#include <asyncMotionProfileController.hpp>

Inheritance diagram for okapi::AsyncMotionProfileController:

Public Member Functions
	AsyncMotionProfileController (const TimeUtil &itimeUtil, const PathfinderLimits &ilimits, const std::shared_ptr< ChassisModel > &imodel, const ChassisScales &iscales, const AbstractMotor::GearsetRatioPair &ipair, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	An Async Controller which generates and follows 2D motion profiles.

	AsyncMotionProfileController (AsyncMotionProfileController &&other)=delete

AsyncMotionProfileController &	operator= (AsyncMotionProfileController &&other)=delete

	~AsyncMotionProfileController () override

void	generatePath (std::initializer_list< PathfinderPoint > iwaypoints, const std::string &ipathId)
	Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

void	generatePath (std::initializer_list< PathfinderPoint > iwaypoints, const std::string &ipathId, const PathfinderLimits &ilimits)
	Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

bool	removePath (const std::string &ipathId)
	Removes a path and frees the memory it used.

std::vector< std::string >	getPaths ()
	Gets the identifiers of all paths saved in this `AsyncMotionProfileController`.

void	setTarget (std::string ipathId) override
	Executes a path with the given ID.

void	setTarget (std::string ipathId, bool ibackwards, bool imirrored=false)
	Executes a path with the given ID.

void	controllerSet (std::string ivalue) override
	Writes the value of the controller output.

std::string	getTarget () override
	Gets the last set target, or the default target if none was set.

std::string	getProcessValue () const override
	This is overridden to return the current path.

void	waitUntilSettled () override
	Blocks the current task until the controller has settled.

void	moveTo (std::initializer_list< PathfinderPoint > iwaypoints, bool ibackwards=false, bool imirrored=false)
	Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

void	moveTo (std::initializer_list< PathfinderPoint > iwaypoints, const PathfinderLimits &ilimits, bool ibackwards=false, bool imirrored=false)
	Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

PathfinderPoint	getError () const override
	Returns the last error of the controller.

bool	isSettled () override
	Returns whether the controller has settled at the target.

void	reset () override
	Resets the controller so it can start from 0 again properly.

void	flipDisable () override
	Changes whether the controller is off or on.

void	flipDisable (bool iisDisabled) override
	Sets whether the controller is off or on.

bool	isDisabled () const override
	Returns whether the controller is currently disabled.

void	tarePosition () override
	This implementation does nothing because the API always requires the starting position to be specified.

void	setMaxVelocity (std::int32_t imaxVelocity) override
	This implementation does nothing because the maximum velocity is configured using PathfinderLimits elsewhere.

void	startThread ()
	Starts the internal thread.

CrossplatformThread *	getThread () const

void	storePath (const std::string &idirectory, const std::string &ipathId)
	Saves a generated path to a file.

void	loadPath (const std::string &idirectory, const std::string &ipathId)
	Loads a path from a directory on the SD card containing a path CSV file.

void	forceRemovePath (const std::string &ipathId)
	Attempts to remove a path without stopping execution.

Public Member Functions inherited from okapi::ClosedLoopController< Input, Output >
virtual	~ClosedLoopController ()=default

virtual void	setTarget (Input itarget)=0
	Sets the target for the controller.

Public Member Functions inherited from okapi::ControllerOutput< Input >
virtual void	controllerSet (Input ivalue)=0
	Writes the value of the controller output.

Protected Member Functions
void	loop ()

virtual void	executeSinglePath (const std::vector< squiggles::ProfilePoint > &path, std::unique_ptr< AbstractRate > rate)
	Follow the supplied path.

QAngularSpeed	convertLinearToRotational (QSpeed linear) const
	Converts linear chassis speed to rotational motor speed.

std::string	getPathErrorMessage (const std::vector< PathfinderPoint > &points, const std::string &ipathId, int length)

void	internalStorePath (std::ostream &file, const std::string &ipathId)

void	internalLoadPath (std::istream &file, const std::string &ipathId)

void	internalLoadPathfinderPath (std::istream &leftFile, std::istream &rightFile, const std::string &ipathId)

Static Protected Member Functions
static void	trampoline (void *context)

static std::string	makeFilePath (const std::string &directory, const std::string &filename)
	Joins and escapes a directory and file name.

Protected Attributes
std::shared_ptr< Logger >	logger

std::map< std::string, std::vector< squiggles::ProfilePoint > >	paths {}

PathfinderLimits	limits

std::shared_ptr< ChassisModel >	model

ChassisScales	scales

AbstractMotor::GearsetRatioPair	pair

TimeUtil	timeUtil

CrossplatformMutex	currentPathMutex

std::string	currentPath {""}

std::atomic_bool	isRunning {false}

std::atomic_int	direction {1}

std::atomic_bool	mirrored {false}

std::atomic_bool	disabled {false}

std::atomic_bool	dtorCalled {false}

CrossplatformThread *	task {nullptr}

Static Protected Attributes
static constexpr double	DT = 0.01

Detailed Description

Definition at line 23 of file asyncMotionProfileController.hpp.

Constructor & Destructor Documentation

◆ AsyncMotionProfileController() [1/2]

okapi::AsyncMotionProfileController::AsyncMotionProfileController	(	const TimeUtil &	itimeUtil,
		const PathfinderLimits &	ilimits,
		const std::shared_ptr< ChassisModel > &	imodel,
		const ChassisScales &	iscales,
		const AbstractMotor::GearsetRatioPair &	ipair,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

An Async Controller which generates and follows 2D motion profiles.

Throws a std::invalid_argument exception if the gear ratio is zero.

Parameters

itimeUtil	The TimeUtil.
ilimits	The default limits.
imodel	The chassis model to control.
iscales	The chassis dimensions.
ipair	The gearset.
ilogger	The logger this instance will log to.

◆ AsyncMotionProfileController() [2/2]

okapi::AsyncMotionProfileController::AsyncMotionProfileController ( AsyncMotionProfileController && other )

delete

◆ ~AsyncMotionProfileController()

okapi::AsyncMotionProfileController::~AsyncMotionProfileController ( )

override

Member Function Documentation

◆ controllerSet()

void okapi::AsyncMotionProfileController::controllerSet ( std::string ivalue )

override

Writes the value of the controller output.

This method might be automatically called in another thread by the controller. This just calls setTarget().

◆ convertLinearToRotational()

QAngularSpeed okapi::AsyncMotionProfileController::convertLinearToRotational ( QSpeed linear ) const

protected

Converts linear chassis speed to rotational motor speed.

Parameters

linear chassis frame speed

Returns: motor frame speed

◆ executeSinglePath()

virtual void okapi::AsyncMotionProfileController::executeSinglePath	(	const std::vector< squiggles::ProfilePoint > &	path,
		std::unique_ptr< AbstractRate >	rate
	)

protectedvirtual

Follow the supplied path.

Must follow the disabled lifecycle.

◆ flipDisable() [1/2]

void okapi::AsyncMotionProfileController::flipDisable ( )

overridevirtual

Changes whether the controller is off or on.

Turning the controller on after it was off will NOT cause the controller to move to its last set target.

Implements okapi::ClosedLoopController< Input, Output >.

◆ flipDisable() [2/2]

void okapi::AsyncMotionProfileController::flipDisable ( bool iisDisabled )

overridevirtual

Sets whether the controller is off or on.

Turning the controller on after it was off will NOT cause the controller to move to its last set target, unless it was reset in that time.

Parameters

iisDisabled whether the controller is disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ forceRemovePath()

void okapi::AsyncMotionProfileController::forceRemovePath ( const std::string & ipathId )

Attempts to remove a path without stopping execution.

If that fails, disables the controller and removes the path.

Parameters

ipathId The path ID that will be removed

◆ generatePath() [1/2]

void okapi::AsyncMotionProfileController::generatePath	(	std::initializer_list< PathfinderPoint >	iwaypoints,
		const std::string &	ipathId
	)

Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

Call executePath() with the same pathId to run it.

If the waypoints form a path which is impossible to achieve, an instance of std::runtime_error is thrown (and an error is logged) which describes the waypoints. If there are no waypoints, no path is generated.

Parameters

iwaypoints	The waypoints to hit on the path.
ipathId	A unique identifier to save the path with.

◆ generatePath() [2/2]

void okapi::AsyncMotionProfileController::generatePath	(	std::initializer_list< PathfinderPoint >	iwaypoints,
		const std::string &	ipathId,
		const PathfinderLimits &	ilimits
	)

Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

Call executePath() with the same pathId to run it.

If the waypoints form a path which is impossible to achieve, an instance of std::runtime_error is thrown (and an error is logged) which describes the waypoints. If there are no waypoints, no path is generated.

NOTE: The waypoints are expected to be in the okapi::State::FRAME_TRANSFORMATION format where +x is forward, +y is right, and 0 theta is measured from the +x axis to the +y axis.

Parameters

iwaypoints	The waypoints to hit on the path.
ipathId	A unique identifier to save the path with.
ilimits	The limits to use for this path only.

◆ getError()

PathfinderPoint okapi::AsyncMotionProfileController::getError ( ) const

overridevirtual

Returns the last error of the controller.

Does not update when disabled. This implementation always returns zero since the robot is assumed to perfectly follow the path. Subclasses can override this to be more accurate using odometry information.

Returns: the last error

Implements okapi::ClosedLoopController< Input, Output >.

◆ getPathErrorMessage()

std::string okapi::AsyncMotionProfileController::getPathErrorMessage	(	const std::vector< PathfinderPoint > &	points,
		const std::string &	ipathId,
		int	length
	)

protected

◆ getPaths()

std::vector< std::string > okapi::AsyncMotionProfileController::getPaths ( )

Gets the identifiers of all paths saved in this AsyncMotionProfileController.

Returns: The identifiers of all paths

◆ getProcessValue()

std::string okapi::AsyncMotionProfileController::getProcessValue ( ) const

overridevirtual

This is overridden to return the current path.

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getTarget()

std::string okapi::AsyncMotionProfileController::getTarget ( )

overridevirtual

Gets the last set target, or the default target if none was set.

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

◆ getThread()

CrossplatformThread * okapi::AsyncMotionProfileController::getThread ( ) const

Returns: The underlying thread handle.

◆ internalLoadPath()

void okapi::AsyncMotionProfileController::internalLoadPath	(	std::istream &	file,
		const std::string &	ipathId
	)

protected

◆ internalLoadPathfinderPath()

void okapi::AsyncMotionProfileController::internalLoadPathfinderPath	(	std::istream &	leftFile,
		std::istream &	rightFile,
		const std::string &	ipathId
	)

protected

◆ internalStorePath()

void okapi::AsyncMotionProfileController::internalStorePath	(	std::ostream &	file,
		const std::string &	ipathId
	)

protected

◆ isDisabled()

bool okapi::AsyncMotionProfileController::isDisabled ( ) const

overridevirtual

Returns whether the controller is currently disabled.

Returns: whether the controller is currently disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ isSettled()

bool okapi::AsyncMotionProfileController::isSettled ( )

overridevirtual

Returns whether the controller has settled at the target.

Determining what settling means is implementation-dependent.

If the controller is disabled, this method must return true.

Returns: whether the controller is settled

Implements okapi::ClosedLoopController< Input, Output >.

◆ loadPath()

void okapi::AsyncMotionProfileController::loadPath	(	const std::string &	idirectory,
		const std::string &	ipathId
	)

Loads a path from a directory on the SD card containing a path CSV file.

/usd/ is automatically prepended to idirectory if it is not specified.

Parameters

idirectory	The directory that the path files are stored in
ipathId	The path ID that the paths are stored under (and will be loaded into)

◆ loop()

void okapi::AsyncMotionProfileController::loop ( )

protected

◆ makeFilePath()

static std::string okapi::AsyncMotionProfileController::makeFilePath	(	const std::string &	directory,
		const std::string &	filename
	)

staticprotected

Joins and escapes a directory and file name.

Parameters

directory	The directory path, separated by forward slashes (/) and with or without a trailing slash
filename	The file name in the directory

Returns: the fully qualified and legal path name

◆ moveTo() [1/2]

void okapi::AsyncMotionProfileController::moveTo	(	std::initializer_list< PathfinderPoint >	iwaypoints,
		bool	ibackwards = `false`,
		bool	imirrored = `false`
	)

Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

Does not save the path which was generated.

Parameters

iwaypoints	The waypoints to hit on the path.
ibackwards	Whether to follow the profile backwards.
imirrored	Whether to follow the profile mirrored.

◆ moveTo() [2/2]

void okapi::AsyncMotionProfileController::moveTo	(	std::initializer_list< PathfinderPoint >	iwaypoints,
		const PathfinderLimits &	ilimits,
		bool	ibackwards = `false`,
		bool	imirrored = `false`
	)

Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

Does not save the path which was generated.

Parameters

iwaypoints	The waypoints to hit on the path.
ilimits	The limits to use for this path only.
ibackwards	Whether to follow the profile backwards.
imirrored	Whether to follow the profile mirrored.

◆ operator=()

AsyncMotionProfileController & okapi::AsyncMotionProfileController::operator= ( AsyncMotionProfileController && other )

delete

◆ removePath()

bool okapi::AsyncMotionProfileController::removePath ( const std::string & ipathId )

Removes a path and frees the memory it used.

This function returns true if the path was either deleted or didn't exist in the first place. It returns false if the path could not be removed because it is running.

Parameters

ipathId A unique identifier for the path, previously passed to generatePath()

Returns: True if the path no longer exists

◆ reset()

void okapi::AsyncMotionProfileController::reset ( )

overridevirtual

Resets the controller so it can start from 0 again properly.

Keeps configuration from before. This implementation also stops movement.

Implements okapi::ClosedLoopController< Input, Output >.

◆ setMaxVelocity()

void okapi::AsyncMotionProfileController::setMaxVelocity ( std::int32_t imaxVelocity )

overridevirtual

This implementation does nothing because the maximum velocity is configured using PathfinderLimits elsewhere.

Parameters

imaxVelocity Ignored.

Implements okapi::AsyncPositionController< std::string, PathfinderPoint >.

◆ setTarget() [1/2]

void okapi::AsyncMotionProfileController::setTarget ( std::string ipathId )

override

Executes a path with the given ID.

If there is no path matching the ID, the method will return. Any targets set while a path is being followed will be ignored.

Parameters

ipathId A unique identifier for the path, previously passed to generatePath().

◆ setTarget() [2/2]

void okapi::AsyncMotionProfileController::setTarget	(	std::string	ipathId,
		bool	ibackwards,
		bool	imirrored = `false`
	)

Executes a path with the given ID.

If there is no path matching the ID, the method will return. Any targets set while a path is being followed will be ignored.

Parameters

ipathId	A unique identifier for the path, previously passed to `generatePath()`.
ibackwards	Whether to follow the profile backwards.
imirrored	Whether to follow the profile mirrored.

◆ startThread()

void okapi::AsyncMotionProfileController::startThread ( )

Starts the internal thread.

This should not be called by normal users. This method is called by the AsyncMotionProfileControllerBuilder when making a new instance of this class.

◆ storePath()

void okapi::AsyncMotionProfileController::storePath	(	const std::string &	idirectory,
		const std::string &	ipathId
	)

Saves a generated path to a file.

Paths are stored as <ipathId>.csv. An SD card must be inserted into the brain and the directory must exist. idirectory can be prefixed with /usd/, but it this is not required.

Parameters

idirectory	The directory to store the path file in
ipathId	The path ID of the generated path

◆ tarePosition()

void okapi::AsyncMotionProfileController::tarePosition ( )

overridevirtual

This implementation does nothing because the API always requires the starting position to be specified.

Implements okapi::AsyncPositionController< std::string, PathfinderPoint >.

◆ trampoline()

static void okapi::AsyncMotionProfileController::trampoline ( void * context )

staticprotected

◆ waitUntilSettled()

void okapi::AsyncMotionProfileController::waitUntilSettled ( )

overridevirtual

Blocks the current task until the controller has settled.

This controller is settled when it has finished following a path. If no path is being followed, it is settled.

Implements okapi::AsyncController< Input, Output >.

Member Data Documentation

◆ currentPath

std::string okapi::AsyncMotionProfileController::currentPath {""}

protected

Definition at line 279 of file asyncMotionProfileController.hpp.

◆ currentPathMutex

CrossplatformMutex okapi::AsyncMotionProfileController::currentPathMutex

protected

Definition at line 277 of file asyncMotionProfileController.hpp.

◆ direction

std::atomic_int okapi::AsyncMotionProfileController::direction {1}

protected

Definition at line 281 of file asyncMotionProfileController.hpp.

◆ disabled

std::atomic_bool okapi::AsyncMotionProfileController::disabled {false}

protected

Definition at line 283 of file asyncMotionProfileController.hpp.

◆ DT

constexpr double okapi::AsyncMotionProfileController::DT = 0.01

staticconstexprprotected

Definition at line 324 of file asyncMotionProfileController.hpp.

◆ dtorCalled

std::atomic_bool okapi::AsyncMotionProfileController::dtorCalled {false}

protected

Definition at line 284 of file asyncMotionProfileController.hpp.

◆ isRunning

std::atomic_bool okapi::AsyncMotionProfileController::isRunning {false}

protected

Definition at line 280 of file asyncMotionProfileController.hpp.

◆ limits

PathfinderLimits okapi::AsyncMotionProfileController::limits

protected

Definition at line 270 of file asyncMotionProfileController.hpp.

◆ logger

std::shared_ptr<Logger> okapi::AsyncMotionProfileController::logger

protected

Definition at line 268 of file asyncMotionProfileController.hpp.

◆ mirrored

std::atomic_bool okapi::AsyncMotionProfileController::mirrored {false}

protected

Definition at line 282 of file asyncMotionProfileController.hpp.

◆ model

std::shared_ptr<ChassisModel> okapi::AsyncMotionProfileController::model

protected

Definition at line 271 of file asyncMotionProfileController.hpp.

◆ pair

AbstractMotor::GearsetRatioPair okapi::AsyncMotionProfileController::pair

protected

Definition at line 273 of file asyncMotionProfileController.hpp.

◆ paths

std::map<std::string, std::vector<squiggles::ProfilePoint> > okapi::AsyncMotionProfileController::paths {}

protected

Definition at line 269 of file asyncMotionProfileController.hpp.

◆ scales

ChassisScales okapi::AsyncMotionProfileController::scales

protected

Definition at line 272 of file asyncMotionProfileController.hpp.

◆ task

CrossplatformThread* okapi::AsyncMotionProfileController::task {nullptr}

protected

Definition at line 285 of file asyncMotionProfileController.hpp.

◆ timeUtil

TimeUtil okapi::AsyncMotionProfileController::timeUtil

protected

Definition at line 274 of file asyncMotionProfileController.hpp.

The documentation for this class was generated from the following file:

include/okapi/api/control/async/asyncMotionProfileController.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AsyncMotionProfileController() [1/2]

◆ AsyncMotionProfileController() [2/2]

◆ ~AsyncMotionProfileController()

Member Function Documentation

◆ controllerSet()

◆ convertLinearToRotational()

◆ executeSinglePath()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ forceRemovePath()

◆ generatePath() [1/2]

◆ generatePath() [2/2]

◆ getError()

◆ getPathErrorMessage()

◆ getPaths()

◆ getProcessValue()

◆ getTarget()

◆ getThread()

◆ internalLoadPath()

◆ internalLoadPathfinderPath()

◆ internalStorePath()

◆ isDisabled()

◆ isSettled()

◆ loadPath()

◆ loop()

◆ makeFilePath()

◆ moveTo() [1/2]

◆ moveTo() [2/2]

◆ operator=()

◆ removePath()

◆ reset()

◆ setMaxVelocity()

◆ setTarget() [1/2]

◆ setTarget() [2/2]

◆ startThread()

◆ storePath()

◆ tarePosition()

◆ trampoline()

◆ waitUntilSettled()

Member Data Documentation

◆ currentPath

◆ currentPathMutex

◆ direction

◆ disabled

◆ DT

◆ dtorCalled

◆ isRunning

◆ limits

◆ logger

◆ mirrored

◆ model

◆ pair

◆ paths

◆ scales

◆ task

◆ timeUtil