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[wpimath] Remove PathWeaver support (#7813)

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Also rename file load type in glass to "Field Image JSON".
This commit is contained in:
Gold856
2025-02-21 09:43:45 -05:00
committed by GitHub
parent 72bba2491a
commit b39744b562
13 changed files with 4 additions and 534 deletions
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53
wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
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@@ -1,53 +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 "frc/trajectory/TrajectoryUtil.h"
#include <string>
#include <system_error>
#include <fmt/format.h>
#include <wpi/MemoryBuffer.h>
#include <wpi/json.h>
#include <wpi/raw_ostream.h>
using namespace frc;
void TrajectoryUtil::ToPathweaverJson(const Trajectory& trajectory,
std::string_view path) {
std::error_code error_code;
wpi::raw_fd_ostream output{path, error_code};
if (error_code) {
throw std::runtime_error(fmt::format("Cannot open file: {}", path));
}
wpi::json json = trajectory.States();
output << json;
output.flush();
}
Trajectory TrajectoryUtil::FromPathweaverJson(std::string_view path) {
auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
if (!fileBuffer) {
throw std::runtime_error(fmt::format("Cannot open file: {}", path));
}
wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
wpi::math::MathSharedStore::ReportUsage(
"Trajectory.PathWeaver", std::to_string(++pathWeaverTrajectoryInstances));
return Trajectory{json.get<std::vector<Trajectory::State>>()};
}
std::string TrajectoryUtil::SerializeTrajectory(const Trajectory& trajectory) {
wpi::json json = trajectory.States();
return json.dump();
}
Trajectory TrajectoryUtil::DeserializeTrajectory(std::string_view jsonStr) {
wpi::json json = wpi::json::parse(jsonStr);
return Trajectory{json.get<std::vector<Trajectory::State>>()};
}