commit eeb98e9620d0f9961fc17858cdbc5a09f32548e0
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Jan 14 22:15:32 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Jan 17 20:16:15 2024 -0800
tree 6011f1af9073915ab3699f905d76d1854fd8aa12
parent cbbba7f69765c9f73bba39f51a474035a6e6a189

Allow constructing control loops from flatbuffers

The core changes here are to:
* Allow constructing StateFeedbackLoop's from flatbuffers using the
  code in *state_feedback_loop_converters.*
* Add constructors to the single-dof subsystem class to make use of
  this.
* Add code to control_loops.py to generate JSON files with the requisite
  constants (these end up containing identical information to the
  generated .cc files).
* Add interfaces to actually support the new JSON codegen to single-dof
  subsystem classes.
* Convert all of the drivetrains over to generating these. This I mostly
  do so that I can write a test where Iconfirm that the .cc files and
  the JSON files generate exactly the same content.

Change-Id: Iceac48f25ecac96200b7bf992c8f34a15fe6800c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/control_loops/drivetrain/BUILD

diff --git a/y2024/control_loops/drivetrain/BUILD b/y2024/control_loops/drivetrain/BUILD
index e3c627a..0cca123 100644
--- a/y2024/control_loops/drivetrain/BUILD
+++ b/y2024/control_loops/drivetrain/BUILD
@@ -5,8 +5,10 @@
     outs = [
         "drivetrain_dog_motor_plant.h",
         "drivetrain_dog_motor_plant.cc",
+        "drivetrain_dog_motor_plant.json",
         "kalman_drivetrain_motor_plant.h",
         "kalman_drivetrain_motor_plant.cc",
+        "kalman_drivetrain_motor_plant.json",
     ],
     cmd = "$(location //y2024/control_loops/python:drivetrain) $(OUTS)",
     target_compatible_with = ["@platforms//os:linux"],
@@ -20,10 +22,13 @@
     outs = [
         "polydrivetrain_dog_motor_plant.h",
         "polydrivetrain_dog_motor_plant.cc",
+        "polydrivetrain_dog_motor_plant.json",
         "polydrivetrain_cim_plant.h",
         "polydrivetrain_cim_plant.cc",
+        "polydrivetrain_cim_plant.json",
         "hybrid_velocity_drivetrain.h",
         "hybrid_velocity_drivetrain.cc",
+        "hybrid_velocity_drivetrain.json",
     ],
     cmd = "$(location //y2024/control_loops/python:polydrivetrain) $(OUTS)",
     target_compatible_with = ["@platforms//os:linux"],

y2024/control_loops/python/drivetrain.py

diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py
index 64dcc47..caedada 100644
--- a/y2024/control_loops/python/drivetrain.py
+++ b/y2024/control_loops/python/drivetrain.py
@@ -36,11 +36,11 @@
 
     if FLAGS.plot:
         drivetrain.PlotDrivetrainMotions(kDrivetrain)
-    elif len(argv) != 5:
-        print("Expected .h file name and .cc file name")
+    elif len(argv) != 7:
+        print("Expected .h, .cc, and .json filenames")
     else:
         # Write the generated constants out to a file.
-        drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2024', kDrivetrain)
+        drivetrain.WriteDrivetrain(argv[1:4], argv[4:7], 'y2024', kDrivetrain)
 
 
 if __name__ == '__main__':

y2024/control_loops/python/polydrivetrain.py

diff --git a/y2024/control_loops/python/polydrivetrain.py b/y2024/control_loops/python/polydrivetrain.py
index 99a9b53..9a9d2a7 100644
--- a/y2024/control_loops/python/polydrivetrain.py
+++ b/y2024/control_loops/python/polydrivetrain.py
@@ -20,10 +20,10 @@
 def main(argv):
     if FLAGS.plot:
         polydrivetrain.PlotPolyDrivetrainMotions(drivetrain.kDrivetrain)
-    elif len(argv) != 7:
-        glog.fatal('Expected .h file name and .cc file name')
+    elif len(argv) != 10:
+        glog.fatal('Expected .h, .cc, and .json filenames')
     else:
-        polydrivetrain.WritePolyDrivetrain(argv[1:3], argv[3:5], argv[5:7],
+        polydrivetrain.WritePolyDrivetrain(argv[1:4], argv[4:7], argv[7:10],
                                            'y2024', drivetrain.kDrivetrain)