builtins.hpp

#pragma once
#include "core/device/vdb/types.hpp"
#include "core/subsystems/odometry/odometry_base.h"
#include <Eigen/Dense>
#include <memory>
 
#include "vex.h"
#include <string>
namespace VDP {
class TimestampedRecord : public Record {
  public:
    TimestampedRecord(std::string name, Part *data);
    void fetch();
 
  private:
    std::shared_ptr<Float> timestamp;
    PartPtr data;
};

class MotorDataRecord : public Record {
  public:
    MotorDataRecord(std::string name, vex::motor &mot);
    void fetch() override;
 
  private:
    vex::motor &mot;
 
    std::shared_ptr<Float> pos;
    std::shared_ptr<Float> vel;
    std::shared_ptr<Float> temp;
    std::shared_ptr<Float> voltage;
    std::shared_ptr<Float> current;
};

class OdometryDataRecord : public Record {
  public:
    OdometryDataRecord(std::string name, OdometryBase &odom);
    void fetch() override;
 
  private:
    OdometryBase &odom;
 
    std::shared_ptr<Float> X;
    std::shared_ptr<Float> Y;
    std::shared_ptr<Float> ROT;
};

class OdometryControlRecord : public Record {
  public:
    OdometryControlRecord(std::string name, OdometryBase &odom);
    void response() override;
 
  private:
    OdometryBase &odom;
 
    std::shared_ptr<Float> X;
    std::shared_ptr<Float> Y;
    std::shared_ptr<Float> ROT;
};

class PIDDataRecord : public Record {
  public:
    PIDDataRecord(std::string name, PID &pid);
    void fetch() override;
 
  private:
    PID &pid;
 
    std::shared_ptr<Float> P;
    std::shared_ptr<Float> I;
    std::shared_ptr<Float> D;
    std::shared_ptr<Float> ERROR;
    std::shared_ptr<Float> OUTPUT;
    std::shared_ptr<String> TYPE;
};

class PIDControlRecord : public Record {
  public:
    PIDControlRecord(std::string name, PID &pid);
    void response() override;
 
  private:
    PID &pid;
 
    std::shared_ptr<Float> P;
    std::shared_ptr<Float> I;
    std::shared_ptr<Float> D;
};

class TestRecord : public Record {
  public:
    TestRecord(std::string name, double test_float, int64_t test_int64);
    void response() override;
    void fetch() override;
 
  private:
    double test_float;
    int64_t test_int64;
 
    std::shared_ptr<Float> test_float_ptr;
    std::shared_ptr<Int64> test_int64_ptr;
};
} // namespace VDP