Refactor trajectory generation to separate process
This pulls all the trajectory planning into a TrajectoryGenerator class,
which produces a Trajectory spline that the drivetrain code can consume
and use to track the spline.
Broadly speaking, this change:
- Separates the Trajectory class into a generation class and a
FinishedTrajectory class, where the generator produces a flatbuffer
and the FinishedTrajectory reads all the required information from
the flatbuffer.
- Add an option for serialization/deserialization of a DistanceSpline.
- Removes some dead code from Trajectory class (mostly having to do with
the old feedback algorithm).
- Uses floats in more places, to keep the size of the Trajectory
flatbuffer under control
- Update the tests & autonomous code to use the new spline code.
Further work that may make sense:
- Experiment with alternatives to current structure of the Trajectory
flatbuffer to see whether (a) the size is a problem; and (b) if so,
what we should do about it.
- Add shims to allow replaying logfiles with old-style spline goals.
Change-Id: Ic80ce4e384ec4d1bd22940580e3652ecd305b352
diff --git a/y2019/actors/auto_splines.cc b/y2019/actors/auto_splines.cc
index 397229c..67f9e85 100644
--- a/y2019/actors/auto_splines.cc
+++ b/y2019/actors/auto_splines.cc
@@ -6,10 +6,10 @@
namespace actors {
void MaybeFlipSpline(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset,
bool is_left) {
-
flatbuffers::Vector<float> *spline_y =
GetMutableTemporaryPointer(*builder->fbb(), spline_y_offset);
@@ -22,7 +22,8 @@
// Path off of level 2 to the far side of the rocket with a panel
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToFarRocket(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
@@ -97,7 +98,8 @@
// Path from the far side of the rocket to the loading station to pickup
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
@@ -170,7 +172,8 @@
// Path from the human player station to the far side of the rocket with a panel
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToFarRocket(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
@@ -245,7 +248,8 @@
// Path from the far side of the rocket to close to the loading station
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToNearHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
// TODO(theo): Add some real constraints.
flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
@@ -269,8 +273,10 @@
}
// Path from level 2 to 2nd cargo ship bay with a hatch panel
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToSecondCargoShipBay(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::HABToSecondCargoShipBay(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
@@ -335,8 +341,10 @@
}
// Path from 2nd cargo ship bay to loading station
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::SecondCargoShipBayToHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::SecondCargoShipBayToHP(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
@@ -390,8 +398,10 @@
}
// Path from loading station to 3rd cargo ship bay with a hatch panel
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToThirdCargoShipBay(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::HPToThirdCargoShipBay(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
@@ -456,8 +466,10 @@
}
// Path from 3rd cargo ship bay to near the loading station
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::ThirdCargoShipBayToNearHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::ThirdCargoShipBayToNearHP(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
@@ -500,7 +512,8 @@
}
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HabToFarRocketTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
@@ -574,7 +587,8 @@
}
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHPTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
@@ -642,7 +656,8 @@
}
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToNearRocketTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
@@ -710,7 +725,8 @@
}
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder) {
flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
@@ -772,7 +788,8 @@
}
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder) {
flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
builder->fbb()->CreateVector<float>(
{-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
diff --git a/y2019/actors/auto_splines.h b/y2019/actors/auto_splines.h
index 5d79ba9..7b56c11 100644
--- a/y2019/actors/auto_splines.h
+++ b/y2019/actors/auto_splines.h
@@ -20,59 +20,72 @@
// Path off of level 2 to the far side of the rocket with a panel
static flatbuffers::Offset<frc971::MultiSpline> HABToFarRocket(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from the far side of the rocket to the loading station to pickup
static flatbuffers::Offset<frc971::MultiSpline> FarRocketToHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from the far side of the rocket to the loading station to pickup
static flatbuffers::Offset<frc971::MultiSpline> HPToFarRocket(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from the far side of the rocket to close to the loading station
static flatbuffers::Offset<frc971::MultiSpline> FarRocketToNearHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Splines for 2 Panels on the far reaches of the cargo ship
// Path from level 2 to 2nd cargo ship bay with a hatch panel
static flatbuffers::Offset<frc971::MultiSpline> HABToSecondCargoShipBay(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from 2nd cargo ship bay to loading station
static flatbuffers::Offset<frc971::MultiSpline> SecondCargoShipBayToHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from loading station to 3rd cargo ship bay with a hatch panel
static flatbuffers::Offset<frc971::MultiSpline> HPToThirdCargoShipBay(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Path from 3rd cargo ship bay to near the loading station
static flatbuffers::Offset<frc971::MultiSpline> ThirdCargoShipBayToNearHP(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
// Testing Splines
static flatbuffers::Offset<frc971::MultiSpline> HPToNearRocketTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder);
static flatbuffers::Offset<frc971::MultiSpline> HabToFarRocketTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
bool is_left);
static flatbuffers::Offset<frc971::MultiSpline> FarRocketToHPTest(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder);
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder);
static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder);
};
} // namespace actors
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index aa2c808..078ad64 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -144,11 +144,12 @@
template <typename Functor>
std::function<flatbuffers::Offset<frc971::MultiSpline>(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder)>
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder)>
BindIsLeft(Functor f, bool is_left) {
- return
- [is_left, f](aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder
- *builder) { return f(builder, is_left); };
+ return [is_left,
+ f](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder) { return f(builder, is_left); };
}
bool AutonomousActor::RunAction(