BufferedTrajectoryPointStream.h

Go to the documentation of this file.

/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
#include <stdint.h>
#include "ctre/phoenix/ErrorCode.h"
#include "ctre/phoenix/cci/BuffTrajPointStream_CCI.h"
#include "ctre/phoenix/motion/TrajectoryPoint.h"
namespace ctre {
    namespace phoenix {
        namespace motion {
            /**
             * Stream of trajectory points for Talon/Victor motion profiling.
             */
            class BufferedTrajectoryPointStream {
            public:
                BufferedTrajectoryPointStream();
                ~BufferedTrajectoryPointStream();
                BufferedTrajectoryPointStream(const BufferedTrajectoryPointStream &) = delete;
                BufferedTrajectoryPointStream& operator=(const BufferedTrajectoryPointStream &) = delete;
                /**
                 * @brief Clear all trajectory points.
                 * @return nonzero error code if operation fails.
                 */
                ctre::phoenix::ErrorCode Clear();
                /**
                * @brief Write a single trajectory point into the buffer.
                * @return nonzero error code if operation fails.
                */
                ctre::phoenix::ErrorCode Write(const TrajectoryPoint & trajPt);
                /**
                * @brief Writes an array of trajectory point into the buffer.
                * @return nonzero error code if operation fails.
                */
                ctre::phoenix::ErrorCode Write(const TrajectoryPoint * trajPts, uint32_t trajPtCount);
                /**
                 * @return raw handle for resource management.
                 */
                void * GetHandle() { return _handle; }
            private:
                void * _handle;
            };
        } // namespace motion
    } // namespace phoenix
} // namespace ctre