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[choreolib] fix trajectoryCmd #1160

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merged 4 commits into from
Jan 20, 2025
Merged

[choreolib] fix trajectoryCmd #1160

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bc06099
b
oh-yes-0-fps Jan 20, 2025
ef1f7f0
fixed autobindings and re-enabled the auto routine check
oh-yes-0-fps Jan 20, 2025
4071751
ran fmt
oh-yes-0-fps Jan 20, 2025
df528ae
i hate formatting
oh-yes-0-fps Jan 20, 2025
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33 changes: 14 additions & 19 deletions choreolib/src/main/java/choreo/auto/AutoFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ public void reset() {}

@Override
public Trigger active() {
return new Trigger(this.loop(), () -> false);
return new Trigger(this.loop(), () -> true);
}
};
}
Expand Down Expand Up @@ -207,7 +207,7 @@ public AutoRoutine newRoutine(String name) {
*
* @see AutoRoutine#trajectory(String)
*/
AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine, boolean useBindings) {
Optional<? extends Trajectory<?>> optTrajectory =
trajectoryCache.loadTrajectory(trajectoryName);
Trajectory<?> trajectory;
Expand All @@ -216,7 +216,7 @@ AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
} else {
trajectory = new Trajectory<SwerveSample>(trajectoryName, List.of(), List.of(), List.of());
}
return trajectory(trajectory, routine);
return trajectory(trajectory, routine, useBindings);
}

/**
Expand All @@ -225,7 +225,8 @@ AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
*
* @see AutoRoutine#trajectory(String, int)
*/
AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRoutine routine) {
AutoTrajectory trajectory(
String trajectoryName, final int splitIndex, AutoRoutine routine, boolean useBindings) {
Optional<? extends Trajectory<?>> optTrajectory =
trajectoryCache.loadTrajectory(trajectoryName, splitIndex);
Trajectory<?> trajectory;
Expand All @@ -234,7 +235,7 @@ AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRouti
} else {
trajectory = new Trajectory<SwerveSample>(trajectoryName, List.of(), List.of(), List.of());
}
return trajectory(trajectory, routine);
return trajectory(trajectory, routine, useBindings);
}

/**
Expand All @@ -245,7 +246,7 @@ AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRouti
*/
@SuppressWarnings("unchecked")
<ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
Trajectory<ST> trajectory, AutoRoutine routine) {
Trajectory<ST> trajectory, AutoRoutine routine, boolean useBindings) {
// type solidify everything
final Trajectory<ST> solidTrajectory = trajectory;
final Consumer<ST> solidController = (Consumer<ST>) this.controller;
Expand All @@ -259,7 +260,7 @@ <ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
(TrajectoryLogger<ST>) trajectoryLogger,
driveSubsystem,
routine,
bindings);
useBindings ? bindings : new AutoBindings());
}

/**
Expand All @@ -277,10 +278,7 @@ <ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
* @return A new {@link AutoTrajectory}.
*/
public Command trajectoryCmd(String trajectoryName) {
AutoRoutine routine = newRoutine("Routine");
AutoTrajectory trajectory = routine.trajectory(trajectoryName);
routine.active().onTrue(trajectory.cmd());
return routine.cmd().until(trajectory.done());
return trajectory(trajectoryName, voidRoutine, false).cmd();
}

/**
Expand All @@ -299,10 +297,7 @@ public Command trajectoryCmd(String trajectoryName) {
* @return A new {@link AutoTrajectory}.
*/
public Command trajectoryCmd(String trajectoryName, final int splitIndex) {
AutoRoutine routine = newRoutine("Routine");
AutoTrajectory trajectory = routine.trajectory(trajectoryName, splitIndex);
routine.active().onTrue(trajectory.cmd());
return routine.cmd().until(trajectory.done());
return trajectory(trajectoryName, splitIndex, voidRoutine, false).cmd();
}

/**
Expand All @@ -322,7 +317,7 @@ public Command trajectoryCmd(String trajectoryName, final int splitIndex) {
* @return A new {@link AutoTrajectory}.
*/
public <ST extends TrajectorySample<ST>> Command trajectoryCmd(Trajectory<ST> trajectory) {
return trajectory(trajectory, voidRoutine).cmd();
return trajectory(trajectory, voidRoutine, false).cmd();
}

/**
Expand All @@ -332,7 +327,7 @@ public <ST extends TrajectorySample<ST>> Command trajectoryCmd(Trajectory<ST> tr
* @return A command that resets the robot's odometry.
*/
public Command resetOdometry(String trajectoryName) {
return trajectory(trajectoryName, voidRoutine).resetOdometry();
return trajectory(trajectoryName, voidRoutine, false).resetOdometry();
}

/**
Expand All @@ -343,7 +338,7 @@ public Command resetOdometry(String trajectoryName) {
* @return A command that resets the robot's odometry.
*/
public Command resetOdometry(String trajectoryName, final int splitIndex) {
return trajectory(trajectoryName, splitIndex, voidRoutine).resetOdometry();
return trajectory(trajectoryName, splitIndex, voidRoutine, false).resetOdometry();
}

/**
Expand All @@ -355,7 +350,7 @@ public Command resetOdometry(String trajectoryName, final int splitIndex) {
* @return A command that resets the robot's odometry.
*/
public <ST extends TrajectorySample<ST>> Command resetOdometry(Trajectory<ST> trajectory) {
return trajectory(trajectory, voidRoutine).resetOdometry();
return trajectory(trajectory, voidRoutine, false).resetOdometry();
}

/**
Expand Down
8 changes: 4 additions & 4 deletions choreolib/src/main/java/choreo/auto/AutoRoutine.java
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ public class AutoRoutine {
private final AllianceContext allianceCtx;

/** A boolean utilized in {@link #active()} to resolve trueness */
private boolean isActive = false;
boolean isActive = false;

/** A boolean that is true when the loop is killed */
boolean isKilled = false;
Expand Down Expand Up @@ -142,7 +142,7 @@ public void kill() {
* @return A new {@link AutoTrajectory}.
*/
public AutoTrajectory trajectory(String trajectoryName) {
return factory.trajectory(trajectoryName, this);
return factory.trajectory(trajectoryName, this, true);
}

/**
Expand All @@ -153,7 +153,7 @@ public AutoTrajectory trajectory(String trajectoryName) {
* @return A new {@link AutoTrajectory}.
*/
public AutoTrajectory trajectory(String trajectoryName, final int splitIndex) {
return factory.trajectory(trajectoryName, splitIndex, this);
return factory.trajectory(trajectoryName, splitIndex, this, true);
}

/**
Expand All @@ -165,7 +165,7 @@ public AutoTrajectory trajectory(String trajectoryName, final int splitIndex) {
*/
public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajectory(
Trajectory<SampleType> trajectory) {
return factory.trajectory(trajectory, this);
return factory.trajectory(trajectory, this, true);
}

/**
Expand Down
2 changes: 1 addition & 1 deletion choreolib/src/main/java/choreo/auto/AutoTrajectory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ private void cmdEnd(boolean interrupted) {
}

private boolean cmdIsFinished() {
return timer.get() > trajectory.getTotalTime() || !routine.active().getAsBoolean();
return timer.get() > trajectory.getTotalTime() || !routine.isActive;
}

/**
Expand Down
2 changes: 1 addition & 1 deletion choreolib/src/test/java/choreo/auto/DoneTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ public void testExecution() {
Trajectory<SwerveSample> trajectory =
TrajectoryTestHelper.linearTrajectory("test", start, end, 3.0, SwerveSample.class);
AutoRoutine routine = factory.newRoutine("test");
AutoTrajectory traj = factory.trajectory(trajectory, routine);
AutoTrajectory traj = factory.trajectory(trajectory, routine, true);

BooleanSupplier done = traj.done();
BooleanSupplier doneDelayed = traj.done(2);
Expand Down
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