EventMarker.h

#pragma once
 
#include <frc2/command/Commands.h>
#include <frc/geometry/Translation2d.h>
#include <frc/geometry/Pose2d.h>
#include <units/length.h>
#include <memory>
#include <wpi/json.h>
 
namespace pathplanner {
class EventMarker {
public:
    EventMarker(std::string triggerName, double waypointRelativePos,
            double endWaypointRelativePos, frc2::CommandPtr &&command) : m_triggerName(
            triggerName), m_pos(waypointRelativePos), m_endWaypointRelativePos(
            endWaypointRelativePos), m_command(std::move(command).Unwrap()) {
    }
 
    EventMarker(std::string triggerName, double waypointRelativePos,
            double endWaypointRelativePos) : EventMarker(triggerName,
            waypointRelativePos, endWaypointRelativePos, frc2::cmd::None()) {
    }
 
    EventMarker(std::string triggerName, double waypointRelativePos,
            frc2::CommandPtr &&command) : EventMarker(triggerName,
            waypointRelativePos, -1.0, std::move(command)) {
    }
 
    EventMarker(std::string triggerName, double waypointRelativePos) : EventMarker(
            triggerName, waypointRelativePos, -1.0, frc2::cmd::None()) {
    }
 
    EventMarker(std::string triggerName, double waypointRelativePos,
            double endWaypointRelativePos,
            std::shared_ptr<frc2::Command> command) : m_triggerName(
            triggerName), m_pos(waypointRelativePos), m_endWaypointRelativePos(
            endWaypointRelativePos), m_command(command) {
    }
 
    EventMarker(std::string triggerName, double waypointRelativePos,
            std::shared_ptr<frc2::Command> command) : EventMarker(triggerName,
            waypointRelativePos, -1.0, command) {
    }
 
    static EventMarker fromJson(const wpi::json &json);
 
    std::shared_ptr<frc2::Command> getCommand() const {
        return m_command;
    }
 
    constexpr double getWaypointRelativePos() const {
        return m_pos;
    }
 
    constexpr double getEndWaypointRelativePos() const {
        return m_endWaypointRelativePos;
    }
 
    constexpr const std::string& getTriggerName() {
        return m_triggerName;
    }
 
private:
    std::string m_triggerName;
    double m_pos;
    double m_endWaypointRelativePos;
    std::shared_ptr<frc2::Command> m_command;
};
}