mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
[wpimath] Remove PathWeaver support (#7813)
Also rename file load type in glass to "Field Image JSON".
This commit is contained in:
Gold856
@@ -14,7 +14,6 @@ file(
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src/main/native/cpp/jni/Exceptions.cpp
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src/main/native/cpp/jni/Pose3dJNI.cpp
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src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
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src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
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)
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# Java bindings
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@@ -1,47 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.math.jni;
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import java.io.IOException;
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/** TrajectoryUtil JNI. */
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public final class TrajectoryUtilJNI extends WPIMathJNI {
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/**
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* Loads a Pathweaver JSON.
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*
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* @param path The path to the JSON.
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* @return A double array with the trajectory states from the JSON.
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* @throws IOException if the JSON could not be read.
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*/
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public static native double[] fromPathweaverJson(String path) throws IOException;
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/**
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* Converts a trajectory into a Pathweaver JSON and saves it.
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*
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* @param elements The elements of the trajectory.
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* @param path The location to save the JSON to.
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* @throws IOException if the JSON could not be written.
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*/
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public static native void toPathweaverJson(double[] elements, String path) throws IOException;
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/**
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* Deserializes a trajectory JSON into a double[] of trajectory elements.
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*
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* @param json The JSON containing the serialized trajectory.
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* @return A double array with the trajectory states.
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*/
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public static native double[] deserializeTrajectory(String json);
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/**
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* Serializes the trajectory into a JSON string.
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*
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* @param elements The elements of the trajectory.
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* @return A JSON containing the serialized trajectory.
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*/
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public static native String serializeTrajectory(double[] elements);
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/** Utility class. */
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private TrajectoryUtilJNI() {}
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}
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@@ -1,131 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.math.trajectory;
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import edu.wpi.first.math.MathSharedStore;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.jni.TrajectoryUtilJNI;
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import java.io.IOException;
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import java.nio.file.Path;
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import java.util.ArrayList;
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import java.util.List;
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/** Trajectory utilities. */
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public final class TrajectoryUtil {
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private TrajectoryUtil() {
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throw new UnsupportedOperationException("This is a utility class!");
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}
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/**
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* Creates a trajectory from a double[] of elements.
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*
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* @param elements A double[] containing the raw elements of the trajectory.
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* @return A trajectory created from the elements.
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*/
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private static Trajectory createTrajectoryFromElements(double[] elements) {
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// Make sure that the elements have the correct length.
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if (elements.length % 7 != 0) {
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throw new TrajectorySerializationException(
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"An error occurred when converting trajectory elements into a trajectory.");
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}
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// Create a list of states from the elements.
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List<Trajectory.State> states = new ArrayList<>();
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for (int i = 0; i < elements.length; i += 7) {
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states.add(
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new Trajectory.State(
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elements[i],
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elements[i + 1],
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elements[i + 2],
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new Pose2d(elements[i + 3], elements[i + 4], new Rotation2d(elements[i + 5])),
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elements[i + 6]));
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}
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return new Trajectory(states);
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}
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/**
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* Returns a double[] of elements from the given trajectory.
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*
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* @param trajectory The trajectory to retrieve raw elements from.
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* @return A double[] of elements from the given trajectory.
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*/
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private static double[] getElementsFromTrajectory(Trajectory trajectory) {
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// Create a double[] of elements and fill it from the trajectory states.
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double[] elements = new double[trajectory.getStates().size() * 7];
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for (int i = 0; i < trajectory.getStates().size() * 7; i += 7) {
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var state = trajectory.getStates().get(i / 7);
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elements[i] = state.time;
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elements[i + 1] = state.velocity;
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elements[i + 2] = state.acceleration;
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elements[i + 3] = state.pose.getX();
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elements[i + 4] = state.pose.getY();
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elements[i + 5] = state.pose.getRotation().getRadians();
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elements[i + 6] = state.curvature;
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}
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return elements;
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}
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private static int pathWeaverTrajectoryInstances;
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/**
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* Imports a Trajectory from a JSON file exported from PathWeaver.
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*
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* @param path The path of the json file to import from
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* @return The trajectory represented by the file.
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* @throws IOException if reading from the file fails.
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*/
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public static Trajectory fromPathweaverJson(Path path) throws IOException {
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MathSharedStore.reportUsage(
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"Trajectory.PathWeaver", String.valueOf(++pathWeaverTrajectoryInstances));
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return createTrajectoryFromElements(TrajectoryUtilJNI.fromPathweaverJson(path.toString()));
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}
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/**
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* Exports a Trajectory to a PathWeaver-style JSON file.
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*
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* @param trajectory The trajectory to export
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* @param path The path of the file to export to
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* @throws IOException if writing to the file fails.
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*/
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public static void toPathweaverJson(Trajectory trajectory, Path path) throws IOException {
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TrajectoryUtilJNI.toPathweaverJson(getElementsFromTrajectory(trajectory), path.toString());
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}
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/**
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* Deserializes a Trajectory from JSON exported from PathWeaver.
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*
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* @param json The string containing the serialized JSON
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* @return the trajectory represented by the JSON
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* @throws TrajectorySerializationException if deserialization of the string fails.
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*/
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public static Trajectory deserializeTrajectory(String json) {
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return createTrajectoryFromElements(TrajectoryUtilJNI.deserializeTrajectory(json));
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}
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/**
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* Serializes a Trajectory to PathWeaver-style JSON.
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*
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* @param trajectory The trajectory to export
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* @return The string containing the serialized JSON
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* @throws TrajectorySerializationException if serialization of the trajectory fails.
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*/
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public static String serializeTrajectory(Trajectory trajectory) {
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return TrajectoryUtilJNI.serializeTrajectory(getElementsFromTrajectory(trajectory));
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}
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/** Exception for trajectory serialization failure. */
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public static class TrajectorySerializationException extends RuntimeException {
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/**
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* Constructs a TrajectorySerializationException.
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*
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* @param message The exception message.
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*/
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public TrajectorySerializationException(String message) {
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super(message);
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}
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}
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}
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@@ -18,10 +18,7 @@ JException trajectorySerializationEx;
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static const JExceptionInit exceptions[] = {
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{"java/lang/IllegalArgumentException", &illegalArgEx},
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{"java/io/IOException", &ioEx},
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{"edu/wpi/first/math/trajectory/"
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"TrajectoryUtil$TrajectorySerializationException",
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&trajectorySerializationEx}};
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{"java/io/IOException", &ioEx}};
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extern "C" {
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@@ -1,139 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <exception>
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#include <vector>
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#include <wpi/jni_util.h>
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#include "Exceptions.h"
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#include "edu_wpi_first_math_jni_TrajectoryUtilJNI.h"
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#include "frc/trajectory/TrajectoryUtil.h"
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using namespace wpi::java;
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std::vector<double> GetElementsFromTrajectory(
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const frc::Trajectory& trajectory) {
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std::vector<double> elements;
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elements.reserve(trajectory.States().size() * 7);
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for (auto&& state : trajectory.States()) {
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elements.push_back(state.t.value());
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elements.push_back(state.velocity.value());
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elements.push_back(state.acceleration.value());
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elements.push_back(state.pose.X().value());
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elements.push_back(state.pose.Y().value());
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elements.push_back(state.pose.Rotation().Radians().value());
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elements.push_back(state.curvature.value());
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}
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return elements;
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}
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frc::Trajectory CreateTrajectoryFromElements(std::span<const double> elements) {
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// Make sure that the elements have the correct length.
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assert(elements.size() % 7 == 0);
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// Create a vector of states from the elements.
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std::vector<frc::Trajectory::State> states;
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states.reserve(elements.size() / 7);
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for (size_t i = 0; i < elements.size(); i += 7) {
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states.emplace_back(frc::Trajectory::State{
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units::second_t{elements[i]},
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units::meters_per_second_t{elements[i + 1]},
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units::meters_per_second_squared_t{elements[i + 2]},
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frc::Pose2d{units::meter_t{elements[i + 3]},
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units::meter_t{elements[i + 4]},
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units::radian_t{elements[i + 5]}},
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units::curvature_t{elements[i + 6]}});
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}
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return frc::Trajectory(states);
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}
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extern "C" {
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/*
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* Class: edu_wpi_first_math_jni_TrajectoryUtilJNI
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* Method: fromPathweaverJson
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* Signature: (Ljava/lang/String;)[D
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*/
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JNIEXPORT jdoubleArray JNICALL
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Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_fromPathweaverJson
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(JNIEnv* env, jclass, jstring path)
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{
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try {
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auto trajectory =
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frc::TrajectoryUtil::FromPathweaverJson(JStringRef{env, path}.c_str());
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std::vector<double> elements = GetElementsFromTrajectory(trajectory);
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return MakeJDoubleArray(env, elements);
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} catch (std::exception& e) {
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ioEx.Throw(env, e.what());
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return nullptr;
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}
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}
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/*
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* Class: edu_wpi_first_math_jni_TrajectoryUtilJNI
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* Method: toPathweaverJson
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* Signature: ([DLjava/lang/String;)V
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*/
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JNIEXPORT void JNICALL
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Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_toPathweaverJson
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(JNIEnv* env, jclass, jdoubleArray elements, jstring path)
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{
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try {
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auto trajectory =
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CreateTrajectoryFromElements(JSpan<const jdouble>{env, elements});
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frc::TrajectoryUtil::ToPathweaverJson(trajectory,
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JStringRef{env, path}.c_str());
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} catch (std::exception& e) {
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ioEx.Throw(env, e.what());
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}
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}
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/*
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* Class: edu_wpi_first_math_jni_TrajectoryUtilJNI
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* Method: deserializeTrajectory
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* Signature: (Ljava/lang/String;)[D
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*/
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JNIEXPORT jdoubleArray JNICALL
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Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_deserializeTrajectory
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(JNIEnv* env, jclass, jstring json)
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{
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try {
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auto trajectory = frc::TrajectoryUtil::DeserializeTrajectory(
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JStringRef{env, json}.c_str());
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std::vector<double> elements = GetElementsFromTrajectory(trajectory);
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return MakeJDoubleArray(env, elements);
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} catch (std::exception& e) {
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trajectorySerializationEx.Throw(env, e.what());
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return nullptr;
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}
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}
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/*
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* Class: edu_wpi_first_math_jni_TrajectoryUtilJNI
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* Method: serializeTrajectory
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* Signature: ([D)Ljava/lang/String;
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*/
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JNIEXPORT jstring JNICALL
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Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_serializeTrajectory
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(JNIEnv* env, jclass, jdoubleArray elements)
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{
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try {
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auto trajectory =
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CreateTrajectoryFromElements(JSpan<const jdouble>{env, elements});
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return MakeJString(env,
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frc::TrajectoryUtil::SerializeTrajectory(trajectory));
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} catch (std::exception& e) {
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trajectorySerializationEx.Throw(env, e.what());
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return nullptr;
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}
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}
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} // extern "C"
|
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@@ -1,53 +0,0 @@
|
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// Copyright (c) FIRST and other WPILib contributors.
|
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// Open Source Software; you can modify and/or share it under the terms of
|
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// the WPILib BSD license file in the root directory of this project.
|
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#include "frc/trajectory/TrajectoryUtil.h"
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#include <string>
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#include <system_error>
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#include <fmt/format.h>
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#include <wpi/MemoryBuffer.h>
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#include <wpi/json.h>
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#include <wpi/raw_ostream.h>
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using namespace frc;
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|
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void TrajectoryUtil::ToPathweaverJson(const Trajectory& trajectory,
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std::string_view path) {
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std::error_code error_code;
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wpi::raw_fd_ostream output{path, error_code};
|
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if (error_code) {
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throw std::runtime_error(fmt::format("Cannot open file: {}", path));
|
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}
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|
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wpi::json json = trajectory.States();
|
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output << json;
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output.flush();
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}
|
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|
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Trajectory TrajectoryUtil::FromPathweaverJson(std::string_view path) {
|
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auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
|
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if (!fileBuffer) {
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throw std::runtime_error(fmt::format("Cannot open file: {}", path));
|
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}
|
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|
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wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
|
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|
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wpi::math::MathSharedStore::ReportUsage(
|
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"Trajectory.PathWeaver", std::to_string(++pathWeaverTrajectoryInstances));
|
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|
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return Trajectory{json.get<std::vector<Trajectory::State>>()};
|
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}
|
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|
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std::string TrajectoryUtil::SerializeTrajectory(const Trajectory& trajectory) {
|
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wpi::json json = trajectory.States();
|
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return json.dump();
|
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}
|
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|
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Trajectory TrajectoryUtil::DeserializeTrajectory(std::string_view jsonStr) {
|
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wpi::json json = wpi::json::parse(jsonStr);
|
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return Trajectory{json.get<std::vector<Trajectory::State>>()};
|
||||
}
|
||||
@@ -1,61 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <wpi/SymbolExports.h>
|
||||
|
||||
#include "frc/trajectory/Trajectory.h"
|
||||
|
||||
namespace frc {
|
||||
/**
|
||||
* Trajectory utilities.
|
||||
*/
|
||||
class WPILIB_DLLEXPORT TrajectoryUtil {
|
||||
public:
|
||||
TrajectoryUtil() = delete;
|
||||
|
||||
/**
|
||||
* Exports a Trajectory to a PathWeaver-style JSON file.
|
||||
*
|
||||
* @param trajectory the trajectory to export
|
||||
* @param path the path of the file to export to
|
||||
*/
|
||||
static void ToPathweaverJson(const Trajectory& trajectory,
|
||||
std::string_view path);
|
||||
/**
|
||||
* Imports a Trajectory from a JSON file exported from PathWeaver.
|
||||
*
|
||||
* @param path The path of the json file to import from.
|
||||
*
|
||||
* @return The trajectory represented by the file.
|
||||
*/
|
||||
static Trajectory FromPathweaverJson(std::string_view path);
|
||||
|
||||
/**
|
||||
* Deserializes a Trajectory from JSON exported from PathWeaver.
|
||||
*
|
||||
* @param trajectory the trajectory to export
|
||||
*
|
||||
* @return the string containing the serialized JSON
|
||||
*/
|
||||
static std::string SerializeTrajectory(const Trajectory& trajectory);
|
||||
|
||||
/**
|
||||
* Serializes a Trajectory to PathWeaver-style JSON.
|
||||
*
|
||||
* @param jsonStr the string containing the serialized JSON
|
||||
*
|
||||
* @return the trajectory represented by the JSON
|
||||
*/
|
||||
static Trajectory DeserializeTrajectory(std::string_view jsonStr);
|
||||
|
||||
private:
|
||||
// Usage reporting for PathWeaver Trajectory instances
|
||||
inline static int pathWeaverTrajectoryInstances = 0;
|
||||
};
|
||||
} // namespace frc
|
||||
@@ -1,16 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.math.jni;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
|
||||
|
||||
import org.junit.jupiter.api.Test;
|
||||
|
||||
public class TrajectoryUtilJNITest {
|
||||
@Test
|
||||
public void testLink() {
|
||||
assertDoesNotThrow(TrajectoryUtilJNI::forceLoad);
|
||||
}
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
package edu.wpi.first.math.trajectory;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
|
||||
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
|
||||
import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
|
||||
import java.util.List;
|
||||
import org.junit.jupiter.api.Test;
|
||||
|
||||
class TrajectoryJsonTest {
|
||||
@Test
|
||||
void deserializeMatches() {
|
||||
var config =
|
||||
List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(0.5), 3));
|
||||
var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
|
||||
|
||||
var deserialized =
|
||||
assertDoesNotThrow(
|
||||
() ->
|
||||
TrajectoryUtil.deserializeTrajectory(
|
||||
TrajectoryUtil.serializeTrajectory(trajectory)));
|
||||
|
||||
assertEquals(trajectory.getStates(), deserialized.getStates());
|
||||
}
|
||||
}
|
||||
@@ -1,21 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include "frc/trajectory/TrajectoryConfig.h"
|
||||
#include "frc/trajectory/TrajectoryUtil.h"
|
||||
#include "trajectory/TestTrajectory.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
TEST(TrajectoryJsonTest, DeserializeMatches) {
|
||||
TrajectoryConfig config{12_fps, 12_fps_sq};
|
||||
auto trajectory = TestTrajectory::GetTrajectory(config);
|
||||
|
||||
Trajectory deserialized;
|
||||
EXPECT_NO_THROW(deserialized = TrajectoryUtil::DeserializeTrajectory(
|
||||
TrajectoryUtil::SerializeTrajectory(trajectory)));
|
||||
EXPECT_EQ(trajectory.States(), deserialized.States());
|
||||
}
|
||||
Reference in New Issue
Block a user