frc971/control_loops/drivetrain/libspline.cc

#include <string>
#include <vector>

#include "Eigen/Dense"

#include "aos/logging/implementations.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/drivetrain/distance_spline.h"
#include "frc971/control_loops/drivetrain/spline.h"
#include "frc971/control_loops/drivetrain/trajectory.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"

namespace frc971::control_loops::drivetrain {

extern "C" {
// Based on spline.h
NSpline<6> *NewSpline(double x[6], double y[6]) {
  return new NSpline<6>((::Eigen::Matrix<double, 2, 6>() << x[0], x[1], x[2],
                         x[3], x[4], x[5], y[0], y[1], y[2], y[3], y[4], y[5])
                            .finished());
}

void deleteSpline(NSpline<6> *spline) { delete spline; }

void SplinePoint(NSpline<6> *spline, double alpha, double *res) {
  const Eigen::Vector2d xy = spline->Point(alpha);
  res[0] = xy.x();
  res[1] = xy.y();
}

void SplineDPoint(NSpline<6> *spline, double alpha, double *res) {
  const Eigen::Vector2d dxy = spline->DPoint(alpha);
  res[0] = dxy.x();
  res[1] = dxy.y();
}

void SplineDDPoint(NSpline<6> *spline, double alpha, double *res) {
  const Eigen::Vector2d ddxy = spline->DDPoint(alpha);
  res[0] = ddxy.x();
  res[1] = ddxy.y();
}

void SplineDDDPoint(NSpline<6> *spline, double alpha, double *res) {
  const Eigen::Vector2d dddxy = spline->DDDPoint(alpha);
  res[0] = dddxy.x();
  res[1] = dddxy.y();
}

double SplineTheta(NSpline<6> *spline, double alpha) {
  return spline->Theta(alpha);
}

double SplineDTheta(NSpline<6> *spline, double alpha) {
  return spline->DTheta(alpha);
}

double SplineDDTheta(NSpline<6> *spline, double alpha) {
  return spline->DDTheta(alpha);
}

void SplineControlPoints(NSpline<6> *spline, double *x, double *y) {
  auto points = spline->control_points();
  // Deal with incorrectly strided matrix.
  for (int i = 0; i < 6; ++i) {
    x[i] = points(0, i);
    y[i] = points(1, i);
  }
}

// Based on distance_spline.h
DistanceSpline *NewDistanceSpline(Spline **splines, int count) {
  ::std::vector<Spline> splines_;
  for (int i = 0; i < count; ++i) {
    splines_.push_back(*splines[i]);
  }
  return new DistanceSpline(::std::vector<Spline>(splines_));
}

void deleteDistanceSpline(DistanceSpline *spline) { delete spline; }

void DistanceSplineXY(DistanceSpline *spline, double distance, double *res) {
  const Eigen::Vector2d xy = spline->XY(distance);
  res[0] = xy.x();
  res[1] = xy.y();
}

void DistanceSplineDXY(DistanceSpline *spline, double distance, double *res) {
  const Eigen::Vector2d dxy = spline->DXY(distance);
  res[0] = dxy.x();
  res[1] = dxy.y();
}

void DistanceSplineDDXY(DistanceSpline *spline, double distance, double *res) {
  const Eigen::Vector2d ddxy = spline->DDXY(distance);
  res[0] = ddxy.x();
  res[1] = ddxy.y();
}

double DistanceSplineTheta(DistanceSpline *spline, double distance) {
  return spline->Theta(distance);
}

double DistanceSplineDTheta(DistanceSpline *spline, double distance) {
  return spline->DTheta(distance);
}

double DistanceSplineDThetaDt(DistanceSpline *spline, double distance,
                              double velocity) {
  return spline->DThetaDt(distance, velocity);
}

double DistanceSplineDDTheta(DistanceSpline *spline, double distance) {
  return spline->DDTheta(distance);
}

double DistanceSplineLength(DistanceSpline *spline) { return spline->length(); }

// Based on trajectory.h
Trajectory *NewTrajectory(DistanceSpline *spline, double vmax,
                          int num_distance) {
  return new Trajectory(
      DistanceSpline(*spline),
      ::y2020::control_loops::drivetrain::GetDrivetrainConfig(), nullptr, -1,
      vmax, num_distance);
}

void deleteTrajectory(Trajectory *t) { delete t; }

void TrajectorySetLongitudinalAcceleration(Trajectory *t, double accel) {
  t->set_longitudinal_acceleration(accel);
}

void TrajectorySetLateralAcceleration(Trajectory *t, double accel) {
  t->set_lateral_acceleration(accel);
}

void TrajectorySetVoltageLimit(Trajectory *t, double limit) {
  t->set_voltage_limit(limit);
}

void TrajectoryLimitVelocity(Trajectory *t, double start, double end,
                             double max) {
  t->LimitVelocity(start, end, max);
}

void TrajectoryPlan(Trajectory *t) { t->Plan(); }

void TrajectoryVoltage(Trajectory *t, double distance, double *res) {
  const Eigen::Vector2d ff_voltage = t->FFVoltage(distance);
  res[0] = ff_voltage.x();
  res[1] = ff_voltage.y();
}

double TrajectoryLength(Trajectory *t) { return t->length(); }

int TrajectoryGetPathLength(Trajectory *t) { return t->plan().size(); }

// This assumes that res is created in python to be getPathLength() long.
// Likely to SEGFAULT otherwise.
void TrajectoryDistances(Trajectory *t, double *res) {
  const ::std::vector<double> &distances = t->Distances();
  ::std::memcpy(res, distances.data(), sizeof(double) * distances.size());
}

double TrajectoryDistance(Trajectory *t, int index) {
  return t->Distance(index);
}

// This assumes that res is created in python to be getPathLength() long.
// Likely to SEGFAULT otherwise.
void TrajectoryGetPlan(Trajectory *t, double *res) {
  const ::std::vector<double> &velocities = t->plan();
  ::std::memcpy(res, velocities.data(), sizeof(double) * velocities.size());
}

// Time in in nanoseconds.
::std::vector<::Eigen::Matrix<double, 3, 1>> *TrajectoryGetPlanXVAPtr(
    Trajectory *t, int dt) {
  return new ::std::vector<::Eigen::Matrix<double, 3, 1>>(
      t->PlanXVA(::std::chrono::nanoseconds(dt)));
}

void TrajectoryDeleteVector(::std::vector<::Eigen::Matrix<double, 3, 1>> *vec) {
  delete vec;
}

int TrajectoryGetVectorLength(
    ::std::vector<::Eigen::Matrix<double, 3, 1>> *vec) {
  return vec->size();
}

void TrajectoryGetPlanXVA(::std::vector<::Eigen::Matrix<double, 3, 1>> *vec,
                          double *X, double *V, double *A) {
  for (size_t i = 0; i < vec->size(); ++i) {
    X[i] = (*vec)[i][0];
    V[i] = (*vec)[i][1];
    A[i] = (*vec)[i][2];
  }
}

// Util
void SetUpLogging() { ::aos::network::OverrideTeamNumber(971); }
}

}  // namespace frc971::control_loops::drivetrain