user_func.h

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#pragma once
#include "bitbot_mujoco/kernel/mujoco_kernel.hpp"
#include "types.hpp"
 
enum Events
{
    InitPose = 1001,
    PolicyRun,
    SystemTest,
 
    VeloxIncrease = 2001,
    VeloxDecrease = 2002,
    VeloyIncrease = 2003,
    VeloyDecrease = 2004,
    VeloYawIncrease = 2005,
    VeloYawDecrease = 2006,
 
    JoystickXChange = 3001,
    JoystickYChange = 3002,
    JoystickYawChange = 3003
};
 
enum class States : bitbot::StateId
{
    Waiting = 1001,
    PF2InitPose,
    PF2PolicyRun,
    PF2SystemTest,
};
 
struct UserData
{
    SchedulerType::Ptr TaskScheduler;
    ImuWorkerType* ImuWorker;
    MotorWorkerType* MotorWorker;
    MotorPDWorkerType* MotorPDWorker;
    LoggerWorkerType* Logger;
    EraxLikeInferWorkerType* NetInferWorker;
    MotorResetWorkerType* MotorResetWorker;
    CmdWorkerType* CommanderWorker;
    ActionManagementWorkerType* ActionManagementWorker;
    //NOTE: you don't need to delete these workers, they will be deleted by the scheduler automaticlly when the scheduler is destroyed
};
 
using KernelType = bitbot::MujocoKernel<UserData>;
using KernelBus = bitbot::MujocoBus;
 
 
std::optional<bitbot::StateId> EventInitPose(bitbot::EventValue value, UserData& user_data);
std::optional<bitbot::StateId> EventPolicyRun(bitbot::EventValue value, UserData& user_data);
std::optional<bitbot::StateId> EventSystemTest(bitbot::EventValue value, UserData& user_data);
 
std::optional<bitbot::StateId> EventVeloXIncrease(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventVeloXDecrease(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventVeloYIncrease(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventVeloYDecrease(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventVeloYawIncrease(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventVeloYawDecrease(bitbot::EventValue keyState, UserData& d);
 
std::optional<bitbot::StateId> EventJoystickXChange(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventJoystickYChange(bitbot::EventValue keyState, UserData& d);
std::optional<bitbot::StateId> EventJoystickYawChange(bitbot::EventValue keyState, UserData& d);
 
 
void ConfigFunc(const KernelBus& bus, UserData& d);
void FinishFunc(UserData& d);
 
 
void StateWaiting(const bitbot::KernelInterface& kernel, bitbot::ExtraData& extra_data, UserData& user_data);
void StateJointInitPose(const bitbot::KernelInterface& kernel, bitbot::ExtraData& extra_data, UserData& user_data);
void StatePolicyRun(const bitbot::KernelInterface& kernel, bitbot::ExtraData& extra_data, UserData& user_data);
void StateSystemTest(const bitbot::KernelInterface& kernel, bitbot::ExtraData& extra_data, UserData& user_data);