MathShared.h

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <memory>
 
#include <fmt/format.h>
#include <wpi/SymbolExports.h>
 
#include "units/time.h"
 
namespace wpi::math {
 
enum class MathUsageId {
  kKinematics_DifferentialDrive,
  kKinematics_MecanumDrive,
  kKinematics_SwerveDrive,
  kTrajectory_TrapezoidProfile,
  kFilter_Linear,
  kOdometry_DifferentialDrive,
  kOdometry_SwerveDrive,
  kOdometry_MecanumDrive,
  kController_PIDController2,
  kController_ProfiledPIDController,
  kController_BangBangController,
  kTrajectory_PathWeaver,
  kController_LinearQuadraticRegulator,
  kEstimator_KalmanFilter,
  kEstimator_PoseEstimator,
  kEstimator_PoseEstimator3d,
  kSystem_LinearSystemLoop,
};
 
class WPILIB_DLLEXPORT MathShared {
 public:
  virtual ~MathShared() = default;
  virtual void ReportErrorV(fmt::string_view format, fmt::format_args args) = 0;
  virtual void ReportWarningV(fmt::string_view format,
                              fmt::format_args args) = 0;
  virtual void ReportUsage(MathUsageId id, int count) = 0;
  virtual units::second_t GetTimestamp() = 0;
 
  template <typename S, typename... Args>
  inline void ReportError(const S& format, Args&&... args) {
    ReportErrorV(format, fmt::make_format_args(args...));
  }
 
  template <typename S, typename... Args>
  inline void ReportWarning(const S& format, Args&&... args) {
    ReportWarningV(format, fmt::make_format_args(args...));
  }
};
 
class WPILIB_DLLEXPORT MathSharedStore {
 public:
  static MathShared& GetMathShared();
 
  static void SetMathShared(std::unique_ptr<MathShared> shared);
 
  static void ReportErrorV(fmt::string_view format, fmt::format_args args) {
    GetMathShared().ReportErrorV(format, args);
  }
 
  template <typename S, typename... Args>
  static inline void ReportError(const S& format, Args&&... args) {
    ReportErrorV(format, fmt::make_format_args(args...));
  }
 
  static void ReportWarningV(fmt::string_view format, fmt::format_args args) {
    GetMathShared().ReportWarningV(format, args);
  }
 
  template <typename S, typename... Args>
  static inline void ReportWarning(const S& format, Args&&... args) {
    ReportWarningV(format, fmt::make_format_args(args...));
  }
 
  static void ReportUsage(MathUsageId id, int count) {
    GetMathShared().ReportUsage(id, count);
  }
 
  static units::second_t GetTimestamp() {
    return GetMathShared().GetTimestamp();
  }
};
 
}  // namespace wpi::math