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/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 9b2375b..fc50556 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -12,6 +12,7 @@
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/trajectory_generator.h"
#include "gflags/gflags.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
#include "y2020/control_loops/drivetrain/localizer.h"
@@ -97,6 +98,14 @@
node = aos::configuration::GetNode(reader.configuration(), "roborio");
}
+ std::unique_ptr<aos::EventLoop> trajectory_generator_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("trajectory_generator", node);
+ trajectory_generator_event_loop->SkipTimingReport();
+
+ frc971::control_loops::drivetrain::TrajectoryGenerator trajectory_generator(
+ trajectory_generator_event_loop.get(),
+ y2020::control_loops::drivetrain::GetDrivetrainConfig());
+
std::unique_ptr<aos::EventLoop> drivetrain_event_loop =
reader.event_loop_factory()->MakeEventLoop("drivetrain", node);
drivetrain_event_loop->SkipTimingReport();