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include/okapi/impl/control/async/asyncMotionProfileControllerBuilder.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/chassis/controller/chassisController.hpp"
+#include "okapi/api/control/async/asyncLinearMotionProfileController.hpp"
+#include "okapi/api/control/async/asyncMotionProfileController.hpp"
+#include "okapi/api/util/logging.hpp"
+#include "okapi/impl/device/motor/motor.hpp"
+#include "okapi/impl/device/motor/motorGroup.hpp"
+#include "okapi/impl/util/timeUtilFactory.hpp"
+
+namespace okapi {
+class AsyncMotionProfileControllerBuilder {
+  public:
+  /**
+   * A builder that creates async motion profile controllers. Use this to build an
+   * AsyncMotionProfileController or an AsyncLinearMotionProfileController.
+   *
+   * @param ilogger The logger this instance will log to.
+   */
+  explicit AsyncMotionProfileControllerBuilder(
+    const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Sets the output. This must be used with buildLinearMotionProfileController().
+   *
+   * @param ioutput The output.
+   * @param idiameter The diameter of the mechanical part the motor spins.
+   * @param ipair The gearset.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withOutput(const Motor &ioutput,
+                                                  const QLength &idiameter,
+                                                  const AbstractMotor::GearsetRatioPair &ipair);
+
+  /**
+   * Sets the output. This must be used with buildLinearMotionProfileController().
+   *
+   * @param ioutput The output.
+   * @param idiameter The diameter of the mechanical part the motor spins.
+   * @param ipair The gearset.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withOutput(const MotorGroup &ioutput,
+                                                  const QLength &idiameter,
+                                                  const AbstractMotor::GearsetRatioPair &ipair);
+
+  /**
+   * Sets the output. This must be used with buildLinearMotionProfileController().
+   *
+   * @param ioutput The output.
+   * @param idiameter The diameter of the mechanical part the motor spins.
+   * @param ipair The gearset.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &
+  withOutput(const std::shared_ptr<ControllerOutput<double>> &ioutput,
+             const QLength &idiameter,
+             const AbstractMotor::GearsetRatioPair &ipair);
+
+  /**
+   * Sets the output. This must be used with buildMotionProfileController().
+   *
+   * @param icontroller The chassis controller to use.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withOutput(ChassisController &icontroller);
+
+  /**
+   * Sets the output. This must be used with buildMotionProfileController().
+   *
+   * @param icontroller The chassis controller to use.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &
+  withOutput(const std::shared_ptr<ChassisController> &icontroller);
+
+  /**
+   * Sets the output. This must be used with buildMotionProfileController().
+   *
+   * @param imodel The chassis model to use.
+   * @param iscales The chassis dimensions.
+   * @param ipair The gearset.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withOutput(const std::shared_ptr<ChassisModel> &imodel,
+                                                  const ChassisScales &iscales,
+                                                  const AbstractMotor::GearsetRatioPair &ipair);
+
+  /**
+   * Sets the limits.
+   *
+   * @param ilimits The limits.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withLimits(const PathfinderLimits &ilimits);
+
+  /**
+   * Sets the TimeUtilFactory used when building the controller. The default is the static
+   * TimeUtilFactory.
+   *
+   * @param itimeUtilFactory The TimeUtilFactory.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withTimeUtilFactory(const TimeUtilFactory &itimeUtilFactory);
+
+  /**
+   * Sets the logger.
+   *
+   * @param ilogger The logger.
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &withLogger(const std::shared_ptr<Logger> &ilogger);
+
+  /**
+   * Parents the internal tasks started by this builder to the current task, meaning they will be
+   * deleted once the current task is deleted. The `initialize` and `competition_initialize` tasks
+   * are never parented to. This is the default behavior.
+   *
+   * Read more about this in the [builders and tasks tutorial]
+   * (docs/tutorials/concepts/builders-and-tasks.md).
+   *
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &parentedToCurrentTask();
+
+  /**
+   * Prevents parenting the internal tasks started by this builder to the current task, meaning they
+   * will not be deleted once the current task is deleted. This can cause runaway tasks, but is
+   * sometimes the desired behavior (e.x., if you want to use this builder once in `autonomous` and
+   * then again in `opcontrol`).
+   *
+   * Read more about this in the [builders and tasks tutorial]
+   * (docs/tutorials/concepts/builders-and-tasks.md).
+   *
+   * @return An ongoing builder.
+   */
+  AsyncMotionProfileControllerBuilder &notParentedToCurrentTask();
+
+  /**
+   * Builds the AsyncLinearMotionProfileController.
+   *
+   * @return A fully built AsyncLinearMotionProfileController.
+   */
+  std::shared_ptr<AsyncLinearMotionProfileController> buildLinearMotionProfileController();
+
+  /**
+   * Builds the AsyncMotionProfileController.
+   *
+   * @return A fully built AsyncMotionProfileController.
+   */
+  std::shared_ptr<AsyncMotionProfileController> buildMotionProfileController();
+
+  private:
+  std::shared_ptr<Logger> logger;
+
+  bool hasLimits{false};
+  PathfinderLimits limits;
+
+  bool hasOutput{false};
+  std::shared_ptr<ControllerOutput<double>> output;
+  QLength diameter;
+
+  bool hasModel{false};
+  std::shared_ptr<ChassisModel> model;
+  ChassisScales scales{{1, 1}, imev5GreenTPR};
+  AbstractMotor::GearsetRatioPair pair{AbstractMotor::gearset::invalid};
+  TimeUtilFactory timeUtilFactory = TimeUtilFactory();
+  std::shared_ptr<Logger> controllerLogger = Logger::getDefaultLogger();
+
+  bool isParentedToCurrentTask{true};
+};
+} // namespace okapi