Added buildAutoChooser to C++ lib

Writerside/topics/pplib-Build-an-Auto.md

@@ -440,12 +440,6 @@ class RobotContainer:
 
 ## Create a SendableChooser with all autos in project
 
-> **Note**
->
-> This feature is only available in the Java and Python versions of PathPlannerLib
->
-{style="note"}
-
 After configuring the AutoBuilder, you have the option to build a SendableChooser that is automatically populated with
 every auto in the project.
 
@@ -485,6 +479,41 @@ public class RobotContainer {
 }
 ```
 
+</tab>
+<tab title="C++" group-key="cpp">
+
+```C++
+#include <pathplanner/lib/auto/AutoBuilder.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/Command.h>
+#include <memory>
+
+using namespace pathplanner;
+
+RobotContainer::RobotContainer() {
+  // ...
+
+  // Build an auto chooser. This will use frc2::cmd::None() as the default option.
+  autoChooser = AutoBuilder::buildAutoChooser();
+
+  // Another option that allows you to specify the default auto by its name
+  // autoChooser = AutoBuilder::buildAutoChooser("My Default Auto");
+
+  frc::SmartDashboard::PutData("Auto Chooser", &autoChooser);
+}
+
+frc2::Command* RobotContainer::getAutonomousCommand() {
+  // Returns a frc2::Command* that is freed at program termination
+  return autoChooser.GetSelected();
+}
+
+frc2::CommandPtr RobotContainer::getAutonomousCommand() {
+  // Returns a copy that is freed after reference is lost
+  return frc2::CommandPtr(std::make_unique<frc2::Command>(*autoChooser.GetSelected()));
+}
+```
+
 </tab>
 <tab title="Python" group-key="python">
 

pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp

@@ -9,10 +9,13 @@
 #include "pathplanner/lib/commands/PathfindThenFollowPathRamsete.h"
 #include "pathplanner/lib/commands/PathfindLTV.h"
 #include "pathplanner/lib/commands/PathfindThenFollowPathLTV.h"
+#include "pathplanner/lib/commands/PathPlannerAuto.h"
 #include "pathplanner/lib/auto/CommandUtil.h"
 #include <stdexcept>
 #include <frc2/command/Commands.h>
 #include <frc/Filesystem.h>
+#include <filesystem>
+#include <optional>
 #include <wpi/MemoryBuffer.h>
 
 using namespace pathplanner;
@@ -23,6 +26,8 @@ std::function<frc::Pose2d()> AutoBuilder::m_getPose;
 std::function<void(frc::Pose2d)> AutoBuilder::m_resetPose;
 std::function<bool()> AutoBuilder::m_shouldFlipPath;
 
+std::vector<frc2::CommandPtr> AutoBuilder::m_autoCommands;
+
 bool AutoBuilder::m_pathfindingConfigured = false;
 std::function<
 		frc2::CommandPtr(frc::Pose2d, PathConstraints,
@@ -352,3 +357,59 @@ frc2::CommandPtr AutoBuilder::pathfindThenFollowPath(
 	return m_pathfindThenFollowPathCommandBuilder(goalPath,
 			pathfindingConstraints, rotationDelayDistance);
 }
+
+frc::SendableChooser<frc2::Command*> AutoBuilder::buildAutoChooser(
+		std::string defaultAutoName) {
+	if (!m_configured) {
+		throw std::runtime_error(
+				"AutoBuilder was not configured before attempting to build an auto chooser");
+	}
+
+	frc::SendableChooser<frc2::Command*> chooser;
+	bool foundDefaultOption = false;
+
+	for (std::string const &entry : getAllAutoNames()) {
+		AutoBuilder::m_autoCommands.emplace_back(
+				pathplanner::PathPlannerAuto(entry).ToPtr());
+		if (defaultAutoName != "" && entry == defaultAutoName) {
+			foundDefaultOption = true;
+			chooser.SetDefaultOption(entry, m_autoCommands.back().get());
+		} else {
+			chooser.AddOption(entry, m_autoCommands.back().get());
+		}
+	}
+
+	if (!foundDefaultOption) {
+		AutoBuilder::m_autoCommands.emplace_back(frc2::cmd::None());
+		chooser.SetDefaultOption("None", m_autoCommands.back().get());
+	}
+
+	return chooser;
+}
+
+std::vector<std::string> AutoBuilder::getAllAutoNames() {
+	std::filesystem::path deployPath = frc::filesystem::GetDeployDirectory();
+	std::filesystem::path autosPath = deployPath / "pathplanner/autos";
+
+	if (!std::filesystem::directory_entry { autosPath }.exists()) {
+		FRC_ReportError(frc::err::Error,
+				"AutoBuilder could not locate the pathplanner autos directory");
+
+		return {};
+	}
+
+	std::vector < std::string > autoPathNames;
+
+	for (std::filesystem::directory_entry const &entry : std::filesystem::directory_iterator {
+			autosPath }) {
+		if (!entry.is_regular_file()) {
+			continue;
+		}
+		if (entry.path().extension().string() != ".auto") {
+			continue;
+		}
+		autoPathNames.emplace_back(entry.path().stem().string());
+	}
+
+	return autoPathNames;
+}

pathplannerlib/src/main/native/include/pathplanner/lib/auto/AutoBuilder.h

@@ -6,6 +6,9 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/kinematics/ChassisSpeeds.h>
 #include <frc/controller/RamseteController.h>
+#include <vector>
+#include <frc2/command/Command.h>
+#include <frc/smartdashboard/SendableChooser.h>
 #include <memory>
 #include <wpi/json.h>
 #include <wpi/array.h>
@@ -252,13 +255,33 @@ class AutoBuilder {
 			PathConstraints pathfindingConstraints,
 			units::meter_t rotationDelayDistance = 0_m);
 
+	/**
+	 * Create and populate a sendable chooser with all PathPlannerAutos in the project
+	 *
+	 * @param defaultAutoName The name of the auto that should be the default option. If this is an
+	 *     empty string, or if an auto with the given name does not exist, the default option will be
+	 *     frc2::cmd::None()
+	 * @return SendableChooser populated with all autos
+	 */
+	static frc::SendableChooser<frc2::Command*> buildAutoChooser(
+			std::string defaultAutoName = "");
+
+	/**
+	 * Get a vector of all auto names in the project
+	 *
+	 * @return vector of all auto names
+	 */
+	static std::vector<std::string> getAllAutoNames();
+
 private:
 	static bool m_configured;
 	static std::function<frc2::CommandPtr(std::shared_ptr<PathPlannerPath>)> m_pathFollowingCommandBuilder;
 	static std::function<frc::Pose2d()> m_getPose;
 	static std::function<void(frc::Pose2d)> m_resetPose;
 	static std::function<bool()> m_shouldFlipPath;
 
+	static std::vector<frc2::CommandPtr> m_autoCommands;
+
 	static bool m_pathfindingConfigured;
 	static std::function<
 			frc2::CommandPtr(frc::Pose2d, PathConstraints,