Unity-Micro-Lib/algorithms/algorithms.h at main · Team-MicroMouse/Unity-Micro-Lib · GitHub

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#ifndef ALGORITHMS_H

#define ALGORITHMS_H

#include "../microsim/microsim.h"

class IRobotController {

public:

virtual ~IRobotController() = default;

virtual void Setup(Microsim::Robot robot, void* data) = 0;

virtual void Loop(float dtf) = 0;

};

class IMotorController {

public:

enum MoveState : uint32_t {

Idle,

Turning,

Moving,

MovingGridPos

};

virtual ~IMotorController() = default;

virtual void Setup(Microsim::Robot robot, void* data) = 0;

virtual void UpdateMovement(float dt, RobotPosition position) = 0;

virtual MoveState GetMoveState() = 0;

virtual float GetDistanceCovered() = 0;

virtual float GetTargetDistance() = 0;

virtual void SetGyroNull() = 0;

virtual void SetRpm(int rpm) = 0;

virtual void Stop() = 0;

virtual void MoveDistance(float distance) = 0;

virtual void MoveToGridPos(v2i target, float cellSize) = 0;

virtual void RotateToAngle(int wantedAngle) = 0;

virtual void RotateDegrees(int degrees) = 0;

};

class IPositionTracker {

public:

virtual ~IPositionTracker() = default;

virtual void Setup(Microsim::Robot robot, void* data) = 0;

virtual void Process(RobotPosition* robotPosition) = 0;

};

class IObjectDetectorAlgorithm {

public:

virtual ~IObjectDetectorAlgorithm() = default;

virtual void Setup(Microsim::Robot robot, void* data) = 0;

virtual void Process(Map map, RobotPosition position) = 0;

};

class IPathfinder {

public:

virtual ~IPathfinder() = default;

virtual void Setup(Microsim::Robot robot, void* data) = 0;

virtual int Pathfind(Map map, RobotPosition position, v2i target, v2i* path) = 0;

};

class SimulatorMotorController : IMotorController, Microsim::Object {

public:

SimulatorMotorController(const char* algorithm);

~SimulatorMotorController() override;

void Setup(Microsim::Robot robot, void* data) override;

void UpdateMovement(float dt, RobotPosition position) override;

MoveState GetMoveState() override;

float GetDistanceCovered() override;

float GetTargetDistance() override;

void SetGyroNull() override;

void SetRpm(int rpm) override;

void Stop() override;

void MoveDistance(float distance) override;

void MoveToGridPos(v2i target, float cellSize) override;

void RotateToAngle(int wantedAngle) override;

void RotateDegrees(int degrees) override;

};

class SimulatorPositionTracker : IPositionTracker, Microsim::Object {

public:

SimulatorPositionTracker(const char* algorithm);

~SimulatorPositionTracker() override;

void Setup(Microsim::Robot robot, void* data) override;

void Process(RobotPosition* robotPosition) override;

};

#endif //ALGORITHMS_H

Unity-Micro-Lib/algorithms/algorithms.h at main · Team-MicroMouse/Unity-Micro-Lib · GitHub

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