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https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[wpimath] Remove PathWeaver support (#7813)
Also rename file load type in glass to "Field Image JSON".
This commit is contained in:
Gold856
@@ -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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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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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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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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wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
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wpi::math::MathSharedStore::ReportUsage(
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"Trajectory.PathWeaver", std::to_string(++pathWeaverTrajectoryInstances));
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return Trajectory{json.get<std::vector<Trajectory::State>>()};
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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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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>>()};
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}
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