (enabled by default).

Returns: True if remote updates are enabled, false otherwise.

◆ disableRemoteUpdates()

void thunder::ThunderAutoProject::disableRemoteUpdates ( )

noexcept

Disable remote project updates from ThunderAuto.

◆ discoverAndLoadFromDeployDirectory()

bool thunder::ThunderAutoProject::discoverAndLoadFromDeployDirectory ( )

noexcept

Scans the deploy directory for a ThunderAuto project and loads the first one it finds.

Returns: True if a project was found and loaded, false otherwise.

◆ enableRemoteUpdates()

void thunder::ThunderAutoProject::enableRemoteUpdates ( )

noexcept

Enable remote project updates from ThunderAuto (enabled by default).

◆ getActionCommand()

frc2::CommandPtr thunder::ThunderAutoProject::getActionCommand ( const std::string & actionName ) const

noexcept

Get an action command by name.

If the action name references an action group defined in the project, the corresponding command group will be constructed and returned.

If the action name references an action command that has been registered via registerActionCommand(), the registered command will be returned.

If the action name does not reference a valid action group in the project or a registered command, a None command will be returned.

Parameters

actionName The name of the action to get.

Returns: A CommandPtr representing the action command, or a None command if not found.

◆ getAutoMode()

std::unique_ptr< ThunderAutoMode > thunder::ThunderAutoProject::getAutoMode ( const std::string & autoModeName ) const

nodiscardnoexcept

Get an autonomous mode by name.

Parameters

autoModeName The name of the autonomous mode to get.

Returns: A unique pointer to the autonomous mode if it exists, or nullptr if it does not.

◆ getAutoModeNames()

std::unordered_set< std::string > thunder::ThunderAutoProject::getAutoModeNames ( ) const

noexcept

Get the names of all autonomous modes in the project.

Returns: An unordered set of autonomous mode names.

◆ getBooleanCondition()

ThunderAutoProject::BooleanConditionFunc thunder::ThunderAutoProject::getBooleanCondition ( const std::string & conditionName ) const

noexcept

Get a registered boolean condition by name.

Parameters

conditionName The name of the condition to get.

Returns: The boolean condition function, or nullptr if not found.

◆ getFieldDimensions()

FieldDimensions thunder::ThunderAutoProject::getFieldDimensions ( ) const

noexcept

Get the size of the configured field for the loaded project.

Returns: The field size.

◆ getFieldSymmetry()

FieldSymmetry thunder::ThunderAutoProject::getFieldSymmetry ( ) const

noexcept

Get the symmetry of the configured field for the loaded project.

Returns: The field symmetry.

◆ getName()

std::string thunder::ThunderAutoProject::getName ( ) const

noexcept

Get the name of the loaded project.

Returns: The name of the loaded project, or an empty string if no project is loaded.

◆ getSwitchCondition()

ThunderAutoProject::SwitchConditionFunc thunder::ThunderAutoProject::getSwitchCondition ( const std::string & conditionName ) const

noexcept

Get a registered switch condition by name.

Parameters

conditionName The name of the condition to get.

Returns: The switch condition function, or nullptr if not found.

◆ getTrajectory()

std::unique_ptr< ThunderAutoTrajectory > thunder::ThunderAutoProject::getTrajectory ( const std::string & trajectoryName ) const

nodiscardnoexcept

Get a trajectory by name.

Parameters

trajectoryName The name of the trajectory to get.

Returns: A unique pointer to the trajectory if it exists, or nullptr if it does not.

◆ getTrajectoryNames()

std::unordered_set< std::string > thunder::ThunderAutoProject::getTrajectoryNames ( ) const

noexcept

Get the names of all trajectories in the project.

Returns: An unordered set of trajectory names.

◆ hasAction()

bool thunder::ThunderAutoProject::hasAction ( const std::string & actionName ) const

noexcept

Check if an action with the given name exists in the project.

Note: This function has nothing to do with registered action commands, it is simply checking the existence of an action in the project.

Parameters

actionName The name of the action to check.

Returns: True if the action exists, false otherwise.

◆ hasAutoMode()

bool thunder::ThunderAutoProject::hasAutoMode ( const std::string & autoModeName ) const

noexcept

Check if an autonomous mode with the given name exists.

Parameters

autoModeName The name of the autonomous mode to check.

Returns: True if the autonomous mode exists, false otherwise.

◆ hasTrajectory()

bool thunder::ThunderAutoProject::hasTrajectory ( const std::string & trajectoryName ) const

noexcept

Check if a trajectory with the given name exists.

Parameters

trajectoryName The name of the trajectory to check.

Returns: True if the trajectory exists, false otherwise.

◆ isActionCommandRegistered()

bool thunder::ThunderAutoProject::isActionCommandRegistered ( const std::string & actionName ) const

noexcept

Check if an action command with the given name is registered.

Parameters

actionName The name of the action to check.

Returns: True if the action command is registered, false otherwise.

◆ isBooleanConditionRegistered()

bool thunder::ThunderAutoProject::isBooleanConditionRegistered ( const std::string & conditionName ) const

noexcept

Check if a boolean condition with the given name is registered.

Parameters

conditionName The name of the condition to check.

Returns: True if the boolean condition is registered, false otherwise.

◆ isLoaded()

bool thunder::ThunderAutoProject::isLoaded ( ) const

noexcept

Returns whether a project is successfully loaded.

Returns: True if a project is loaded, false otherwise.

◆ isSwitchConditionRegistered()

bool thunder::ThunderAutoProject::isSwitchConditionRegistered ( const std::string & conditionName ) const

noexcept

Check if a switch condition with the given name is registered.

Parameters

conditionName The name of the condition to check.

Returns: True if the switch condition is registered, false otherwise.

◆ load()

bool thunder::ThunderAutoProject::load ( const std::filesystem::path & projectPath )

noexcept

Loads a ThunderAuto project from the specified path.

Parameters

projectPath The path to the ThunderAuto project. If an absolute path is provided, it will be used as-is. If a relative path is provided, it will be considered relative to the deploy directory.

Returns: True if the project was successfully loaded, false otherwise.

◆ operator bool()

thunder::ThunderAutoProject::operator bool ( ) const

explicitnoexcept

Returns whether a project is successfully loaded.

Returns: True if a project is loaded, false otherwise.

◆ registerActionCommand() [1/2]

void thunder::ThunderAutoProject::registerActionCommand	(	const std::string &	actionName,
		frc2::CommandPtr	command )

Register an action command that is used in a trajectory or auto mode. If an action is already registered with the same name, it will be replaced. If an action referenced during the execution of a trajectory or auto mode is not found, nothing will be executed.

Parameters

actionName	The name of the action.
command	The command to be executed when the action is called.

◆ registerActionCommand() [2/2]

void thunder::ThunderAutoProject::registerActionCommand	(	const std::string &	actionName,
		std::shared_ptr< frc2::Command >	command )

Register an action command that is used in a trajectory or auto mode. If an action is already registered with the same name, it will be replaced. If an action referenced during the execution of a trajectory or auto mode is not found, nothing will be executed.

Parameters

actionNameame	The name of the action.
command	The command to be executed when the action is called.

◆ registerBooleanCondition()

void thunder::ThunderAutoProject::registerBooleanCondition	(	const std::string &	conditionName,
		BooleanConditionFunc	condition )

Register a boolean condition that is used during a branch step in an auto mode to determine the next step to run. If a condition is already registered with the same name, it will be replaced. If a condition that is referenced during the execution of an auto mode is not found, the auto mode will stop executing and an error will be logged.

Parameters

conditionName	The name of the condition.
condition	The function that returns a boolean indicating the next step to run.

◆ registerRemoteUpdateSubscriber()

ThunderAutoProject::RemoteUpdateSubscriberID thunder::ThunderAutoProject::registerRemoteUpdateSubscriber ( RemoteUpdateCallbackFunc callback )

noexcept

Register a callback function to be called when the project is updated remotely from ThunderAuto.

Parameters

callback The callback function to register.

Returns: A subscriber ID that can be used to unregister the callback, or 0 on failure.

◆ registerSwitchCondition()

void thunder::ThunderAutoProject::registerSwitchCondition	(	const std::string &	conditionName,
		SwitchConditionFunc	condition )

Register a switch condition that is used during a branch step in an auto mode to determine the next step to run. If a condition is already registered with the same name, it will be replaced. If a condition that is referenced during the execution of an auto mode is not found, the auto mode will stop executing and an error will be logged.

Parameters

conditionName	The name of the condition.
condition	The function that returns an integer indicating the next step to run.

◆ setRemoteUpdatesEnabled()

void thunder::ThunderAutoProject::setRemoteUpdatesEnabled ( bool enabled )

noexcept

Set whether remote project updates from ThunderAuto are enabled (enabled by default). Remote updates will only occur only when the robot is in Disabled mode and FMS is not connected.

Parameters

enabled True to enable remote updates, false to disable them.

◆ unregisterRemoteUpdateSubscriber()

bool thunder::ThunderAutoProject::unregisterRemoteUpdateSubscriber ( RemoteUpdateSubscriberID id )

noexcept

Unregister a previously registered remote update subscriber.

Parameters

id	The subscriber ID returned by registerRemoteUpdateSubscriber().

Returns: True if the subscriber was successfully unregistered, false otherwise.

The documentation for this class was generated from the following files:

src/main/native/include/ThunderLib/Auto/ThunderAutoProject.hpp
src/main/native/cpp/Auto/ThunderAutoProject.cpp

Public Types

Public Member Functions

Constructor & Destructor Documentation

◆ ThunderAutoProject() [1/2]

◆ ThunderAutoProject() [2/2]

Member Function Documentation

◆ areRemoteUpdatesEnabled()

◆ disableRemoteUpdates()

◆ discoverAndLoadFromDeployDirectory()

◆ enableRemoteUpdates()

◆ getActionCommand()

◆ getAutoMode()

◆ getAutoModeNames()

◆ getBooleanCondition()

◆ getFieldDimensions()

◆ getFieldSymmetry()

◆ getName()

◆ getSwitchCondition()

◆ getTrajectory()

◆ getTrajectoryNames()

◆ hasAction()

◆ hasAutoMode()

◆ hasTrajectory()

◆ isActionCommandRegistered()

◆ isBooleanConditionRegistered()

◆ isLoaded()

◆ isSwitchConditionRegistered()

◆ load()

◆ operator bool()

◆ registerActionCommand() [1/2]

◆ registerActionCommand() [2/2]

◆ registerBooleanCondition()

◆ registerRemoteUpdateSubscriber()

◆ registerSwitchCondition()

◆ setRemoteUpdatesEnabled()

◆ unregisterRemoteUpdateSubscriber()