frc971/control_loops/drivetrain/drivetrain_status.fbs - RealtimeRoboticsGroup/test - Gitiles

 include "frc971/control_loops/control_loops.fbs";

 namespace frc971.control_loops.drivetrain;

 // For logging information about what the code is doing with the shifters.
 table GearLogging {
   // Which controller is being used.
   controller_index:byte (id: 0);

   // Whether each loop for the drivetrain sides is the high-gear one.
   left_loop_high:bool (id: 1);
   right_loop_high:bool (id: 2);

   // The states of each drivetrain shifter.
   left_state:byte (id: 3);
   right_state:byte (id: 4);
 }

 // For logging information about the state of the shifters.
 table CIMLogging {
   // Whether the code thinks each drivetrain side is currently in gear.
   left_in_gear:bool (id: 0);
   right_in_gear:bool (id: 1);

   // The angular velocities (in rad/s, positive forward) the code thinks motors
   // on each side of the drivetrain are moving at.
   left_motor_speed:double (id: 2);
   right_motor_speed:double (id: 3);

   // The velocity estimates for each drivetrain side of the robot (in m/s,
   // positive forward) that can be used for shifting.
   left_velocity:double (id: 4);
   right_velocity:double (id: 5);
 }

 // Logging information for the polydrivetrain implementation.
 table PolyDriveLogging {
   // Calculated velocity goals for the left/right sides of the drivetrain, in
   // m/s.
   goal_left_velocity:float (id: 0);
   goal_right_velocity:float (id: 1);
   // Feedforward components of the left/right voltages.
   ff_left_voltage:float (id: 2);
   ff_right_voltage:float (id: 3);
 }

 enum PlanningState : byte {
   NO_PLAN,
   BUILDING_TRAJECTORY,
   PLANNING_TRAJECTORY,
   PLANNED,
 }

 // For logging information about the state of the trajectory planning.
 table TrajectoryLogging {
   // state of planning the trajectory.
   planning_state:PlanningState (id: 0, deprecated);

   // State of the spline execution.
   is_executing:bool (id: 1);
   // Whether we have finished the spline specified by current_spline_idx.
   is_executed:bool (id: 2);

   // The handle of the goal spline. Empty means no goal/stop requested.
   goal_spline_handle:int (id: 3);
   // Handle of the executing spline. Will generally be identical to
   // goal_spline_handle if the spline is available; however, if the commanded
   // spline has not yet been planned, this will be empty.
   current_spline_idx:int (id: 4);
   // Handle of the spline that is being optimized and staged.
   planning_spline_idx:int (id: 5, deprecated);

   // Expected position and velocity on the spline
   x:float (id: 6);
   y:float (id: 7);
   theta:float (id: 8);
   left_velocity:float (id: 9);
   right_velocity:float (id: 10);
   distance_remaining:float (id: 11);

   // Splines that we have full plans for.
   available_splines:[int] (id: 12);
 }

 // For logging state of the line follower.
 table LineFollowLogging {
   // Whether we are currently freezing target choice.
   frozen:bool (id: 0);
   // Whether we currently have a target.
   have_target:bool (id: 1);
   // Absolute position of the current goal.
   x:float (id: 2);
   y:float (id: 3);
   theta:float (id: 4);
   // Current lateral offset from line pointing straight out of the target.
   offset:float (id: 5);
   // Current distance from the plane of the target, in meters.
   distance_to_target:float (id: 6);
   // Current goal heading.
   goal_theta:float (id: 7);
   // Current relative heading.
   rel_theta:float (id: 8);
 }

 // Current states of the EKF. See hybrid_ekf.h for detailed comments.
 table LocalizerState {
   // X/Y field position, in meters.
   x:float (id: 0);
   y:float (id: 1);
   // Current heading, in radians.
   theta:float (id: 2);
   // Current estimate of the left encoder position, in meters.
   left_encoder:float (id: 3);
   // Velocity of the left side of the robot.
   left_velocity:float (id: 4);
   // Current estimate of the right encoder position, in meters.
   right_encoder:float (id: 5);
   // Velocity of the right side of the robot.
   right_velocity:float (id: 6);
   // Current "voltage error" terms, in V.
   left_voltage_error:float (id: 7);
   right_voltage_error:float (id: 8);
   // Estimate of the offset between the encoder readings and true rotation of
   // the robot, in rad/sec.
   angular_error:float (id: 9);
   // Current difference between the estimated longitudinal velocity of the robot
   // and that experienced by the wheels, in m/s.
   longitudinal_velocity_offset:float (id: 10);
   // Lateral velocity of the robot, in m/s.
   lateral_velocity:float (id: 11);
 }

 table DownEstimatorState {
   quaternion_x:double (id: 0);
   quaternion_y:double (id: 1);
   quaternion_z:double (id: 2);
   quaternion_w:double (id: 3);

   // Side-to-side and forwards/backwards pitch numbers. Note that we do this
   // instead of standard roll/pitch/yaw euler angles because it was a pain to
   // try and numerically stable roll/pitch/yaw numbers, and Eigen's interface
   // doesn't resolve the redundancies quite how we'd like.
   // Lateral pitch is the side-to-side pitch of the robot; longitudinal pitch is
   // the forwards to backwards pitch of the robot; longitudinal_pitch
   // corresponds with the traditional usage of "pitch".
   // All angles in radians.
   lateral_pitch:float (id: 4);
   longitudinal_pitch:float (id: 5);
   // Current yaw angle (heading) of the robot, as estimated solely by
   // integrating the Z-axis of the gyro (in rad).
   yaw:float (id: 6);

   // Current position of the robot, as determined solely from the
   // IMU/down-estimator, in meters.
   position_x:float (id: 7);
   position_y:float (id: 8);
   position_z:float (id: 9);

   // Current velocity of the robot, as determined solely from the
   // IMU/down-estimator, in meters / sec.
   velocity_x:float (id: 10);
   velocity_y:float (id: 11);
   velocity_z:float (id: 12);

   // Current acceleration of the robot, with pitch/roll (but not yaw)
   // compensated out, in meters / sec / sec.
   accel_x:float (id: 13);
   accel_y:float (id: 14);
   accel_z:float (id: 15);

   // Current acceleration that we expect to see from the accelerometer, assuming
   // no acceleration other than that due to gravity, in g's.
   expected_accel_x:float (id: 16);
   expected_accel_y:float (id: 17);
   expected_accel_z:float (id: 18);

   // Current estimate of the overall acceleration due to gravity, in g's. Should
   // generally be within ~0.003 g's of 1.0.
   gravity_magnitude:float (id: 19);

   consecutive_still:int (id: 20);
 }

 table ImuZeroerState {
   // True if we have successfully zeroed the IMU.
   zeroed:bool (id: 0);
   // True if the zeroing code has observed some inconsistency in the IMU.
   faulted:bool (id: 1);
   // Number of continuous zeroing measurements that we have accumulated for use
   // in the zeroing.
   number_of_zeroes:int (id: 2);

   // Current zeroing values being used for each gyro axis, in rad / sec.
   gyro_x_average:float (id: 3);
   gyro_y_average:float (id: 4);
   gyro_z_average:float (id: 5);

   // Current zeroing values being used for each accelerometer axis, in m / s^2.
   accel_x_average:float (id: 6);
   accel_y_average:float (id: 7);
   accel_z_average:float (id: 8);
 }

 table Status {
   // Estimated speed of the center of the robot in m/s (positive forwards).
   robot_speed:double (id: 0);

   // Estimated relative position of each drivetrain side (in meters).
   estimated_left_position:double (id: 1);
   estimated_right_position:double (id: 2);

   // Estimated velocity of each drivetrain side (in m/s).
   estimated_left_velocity:double (id: 3);
   estimated_right_velocity:double (id: 4);

   // The voltage we wanted to send to each drivetrain side last cycle.
   uncapped_left_voltage:double (id: 5);
   uncapped_right_voltage:double (id: 6);

   // The voltage error for the left and right sides.
   left_voltage_error:double (id: 7);
   right_voltage_error:double (id: 8);

   // The profiled goal states.
   profiled_left_position_goal:double (id: 9);
   profiled_right_position_goal:double (id: 10);
   profiled_left_velocity_goal:double (id: 11);
   profiled_right_velocity_goal:double (id: 12);

   // The KF offset
   estimated_angular_velocity_error:double (id: 13);
   // The KF estimated heading.
   estimated_heading:double (id: 14);

   // xytheta of the robot.
   x:double (id: 15);
   y:double (id: 16);
   theta:double (id: 17);

   // True if the output voltage was capped last cycle.
   output_was_capped:bool (id: 18);

   // The pitch of the robot relative to the ground--only includes
   // forwards/backwards rotation.
   ground_angle:double (id: 19);

   // Information about shifting logic and curent gear, for logging purposes
   gear_logging:GearLogging (id: 20);
   cim_logging:CIMLogging (id: 21);

   trajectory_logging:TrajectoryLogging (id: 22);

   line_follow_logging:LineFollowLogging (id: 23);

   poly_drive_logging:PolyDriveLogging (id: 24);

   down_estimator:DownEstimatorState (id: 25);

   localizer:LocalizerState (id: 26);

   zeroing:ImuZeroerState (id: 27);

   // Total number of status send failures.
   send_failures:uint64 (id: 28);
 }

 root_type Status;
	include "frc971/control_loops/control_loops.fbs";

	namespace frc971.control_loops.drivetrain;

	// For logging information about what the code is doing with the shifters.
	table GearLogging {
	// Which controller is being used.
	controller_index:byte (id: 0);

	// Whether each loop for the drivetrain sides is the high-gear one.
	left_loop_high:bool (id: 1);
	right_loop_high:bool (id: 2);

	// The states of each drivetrain shifter.
	left_state:byte (id: 3);
	right_state:byte (id: 4);
	}

	// For logging information about the state of the shifters.
	table CIMLogging {
	// Whether the code thinks each drivetrain side is currently in gear.
	left_in_gear:bool (id: 0);
	right_in_gear:bool (id: 1);

	// The angular velocities (in rad/s, positive forward) the code thinks motors
	// on each side of the drivetrain are moving at.
	left_motor_speed:double (id: 2);
	right_motor_speed:double (id: 3);

	// The velocity estimates for each drivetrain side of the robot (in m/s,
	// positive forward) that can be used for shifting.
	left_velocity:double (id: 4);
	right_velocity:double (id: 5);
	}

	// Logging information for the polydrivetrain implementation.
	table PolyDriveLogging {
	// Calculated velocity goals for the left/right sides of the drivetrain, in
	// m/s.
	goal_left_velocity:float (id: 0);
	goal_right_velocity:float (id: 1);
	// Feedforward components of the left/right voltages.
	ff_left_voltage:float (id: 2);
	ff_right_voltage:float (id: 3);
	}

	enum PlanningState : byte {
	NO_PLAN,
	BUILDING_TRAJECTORY,
	PLANNING_TRAJECTORY,
	PLANNED,
	}

	// For logging information about the state of the trajectory planning.
	table TrajectoryLogging {
	// state of planning the trajectory.
	planning_state:PlanningState (id: 0, deprecated);

	// State of the spline execution.
	is_executing:bool (id: 1);
	// Whether we have finished the spline specified by current_spline_idx.
	is_executed:bool (id: 2);

	// The handle of the goal spline. Empty means no goal/stop requested.
	goal_spline_handle:int (id: 3);
	// Handle of the executing spline. Will generally be identical to
	// goal_spline_handle if the spline is available; however, if the commanded
	// spline has not yet been planned, this will be empty.
	current_spline_idx:int (id: 4);
	// Handle of the spline that is being optimized and staged.
	planning_spline_idx:int (id: 5, deprecated);

	// Expected position and velocity on the spline
	x:float (id: 6);
	y:float (id: 7);
	theta:float (id: 8);
	left_velocity:float (id: 9);
	right_velocity:float (id: 10);
	distance_remaining:float (id: 11);

	// Splines that we have full plans for.
	available_splines:[int] (id: 12);
	}

	// For logging state of the line follower.
	table LineFollowLogging {
	// Whether we are currently freezing target choice.
	frozen:bool (id: 0);
	// Whether we currently have a target.
	have_target:bool (id: 1);
	// Absolute position of the current goal.
	x:float (id: 2);
	y:float (id: 3);
	theta:float (id: 4);
	// Current lateral offset from line pointing straight out of the target.
	offset:float (id: 5);
	// Current distance from the plane of the target, in meters.
	distance_to_target:float (id: 6);
	// Current goal heading.
	goal_theta:float (id: 7);
	// Current relative heading.
	rel_theta:float (id: 8);
	}

	// Current states of the EKF. See hybrid_ekf.h for detailed comments.
	table LocalizerState {
	// X/Y field position, in meters.
	x:float (id: 0);
	y:float (id: 1);
	// Current heading, in radians.
	theta:float (id: 2);
	// Current estimate of the left encoder position, in meters.
	left_encoder:float (id: 3);
	// Velocity of the left side of the robot.
	left_velocity:float (id: 4);
	// Current estimate of the right encoder position, in meters.
	right_encoder:float (id: 5);
	// Velocity of the right side of the robot.
	right_velocity:float (id: 6);
	// Current "voltage error" terms, in V.
	left_voltage_error:float (id: 7);
	right_voltage_error:float (id: 8);
	// Estimate of the offset between the encoder readings and true rotation of
	// the robot, in rad/sec.
	angular_error:float (id: 9);
	// Current difference between the estimated longitudinal velocity of the robot
	// and that experienced by the wheels, in m/s.
	longitudinal_velocity_offset:float (id: 10);
	// Lateral velocity of the robot, in m/s.
	lateral_velocity:float (id: 11);
	}

	table DownEstimatorState {
	quaternion_x:double (id: 0);
	quaternion_y:double (id: 1);
	quaternion_z:double (id: 2);
	quaternion_w:double (id: 3);

	// Side-to-side and forwards/backwards pitch numbers. Note that we do this
	// instead of standard roll/pitch/yaw euler angles because it was a pain to
	// try and numerically stable roll/pitch/yaw numbers, and Eigen's interface
	// doesn't resolve the redundancies quite how we'd like.
	// Lateral pitch is the side-to-side pitch of the robot; longitudinal pitch is
	// the forwards to backwards pitch of the robot; longitudinal_pitch
	// corresponds with the traditional usage of "pitch".
	// All angles in radians.
	lateral_pitch:float (id: 4);
	longitudinal_pitch:float (id: 5);
	// Current yaw angle (heading) of the robot, as estimated solely by
	// integrating the Z-axis of the gyro (in rad).
	yaw:float (id: 6);

	// Current position of the robot, as determined solely from the
	// IMU/down-estimator, in meters.
	position_x:float (id: 7);
	position_y:float (id: 8);
	position_z:float (id: 9);

	// Current velocity of the robot, as determined solely from the
	// IMU/down-estimator, in meters / sec.
	velocity_x:float (id: 10);
	velocity_y:float (id: 11);
	velocity_z:float (id: 12);

	// Current acceleration of the robot, with pitch/roll (but not yaw)
	// compensated out, in meters / sec / sec.
	accel_x:float (id: 13);
	accel_y:float (id: 14);
	accel_z:float (id: 15);

	// Current acceleration that we expect to see from the accelerometer, assuming
	// no acceleration other than that due to gravity, in g's.
	expected_accel_x:float (id: 16);
	expected_accel_y:float (id: 17);
	expected_accel_z:float (id: 18);

	// Current estimate of the overall acceleration due to gravity, in g's. Should
	// generally be within ~0.003 g's of 1.0.
	gravity_magnitude:float (id: 19);

	consecutive_still:int (id: 20);
	}

	table ImuZeroerState {
	// True if we have successfully zeroed the IMU.
	zeroed:bool (id: 0);
	// True if the zeroing code has observed some inconsistency in the IMU.
	faulted:bool (id: 1);
	// Number of continuous zeroing measurements that we have accumulated for use
	// in the zeroing.
	number_of_zeroes:int (id: 2);

	// Current zeroing values being used for each gyro axis, in rad / sec.
	gyro_x_average:float (id: 3);
	gyro_y_average:float (id: 4);
	gyro_z_average:float (id: 5);

	// Current zeroing values being used for each accelerometer axis, in m / s^2.
	accel_x_average:float (id: 6);
	accel_y_average:float (id: 7);
	accel_z_average:float (id: 8);
	}

	table Status {
	// Estimated speed of the center of the robot in m/s (positive forwards).
	robot_speed:double (id: 0);

	// Estimated relative position of each drivetrain side (in meters).
	estimated_left_position:double (id: 1);
	estimated_right_position:double (id: 2);

	// Estimated velocity of each drivetrain side (in m/s).
	estimated_left_velocity:double (id: 3);
	estimated_right_velocity:double (id: 4);

	// The voltage we wanted to send to each drivetrain side last cycle.
	uncapped_left_voltage:double (id: 5);
	uncapped_right_voltage:double (id: 6);

	// The voltage error for the left and right sides.
	left_voltage_error:double (id: 7);
	right_voltage_error:double (id: 8);

	// The profiled goal states.
	profiled_left_position_goal:double (id: 9);
	profiled_right_position_goal:double (id: 10);
	profiled_left_velocity_goal:double (id: 11);
	profiled_right_velocity_goal:double (id: 12);

	// The KF offset
	estimated_angular_velocity_error:double (id: 13);
	// The KF estimated heading.
	estimated_heading:double (id: 14);

	// xytheta of the robot.
	x:double (id: 15);
	y:double (id: 16);
	theta:double (id: 17);

	// True if the output voltage was capped last cycle.
	output_was_capped:bool (id: 18);

	// The pitch of the robot relative to the ground--only includes
	// forwards/backwards rotation.
	ground_angle:double (id: 19);

	// Information about shifting logic and curent gear, for logging purposes
	gear_logging:GearLogging (id: 20);
	cim_logging:CIMLogging (id: 21);

	trajectory_logging:TrajectoryLogging (id: 22);

	line_follow_logging:LineFollowLogging (id: 23);

	poly_drive_logging:PolyDriveLogging (id: 24);

	down_estimator:DownEstimatorState (id: 25);

	localizer:LocalizerState (id: 26);

	zeroing:ImuZeroerState (id: 27);

	// Total number of status send failures.
	send_failures:uint64 (id: 28);
	}

	root_type Status;