ElevatorConfig.hpp

Go to the documentation of this file.

// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <concepts>
#include <optional>
#include <string>
#include <vector>
#include <wpi/units/angle.hpp>
#include <wpi/units/length.hpp>
#include <wpi/units/mass.hpp>
#include <wpi/units/velocity.hpp>
#include <wpi/util/Color.hpp>
#include <wpi/util/Color8Bit.hpp>
 
#include "yams/mechanisms/config/MechanismPositionConfig.hpp"
 
namespace yams::mechanisms::config {
 
class ElevatorConfig {
 public:
  ElevatorConfig() = default;
 
  // ---- Builder methods -------------------------------------------------------
 
  ElevatorConfig& WithTelemetryName(const std::string& name);
 
  ElevatorConfig& WithMinimumHeight(wpi::units::meter_t height);
 
  ElevatorConfig& WithMaximumHeight(wpi::units::meter_t height);
 
  ElevatorConfig& WithCarriageMass(wpi::units::kilogram_t mass);
 
  ElevatorConfig& WithIsHorizontal(bool horizontal);
 
  ElevatorConfig& WithSimColor(const wpi::util::Color8Bit& color);
 
  ElevatorConfig& WithAngle(wpi::units::degree_t angle);
 
  template <typename... Heights>
    requires(std::convertible_to<Heights, wpi::units::meter_t> && ...)
  ElevatorConfig& WithStages(Heights... stageHeights) {
    return WithStages(std::vector<wpi::units::meter_t>{wpi::units::meter_t{stageHeights}...});
  }
 
  ElevatorConfig& WithStages(std::vector<wpi::units::meter_t> stageHeights);
 
  ElevatorConfig& WithMechanismPositionConfig(const MechanismPositionConfig& mechanismPositionConfig) {
    m_mechanismPositionConfig = mechanismPositionConfig;
    return *this;
  }
 
  // ---- Getters ---------------------------------------------------------------
 
  std::string GetTelemetryName() const;
 
  std::optional<wpi::units::meter_t> GetMinHeight() const;
 
  std::optional<wpi::units::meter_t> GetMaxHeight() const;
 
  std::optional<wpi::units::kilogram_t> GetCarriageMass() const;
 
  bool IsHorizontal() const;
 
  wpi::util::Color8Bit GetSimColor() const;
 
  wpi::units::degree_t GetAngle() const;
 
  std::optional<int> GetStages() const;
 
  const std::vector<wpi::units::meter_t>& GetStageHeights() const;
 
  std::optional<wpi::units::meter_t> GetStageHeightTotal() const;
 
  const MechanismPositionConfig& GetMechanismPositionConfig() const { return m_mechanismPositionConfig; }
 
 private:
  std::string m_telemetryName;
  std::optional<wpi::units::meter_t> m_minHeight;
  std::optional<wpi::units::meter_t> m_maxHeight;
  std::optional<wpi::units::kilogram_t> m_carriageMass;
  std::optional<wpi::units::meter_t> m_drumRadius;
  bool m_isHorizontal{false};
  wpi::util::Color8Bit m_simColor{wpi::util::Color::ORANGE};
  wpi::units::degree_t m_angle{90.0};
  std::optional<int> m_stages;
  std::vector<wpi::units::meter_t> m_stageHeights;
  std::optional<wpi::units::meter_t> m_stageHeightTotal;
  MechanismPositionConfig m_mechanismPositionConfig;
};
 
}  // namespace yams::mechanisms::config