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/y2020/BUILD b/y2020/BUILD
index 024b6ac..90d976b 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -12,7 +12,7 @@
":config",
],
dirs = [
- "//y2020/actors:splines"
+ "//y2020/actors:splines",
],
start_binaries = [
"//aos/events/logging:logger_main",
@@ -22,6 +22,7 @@
"//aos/network:message_bridge_server",
"//y2020/actors:binaries",
"//y2020/control_loops/drivetrain:drivetrain",
+ "//y2020/control_loops/drivetrain:trajectory_generator",
"//y2020/control_loops/superstructure:superstructure",
],
target_compatible_with = ["@platforms//os:linux"],