From 950381400c5f925229de4017c7b7cbccb030c658 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 21:40:44 -0400 Subject: [PATCH 01/20] Generate autos in Java instead of Python Replace the Python auto-serialization layer with a Java generator that builds the Autos object graph and serializes it via the robot's own coppercore Gson config, so the JSON round-trips through the robot by construction. - auto_generator_java/: Dsl (builders + sequence/parallel/race + geometry and autopilot helpers), AutosGen (all autos/routines ported from autos.py/routines.py/constants.py), TypeTagger (sets the @JsonType discriminator the polymorph adapter doesn't write), Field (loads the AprilTag layout headlessly, honoring the fieldType deploy constant, and reuses FieldConstants.Tower for climb poses). - generate.sh + dump-classpath.gradle: compile/run via javac+java against the cached classpath, bypassing gradle on the hot path (~1.8s vs gradle's ~4.3s warm floor). - build_autos.py now invokes the Java generator; publish + structural round-trip verification are unchanged. - check_auto_roundtrip.py bootstraps the generator before launching the sim. - Add authoring constructors to Auto, AutoPilotAction, XBasedAutoPilotAction, NetworkConfigurableWait; make FollowPathPlannerPath's RobotConfig lazy so the class loads without NetworkTables. - Remove the Python-serialization layer: frc/robot/util/ts/* (PythonGenerator, Python*/Generated* annotations), the SIM codegen block in JsonConstants, and auto_generator/src/*.py. Output is structurally identical to the previous Autos.json except the two climb-routine poses, which now use the WELDED layout from the deploy constant instead of the andymark layout the Python generator had hardcoded. The committed Autos.json is left unchanged in this baseline. Co-Authored-By: Claude Opus 4.8 --- auto_generator/build_autos.py | 120 +-- auto_generator/src/__init__.py | 3 - auto_generator/src/auto_action.py | 751 -------------- auto_generator/src/auto_lib.py | 255 ----- auto_generator/src/autos.py | 434 --------- auto_generator/src/constants.py | 60 -- auto_generator/src/field_locations.py | 675 ------------- auto_generator/src/routines.py | 148 --- auto_generator/src/shorthands.py | 206 ---- auto_generator/src/units.py | 122 --- auto_generator_java/dump-classpath.gradle | 15 + .../frc/robot/autogen/AutosGen.java | 312 ++++++ .../frc/robot/autogen/Dsl.java | 299 ++++++ .../frc/robot/autogen/Field.java | 76 ++ .../frc/robot/autogen/TypeTagger.java | 108 +++ auto_generator_java/generate.sh | 65 ++ ci-scripts/check_auto_roundtrip.py | 25 + src/main/java/frc/robot/auto/Auto.java | 15 +- src/main/java/frc/robot/auto/AutoAction.java | 27 - .../frc/robot/auto/drive/AutoPilotAction.java | 24 +- .../frc/robot/auto/drive/DriveAutoAction.java | 2 - .../auto/drive/FollowPathPlannerPath.java | 14 +- .../auto/drive/XBasedAutoPilotAction.java | 17 + .../auto/general/NetworkConfigurableWait.java | 9 + .../frc/robot/constants/JsonConstants.java | 22 - .../frc/robot/util/json/JSONAPTarget.java | 5 +- .../frc/robot/util/ts/GeneratedDefault.java | 13 - .../frc/robot/util/ts/GeneratedOptional.java | 14 - .../java/frc/robot/util/ts/PythonAppend.java | 25 - .../java/frc/robot/util/ts/PythonAppends.java | 13 - .../frc/robot/util/ts/PythonGenerator.java | 918 ------------------ .../robot/util/ts/PythonGeometryMethods.java | 399 -------- .../java/frc/robot/util/ts/PythonMethod.java | 42 - .../java/frc/robot/util/ts/PythonMethods.java | 13 - 34 files changed, 1021 insertions(+), 4225 deletions(-) delete mode 100644 auto_generator/src/__init__.py delete mode 100644 auto_generator/src/auto_action.py delete mode 100644 auto_generator/src/auto_lib.py delete mode 100644 auto_generator/src/autos.py delete mode 100644 auto_generator/src/constants.py delete mode 100644 auto_generator/src/field_locations.py delete mode 100644 auto_generator/src/routines.py delete mode 100644 auto_generator/src/shorthands.py delete mode 100644 auto_generator/src/units.py create mode 100644 auto_generator_java/dump-classpath.gradle create mode 100644 auto_generator_java/frc/robot/autogen/AutosGen.java create mode 100644 auto_generator_java/frc/robot/autogen/Dsl.java create mode 100644 auto_generator_java/frc/robot/autogen/Field.java create mode 100644 auto_generator_java/frc/robot/autogen/TypeTagger.java create mode 100755 auto_generator_java/generate.sh delete mode 100644 src/main/java/frc/robot/util/ts/GeneratedDefault.java delete mode 100644 src/main/java/frc/robot/util/ts/GeneratedOptional.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonAppend.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonAppends.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonGenerator.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonGeometryMethods.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonMethod.java delete mode 100644 src/main/java/frc/robot/util/ts/PythonMethods.java diff --git a/auto_generator/build_autos.py b/auto_generator/build_autos.py index c37a0b30..3ef916e7 100644 --- a/auto_generator/build_autos.py +++ b/auto_generator/build_autos.py @@ -2,51 +2,40 @@ """ build_autos.py -Discovers and imports all auto-definition modules in src/, runs them to -register autos with auto_lib, then writes a single Autos.json and/or -publishes to the robot's tuning server. +Orchestrates auto generation and publishing. The autos themselves are authored +in Java (see auto_generator_java/) and serialized to Autos.json by a fast Java +generator that reuses the robot's own coppercore Gson configuration. This script +invokes that generator, then writes the local Autos.json and/or publishes to the +robot's tuning server (verifying a structural round-trip on PUT). -Helper modules (auto_lib, shorthands, constants, field_locations, auto_action, units) -are excluded from auto-discovery. - -Usage (from auto_generator/): +Usage (from the repo root or auto_generator/): python build_autos.py # write Autos.json to deploy dir python build_autos.py --sim # also publish to sim (localhost:8088) python build_autos.py --robot # also publish to robot (10.4.1.2:8088) python build_autos.py --url HOST # also publish to a custom address python build_autos.py --no-file # skip writing the local file + python build_autos.py --bootstrap # recompile robot classes + classpath first """ from __future__ import annotations import argparse -import importlib import json +import subprocess import sys import urllib.request import urllib.error from pathlib import Path from typing import Any -# Ensure the auto_generator directory is on the path so `src` is importable _SCRIPT_DIR = Path(__file__).resolve().parent -sys.path.insert(0, str(_SCRIPT_DIR)) - -from src import auto_lib - -# Helper modules that should not be treated as auto files -EXCLUDED_MODULES = { - "__init__", - "auto_lib", - "auto_action", - "units", - "shorthands", - "constants", - "field_locations", - "routines", -} - -OUTPUT_DIR = _SCRIPT_DIR.parent / "src" / "main" / "deploy" / "constants" +_REPO_ROOT = _SCRIPT_DIR.parent + +# The autos are authored in Java and serialized to Autos.json by this generator, +# which reuses the robot's own coppercore Gson configuration. See auto_generator_java/. +GENERATOR = _REPO_ROOT / "auto_generator_java" / "generate.sh" + +OUTPUT_DIR = _REPO_ROOT / "src" / "main" / "deploy" / "constants" CONFIG_FILE = OUTPUT_DIR / "config.json" SIM_URL = "http://localhost:8088" @@ -70,14 +59,28 @@ def detect_environment() -> str: return "comp" -def discover_auto_modules() -> list[str]: - """Find all Python modules in src/ that are auto definitions (not helpers).""" - src_dir = _SCRIPT_DIR / "src" - modules = [] - for f in sorted(src_dir.iterdir()): - if f.suffix == ".py" and f.stem not in EXCLUDED_MODULES: - modules.append(f"src.{f.stem}") - return modules +def generate_autos_json(env: str, bootstrap: bool = False) -> str: + """Run the Java auto generator and return the Autos.json content for `env`. + + The generator prints clean JSON to stdout and progress/diagnostics to stderr. + """ + cmd = [str(GENERATOR)] + if bootstrap: + cmd.append("--bootstrap") + cmd.append(env) + result = subprocess.run( + cmd, + cwd=str(_REPO_ROOT), + text=True, + stdout=subprocess.PIPE, + stderr=subprocess.PIPE, + check=False, + ) + if result.stderr: + print(result.stderr, file=sys.stderr, end="") + if result.returncode != 0: + raise SystemExit(f"Java auto generator failed with status {result.returncode}") + return result.stdout def _is_json_number(value: Any) -> bool: @@ -206,6 +209,12 @@ def parse_args() -> argparse.Namespace: parser.add_argument( "--env", type=str, default=None, help="Override environment (default: auto-detect from config.json)" ) + parser.add_argument( + "--bootstrap", + action="store_true", + help="Force the Java generator to recompile robot classes and re-dump the classpath " + "(needed after changing robot/builder code or dependencies)", + ) return parser.parse_args() @@ -213,49 +222,16 @@ def main() -> None: args = parse_args() env = args.env if args.env else detect_environment() - # Step 1: Import routines first so @routine decorators register before - # any auto modules try to reference them via routines.() - print(" Importing src.routines...") - importlib.import_module("src.routines") - - # Step 2: Discover and import auto modules - auto_modules = discover_auto_modules() - - if not auto_modules: - print("No auto modules found in src/") - return - - print(f"Found {len(auto_modules)} auto module(s): {[m.split('.')[-1] for m in auto_modules]}") - - for module_name in auto_modules: - print(f" Importing {module_name}...") - importlib.import_module(module_name) - - # Step 3: Serialize - autos = auto_lib.get_autos() - routine_map = auto_lib.get_routines() - - if not autos and not routine_map: - print("Warning: No autos or routines were registered.") - return - - autos_obj = {} - for name, action in autos.items(): - autos_obj[name] = auto_lib._serialize_value(action) - - routines_obj = {} - for name, action in routine_map.items(): - routines_obj[name] = auto_lib._serialize_value(action) - - output = {"autos": autos_obj, "routines": routines_obj} - content = json.dumps(output, indent=4) + # Generate Autos.json by running the Java auto generator (reuses the robot's + # own coppercore Gson config, so the output round-trips by construction). + content = generate_autos_json(env, bootstrap=args.bootstrap) - # Step 4: Write local file (unless --no-file) + # Write local file (unless --no-file) if not args.no_file: output_file = OUTPUT_DIR / env / "Autos.json" output_file.parent.mkdir(parents=True, exist_ok=True) output_file.write_text(content, encoding="utf-8") - print(f"Written {len(autos)} auto(s) and {len(routine_map)} routine(s) to: {output_file}") + print(f"Written autos to: {output_file}") # Step 5: Publish to tuning server(s) targets: list[str] = [] diff --git a/auto_generator/src/__init__.py b/auto_generator/src/__init__.py deleted file mode 100644 index 440e8854..00000000 --- a/auto_generator/src/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -""" -Python package for the auto generator source modules. -""" diff --git a/auto_generator/src/auto_action.py b/auto_generator/src/auto_action.py deleted file mode 100644 index 7e250938..00000000 --- a/auto_generator/src/auto_action.py +++ /dev/null @@ -1,751 +0,0 @@ -""" -Auto-generated by PythonGenerator. Do not edit manually. -""" - -from __future__ import annotations - -import json -import math as _math -from dataclasses import dataclass, field -from typing import Any, Callable, List, Optional - - -@dataclass -class AutoReference: - type: str = field(default="AutoReference", init=False) - name: str = "" - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["name"] = _to_dict(self.name) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Deadline: - type: str = field(default="Deadline", init=False) - deadline: AutoAction = None - others: List[AutoAction] = field(default_factory=list) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["deadline"] = _to_dict(self.deadline) - d["others"] = _to_dict(self.others) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Sequence: - type: str = field(default="Sequence", init=False) - actions: List[AutoAction] = field(default_factory=list) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["actions"] = _to_dict(self.actions) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Parallel: - type: str = field(default="Parallel", init=False) - actions: List[AutoAction] = field(default_factory=list) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["actions"] = _to_dict(self.actions) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Race: - type: str = field(default="Race", init=False) - actions: List[AutoAction] = field(default_factory=list) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["actions"] = _to_dict(self.actions) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - -from . import units - - -@dataclass -class Wait: - type: str = field(default="Wait", init=False) - delay: units.Measure = None - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["delay"] = _to_dict(self.delay) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Print: - type: str = field(default="Print", init=False) - message: str = "" - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["message"] = _to_dict(self.message) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class NetworkConfigurableWait: - type: str = field(default="NetworkConfigurableWait", init=False) - name: str = "" - default_delay: units.Measure = None - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["name"] = _to_dict(self.name) - d["defaultDelay"] = _to_dict(self.default_delay) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class Rotation2d: - degrees: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["degrees"] = _to_dict(self.degrees) - return d - - @property - def radians(self) -> float: - return _math.radians(self.degrees) - - @property - def cos(self) -> float: - return _math.cos(self.radians) - - @property - def sin(self) -> float: - return _math.sin(self.radians) - - @staticmethod - def from_radians(radians: float) -> Rotation2d: - return Rotation2d(degrees=_math.degrees(radians)) - - def plus(self, other: Rotation2d) -> Rotation2d: - return Rotation2d(degrees=self.degrees + other.degrees) - - def minus(self, other: Rotation2d) -> Rotation2d: - return Rotation2d(degrees=self.degrees - other.degrees) - - def unary_minus(self) -> Rotation2d: - return Rotation2d(degrees=-self.degrees) - - def rotate_by(self, other: Rotation2d) -> Rotation2d: - return self.plus(other) - - def __neg__(self) -> Rotation2d: - return self.unary_minus() - - def __add__(self, other: Rotation2d) -> Rotation2d: - return self.plus(other) - - def __sub__(self, other: Rotation2d) -> Rotation2d: - return self.minus(other) - - -@dataclass -class Translation2d: - x: float = 0.0 - y: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["x"] = _to_dict(self.x) - d["y"] = _to_dict(self.y) - return d - - @property - def norm(self) -> float: - return _math.hypot(self.x, self.y) - - def plus(self, other: Translation2d) -> Translation2d: - return Translation2d(x=self.x + other.x, y=self.y + other.y) - - def minus(self, other: Translation2d) -> Translation2d: - return Translation2d(x=self.x - other.x, y=self.y - other.y) - - def unary_minus(self) -> Translation2d: - return Translation2d(x=-self.x, y=-self.y) - - def times(self, scalar: float) -> Translation2d: - return Translation2d(x=self.x * scalar, y=self.y * scalar) - - def div(self, scalar: float) -> Translation2d: - return Translation2d(x=self.x / scalar, y=self.y / scalar) - - def rotate_by(self, rotation: Rotation2d) -> Translation2d: - c = rotation.cos - s = rotation.sin - return Translation2d(x=self.x * c - self.y * s, y=self.x * s + self.y * c) - - def distance(self, other: Translation2d) -> float: - return self.minus(other).norm - - def __neg__(self) -> Translation2d: - return self.unary_minus() - - def __add__(self, other: Translation2d) -> Translation2d: - return self.plus(other) - - def __sub__(self, other: Translation2d) -> Translation2d: - return self.minus(other) - - def __mul__(self, scalar: float) -> Translation2d: - return self.times(scalar) - - def __truediv__(self, scalar: float) -> Translation2d: - return self.div(scalar) - - def to_pose2d(self, rotation: Optional[Rotation2d] = None) -> Pose2d: - """Convert to a Pose2d, optionally with a rotation (defaults to 0 deg).""" - return Pose2d( - translation=Translation2d(x=self.x, y=self.y), - rotation=rotation if rotation is not None else Rotation2d(), - ) - - -@dataclass -class Pose2d: - rotation: Rotation2d = field(default_factory=Rotation2d) - translation: Translation2d = field(default_factory=Translation2d) - - def to_dict(self) -> dict: - d: dict = {} - d["rotation"] = _to_dict(self.rotation) - d["translation"] = _to_dict(self.translation) - return d - - def plus(self, other: Transform2d) -> Pose2d: - """Apply a transform (equivalent to transform_by).""" - return self.transform_by(other) - - def transform_by(self, transform: Transform2d) -> Pose2d: - """Apply a Transform2d to this pose (WPILib transformBy).""" - t_trans = transform.translation if transform.translation else Translation2d() - t_rot = transform.rotation if transform.rotation else Rotation2d() - new_translation = self.translation.plus(t_trans.rotate_by(self.rotation)) - new_rotation = self.rotation.plus(t_rot) - return Pose2d(translation=new_translation, rotation=new_rotation) - - def translate_by(self, translation: Translation2d) -> Pose2d: - """Translate this pose by a Translation2d (no rotation change).""" - return Pose2d( - translation=self.translation.plus(translation), - rotation=Rotation2d(degrees=self.rotation.degrees), - ) - - def rotate_by(self, rotation: Rotation2d) -> Pose2d: - """Rotate this pose by a Rotation2d.""" - return Pose2d( - translation=self.translation.rotate_by(rotation), - rotation=self.rotation.plus(rotation), - ) - - def rotate_around(self, point: Translation2d, rotation: Rotation2d) -> Pose2d: - """Rotate this pose around a given point.""" - new_translation = self.translation.minus(point).rotate_by(rotation).plus(point) - new_rotation = self.rotation.plus(rotation) - return Pose2d(translation=new_translation, rotation=new_rotation) - - def relative_to(self, other: Pose2d) -> Pose2d: - """Express this pose relative to other's coordinate frame.""" - inv_rot = other.rotation.unary_minus() - delta = self.translation.minus(other.translation).rotate_by(inv_rot) - new_rot = self.rotation.minus(other.rotation) - return Pose2d(translation=delta, rotation=new_rot) - - def inverse(self) -> Pose2d: - inv_rot = self.rotation.unary_minus() - inv_trans = self.translation.unary_minus().rotate_by(inv_rot) - return Pose2d(translation=inv_trans, rotation=inv_rot) - - def to_pose3d(self, z: float = 0.0) -> Pose3d: - return Pose3d( - translation=Translation3d(x=self.translation.x, y=self.translation.y, z=z), - rotation=Rotation3d(yaw=self.rotation.degrees), - ) - - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.translation.x, y=self.translation.y) - - -@dataclass -class APTarget: - reference: Pose2d = field(default_factory=Pose2d) - entry_angle: Optional[Rotation2d] = None - velocity: float = 0.0 - rotation_radius: Optional[units.Measure] = None - - def to_dict(self) -> dict: - d: dict = {} - d["reference"] = _to_dict(self.reference) - if self.entry_angle is not None: - d["entryAngle"] = _to_dict(self.entry_angle) - d["velocity"] = _to_dict(self.velocity) - if self.rotation_radius is not None: - d["rotationRadius"] = _to_dict(self.rotation_radius) - return d - - -@dataclass -class APConstraints: - velocity: float = 0.0 - acceleration: float = 0.0 - jerk: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["velocity"] = _to_dict(self.velocity) - d["acceleration"] = _to_dict(self.acceleration) - d["jerk"] = _to_dict(self.jerk) - return d - - -@dataclass -class APProfile: - constraints: APConstraints = field(default_factory=APConstraints) - error_x_y: units.Measure = None - error_theta: units.Measure = None - beeline_radius: units.Measure = None - - def to_dict(self) -> dict: - d: dict = {} - d["constraints"] = _to_dict(self.constraints) - d["errorXY"] = _to_dict(self.error_x_y) - d["errorTheta"] = _to_dict(self.error_theta) - d["beelineRadius"] = _to_dict(self.beeline_radius) - return d - - -@dataclass -class PIDGains: - k_p: float = 0.0 - k_i: float = 0.0 - k_d: float = 0.0 - k_s: float = 0.0 - k_g: float = 0.0 - k_v: float = 0.0 - k_a: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["kP"] = _to_dict(self.k_p) - d["kI"] = _to_dict(self.k_i) - d["kD"] = _to_dict(self.k_d) - d["kS"] = _to_dict(self.k_s) - d["kG"] = _to_dict(self.k_g) - d["kV"] = _to_dict(self.k_v) - d["kA"] = _to_dict(self.k_a) - return d - - -@dataclass -class AutoPilotAction: - type: str = field(default="AutoPilotAction", init=False) - target: APTarget = field(default_factory=APTarget) - profile: Optional[APProfile] = None - constraints: Optional[APConstraints] = None - pid_gains: Optional[PIDGains] = None - can_mirror: bool = True - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["target"] = _to_dict(self.target) - if self.profile is not None: - d["profile"] = _to_dict(self.profile) - if self.constraints is not None: - d["constraints"] = _to_dict(self.constraints) - if self.pid_gains is not None: - d["pidGains"] = _to_dict(self.pid_gains) - d["canMirror"] = _to_dict(self.can_mirror) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class XBasedAutoPilotAction: - type: str = field(default="XBasedAutoPilotAction", init=False) - target: APTarget = field(default_factory=APTarget) - profile: Optional[APProfile] = None - constraints: Optional[APConstraints] = None - pid_gains: Optional[PIDGains] = None - can_mirror: bool = True - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["target"] = _to_dict(self.target) - if self.profile is not None: - d["profile"] = _to_dict(self.profile) - if self.constraints is not None: - d["constraints"] = _to_dict(self.constraints) - if self.pid_gains is not None: - d["pidGains"] = _to_dict(self.pid_gains) - d["canMirror"] = _to_dict(self.can_mirror) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class StopDriveAction: - type: str = field(default="StopDriveAction", init=False) - can_mirror: bool = True - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["canMirror"] = _to_dict(self.can_mirror) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class FollowPathPlannerPath: - type: str = field(default="FollowPathPlannerPath", init=False) - path_name: str = "" - mirror_path: bool = False - can_mirror: bool = True - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - d["pathName"] = _to_dict(self.path_name) - d["mirrorPath"] = _to_dict(self.mirror_path) - d["canMirror"] = _to_dict(self.can_mirror) - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class DeployIntakeAction: - type: str = field(default="DeployIntakeAction", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class StowIntakeAction: - type: str = field(default="StowIntakeAction", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class ClimbSearchAction: - type: str = field(default="ClimbSearchAction", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class ClimbHangAction: - type: str = field(default="ClimbHangAction", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class StartShooting: - type: str = field(default="StartShooting", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -@dataclass -class StopShooting: - type: str = field(default="StopShooting", init=False) - - def to_dict(self) -> dict: - d: dict = {"type": self.type} - return d - - def add(self): - """Adds this command to the current auto and returns itself for chaining.""" - _call_hook(self) - return self - - -AutoAction = Optional[AutoReference | Deadline | Sequence | Parallel | Race | Wait | Print | NetworkConfigurableWait | AutoPilotAction | XBasedAutoPilotAction | StopDriveAction | FollowPathPlannerPath | DeployIntakeAction | StowIntakeAction | ClimbSearchAction | ClimbHangAction | StartShooting | StopShooting] - - -_add_command_hook: Callable[[Any], None] | None = None - - -def set_add_command_hook(hook: Callable[[Any], None]) -> None: - global _add_command_hook - _add_command_hook = hook - - -def _call_hook(obj: Any) -> None: - if _add_command_hook is not None: - _add_command_hook(obj) - - -def _to_dict(obj: Any) -> Any: - """Recursively convert an object to a JSON-serializable dict.""" - if obj is None: - return None - if hasattr(obj, 'to_dict'): - return obj.to_dict() - if isinstance(obj, list): - return [_to_dict(item) for item in obj] - if isinstance(obj, dict): - return {k: _to_dict(v) for k, v in obj.items()} - return obj - - -@dataclass -class Auto: - root_action: AutoAction = None - can_be_mirrored: Optional[bool] = None - should_be_flipped: Optional[bool] = None - - def to_dict(self) -> dict: - d: dict = {} - d["rootAction"] = _to_dict(self.root_action) - if self.can_be_mirrored is not None: - d["canBeMirrored"] = _to_dict(self.can_be_mirrored) - if self.should_be_flipped is not None: - d["shouldBeFlipped"] = _to_dict(self.should_be_flipped) - return d - - -@dataclass -class Transform2d: - rotation: Rotation2d = field(default_factory=Rotation2d) - translation: Translation2d = field(default_factory=Translation2d) - - def to_dict(self) -> dict: - d: dict = {} - d["rotation"] = _to_dict(self.rotation) - d["translation"] = _to_dict(self.translation) - return d - - def plus(self, other: Transform2d) -> Transform2d: - """Compose two transforms.""" - return Transform2d( - translation=self.translation.plus(other.translation.rotate_by(self.rotation)), - rotation=self.rotation.plus(other.rotation), - ) - - def inverse(self) -> Transform2d: - inv_rot = self.rotation.unary_minus() - inv_trans = self.translation.unary_minus().rotate_by(inv_rot) - return Transform2d(translation=inv_trans, rotation=inv_rot) - - -@dataclass -class Rotation3d: - roll: float = 0.0 - pitch: float = 0.0 - yaw: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["roll"] = _to_dict(self.roll) - d["pitch"] = _to_dict(self.pitch) - d["yaw"] = _to_dict(self.yaw) - return d - - def plus(self, other: Rotation3d) -> Rotation3d: - return Rotation3d(roll=self.roll + other.roll, pitch=self.pitch + other.pitch, yaw=self.yaw + other.yaw) - - def minus(self, other: Rotation3d) -> Rotation3d: - return Rotation3d(roll=self.roll - other.roll, pitch=self.pitch - other.pitch, yaw=self.yaw - other.yaw) - - def unary_minus(self) -> Rotation3d: - return Rotation3d(roll=-self.roll, pitch=-self.pitch, yaw=-self.yaw) - - def to_rotation2d(self) -> Rotation2d: - return Rotation2d(degrees=self.yaw) - - -@dataclass -class Translation3d: - x: float = 0.0 - y: float = 0.0 - z: float = 0.0 - - def to_dict(self) -> dict: - d: dict = {} - d["x"] = _to_dict(self.x) - d["y"] = _to_dict(self.y) - d["z"] = _to_dict(self.z) - return d - - def plus(self, other: Translation3d) -> Translation3d: - return Translation3d(x=self.x + other.x, y=self.y + other.y, z=self.z + other.z) - - def minus(self, other: Translation3d) -> Translation3d: - return Translation3d(x=self.x - other.x, y=self.y - other.y, z=self.z - other.z) - - def unary_minus(self) -> Translation3d: - return Translation3d(x=-self.x, y=-self.y, z=-self.z) - - def times(self, scalar: float) -> Translation3d: - return Translation3d(x=self.x * scalar, y=self.y * scalar, z=self.z * scalar) - - @property - def norm(self) -> float: - return _math.sqrt(self.x ** 2 + self.y ** 2 + self.z ** 2) - - def distance(self, other: Translation3d) -> float: - return self.minus(other).norm - - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.x, y=self.y) - - def to_pose2d(self, rotation: Optional[Rotation2d] = None) -> Pose2d: - """Convert to a Pose2d (dropping Z), optionally with a rotation.""" - return Pose2d( - translation=Translation2d(x=self.x, y=self.y), - rotation=rotation if rotation is not None else Rotation2d(), - ) - - -@dataclass -class Transform3d: - rotation: Rotation3d = field(default_factory=Rotation3d) - translation: Translation3d = field(default_factory=Translation3d) - - def to_dict(self) -> dict: - d: dict = {} - d["rotation"] = _to_dict(self.rotation) - d["translation"] = _to_dict(self.translation) - return d - - def plus(self, other: Transform3d) -> Transform3d: - return Transform3d( - translation=self.translation.plus(other.translation), - rotation=self.rotation.plus(other.rotation), - ) - - def inverse(self) -> Transform3d: - return Transform3d( - translation=self.translation.unary_minus(), - rotation=self.rotation.unary_minus(), - ) - - -@dataclass -class Pose3d: - rotation: Rotation3d = field(default_factory=Rotation3d) - translation: Translation3d = field(default_factory=Translation3d) - - def to_dict(self) -> dict: - d: dict = {} - d["rotation"] = _to_dict(self.rotation) - d["translation"] = _to_dict(self.translation) - return d - - def translate_by(self, translation: Translation3d) -> Pose3d: - return Pose3d( - translation=self.translation.plus(translation), - rotation=Rotation3d(roll=self.rotation.roll, pitch=self.rotation.pitch, yaw=self.rotation.yaw), - ) - - def to_pose2d(self) -> Pose2d: - return Pose2d( - translation=Translation2d(x=self.translation.x, y=self.translation.y), - rotation=Rotation2d(degrees=self.rotation.yaw), - ) - - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.translation.x, y=self.translation.y) - diff --git a/auto_generator/src/auto_lib.py b/auto_generator/src/auto_lib.py deleted file mode 100644 index 96684a5a..00000000 --- a/auto_generator/src/auto_lib.py +++ /dev/null @@ -1,255 +0,0 @@ -""" -Auto registration system with a context-manager DSL for building -nested command trees (Sequence, Parallel, Race). - -Usage:: - - @auto("My Auto") - def my_auto(): - with sequence(): - autopilot(target_pose=...) - with parallel(): - wait(1.0) - climb_search() -""" - -from __future__ import annotations - -import json -from contextlib import contextmanager -from typing import Any, Callable, Dict, List, Optional - -from . import auto_action as AutoAction -from .auto_action import set_add_command_hook - -# --------------------------------------------------------------------------- -# Internal pointer stack -# --------------------------------------------------------------------------- - -_command_pointers: List[List[Any]] = [] - - -def _current_pointer() -> Optional[List[Any]]: - return _command_pointers[-1] if _command_pointers else None - - -def _push_pointer(pointer: List[Any]) -> None: - _command_pointers.append(pointer) - - -def _pop_pointer() -> None: - if _command_pointers: - _command_pointers.pop() - - -def _add_command(command: Any) -> None: - ptr = _current_pointer() - if ptr is not None: - ptr.append(command) - - -# Wire up the hook so that .add() on any AutoAction instance calls _add_command. -set_add_command_hook(_add_command) - -# --------------------------------------------------------------------------- -# Context-manager containers -# --------------------------------------------------------------------------- - - -@contextmanager -def sequence(): - """Context manager that groups all commands inside into a Sequence.""" - container = AutoAction.Sequence() - _push_pointer(container.actions) - try: - yield container - finally: - _pop_pointer() - _add_command(container) - - -@contextmanager -def parallel(): - """Context manager that groups all commands inside into a Parallel.""" - container = AutoAction.Parallel() - _push_pointer(container.actions) - try: - yield container - finally: - _pop_pointer() - _add_command(container) - - -@contextmanager -def race(): - """Context manager that groups all commands inside into a Race.""" - container = AutoAction.Race() - _push_pointer(container.actions) - try: - yield container - finally: - _pop_pointer() - _add_command(container) - - -# --------------------------------------------------------------------------- -# Auto registration -# --------------------------------------------------------------------------- - -_autos: Dict[str, Any] = {} -_routines: Dict[str, Any] = {} - - -def auto(name: str, can_be_mirrored: bool = True, should_be_flipped: bool = True): - """ - Decorator that defines and registers a named autonomous routine. - - Usage:: - - @auto("My Auto") - def my_auto(): - autopilot(target_pose=...) - wait(1.0) - """ - def decorator(build: Callable[[], None]): - global _command_pointers - _command_pointers = [] - root = AutoAction.Sequence() - auto = AutoAction.Auto(root_action=root, can_be_mirrored=can_be_mirrored, should_be_flipped=should_be_flipped) - - _push_pointer(root.actions) - - try: - build() - finally: - _command_pointers = [] - - _autos[name] = auto - return build - return decorator - - -# --------------------------------------------------------------------------- -# Routine registration (reusable subroutines referenced by name) -# --------------------------------------------------------------------------- - -class _Routines: - """ - Registry of named routines. - - Accessing ``routines.()`` emits an AutoReference into the current - context (compact, no inlining). Calling the decorated function directly - inlines the body and prints a warning. - """ - - _registry: Dict[str, Callable[[], None]] = {} - - def add(self, name: str, func: Callable[[], None]) -> None: - self._registry[name] = func - - def __getattr__(self, name: str) -> Callable[[], None]: - if name.startswith("_"): - raise AttributeError(name) - if name in self._registry: - def _emit_reference() -> None: - AutoAction.AutoReference(name=name).add() - return _emit_reference - raise AttributeError(f"Unknown routine '{name}'. Registered: {list(self._registry.keys())}") - - -routines = _Routines() - - -def routine(func_or_name): - """ - Decorator that registers a function as a named routine. - - Can be used with or without an explicit name:: - - @routine - def climb_left(): - ... - - @routine("ClimbRight") - def _climb_right(): - ... - - The routine body is built eagerly and stored in ``_routines`` so it - appears under the "routines" key in Autos.json. Use ``routines.()`` - inside an auto to emit an AutoReference instead of inlining. - """ - - def _register(name: str, build: Callable[[], None]) -> Callable[[], None]: - # Build and register the routine body - global _command_pointers - _command_pointers = [] - root = AutoAction.Sequence() - _push_pointer(root.actions) - try: - build() - finally: - _command_pointers = [] - _routines[name] = root - - routines.add(name, build) - - # The returned wrapper inlines the body with a warning - def inner(ignore_warning=False) -> None: - if not ignore_warning: - print( - f"WARNING: routine method {name} was called directly. " - f"This results in the routine being inlined into the auto, " - f"which may result in large file sizes. To rectify the issue, " - f"replace the call with `routines.{name}()`" - ) - build() - - return inner - - if callable(func_or_name): - # @routine (no parentheses — use the function name) - return _register(func_or_name.__name__, func_or_name) - else: - # @routine("CustomName") - def decorator(func: Callable[[], None]) -> Callable[[], None]: - return _register(func_or_name, func) - return decorator - - -def get_auto(name: str) -> Optional[Any]: - return _autos.get(name) - - -def get_autos() -> Dict[str, Any]: - return _autos - - -def get_routine(name: str) -> Optional[Any]: - return _routines.get(name) - - -def get_routines() -> Dict[str, Any]: - return _routines - - -# --------------------------------------------------------------------------- -# Serialization -# --------------------------------------------------------------------------- - -def _serialize_value(obj: Any) -> Any: - """Recursively convert objects to JSON-serializable dicts.""" - if obj is None: - return None - if hasattr(obj, "to_dict"): - return _serialize_value(obj.to_dict()) - if isinstance(obj, list): - return [_serialize_value(item) for item in obj] - if isinstance(obj, dict): - return {k: _serialize_value(v) for k, v in obj.items()} - return obj - - -def serialize_autos() -> str: - """Serializes all registered autos to a JSON string.""" - result = {name: _serialize_value(action) for name, action in _autos.items()} - return json.dumps(result, indent=4) diff --git a/auto_generator/src/autos.py b/auto_generator/src/autos.py deleted file mode 100644 index c0b71abf..00000000 --- a/auto_generator/src/autos.py +++ /dev/null @@ -1,434 +0,0 @@ -""" -"Test Auto" autonomous routine. -""" - -from __future__ import annotations - -from .routines import go_to_alliance_under_left_trench, go_to_alliance_under_right_trench, go_to_center_under_left_trench_from_alliance, go_to_center_under_left_trench_from_alliance_intake_in, go_to_center_under_right_trench_from_alliance - -from .auto_action import APConstraints, PIDGains, Transform2d -from .auto_lib import auto, parallel, routines, sequence -from .field_locations import FieldConstants -from .shorthands import ( - autopilot, - deploy_intake, - networkConfigurableWait, - pose2d, - rotation2d, - transform2d, - startShooting, - stopShooting, - stow_intake, - translation2d, - wait, - x_based_autopilot, - followPath -) -from . import units -from . import constants -from . import auto_action - -# TODO: Add alliance-relative coordinate utilities. -# TODO: Replace placeholder coordinates with real field positions. -# TODO: Switch to AutoPilotAction with entry angle and exit velocity for trench segments. - - -@auto("Literally just shoot Auto", can_be_mirrored=False, should_be_flipped=False) -def _literally_just_shoot(): - startShooting() - -def command(func: callable): # type: ignore - - def _inner(*args, **kwargs): - with sequence(): - func(*args, **kwargs) - - return _inner - -@command -def cycle_intake(time, count): - delay_each = time/2/count - for i in range(count): - stow_intake() - wait(delay_each) - deploy_intake() - wait(delay_each) - -@command -def from_bump_prepare_for_trench(angle=-90): - autopilot( - target_pose=pose2d(3.5, 7.55, angle), - velocity=constants.default_trench_velocity, - entry_angle=rotation2d(0), - constraints=auto_action.APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - -@command -def _aggressive(use_depot=False, from_bump=False, shoot_preload=False, do_second_sweep=True): - intake_cycle_time = 1 / 3 - intake_cycle_count = 1 - - - if shoot_preload: - startShooting() - wait(1.5) - - if from_bump: - from_bump_prepare_for_trench() - - if shoot_preload: - stopShooting() - - # Cycle 1 - - # Autopilot under the trench - # Gives us solid acceleration and makes us resilient to unpredictable starting - # location - x_based_autopilot( - target_pose=constants.left_trench_center_side_pose, - velocity=constants.aggressive_trench_velocity, - # Constraints here are unique to this very high speed, high - # acceleration movement, so almost infinite acceleration limit is - # hardcoded in here. - constraints=APConstraints(constants.aggressive_trench_velocity, 200.0), - # No entry angle, we just want to beeline to trench exit - entry_angle=None - ) - - #with parallel(): - # stow_intake() - # followPath(path_name="Starting Position Left Trench To Center Intake In") - - with parallel(): - deploy_intake() - followPath(path_name="Left Side Aggressive Sweep Intake In") - - with parallel(): - with sequence(): - wait(0.6) - startShooting() - followPath(path_name="Left Bump To Alliance") - - wait(0.1) - - autopilot( - target_pose=constants.left_alliance_zone_middle_pose - ) - - cycle_intake(2.5, 5) - - if do_second_sweep: - cycle_intake(intake_cycle_time, intake_cycle_count) - - # wait(1.0), - # Cycle 2 - - autopilot( - target_pose=pose2d(3.5, 7.55, -90), - velocity=constants.default_trench_velocity, - entry_angle=rotation2d(0), - constraints=auto_action.APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - - with parallel(): - - stopShooting() - - go_to_center_under_left_trench_from_alliance_intake_in() - - with parallel(): - deploy_intake() - followPath(path_name="Left Side Close 2nd Sweep Intake In") - - with parallel(): - with sequence(): - wait(0.4) - startShooting() - followPath(path_name="Left Bump To Alliance") - - wait(0.1) - - autopilot( - target_pose=pose2d(x=2.700, y=5.75,angle_degrees=-90) - ) - - wait(1) - - if use_depot: - autopilot( - target_pose=pose2d(1.5, 5.9, -180), - velocity=0.0, - constraints=auto_action.APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - - cycle_intake(intake_cycle_time, intake_cycle_count) - -@auto("Aggressive Depot") -def _aggressive_depot(): - _aggressive(True, False, False, True) - -@auto("Aggressive No Depot") -def _aggressive_no_depot(): - _aggressive(False, False, False, True) - -@auto("Aggressive Depot From Bump") -def _aggressive_depot_from_bump(): - _aggressive(True, True, True, False) - -@command -def _conservative(use_depot=False, from_bump=False, shoot_preload=False, do_second_sweep=True): - intake_cycle_time = 0.5 - intake_cycle_count = 1 - - if shoot_preload: - startShooting() - wait(1.5) - - if from_bump: - from_bump_prepare_for_trench(angle=0) - - if shoot_preload: - stopShooting() - - # Cycle 1 - - x_based_autopilot( - target_pose=pose2d(5.2, 7.4), - velocity=constants.default_trench_velocity, - entry_angle=None - ) - - with parallel(): - stow_intake() - followPath(path_name="Starting Position Left Trench To Center") - - with parallel(): - deploy_intake() - followPath(path_name="Left Side Conservative Sweep") - - with parallel(): - with sequence(): - wait(0.6) - startShooting() - followPath(path_name="Left Bump To Alliance") - - wait(0.1) - - autopilot( - target_pose=pose2d(x=2.700, y=5.75,angle_degrees=-90) - ) - - wait(2.5) - - # wait(1.0), - # Cycle 2 - if do_second_sweep: - cycle_intake(intake_cycle_time, intake_cycle_count) - - autopilot( - target_pose=pose2d(3.5, 7.55, -90), - velocity=constants.default_trench_velocity, - entry_angle=rotation2d(0), - constraints=auto_action.APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - - with parallel(): - - stopShooting() - - go_to_center_under_left_trench_from_alliance_intake_in() - - with parallel(): - deploy_intake() - followPath(path_name="Left Side Close 2nd Sweep Intake In") - - with parallel(): - with sequence(): - wait(0.4) - startShooting() - followPath(path_name="Left Bump To Alliance") - - wait(0.1) - - autopilot( - target_pose=pose2d(x=2.700, y=5.75,angle_degrees=-90) - ) - - wait(1) - - if use_depot: - autopilot( - target_pose=pose2d(1.5, 5.9, -180), - velocity=0.0, - constraints=auto_action.APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - - cycle_intake(intake_cycle_time, intake_cycle_count) - - -@auto("Conservative Depot") -def _conservative_depot(): - _conservative(True, False, False, True) - -@auto("Conservative No Depot") -def _conservative_no_depot(): - _conservative(False, False, False, True) - -@auto("Conservative Depot From Bump") -def _conservative_depot_from_bump(): - _conservative(True, True, True, False) - -@command -def go_to_depot_and_intake(): - # drive near the depot and slow down so that we don't go too fast while intaking - autopilot( - target_pose=pose2d(1.5, 5.1, 135), - profile=auto_action.APProfile( - constraints= - auto_action.APConstraints( - velocity=5.1, - acceleration=10.0, - jerk=3.0 - ), - error_x_y=units.Meter.of(0.1), - error_theta=units.Degree.of(4.0), - beeline_radius=units.Meter.of(0.2) - ), - velocity=1.0, - ) - autopilot( - target_pose=pose2d(0.715, 5.1, 135), - constraints=auto_action.APConstraints( - velocity=1.0, - acceleration=3.0, - jerk=3.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - wait(0.1) # Wait to stop autopilot from seeing initial velocity and panicking - # Autopilot is probably more robust and simpler - # Also removes a path planner path and enables us to use hot reload to tune it - # followPath("Intake Depot") - autopilot( - target_pose=pose2d(0.715, 6.4, 135), - constraints=auto_action.APConstraints( - velocity=1.0, - acceleration=3.0, - jerk=2.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - wait(0.1) # Wait to stop autopilot from seeing initial velocity and panicking - - autopilot( - target_pose=pose2d(1.0, 6.8, 135), - constraints=auto_action.APConstraints( - velocity=5.1, - acceleration=5.0, - jerk=3.0 - ), - pid_gains=PIDGains( - k_p=1.5, - ) - ) - -@auto("Follower") -def _follower(): - # Don't deploy the intake to avoid smashing it into the trench - #deploy_intake() - #startShooting() - networkConfigurableWait("Follower - Preload", units.Second.of(2.5)) - #stopShooting() - x_based_autopilot( - target_pose=constants.left_trench_center_side_pose, - velocity=2.0, - # Constraints here are unique to this very high speed, high - # acceleration movement, so almost infinite acceleration limit is - # hardcoded in here. - constraints=APConstraints(constants.aggressive_trench_velocity, 200.0), - # No entry angle, we just want to beeline to trench exit - entry_angle=None - ) - deploy_intake() - followPath("Left Side Follower Sweep Intake In") - networkConfigurableWait("Follower - Before Bump Return", units.Second.of(0.0)) - wait(0.1) - autopilot( - target_pose=pose2d(x=2.700, y=5.75,angle_degrees=-90) - ) - autopilot( - target_pose=pose2d(1.5, 5.1, 135), - profile=auto_action.APProfile( - constraints= - auto_action.APConstraints( - velocity=5.1, - acceleration=10.0, - jerk=3.0 - ), - error_x_y=units.Meter.of(0.1), - error_theta=units.Degree.of(4.0), - beeline_radius=units.Meter.of(0.2) - ), - ) - startShooting() - networkConfigurableWait("Follower - Before Depot", units.Second.of(0.0)) - go_to_depot_and_intake() - wait(2.0) - cycle_intake(6/3, 6) - -@auto("Single Swipe Then Depot", can_be_mirrored=False) -def _single_swipe(): - _aggressive(do_second_sweep=False) - go_to_depot_and_intake() - wait(1.0) - cycle_intake(6/3, 6) - - -@auto("Center Depot", can_be_mirrored=False) -def _center_depot(): - deploy_intake() - startShooting() - networkConfigurableWait("Center Depot - Shoot Preload", units.Second.of(4.0)) - go_to_depot_and_intake() - # startShooting() - wait(2.0) - cycle_intake(6/3, 6) diff --git a/auto_generator/src/constants.py b/auto_generator/src/constants.py deleted file mode 100644 index bc13a981..00000000 --- a/auto_generator/src/constants.py +++ /dev/null @@ -1,60 +0,0 @@ -""" -Python equivalent of Constants.ts. - -Robot-specific constants used by the auto routines. -""" - -from __future__ import annotations - -from . import auto_action as AutoAction -from .auto_action import ( - APConstraints, - Transform2d -) -from .field_locations import FieldConstants -from .shorthands import ( - pose2d, - rotation2d, - translation2d, -) - -# TODO: Maybe make these loaded from the constants files in the main robot code -# instead of hardcoded here, to avoid duplication and potential inconsistencies. - -climb_offset = Transform2d( - translation=translation2d(x=0.41, y=0.0225), - rotation=rotation2d(degrees=-90.0), -) - -climb_constraints = APConstraints( - velocity=2.0, - acceleration=2.0, - jerk=0.1, -) - -left_climb_location = FieldConstants.Tower.left_upright().to_pose2d().transform_by(climb_offset) - -right_climb_location = FieldConstants.Tower.right_upright().to_pose2d().transform_by(climb_offset) - -climb_left_lineup_entry_angle = rotation2d(degrees=0) -climb_right_lineup_entry_angle = climb_left_lineup_entry_angle - - -default_trench_velocity = 4.2 -aggressive_trench_velocity = 5.1 - -# Reduce tolerance because in most spots we dont need them to be so far from the trench. -# and if we need to be further from the trench we can just have the auto drive to a pose that it can use such as -# the a position that is 1 m from the trench and then drive to the trench from there. -center_side_trench_offset = translation2d(x=0.5, y=0.0) -alliance_side_trench_offset = translation2d(x=-0.5, y=0.0) - -left_trench_center_side_pose = pose2d(5.2, 7.4, -90) -right_trench_center_side_pose = FieldConstants.RightTrench.opening_floor_center().to_pose2d().translate_by(center_side_trench_offset) - -left_trench_alliance_side_pose = FieldConstants.LeftTrench.opening_floor_center().to_pose2d().translate_by(alliance_side_trench_offset) -right_trench_alliance_side_pose = FieldConstants.RightTrench.opening_floor_center().to_pose2d().translate_by(alliance_side_trench_offset) - -# Shooting position in the middle of the left side of the alliance zone -# This is where we end up after coming over the bump -left_alliance_zone_middle_pose = pose2d(x=2.700, y=5.75,angle_degrees=-90) diff --git a/auto_generator/src/field_locations.py b/auto_generator/src/field_locations.py deleted file mode 100644 index 5fe5fde2..00000000 --- a/auto_generator/src/field_locations.py +++ /dev/null @@ -1,675 +0,0 @@ -""" -Python equivalent of FieldLocations.ts. - -Contains information for location of field elements and other useful -reference points. All constants are defined relative to the field -coordinate system, and from the perspective of the blue alliance station. - -Original Java source: - https://github.com/Mechanical-Advantage/RobotCode2026Public - Copyright (c) 2025-2026 Littleton Robotics - License: MIT (see FieldConstants_LICENSE) - Modifications after 16:47 ET 2026-1-28 by FRC Team 401 Copperhead Robotics -""" - -from __future__ import annotations - -import json -import math -from pathlib import Path -from typing import Any, Dict, List - -from .auto_action import ( - Pose2d, - Pose3d, - Rotation2d, - Rotation3d, - Translation2d, - Translation3d, -) -from .shorthands import pose3d as _make_pose3d - - -# --------------------------------------------------------------------------- -# Geometry helpers (local to this module) -# --------------------------------------------------------------------------- - - -def _translation2d(x: float, y: float) -> Translation2d: - return Translation2d(x=x, y=y) - - -def _translation3d(x: float, y: float, z: float) -> Translation3d: - return Translation3d(x=x, y=y, z=z) - - -def _pose2d(x: float, y: float, degrees: float) -> Pose2d: - return Pose2d( - translation=Translation2d(x=x, y=y), - rotation=Rotation2d(degrees=degrees), - ) - - -# --------------------------------------------------------------------------- -# Unit conversions -# --------------------------------------------------------------------------- - - -def _inches_to_meters(inches: float) -> float: - return inches * 0.0254 - - -# --------------------------------------------------------------------------- -# AprilTag layout loading -# --------------------------------------------------------------------------- - -_LAYOUT_PATH = ( - Path(__file__).resolve().parent.parent.parent - / "src" - / "main" - / "deploy" - / "apriltags" - / "2026-rebuilt-andymark.json" -) - - -def _load_april_tag_layout() -> Dict[str, Any]: - with open(_LAYOUT_PATH, "r") as f: - return json.load(f) - - -_layout = _load_april_tag_layout() - - -def _get_tag_pose(tag_id: int) -> Dict[str, Any]: - for tag in _layout["tags"]: - if tag["ID"] == tag_id: - return tag["pose"] - raise ValueError(f"AprilTag with ID {tag_id} not found in layout") - - -def _quaternion_to_yaw_degrees(q: Dict[str, float]) -> float: - """Convert a quaternion (W, X, Y, Z) to a yaw angle in degrees.""" - radians = math.atan2( - 2.0 * (q["W"] * q["Z"] + q["X"] * q["Y"]), - 1.0 - 2.0 * (q["Y"] ** 2 + q["Z"] ** 2), - ) - return math.degrees(radians) - - -def _tag_pose_to_pose2d(tag_pose: Dict[str, Any]) -> Pose2d: - return _pose2d( - tag_pose["translation"]["x"], - tag_pose["translation"]["y"], - _quaternion_to_yaw_degrees(tag_pose["rotation"]["quaternion"]), - ) - - -# --------------------------------------------------------------------------- -# FieldConstants -# --------------------------------------------------------------------------- - - -class FieldConstants: - """Top-level namespace for all field constants.""" - - # AprilTag related constants - april_tag_count = len(_layout["tags"]) - april_tag_width = _inches_to_meters(6.5) - - # Field dimensions - field_length: float = _layout["field"]["length"] - field_width: float = _layout["field"]["width"] - - # ------------------------------------------------------------------------- - # LinesVertical - # ------------------------------------------------------------------------- - - class LinesVertical: - center = FieldConstants.field_length / 2.0 if False else 0.0 # set below - - starting = _get_tag_pose(26)["translation"]["x"] - - alliance_zone = starting - - neutral_zone_near = 0.0 # set below - neutral_zone_far = 0.0 # set below - - opp_alliance_zone = _get_tag_pose(10)["translation"]["x"] - - @staticmethod - def hub_center() -> float: - return _get_tag_pose(26)["translation"]["x"] + FieldConstants.Hub.width / 2.0 - - @staticmethod - def opp_hub_center() -> float: - return _get_tag_pose(4)["translation"]["x"] + FieldConstants.Hub.width / 2.0 - - # ------------------------------------------------------------------------- - # LinesHorizontal - # ------------------------------------------------------------------------- - - class LinesHorizontal: - center = FieldConstants.field_width / 2.0 if False else 0.0 # set below - - left_trench_open_start = 0.0 # set below - - right_trench_open_end = 0.0 - - @staticmethod - def right_bump_start() -> float: - return FieldConstants.Hub.near_right_corner().y - - @staticmethod - def right_bump_end() -> float: - return FieldConstants.LinesHorizontal.right_bump_start() - FieldConstants.RightBump.width - - @staticmethod - def right_trench_open_start() -> float: - return FieldConstants.LinesHorizontal.right_bump_end() - _inches_to_meters(12.0) - - @staticmethod - def left_bump_end() -> float: - return FieldConstants.Hub.near_left_corner().y - - @staticmethod - def left_bump_start() -> float: - return FieldConstants.LinesHorizontal.left_bump_end() + FieldConstants.LeftBump.width - - @staticmethod - def left_trench_open_end() -> float: - return FieldConstants.LinesHorizontal.left_bump_start() + _inches_to_meters(12.0) - - # ------------------------------------------------------------------------- - # Hub - # ------------------------------------------------------------------------- - - class Hub: - width = _inches_to_meters(47.0) - height = _inches_to_meters(72.0) - inner_width = _inches_to_meters(41.7) - inner_height = _inches_to_meters(56.5) - - @staticmethod - def top_center_point() -> Translation3d: - return _translation3d( - _get_tag_pose(26)["translation"]["x"] + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0, - FieldConstants.Hub.height, - ) - - @staticmethod - def inner_center_point() -> Translation3d: - return _translation3d( - _get_tag_pose(26)["translation"]["x"] + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0, - FieldConstants.Hub.inner_height, - ) - - @staticmethod - def near_left_corner() -> Translation2d: - tcp = FieldConstants.Hub.top_center_point() - return _translation2d( - tcp.x - FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 + FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def near_right_corner() -> Translation2d: - tcp = FieldConstants.Hub.top_center_point() - return _translation2d( - tcp.x - FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 - FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def far_left_corner() -> Translation2d: - tcp = FieldConstants.Hub.top_center_point() - return _translation2d( - tcp.x + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 + FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def far_right_corner() -> Translation2d: - tcp = FieldConstants.Hub.top_center_point() - return _translation2d( - tcp.x + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 - FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def opp_top_center_point() -> Translation3d: - return _translation3d( - _get_tag_pose(4)["translation"]["x"] + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0, - FieldConstants.Hub.height, - ) - - @staticmethod - def opp_inner_center_point() -> Translation3d: - return _translation3d( - _get_tag_pose(4)["translation"]["x"] + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0, - FieldConstants.Hub.inner_height, - ) - - @staticmethod - def opp_near_left_corner() -> Translation2d: - tcp = FieldConstants.Hub.opp_top_center_point() - return _translation2d( - tcp.x - FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 + FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def opp_near_right_corner() -> Translation2d: - tcp = FieldConstants.Hub.opp_top_center_point() - return _translation2d( - tcp.x - FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 - FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def opp_far_left_corner() -> Translation2d: - tcp = FieldConstants.Hub.opp_top_center_point() - return _translation2d( - tcp.x + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 + FieldConstants.Hub.width / 2.0, - ) - - @staticmethod - def opp_far_right_corner() -> Translation2d: - tcp = FieldConstants.Hub.opp_top_center_point() - return _translation2d( - tcp.x + FieldConstants.Hub.width / 2.0, - FieldConstants.field_width / 2.0 - FieldConstants.Hub.width / 2.0, - ) - - # Hub faces - @staticmethod - def near_face() -> Pose2d: - return _tag_pose_to_pose2d(_get_tag_pose(26)) - - @staticmethod - def far_face() -> Pose2d: - return _tag_pose_to_pose2d(_get_tag_pose(20)) - - @staticmethod - def right_face() -> Pose2d: - return _tag_pose_to_pose2d(_get_tag_pose(18)) - - @staticmethod - def left_face() -> Pose2d: - return _tag_pose_to_pose2d(_get_tag_pose(21)) - - # ------------------------------------------------------------------------- - # LeftBump - # ------------------------------------------------------------------------- - - class LeftBump: - width = _inches_to_meters(73.0) - height = _inches_to_meters(6.513) - depth = _inches_to_meters(44.4) - - @staticmethod - def near_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() - FieldConstants.LeftBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def near_right_corner() -> Translation2d: - return FieldConstants.Hub.near_left_corner() - - @staticmethod - def far_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() + FieldConstants.LeftBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def far_right_corner() -> Translation2d: - return FieldConstants.Hub.far_left_corner() - - @staticmethod - def opp_near_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() - FieldConstants.LeftBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def opp_near_right_corner() -> Translation2d: - return FieldConstants.Hub.opp_near_left_corner() - - @staticmethod - def opp_far_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() + FieldConstants.LeftBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def opp_far_right_corner() -> Translation2d: - return FieldConstants.Hub.opp_far_left_corner() - - # ------------------------------------------------------------------------- - # RightBump - # ------------------------------------------------------------------------- - - class RightBump: - width = _inches_to_meters(73.0) - height = _inches_to_meters(6.513) - depth = _inches_to_meters(44.4) - - @staticmethod - def near_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() + FieldConstants.RightBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def near_right_corner() -> Translation2d: - return FieldConstants.Hub.near_left_corner() - - @staticmethod - def far_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() - FieldConstants.RightBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def far_right_corner() -> Translation2d: - return FieldConstants.Hub.far_left_corner() - - @staticmethod - def opp_near_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() + FieldConstants.RightBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def opp_near_right_corner() -> Translation2d: - return FieldConstants.Hub.opp_near_left_corner() - - @staticmethod - def opp_far_left_corner() -> Translation2d: - return _translation2d( - FieldConstants.LinesVertical.hub_center() - FieldConstants.RightBump.width / 2, - _inches_to_meters(255), - ) - - @staticmethod - def opp_far_right_corner() -> Translation2d: - return FieldConstants.Hub.opp_far_left_corner() - - # ------------------------------------------------------------------------- - # LeftTrench - # ------------------------------------------------------------------------- - - class LeftTrench: - width = _inches_to_meters(65.65) - depth = _inches_to_meters(47.0) - height = _inches_to_meters(40.25) - opening_width = _inches_to_meters(50.34) - opening_height = _inches_to_meters(22.25) - - @staticmethod - def opening_top_left() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.hub_center(), - FieldConstants.field_width, - FieldConstants.LeftTrench.opening_height, - ) - - @staticmethod - def opening_top_right() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.hub_center(), - FieldConstants.field_width - FieldConstants.LeftTrench.opening_width, - FieldConstants.LeftTrench.opening_height, - ) - - @staticmethod - def opening_floor_center() -> Pose3d: - return _make_pose3d( - x=FieldConstants.LinesVertical.hub_center(), - y=FieldConstants.field_width - FieldConstants.LeftTrench.opening_width / 2, - z=0.0, - ) - - @staticmethod - def opp_opening_top_left() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.opp_hub_center(), - FieldConstants.field_width, - FieldConstants.LeftTrench.opening_height, - ) - - @staticmethod - def opp_opening_top_right() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.opp_hub_center(), - FieldConstants.field_width - FieldConstants.LeftTrench.opening_width, - FieldConstants.LeftTrench.opening_height, - ) - - # ------------------------------------------------------------------------- - # RightTrench - # ------------------------------------------------------------------------- - - class RightTrench: - width = _inches_to_meters(65.65) - depth = _inches_to_meters(47.0) - height = _inches_to_meters(40.25) - opening_width = _inches_to_meters(50.34) - opening_height = _inches_to_meters(22.25) - - @staticmethod - def opening_top_left() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.hub_center(), - FieldConstants.RightTrench.opening_width, - FieldConstants.RightTrench.opening_height, - ) - - @staticmethod - def opening_top_right() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.hub_center(), - 0, - FieldConstants.RightTrench.opening_height, - ) - - @staticmethod - def opening_floor_center() -> Pose3d: - return _make_pose3d( - x=FieldConstants.LinesVertical.hub_center(), - y=FieldConstants.RightTrench.opening_width / 2, - z=0.0, - ) - - @staticmethod - def opp_opening_top_left() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.opp_hub_center(), - FieldConstants.RightTrench.opening_width, - FieldConstants.RightTrench.opening_height, - ) - - @staticmethod - def opp_opening_top_right() -> Translation3d: - return _translation3d( - FieldConstants.LinesVertical.opp_hub_center(), - 0, - FieldConstants.RightTrench.opening_height, - ) - - # ------------------------------------------------------------------------- - # Tower - # ------------------------------------------------------------------------- - - class Tower: - width = _inches_to_meters(49.25) - depth = _inches_to_meters(45.0) - height = _inches_to_meters(78.25) - inner_opening_width = _inches_to_meters(32.25) - front_face_x = _inches_to_meters(43.51) - - upright_height = _inches_to_meters(72.1) - - low_rung_height = _inches_to_meters(27.0) - mid_rung_height = _inches_to_meters(45.0) - high_rung_height = _inches_to_meters(63.0) - - @staticmethod - def center_point() -> Translation2d: - return _translation2d( - FieldConstants.Tower.front_face_x, - _get_tag_pose(31)["translation"]["y"], - ) - - @staticmethod - def left_upright() -> Translation2d: - return _translation2d( - FieldConstants.Tower.front_face_x, - _get_tag_pose(31)["translation"]["y"] - + FieldConstants.Tower.inner_opening_width / 2 - + _inches_to_meters(0.75), - ) - - @staticmethod - def right_upright() -> Translation2d: - return _translation2d( - FieldConstants.Tower.front_face_x, - _get_tag_pose(31)["translation"]["y"] - - FieldConstants.Tower.inner_opening_width / 2 - - _inches_to_meters(0.75), - ) - - @staticmethod - def opp_center_point() -> Translation2d: - return _translation2d( - FieldConstants.field_length - FieldConstants.Tower.front_face_x, - _get_tag_pose(15)["translation"]["y"], - ) - - @staticmethod - def opp_left_upright() -> Translation2d: - return _translation2d( - FieldConstants.field_length - FieldConstants.Tower.front_face_x, - _get_tag_pose(15)["translation"]["y"] - + FieldConstants.Tower.inner_opening_width / 2 - + _inches_to_meters(0.75), - ) - - @staticmethod - def opp_right_upright() -> Translation2d: - return _translation2d( - FieldConstants.field_length - FieldConstants.Tower.front_face_x, - _get_tag_pose(15)["translation"]["y"] - - FieldConstants.Tower.inner_opening_width / 2 - - _inches_to_meters(0.75), - ) - - # ------------------------------------------------------------------------- - # Depot - # ------------------------------------------------------------------------- - - class Depot: - width = _inches_to_meters(42.0) - depth = _inches_to_meters(27.0) - height = _inches_to_meters(1.125) - distance_from_center_y = _inches_to_meters(75.93) - - @staticmethod - def depot_center() -> Translation3d: - fw = FieldConstants.field_width - return _translation3d( - FieldConstants.Depot.depth, - fw / 2 + FieldConstants.Depot.distance_from_center_y, - FieldConstants.Depot.height, - ) - - @staticmethod - def left_corner() -> Translation3d: - fw = FieldConstants.field_width - return _translation3d( - FieldConstants.Depot.depth, - fw / 2 + FieldConstants.Depot.distance_from_center_y + FieldConstants.Depot.width / 2, - FieldConstants.Depot.height, - ) - - @staticmethod - def right_corner() -> Translation3d: - fw = FieldConstants.field_width - return _translation3d( - FieldConstants.Depot.depth, - fw / 2 + FieldConstants.Depot.distance_from_center_y - FieldConstants.Depot.width / 2, - FieldConstants.Depot.height, - ) - - # ------------------------------------------------------------------------- - # Outpost - # ------------------------------------------------------------------------- - - class Outpost: - width = _inches_to_meters(31.8) - opening_distance_from_floor = _inches_to_meters(28.1) - height = _inches_to_meters(7.0) - - @staticmethod - def center_point() -> Translation2d: - return _translation2d(0, _get_tag_pose(29)["translation"]["y"]) - - # ------------------------------------------------------------------------- - # Alliance / OppAlliance - # ------------------------------------------------------------------------- - - class Alliance: - pass # populated below - - class OppAlliance: - pass # populated below - - - class Center: - @staticmethod - def center_point() -> Translation2d: - return _translation2d( - FieldConstants.field_length / 2.0, FieldConstants.field_width / 2.0 - ) - -# --------------------------------------------------------------------------- -# Deferred initialization for values that depend on other FieldConstants members -# --------------------------------------------------------------------------- - -FieldConstants.LinesVertical.center = FieldConstants.field_length / 2.0 -FieldConstants.LinesVertical.neutral_zone_near = ( - FieldConstants.LinesVertical.center - _inches_to_meters(120) -) -FieldConstants.LinesVertical.neutral_zone_far = ( - FieldConstants.LinesVertical.center + _inches_to_meters(120) -) - -FieldConstants.LinesHorizontal.center = FieldConstants.field_width / 2.0 -FieldConstants.LinesHorizontal.left_trench_open_start = FieldConstants.field_width - -FieldConstants.Alliance.center = _pose2d( - FieldConstants.LinesVertical.alliance_zone / 2.0, - FieldConstants.LinesHorizontal.center, - 0, -) - -FieldConstants.OppAlliance.center = _pose2d( - FieldConstants.LinesVertical.opp_alliance_zone - + (FieldConstants.field_length - FieldConstants.LinesVertical.opp_alliance_zone) / 2.0, - FieldConstants.LinesHorizontal.center, - 0, -) diff --git a/auto_generator/src/routines.py b/auto_generator/src/routines.py deleted file mode 100644 index a69f620c..00000000 --- a/auto_generator/src/routines.py +++ /dev/null @@ -1,148 +0,0 @@ -""" -Reusable auto subroutines (e.g. climb lineup). -""" - -from __future__ import annotations - -from typing import Optional - -from . import auto_action as AutoAction -from .auto_lib import auto, parallel, routine, routines, sequence -from . import constants as Constants -from .field_locations import FieldConstants -from .shorthands import ( - autopilot, - climb_hang, - climb_search, - pose2d, - rotation2d, - wait, - x_based_autopilot, -) - -# I really want to rename these commands or do something about them - -def go_to_alliance_under_left_trench(velocity = Constants.default_trench_velocity, rotation = rotation2d(0), first_entry_angle = rotation2d(180), second_entry_angle = rotation2d(180)): - transform = AutoAction.Transform2d( - rotation=rotation, - ) - with sequence(): - x_based_autopilot( - target_pose=Constants.left_trench_center_side_pose.transform_by(transform), - velocity=velocity, - entry_angle=first_entry_angle - ) - # x_based_autopilot( - # target_pose=Constants.left_trench_alliance_side_pose.transform_by(transform), - # velocity=velocity, - # entry_angle=second_entry_angle - # ) - AutoAction.FollowPathPlannerPath(path_name="Left Trench To Alliance").add() - -def go_to_alliance_under_right_trench(velocity = Constants.default_trench_velocity, rotation = rotation2d(0), first_entry_angle = rotation2d(180), second_entry_angle = rotation2d(180)): - transform = AutoAction.Transform2d( - rotation=rotation, - ) - with sequence(): - x_based_autopilot( - target_pose=Constants.right_trench_center_side_pose.transform_by(transform), - velocity=velocity, - entry_angle=first_entry_angle - ) - # x_based_autopilot( - # target_pose=Constants.right_trench_alliance_side_pose.transform_by(transform), - # velocity=velocity, - # entry_angle=second_entry_angle - # ) - AutoAction.FollowPathPlannerPath(path_name="Right Trench To Alliance").add() - -def go_to_center_under_left_trench_from_alliance(velocity = Constants.default_trench_velocity, rotation = rotation2d(), first_entry_angle = rotation2d(0), second_entry_angle = rotation2d(0)): - transform = AutoAction.Transform2d( - rotation=rotation, - ) - with sequence(): - x_based_autopilot( - target_pose=Constants.left_trench_alliance_side_pose.transform_by(transform), - velocity=velocity, - entry_angle=first_entry_angle - ) - # x_based_autopilot( - # target_pose=Constants.left_trench_center_side_pose.transform_by(transform), - # velocity=velocity, - # entry_angle=second_entry_angle - # ) - AutoAction.FollowPathPlannerPath(path_name="Left Trench To Center").add() - -def go_to_center_under_left_trench_from_alliance_intake_in(velocity = Constants.default_trench_velocity, rotation = rotation2d(-90), first_entry_angle = rotation2d(0), second_entry_angle = rotation2d(0)): - transform = AutoAction.Transform2d( - rotation=rotation, - ) - with sequence(): - x_based_autopilot( - target_pose=pose2d(4.0, 7.55, -90), - velocity=velocity, - entry_angle=first_entry_angle - ) - # x_based_autopilot( - # target_pose=Constants.left_trench_center_side_pose.transform_by(transform), - # velocity=velocity, - # entry_angle=second_entry_angle - # ) - AutoAction.FollowPathPlannerPath(path_name="Left Trench To Center Intake In").add() - -def go_to_center_under_right_trench_from_alliance(velocity = Constants.default_trench_velocity, rotation = rotation2d(0), first_entry_angle = rotation2d(0), second_entry_angle = rotation2d(0)): - transform = AutoAction.Transform2d( - rotation=rotation, - ) - with sequence(): - x_based_autopilot( - target_pose=Constants.right_trench_alliance_side_pose.transform_by(transform), - velocity=velocity, - entry_angle=first_entry_angle - ) - # x_based_autopilot( - # target_pose=Constants.right_trench_center_side_pose.transform_by(transform), - # velocity=velocity, - # entry_angle=second_entry_angle - # ) - AutoAction.FollowPathPlannerPath(path_name="Right Trench To Center").add() - - -def _climb( - target_pose: AutoAction.Pose2d, - entry_angle: Optional[AutoAction.Rotation2d] = None, - velocity: Optional[float] = None, -) -> None: - """Reusable climb lineup subroutine. Call inside a context.""" - with parallel(): - with sequence(): - # x_based_autopilot( - # target_pose=FieldConstants.Alliance.center.transform_by(Constants.climb_offset), - # constraints=Constants.climb_constraints - # ) - x_based_autopilot( - target_pose=target_pose, - entry_angle=entry_angle, - constraints=Constants.climb_constraints - ) - climb_search() - wait(0.5) - climb_hang() - -# Register climb lineup routines - - -@routine("LeftClimb") -def _left_climb(): - _climb( - target_pose=Constants.left_climb_location, - entry_angle=Constants.climb_left_lineup_entry_angle - ) - - -@routine("RightClimb") -def _right_climb(): - _climb( - target_pose=Constants.right_climb_location, - entry_angle=Constants.climb_right_lineup_entry_angle - ) diff --git a/auto_generator/src/shorthands.py b/auto_generator/src/shorthands.py deleted file mode 100644 index 875358c1..00000000 --- a/auto_generator/src/shorthands.py +++ /dev/null @@ -1,206 +0,0 @@ -""" -Geometry helper functions and command shorthand wrappers for the -auto builder DSL. - -Context-manager containers (``sequence``, ``parallel``, ``race``) are -re-exported from ``auto_lib`` for convenience. -""" - -from __future__ import annotations - -from typing import Optional - -from . import auto_action as AutoAction -from .units import Measure, Second - -# Re-export context-manager containers so callers can do: -# from .shorthands import sequence, parallel, race -from .auto_lib import parallel, race, sequence # noqa: F401 - - -# --------------------------------------------------------------------------- -# Geometry helpers -# --------------------------------------------------------------------------- - - -def translation2d(x: float = 0.0, y: float = 0.0) -> AutoAction.Translation2d: - return AutoAction.Translation2d(x=x, y=y) - - -def rotation2d(degrees: float = 0.0) -> AutoAction.Rotation2d: - return AutoAction.Rotation2d(degrees=degrees) - - -def pose2d( - x: float = 0.0, y: float = 0.0, angle_degrees: float = 0.0 -) -> AutoAction.Pose2d: - return AutoAction.Pose2d( - translation=translation2d(x, y), - rotation=rotation2d(angle_degrees), - ) - - -def translation3d( - x: float = 0.0, y: float = 0.0, z: float = 0.0 -) -> AutoAction.Translation3d: - return AutoAction.Translation3d(x=x, y=y, z=z) - - -def rotation3d( - roll_degrees: float = 0.0, - pitch_degrees: float = 0.0, - yaw_degrees: float = 0.0, -) -> AutoAction.Rotation3d: - return AutoAction.Rotation3d( - roll=roll_degrees, pitch=pitch_degrees, yaw=yaw_degrees - ) - - -def pose3d( - x: float = 0.0, - y: float = 0.0, - z: float = 0.0, - roll_degrees: float = 0.0, - pitch_degrees: float = 0.0, - yaw_degrees: float = 0.0, -) -> AutoAction.Pose3d: - return AutoAction.Pose3d( - translation=translation3d(x, y, z), - rotation=rotation3d(roll_degrees, pitch_degrees, yaw_degrees), - ) - - -def transform2d( - translation: Optional[AutoAction.Translation2d] = None, - rotation: Optional[AutoAction.Rotation2d] = None, -) -> AutoAction.Transform2d: - return AutoAction.Transform2d( - translation=translation if translation is not None else AutoAction.Translation2d(), - rotation=rotation if rotation is not None else AutoAction.Rotation2d(), - ) - - -# --------------------------------------------------------------------------- -# Primitive action shorthands -# --------------------------------------------------------------------------- - - -def wait(seconds: float) -> None: - """Insert a Wait action into the current context.""" - AutoAction.Wait(delay=Second.of(seconds)).add() - - -def print_msg(message: str) -> None: - """Insert a Print action into the current context.""" - AutoAction.Print(message=message).add() - - -def autopilot( - target: Optional[AutoAction.APTarget] = None, - *, - target_pose: Optional[AutoAction.Pose2d] = None, - entry_angle: Optional[AutoAction.Rotation2d] = None, - velocity: Optional[float] = None, - rotation_radius: Optional[AutoAction.Measure] = None, - constraints: Optional[AutoAction.APConstraints] = None, - profile: Optional[AutoAction.APProfile] = None, - pid_gains: Optional[AutoAction.PIDGains] = None, - can_mirror: bool = True, -) -> None: - """Insert an AutoPilotAction into the current context. - - You can pass a pre-built ``APTarget`` as the first argument, or use the - convenience keyword arguments ``target_pose``, ``entry_angle``, - ``velocity``, and ``rotation_radius`` to build one inline. - """ - if target is None: - target = AutoAction.APTarget( - reference=target_pose, - entry_angle=entry_angle, - velocity=velocity if velocity is not None else 0.0, - rotation_radius=rotation_radius, - ) - AutoAction.AutoPilotAction( - target=target, - constraints=constraints, - profile=profile, - pid_gains=pid_gains, - can_mirror=can_mirror, - ).add() - - -def x_based_autopilot( - target: Optional[AutoAction.APTarget] = None, - *, - target_pose: Optional[AutoAction.Pose2d] = None, - entry_angle: Optional[AutoAction.Rotation2d] = None, - velocity: Optional[float] = None, - rotation_radius: Optional[AutoAction.Measure] = None, - constraints: Optional[AutoAction.APConstraints] = None, - profile: Optional[AutoAction.APProfile] = None, - pid_gains: Optional[AutoAction.PIDGains] = None, - can_mirror: bool = True, -) -> None: - """Insert an XBasedAutoPilotAction into the current context.""" - if target is None: - target = AutoAction.APTarget( - reference=target_pose, - entry_angle=entry_angle, - velocity=velocity if velocity is not None else 0.0, - rotation_radius=rotation_radius, - ) - AutoAction.XBasedAutoPilotAction( - target=target, - constraints=constraints, - profile=profile, - pid_gains=pid_gains, - can_mirror=can_mirror, - ).add() - - -# Keep the old name as an alias for backwards compat -x_based_autopilot_action = x_based_autopilot - - -def stop_drive() -> None: - """Insert a StopDriveAction into the current context.""" - AutoAction.StopDriveAction().add() - - -def deploy_intake() -> None: - """Insert a DeployIntakeAction into the current context.""" - AutoAction.DeployIntakeAction().add() - - -def stow_intake() -> None: - """Insert a StowIntakeAction into the current context.""" - AutoAction.StowIntakeAction().add() - - -def climb_search() -> None: - """Insert a ClimbSearchAction into the current context.""" - AutoAction.ClimbSearchAction().add() - - -def climb_hang() -> None: - """Insert a ClimbHangAction into the current context.""" - AutoAction.ClimbHangAction().add() - - -def reference(auto_name: str) -> None: - """Insert an AutoReference into the current context.""" - AutoAction.AutoReference(name=auto_name).add() - -def startShooting() -> None: - """Insert a StartShootingAction into the current context.""" - AutoAction.StartShooting().add() - -def stopShooting() -> None: - """Insert a StopShootingAction into the current context.""" - AutoAction.StopShooting().add() - -def followPath(path_name, mirror_path=False, can_mirror=True): - AutoAction.FollowPathPlannerPath(path_name=path_name, mirror_path=mirror_path, can_mirror=can_mirror).add() - -def networkConfigurableWait(name: str, default_wait: Optional[Measure]=None): - AutoAction.NetworkConfigurableWait(name, default_wait).add() diff --git a/auto_generator/src/units.py b/auto_generator/src/units.py deleted file mode 100644 index 0ebf3e28..00000000 --- a/auto_generator/src/units.py +++ /dev/null @@ -1,122 +0,0 @@ -""" -Auto-generated by PythonGenerator. Do not edit manually. - -Provides unit types and measure creation functions that serialize -to the same JSON format the Java robot code expects. -""" - -from __future__ import annotations - -from dataclasses import dataclass - - -@dataclass -class Measure: - """A measure with a numeric value and a unit name string.""" - value: float - unit: str - - def to_dict(self) -> dict: - return {"value": self.value, "unit": self.unit} - - -@dataclass -class Unit: - """A named unit that can create Measure instances.""" - name: str - - def of(self, value: float) -> Measure: - return Measure(value=value, unit=self.name) - - -# AngularVelocityPerTime unit type -Rotation_per_Second_per_Second = Unit("Rotation per Second per Second") -# CurrentPerTime unit type -Amp_per_Second = Unit("Amp per Second") -# Voltage unit type -Volt = Unit("Volt") -# LinearVelocityPerTime unit type -Meter_per_Second_per_Second = Unit("Meter per Second per Second") -# Time unit type -Minute = Unit("Minute") -Foot_per_Second_per_Second = Unit("Foot per Second per Second") -# AnglePerTime unit type -Degree_per_Second = Unit("Degree per Second") -# Torque unit type -Inch_Pound_force = Unit("Inch-Pound-force") -Radian_per_Second = Unit("Radian per Second") -# VoltagePerLinearAcceleration unit type -Volt_per_Meter_per_Second_per_Second = Unit("Volt per Meter per Second per Second") -# DimensionlessPerTime unit type -Hertz = Unit("Hertz") -# Distance unit type -Centimeter = Unit("Centimeter") -Inch_Ounce_force = Unit("Inch-Ounce-force") -# DistancePerTime unit type -Inch_per_Second = Unit("Inch per Second") -Meter_Newton = Unit("Meter-Newton") -Degree_per_Second_per_Second = Unit("Degree per Second per Second") -# EnergyPerTime unit type -Watt = Unit("Watt") -Rotation_per_Second = Unit("Rotation per Second") -# Current unit type -Amp = Unit("Amp") -# Force unit type -Newton = Unit("Newton") -# Temperature unit type -Celsius = Unit("Celsius") -Fahrenheit = Unit("Fahrenheit") -G = Unit("G") -Inch = Unit("Inch") -Foot_per_Second = Unit("Foot per Second") -# Energy unit type -Joule = Unit("Joule") -Kelvin = Unit("Kelvin") -Rotation_per_Minute = Unit("Rotation per Minute") -# LinearMomentum unit type -Kilogram_Meter_per_Second = Unit("Kilogram-Meter per Second") -# VoltagePerCurrent unit type -Kiloohm = Unit("Kiloohm") -# Mass unit type -Gram = Unit("Gram") -Millimeter = Unit("Millimeter") -Millihertz = Unit("Millihertz") -Millijoule = Unit("Millijoule") -# Angle unit type -Degree = Unit("Degree") -Rotation = Unit("Rotation") -Foot_Pound_force = Unit("Foot-Pound-force") -Microsecond = Unit("Microsecond") -Radian_per_Second_per_Second = Unit("Radian per Second per Second") -Revolution_per_Second = Unit("Revolution per Second") -Millivolt = Unit("Millivolt") -Rotation_per_Minute_per_Second = Unit("Rotation per Minute per Second") -Revolution = Unit("Revolution") -Kilogram = Unit("Kilogram") -Kilojoule = Unit("Kilojoule") -Radian = Unit("Radian") -Milliwatt = Unit("Milliwatt") -Foot = Unit("Foot") -# AngularMomentum unit type -Kilogram_Meter_per_Second_Meter = Unit("Kilogram-Meter per Second-Meter") -# AngularMomentumPerAngularVelocity unit type -Kilogram_Meter_per_Second_Meter_per_Radian_per_Second = Unit("Kilogram-Meter per Second-Meter per Radian per Second") -Milliohm = Unit("Milliohm") -Volt_per_Radian_per_Second_per_Second = Unit("Volt per Radian per Second per Second") -Volt_per_Radian_per_Second = Unit("Volt per Radian per Second") -# Dimensionless unit type -Percent = Unit("Percent") -Millisecond = Unit("Millisecond") -Pound = Unit("Pound") -Second = Unit("Second") -Meter = Unit("Meter") -Horsepower = Unit("Horsepower") -Meter_per_Second = Unit("Meter per Second") -Milliamp = Unit("Milliamp") -Ounce = Unit("Ounce") -Unitless = Unit("") -Ohm = Unit("Ohm") -Ounce_force = Unit("Ounce-force") -Pound_force = Unit("Pound-force") -Rotation_per_Second_per_Second_per_Second = Unit("Rotation per Second per Second per Second") -Volt_per_Meter_per_Second = Unit("Volt per Meter per Second") diff --git a/auto_generator_java/dump-classpath.gradle b/auto_generator_java/dump-classpath.gradle new file mode 100644 index 00000000..24c54f1a --- /dev/null +++ b/auto_generator_java/dump-classpath.gradle @@ -0,0 +1,15 @@ +// Init script: dump the main runtime classpath so the Java auto generator can +// compile and run without paying gradle's per-invocation configuration cost. +// Used by generate.sh during the one-time (or after-dependency-change) bootstrap. +gradle.projectsEvaluated { + rootProject.tasks.register("dumpAutoGenClasspath") { + doLast { + def cp = rootProject.sourceSets.main.runtimeClasspath.files + .collect { it.absolutePath } + .join(File.pathSeparator) + def out = new File(rootProject.projectDir, "build/autogen-classpath.txt") + out.text = cp + println "wrote ${out} (${cp.split(File.pathSeparator).length} entries)" + } + } +} diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java new file mode 100644 index 00000000..2ec03b7f --- /dev/null +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -0,0 +1,312 @@ +package frc.robot.autogen; + +import static frc.robot.autogen.Dsl.apConstraints; +import static frc.robot.autogen.Dsl.apProfile; +import static frc.robot.autogen.Dsl.ap; +import static frc.robot.autogen.Dsl.climbHang; +import static frc.robot.autogen.Dsl.climbSearch; +import static frc.robot.autogen.Dsl.degrees; +import static frc.robot.autogen.Dsl.deployIntake; +import static frc.robot.autogen.Dsl.followPath; +import static frc.robot.autogen.Dsl.meters; +import static frc.robot.autogen.Dsl.networkConfigurableWait; +import static frc.robot.autogen.Dsl.parallel; +import static frc.robot.autogen.Dsl.pidGains; +import static frc.robot.autogen.Dsl.pose2d; +import static frc.robot.autogen.Dsl.rotation2d; +import static frc.robot.autogen.Dsl.seconds; +import static frc.robot.autogen.Dsl.seq; +import static frc.robot.autogen.Dsl.startShooting; +import static frc.robot.autogen.Dsl.stopShooting; +import static frc.robot.autogen.Dsl.stowIntake; +import static frc.robot.autogen.Dsl.waitSeconds; + +import com.therekrab.autopilot.APConstraints; +import com.therekrab.autopilot.APTarget; +import coppercore.parameter_tools.json.JSONSync; +import coppercore.parameter_tools.json.JSONSyncConfig; +import coppercore.parameter_tools.json.JSONSyncConfigBuilder; +import coppercore.parameter_tools.json.helpers.JSONConverter; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import frc.robot.auto.Auto; +import frc.robot.auto.AutoAction; +import frc.robot.auto.Autos; +import frc.robot.util.json.JSONAPTarget; +import java.util.ArrayList; +import java.util.List; + +/** + * Builds every auto routine in Java and serializes them to the Autos.json format using the robot's + * own coppercore Gson configuration. Replaces the former Python auto generator. + * + *

Usage: {@code java frc.robot.autogen.AutosGen [environment]} — prints the JSON to stdout. + */ +public final class AutosGen { + + // --- constants ported from the old constants.py --------------------------- + private static final double DEFAULT_TRENCH_VELOCITY = 4.2; + private static final double AGGRESSIVE_TRENCH_VELOCITY = 5.1; + private static final Pose2d LEFT_TRENCH_CENTER_SIDE_POSE = pose2d(5.2, 7.4, -90); + private static final APConstraints CLIMB_CONSTRAINTS = apConstraints(2.0, 2.0, 0.1); + + public static void main(String[] args) { + String environment = args.length > 0 ? args[0] : "comp"; + Field.initialize(environment); + + Autos autos = build(); + TypeTagger.tag(autos); + + JSONConverter.addConversion(APTarget.class, JSONAPTarget.class); + JSONSyncConfig config = new JSONSyncConfigBuilder().build(); + JSONSync sync = new JSONSync<>(autos, "", config); + System.out.println(sync.serialize()); + } + + private static Autos build() { + Autos autos = new Autos(); + + autos.autos.put( + "Literally just shoot Auto", new Auto(seq(startShooting()), false, false)); + + autos.autos.put("Aggressive Depot", auto(seq(aggressive(true, false, false, true)))); + autos.autos.put("Aggressive No Depot", auto(seq(aggressive(false, false, false, true)))); + autos.autos.put( + "Aggressive Depot From Bump", auto(seq(aggressive(true, true, true, false)))); + + autos.autos.put("Conservative Depot", auto(seq(conservative(true, false, false, true)))); + autos.autos.put("Conservative No Depot", auto(seq(conservative(false, false, false, true)))); + autos.autos.put( + "Conservative Depot From Bump", auto(seq(conservative(true, true, true, false)))); + + autos.autos.put("Follower", auto(follower())); + + autos.autos.put( + "Single Swipe Then Depot", + new Auto( + seq( + aggressive(false, false, false, false), + goToDepotAndIntake(), + waitSeconds(1.0), + cycleIntake(6.0 / 3.0, 6)), + false, + true)); + + autos.autos.put( + "Center Depot", + new Auto( + seq( + deployIntake(), + startShooting(), + networkConfigurableWait("Center Depot - Shoot Preload", seconds(4.0)), + goToDepotAndIntake(), + waitSeconds(2.0), + cycleIntake(6.0 / 3.0, 6)), + false, + true)); + + autos.routines.put("LeftClimb", climb(Field.leftClimbLocation(), rotation2d(0))); + autos.routines.put("RightClimb", climb(Field.rightClimbLocation(), rotation2d(0))); + + return autos; + } + + /** A mirrorable, flippable auto (the @auto defaults). */ + private static Auto auto(AutoAction root) { + return new Auto(root, true, true); + } + + // --------------------------------------------------------------------------- + // Reusable command builders (ported from autos.py / routines.py) + // --------------------------------------------------------------------------- + + private static AutoAction cycleIntake(double time, int count) { + double delayEach = time / 2 / count; + List actions = new ArrayList<>(); + for (int i = 0; i < count; i++) { + actions.add(stowIntake()); + actions.add(waitSeconds(delayEach)); + actions.add(deployIntake()); + actions.add(waitSeconds(delayEach)); + } + return seq(actions); + } + + private static AutoAction fromBumpPrepareForTrench(double angle) { + return seq( + ap().pose(3.5, 7.55, angle) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); + } + + private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { + return seq( + ap().pose(4.0, 7.55, -90).velocity(DEFAULT_TRENCH_VELOCITY).entryAngle(0).xap(), + followPath("Left Trench To Center Intake In")); + } + + private static AutoAction goToDepotAndIntake() { + return seq( + ap().pose(1.5, 5.1, 135) + .velocity(1.0) + .profile(apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) + .ap(), + ap().pose(0.715, 5.1, 135).constraints(apConstraints(1.0, 3.0, 3.0)).pidGains(pidGains(1.5)).ap(), + waitSeconds(0.1), + ap().pose(0.715, 6.4, 135).constraints(apConstraints(1.0, 3.0, 2.0)).pidGains(pidGains(1.5)).ap(), + waitSeconds(0.1), + ap().pose(1.0, 6.8, 135).constraints(apConstraints(5.1, 5.0, 3.0)).pidGains(pidGains(1.5)).ap()); + } + + private static AutoAction aggressive( + boolean useDepot, boolean fromBump, boolean shootPreload, boolean doSecondSweep) { + double intakeCycleTime = 1.0 / 3.0; + int intakeCycleCount = 1; + List a = new ArrayList<>(); + + if (shootPreload) { + a.add(startShooting()); + a.add(waitSeconds(1.5)); + } + if (fromBump) { + a.add(fromBumpPrepareForTrench(-90)); + } + if (shootPreload) { + a.add(stopShooting()); + } + + a.add( + ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) + .velocity(AGGRESSIVE_TRENCH_VELOCITY) + .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + .xap()); + a.add(parallel(deployIntake(), followPath("Left Side Aggressive Sweep Intake In"))); + a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); + a.add(waitSeconds(0.1)); + a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(cycleIntake(2.5, 5)); + + if (doSecondSweep) { + a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); + a.add( + ap().pose(3.5, 7.55, -90) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); + a.add(parallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn())); + a.add(parallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In"))); + a.add(parallel(seq(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance"))); + a.add(waitSeconds(0.1)); + a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(waitSeconds(1)); + } + + if (useDepot) { + a.add( + ap().pose(1.5, 5.9, -180) + .velocity(0.0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); + } + + a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); + return seq(a); + } + + private static AutoAction conservative( + boolean useDepot, boolean fromBump, boolean shootPreload, boolean doSecondSweep) { + double intakeCycleTime = 0.5; + int intakeCycleCount = 1; + List a = new ArrayList<>(); + + if (shootPreload) { + a.add(startShooting()); + a.add(waitSeconds(1.5)); + } + if (fromBump) { + a.add(fromBumpPrepareForTrench(0)); + } + if (shootPreload) { + a.add(stopShooting()); + } + + a.add(ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap()); + a.add(parallel(stowIntake(), followPath("Starting Position Left Trench To Center"))); + a.add(parallel(deployIntake(), followPath("Left Side Conservative Sweep"))); + a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); + a.add(waitSeconds(0.1)); + a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(waitSeconds(2.5)); + + if (doSecondSweep) { + a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); + a.add( + ap().pose(3.5, 7.55, -90) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); + a.add(parallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn())); + a.add(parallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In"))); + a.add(parallel(seq(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance"))); + a.add(waitSeconds(0.1)); + a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(waitSeconds(1)); + } + + if (useDepot) { + a.add( + ap().pose(1.5, 5.9, -180) + .velocity(0.0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); + } + + a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); + return seq(a); + } + + private static AutoAction follower() { + List f = new ArrayList<>(); + f.add(networkConfigurableWait("Follower - Preload", seconds(2.5))); + f.add( + ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) + .velocity(2.0) + .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + .xap()); + f.add(deployIntake()); + f.add(followPath("Left Side Follower Sweep Intake In")); + f.add(networkConfigurableWait("Follower - Before Bump Return", seconds(0.0))); + f.add(waitSeconds(0.1)); + f.add(ap().pose(2.700, 5.75, -90).ap()); + f.add( + ap().pose(1.5, 5.1, 135) + .profile(apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) + .ap()); + f.add(startShooting()); + f.add(networkConfigurableWait("Follower - Before Depot", seconds(0.0))); + f.add(goToDepotAndIntake()); + f.add(waitSeconds(2.0)); + f.add(cycleIntake(6.0 / 3.0, 6)); + return seq(f); + } + + private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { + return seq( + parallel( + seq(ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), + climbSearch()), + waitSeconds(0.5), + climbHang()); + } + + private AutosGen() {} +} diff --git a/auto_generator_java/frc/robot/autogen/Dsl.java b/auto_generator_java/frc/robot/autogen/Dsl.java new file mode 100644 index 00000000..47085282 --- /dev/null +++ b/auto_generator_java/frc/robot/autogen/Dsl.java @@ -0,0 +1,299 @@ +package frc.robot.autogen; + +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Meters; +import static edu.wpi.first.units.Units.Seconds; + +import com.therekrab.autopilot.APConstraints; +import com.therekrab.autopilot.APProfile; +import com.therekrab.autopilot.APTarget; +import coppercore.wpilib_interface.tuning.PIDGains; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.units.measure.Angle; +import edu.wpi.first.units.measure.Distance; +import edu.wpi.first.units.measure.Time; +import frc.robot.auto.AutoAction; +import frc.robot.auto.coordinationLayer.ClimbHangAction; +import frc.robot.auto.coordinationLayer.ClimbSearchAction; +import frc.robot.auto.coordinationLayer.DeployIntakeAction; +import frc.robot.auto.coordinationLayer.StartShooting; +import frc.robot.auto.coordinationLayer.StopShooting; +import frc.robot.auto.coordinationLayer.StowIntakeAction; +import frc.robot.auto.drive.AutoPilotAction; +import frc.robot.auto.drive.FollowPathPlannerPath; +import frc.robot.auto.drive.StopDriveAction; +import frc.robot.auto.drive.XBasedAutoPilotAction; +import frc.robot.auto.general.AutoReference; +import frc.robot.auto.general.NetworkConfigurableWait; +import frc.robot.auto.general.Parallel; +import frc.robot.auto.general.Print; +import frc.robot.auto.general.Race; +import frc.robot.auto.general.Sequence; +import frc.robot.auto.general.Wait; +import java.util.List; + +/** + * Small authoring DSL for building auto routines in Java. Mirrors the helpers that used to live in + * the Python {@code shorthands.py}/{@code auto_lib.py}. All factory methods return plain {@link + * AutoAction} objects; nesting is expressed with {@link #seq}, {@link #parallel}, {@link #race} and + * {@link #deadline}. + */ +public final class Dsl { + private Dsl() {} + + // --------------------------------------------------------------------------- + // Geometry helpers + // --------------------------------------------------------------------------- + + public static Rotation2d rotation2d(double degrees) { + return Rotation2d.fromDegrees(degrees); + } + + public static Translation2d translation2d(double x, double y) { + return new Translation2d(x, y); + } + + public static Pose2d pose2d(double x, double y, double angleDegrees) { + return new Pose2d(x, y, Rotation2d.fromDegrees(angleDegrees)); + } + + public static Pose2d pose2d(double x, double y) { + return pose2d(x, y, 0.0); + } + + public static Transform2d transform2d(Translation2d translation, Rotation2d rotation) { + return new Transform2d(translation, rotation); + } + + // --------------------------------------------------------------------------- + // Units + // --------------------------------------------------------------------------- + + public static Time seconds(double value) { + return Seconds.of(value); + } + + public static Distance meters(double value) { + return Meters.of(value); + } + + public static Angle degrees(double value) { + return Degrees.of(value); + } + + // --------------------------------------------------------------------------- + // Autopilot building blocks + // --------------------------------------------------------------------------- + + public static APConstraints apConstraints(double velocity, double acceleration, double jerk) { + return new APConstraints(velocity, acceleration, jerk); + } + + public static APConstraints apConstraints(double velocity, double acceleration) { + // NB: the autopilot library's 2-arg constructor means (acceleration, jerk) with velocity + // unlimited. The Python generator's APConstraints(v, a) meant (velocity, acceleration) with + // jerk = 0, so build that explicitly via the 3-arg constructor. + return new APConstraints(velocity, acceleration, 0.0); + } + + public static APProfile apProfile( + APConstraints constraints, Distance errorXY, Angle errorTheta, Distance beelineRadius) { + return new APProfile(constraints) + .withErrorXY(errorXY) + .withErrorTheta(errorTheta) + .withBeelineRadius(beelineRadius); + } + + public static PIDGains pidGains(double kP) { + return PIDGains.kPID(kP, 0.0, 0.0); + } + + /** Fluent builder for {@link AutoPilotAction} / {@link XBasedAutoPilotAction}. */ + public static final class Ap { + private Pose2d reference; + private Rotation2d entryAngle; + private double velocity = 0.0; + private Distance rotationRadius; + private APConstraints constraints; + private APProfile profile; + private PIDGains pidGains; + private boolean canMirror = true; + + public Ap pose(double x, double y, double angleDegrees) { + this.reference = pose2d(x, y, angleDegrees); + return this; + } + + public Ap pose(double x, double y) { + return pose(x, y, 0.0); + } + + public Ap pose(Pose2d reference) { + this.reference = reference; + return this; + } + + public Ap velocity(double velocity) { + this.velocity = velocity; + return this; + } + + public Ap entryAngle(double degrees) { + this.entryAngle = rotation2d(degrees); + return this; + } + + public Ap entryAngle(Rotation2d entryAngle) { + this.entryAngle = entryAngle; + return this; + } + + public Ap rotationRadius(Distance rotationRadius) { + this.rotationRadius = rotationRadius; + return this; + } + + public Ap constraints(APConstraints constraints) { + this.constraints = constraints; + return this; + } + + public Ap profile(APProfile profile) { + this.profile = profile; + return this; + } + + public Ap pidGains(PIDGains pidGains) { + this.pidGains = pidGains; + return this; + } + + public Ap canMirror(boolean canMirror) { + this.canMirror = canMirror; + return this; + } + + private APTarget target() { + APTarget target = new APTarget(reference == null ? new Pose2d() : reference); + if (entryAngle != null) { + target = target.withEntryAngle(entryAngle); + } + target = target.withVelocity(velocity); + if (rotationRadius != null) { + target = target.withRotationRadius(rotationRadius); + } + return target; + } + + public AutoPilotAction ap() { + return new AutoPilotAction(target(), constraints, profile, pidGains, canMirror); + } + + public XBasedAutoPilotAction xap() { + return new XBasedAutoPilotAction(target(), constraints, profile, pidGains, canMirror); + } + } + + public static Ap ap() { + return new Ap(); + } + + // --------------------------------------------------------------------------- + // Primitive action shorthands + // --------------------------------------------------------------------------- + + public static AutoAction startShooting() { + return new StartShooting(); + } + + public static AutoAction stopShooting() { + return new StopShooting(); + } + + public static AutoAction deployIntake() { + return new DeployIntakeAction(); + } + + public static AutoAction stowIntake() { + return new StowIntakeAction(); + } + + public static AutoAction climbSearch() { + return new ClimbSearchAction(); + } + + public static AutoAction climbHang() { + return new ClimbHangAction(); + } + + public static AutoAction stopDrive() { + return new StopDriveAction(); + } + + public static AutoAction waitSeconds(double secondsValue) { + Wait wait = new Wait(); + wait.delay = seconds(secondsValue); + return wait; + } + + public static AutoAction print(String message) { + Print print = new Print(); + print.message = message; + return print; + } + + public static AutoAction reference(String autoName) { + AutoReference ref = new AutoReference(); + ref.name = autoName; + return ref; + } + + public static AutoAction networkConfigurableWait(String name, Time defaultDelay) { + return new NetworkConfigurableWait(name, defaultDelay); + } + + public static AutoAction followPath(String pathName) { + return followPath(pathName, false, true); + } + + public static AutoAction followPath(String pathName, boolean mirrorPath, boolean canMirror) { + FollowPathPlannerPath path = new FollowPathPlannerPath(); + path.pathName = pathName; + path.mirrorPath = mirrorPath; + path.canMirror = canMirror; + return path; + } + + // --------------------------------------------------------------------------- + // Containers + // --------------------------------------------------------------------------- + + public static Sequence seq(AutoAction... actions) { + Sequence sequence = new Sequence(); + sequence.actions = actions; + return sequence; + } + + public static Sequence seq(List actions) { + return seq(actions.toArray(new AutoAction[0])); + } + + public static Parallel parallel(AutoAction... actions) { + Parallel parallel = new Parallel(); + parallel.actions = actions; + return parallel; + } + + public static Parallel parallel(List actions) { + return parallel(actions.toArray(new AutoAction[0])); + } + + public static Race race(AutoAction... actions) { + Race race = new Race(); + race.actions = actions; + return race; + } +} diff --git a/auto_generator_java/frc/robot/autogen/Field.java b/auto_generator_java/frc/robot/autogen/Field.java new file mode 100644 index 00000000..6a91dbb6 --- /dev/null +++ b/auto_generator_java/frc/robot/autogen/Field.java @@ -0,0 +1,76 @@ +package frc.robot.autogen; + +import com.google.gson.JsonObject; +import com.google.gson.JsonParser; +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Transform2d; +import edu.wpi.first.math.geometry.Translation2d; +import frc.robot.constants.AprilTagConstants; +import frc.robot.constants.FieldConstants; +import frc.robot.constants.JsonConstants; +import java.nio.file.Files; +import java.nio.file.Path; + +/** + * Wires the robot's {@link FieldConstants} to work headlessly inside the generator. + * + *

{@code FieldConstants.Tower.leftUpright()} reads {@code JsonConstants.aprilTagConstants}, whose + * {@code getTagLayout()} normally calls {@code Filesystem.getDeployDirectory()} (which loads the HAL + * native library). The generator runs under a bare JVM with no HAL, so instead we load the + * AprilTag layout directly from a repo-relative path — honoring the {@code fieldType} deployment + * constant — and inject it as the cached layout via reflection. This reuses all robot geometry with + * no duplication and no HAL. + */ +public final class Field { + private Field() {} + + private static final Path DEPLOY = Path.of("src", "main", "deploy"); + + // climb_offset from the old constants.py: translate (0.41, 0.0225), rotate -90 degrees. + private static final Transform2d CLIMB_OFFSET = + new Transform2d(new Translation2d(0.41, 0.0225), Rotation2d.fromDegrees(-90.0)); + + /** Loads the AprilTag layout for the given environment and installs it for FieldConstants. */ + public static void initialize(String environment) { + String fileName = resolveLayoutFileName(environment); + Path layoutPath = DEPLOY.resolve("apriltags").resolve(fileName); + try { + AprilTagFieldLayout layout = new AprilTagFieldLayout(layoutPath); + AprilTagConstants constants = new AprilTagConstants(); + java.lang.reflect.Field cached = AprilTagConstants.class.getDeclaredField("cachedLayout"); + cached.setAccessible(true); + cached.set(constants, layout); + JsonConstants.aprilTagConstants = constants; + } catch (ReflectiveOperationException | java.io.IOException e) { + throw new RuntimeException("Failed to load AprilTag layout from " + layoutPath, e); + } + } + + private static String resolveLayoutFileName(String environment) { + Path constantsFile = DEPLOY.resolve("constants").resolve(environment).resolve("AprilTagConstants.json"); + try { + if (Files.exists(constantsFile)) { + JsonObject json = JsonParser.parseString(Files.readString(constantsFile)).getAsJsonObject(); + if (json.has("fieldType")) { + return AprilTagConstants.FieldType.valueOf(json.get("fieldType").getAsString()) + .getJsonFilename(); + } + } + } catch (Exception e) { + System.err.println("[autogen] Could not read " + constantsFile + ": " + e); + } + // Fall back to the class default field type. + return new AprilTagConstants().fieldType.getJsonFilename(); + } + + public static Pose2d leftClimbLocation() { + return new Pose2d(FieldConstants.Tower.leftUpright(), new Rotation2d()).transformBy(CLIMB_OFFSET); + } + + public static Pose2d rightClimbLocation() { + return new Pose2d(FieldConstants.Tower.rightUpright(), new Rotation2d()) + .transformBy(CLIMB_OFFSET); + } +} diff --git a/auto_generator_java/frc/robot/autogen/TypeTagger.java b/auto_generator_java/frc/robot/autogen/TypeTagger.java new file mode 100644 index 00000000..1e184701 --- /dev/null +++ b/auto_generator_java/frc/robot/autogen/TypeTagger.java @@ -0,0 +1,108 @@ +package frc.robot.autogen; + +import coppercore.parameter_tools.json.annotations.JsonSubtype; +import coppercore.parameter_tools.json.annotations.JsonType; +import frc.robot.auto.Auto; +import frc.robot.auto.AutoAction; +import frc.robot.auto.Autos; +import java.lang.reflect.Field; +import java.util.HashMap; +import java.util.Map; + +/** + * Populates the {@code type} discriminator field on every {@link AutoAction} in an object graph. + * + *

coppercore's polymorphic adapter reads the discriminator on deserialize but does NOT write it + * on serialize — the value comes from the plain {@code AutoAction.type} field. When authoring autos + * in Java we never set that field by hand; instead we look each instance up in {@link AutoAction}'s + * own {@link JsonType} subtype table (the single source of truth) and set {@code type} from the + * runtime class. + */ +public final class TypeTagger { + private TypeTagger() {} + + private static final Map, String> NAME_BY_CLASS = buildNameTable(); + + private static Map, String> buildNameTable() { + Map, String> table = new HashMap<>(); + JsonType jsonType = AutoAction.class.getAnnotation(JsonType.class); + if (jsonType == null) { + throw new IllegalStateException("AutoAction is missing its @JsonType annotation"); + } + for (JsonSubtype subtype : jsonType.subtypes()) { + table.put(subtype.clazz(), subtype.name()); + } + return table; + } + + /** Recursively tags every AutoAction reachable from the given Autos object. */ + public static void tag(Autos autos) { + autos.autos.values().forEach(TypeTagger::tagAuto); + autos.routines.values().forEach(TypeTagger::tagAction); + } + + private static void tagAuto(Auto auto) { + tagAction(readField(auto, Auto.class, "rootAction")); + } + + private static void tagAction(Object value) { + if (value == null) { + return; + } + if (value instanceof AutoAction action) { + String name = NAME_BY_CLASS.get(action.getClass()); + if (name == null) { + throw new IllegalStateException( + "No @JsonSubtype registered for " + action.getClass().getName()); + } + action.type = name; + // Recurse into any AutoAction-typed fields (e.g. Sequence.actions, Deadline.deadline). + for (Field field : allFields(action.getClass())) { + recurse(get(field, action)); + } + } + } + + private static void recurse(Object value) { + if (value instanceof AutoAction) { + tagAction(value); + } else if (value instanceof Object[] array) { + for (Object element : array) { + recurse(element); + } + } else if (value instanceof Iterable iterable) { + for (Object element : iterable) { + recurse(element); + } + } + } + + private static Iterable allFields(Class clazz) { + java.util.List fields = new java.util.ArrayList<>(); + for (Class c = clazz; c != null && c != Object.class; c = c.getSuperclass()) { + for (Field field : c.getDeclaredFields()) { + fields.add(field); + } + } + return fields; + } + + private static Object readField(Object target, Class declaringClass, String name) { + try { + Field field = declaringClass.getDeclaredField(name); + field.setAccessible(true); + return field.get(target); + } catch (ReflectiveOperationException e) { + throw new RuntimeException(e); + } + } + + private static Object get(Field field, Object target) { + try { + field.setAccessible(true); + return field.get(target); + } catch (IllegalAccessException e) { + return null; + } + } +} diff --git a/auto_generator_java/generate.sh b/auto_generator_java/generate.sh new file mode 100755 index 00000000..b1110765 --- /dev/null +++ b/auto_generator_java/generate.sh @@ -0,0 +1,65 @@ +#!/usr/bin/env bash +# +# Fast Java auto generator: compiles the auto-definition sources against the +# already-compiled robot classes and runs them, emitting Autos.json to stdout. +# +# This deliberately bypasses gradle on the hot path. A warm gradle daemon still +# spends ~4s configuring an up-to-date compileJava task on this project; a bare +# javac + java cycle is well under that. Gradle is only invoked for the one-time +# bootstrap (compile robot classes + dump the classpath), or when --bootstrap is +# passed (e.g. after editing robot/builder classes or changing dependencies). +# +# Usage: +# generate.sh [ENVIRONMENT] # print Autos.json for ENVIRONMENT (default: comp) +# generate.sh --bootstrap [ENVIRONMENT] # force recompile of robot classes + classpath first +# +# All diagnostics go to stderr so stdout is clean JSON. +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +ROOT="$(cd "$SCRIPT_DIR/.." && pwd)" +cd "$ROOT" + +CP_FILE="build/autogen-classpath.txt" +CLASSES="build/classes/java/main" +GEN_SRC="auto_generator_java" +GEN_OUT="build/autogen-out" +INIT_SCRIPT="$GEN_SRC/dump-classpath.gradle" + +# Faster JVM startup for the short-lived javac/java processes. +JVM_FAST=(-XX:+UseSerialGC -XX:TieredStopAtLevel=1 -XX:-UsePerfData) + +bootstrap=0 +if [[ "${1:-}" == "--bootstrap" ]]; then + bootstrap=1 + shift +fi +ENVIRONMENT="${1:-comp}" + +if [[ "$bootstrap" == 1 || ! -f "$CP_FILE" || ! -d "$CLASSES" ]]; then + echo "[generate] bootstrapping: gradle compileJava + classpath dump..." >&2 + ./gradlew --init-script "$INIT_SCRIPT" compileJava dumpAutoGenClasspath -q >&2 +fi + +CP="$(cat "$CP_FILE"):$CLASSES" +mkdir -p "$GEN_OUT" + +# Skip compilation if no generator source is newer than the last build output. +needs_compile=1 +marker="$GEN_OUT/.compiled" +if [[ -f "$marker" && -z "$(find "$GEN_SRC" -name '*.java' -newer "$marker" -print -quit)" ]]; then + needs_compile=0 +fi + +if [[ "$needs_compile" == 1 ]]; then + echo "[generate] compiling generator sources..." >&2 + # shellcheck disable=SC2046 + javac -J-XX:+UseSerialGC -J-XX:TieredStopAtLevel=1 -J-XX:-UsePerfData \ + -cp "$CP" -d "$GEN_OUT" $(find "$GEN_SRC" -name '*.java') + touch "$marker" +else + echo "[generate] generator sources unchanged; skipping compile" >&2 +fi + +echo "[generate] running generator for environment '$ENVIRONMENT'..." >&2 +exec java "${JVM_FAST[@]}" -cp "$CP:$GEN_OUT" frc.robot.autogen.AutosGen "$ENVIRONMENT" diff --git a/ci-scripts/check_auto_roundtrip.py b/ci-scripts/check_auto_roundtrip.py index c3eac289..1eee0d6f 100644 --- a/ci-scripts/check_auto_roundtrip.py +++ b/ci-scripts/check_auto_roundtrip.py @@ -129,7 +129,32 @@ def run_build_autos() -> None: print(line, flush=True) +def bootstrap_generator() -> None: + """Compile robot classes + dump the classpath for the Java auto generator. + + Done before launching simulateJava so the generator never has to invoke gradle + concurrently with the running simulation. build_autos.py --no-file --bootstrap + runs the full generator pipeline once (gradle compile + classpath dump + javac), + discarding the output. + """ + print("Bootstrapping Java auto generator (compile + classpath dump)...", flush=True) + result = subprocess.run( + [sys.executable, "auto_generator/build_autos.py", "--no-file", "--bootstrap"], + cwd=ROOT, + text=True, + stdout=subprocess.PIPE, + stderr=subprocess.STDOUT, + timeout=PUBLISH_TIMEOUT_SECONDS * 4, + check=False, + ) + if result.returncode != 0: + print(result.stdout, end="") + raise RuntimeError(f"generator bootstrap failed with status {result.returncode}") + + def main() -> int: + bootstrap_generator() + lines: "queue.Queue[str]" = queue.Queue() process = subprocess.Popen( ["./gradlew", "--console=plain", "simulateJava"], diff --git a/src/main/java/frc/robot/auto/Auto.java b/src/main/java/frc/robot/auto/Auto.java index 0cc8fead..6b5a6ff2 100644 --- a/src/main/java/frc/robot/auto/Auto.java +++ b/src/main/java/frc/robot/auto/Auto.java @@ -2,14 +2,23 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.auto.AutoAction.AutoActionContext; -import frc.robot.util.ts.GeneratedOptional; public class Auto { private AutoAction rootAction; - @GeneratedOptional private boolean canBeMirrored = true; - @GeneratedOptional private boolean shouldBeFlipped = true; + private boolean canBeMirrored = true; + private boolean shouldBeFlipped = true; + + /** No-arg constructor retained for JSON deserialization. */ + public Auto() {} + + /** Authoring constructor used by the Java auto generator. */ + public Auto(AutoAction rootAction, boolean canBeMirrored, boolean shouldBeFlipped) { + this.rootAction = rootAction; + this.canBeMirrored = canBeMirrored; + this.shouldBeFlipped = shouldBeFlipped; + } public Command toCommand(AutoActionContext data) { return rootAction.toCommand(data); diff --git a/src/main/java/frc/robot/auto/AutoAction.java b/src/main/java/frc/robot/auto/AutoAction.java index d8bf9fe7..3ceb6d32 100644 --- a/src/main/java/frc/robot/auto/AutoAction.java +++ b/src/main/java/frc/robot/auto/AutoAction.java @@ -23,34 +23,7 @@ import frc.robot.auto.general.Sequence; import frc.robot.auto.general.Wait; import frc.robot.subsystems.drive.DriveCoordinator; -import frc.robot.util.ts.PythonAppend; -import frc.robot.util.ts.PythonMethod; -@PythonAppend( - value = - "\n_add_command_hook: Callable[[Any], None] | None = None\n\n\n" - + "def set_add_command_hook(hook: Callable[[Any], None]) -> None:\n" - + " global _add_command_hook\n" - + " _add_command_hook = hook\n\n\n" - + "def _call_hook(obj: Any) -> None:\n" - + " if _add_command_hook is not None:\n" - + " _add_command_hook(obj)\n\n\n" - + "def _to_dict(obj: Any) -> Any:\n" - + " \"\"\"Recursively convert an object to a JSON-serializable dict.\"\"\"\n" - + " if obj is None:\n" - + " return None\n" - + " if hasattr(obj, 'to_dict'):\n" - + " return obj.to_dict()\n" - + " if isinstance(obj, list):\n" - + " return [_to_dict(item) for item in obj]\n" - + " if isinstance(obj, dict):\n" - + " return {k: _to_dict(v) for k, v in obj.items()}\n" - + " return obj\n") -@PythonMethod( - name = "add", - returnType = "self", - body = {"_call_hook(self)", "return self"}, - comment = "Adds this command to the current auto and returns itself for chaining.") @JsonType( property = "type", subtypes = { diff --git a/src/main/java/frc/robot/auto/drive/AutoPilotAction.java b/src/main/java/frc/robot/auto/drive/AutoPilotAction.java index 1e5a5653..d0a95526 100644 --- a/src/main/java/frc/robot/auto/drive/AutoPilotAction.java +++ b/src/main/java/frc/robot/auto/drive/AutoPilotAction.java @@ -10,7 +10,6 @@ import frc.robot.auto.Autos; import frc.robot.constants.JsonConstants; import frc.robot.subsystems.drive.DriveCoordinatorCommands; -import frc.robot.util.ts.GeneratedOptional; import java.util.Objects; import java.util.Optional; @@ -18,9 +17,26 @@ public class AutoPilotAction extends DriveAutoAction { private APTarget target = null; // original target in blue field coordinates - @GeneratedOptional public APProfile profile = null; - @GeneratedOptional public APConstraints constraints = null; - @GeneratedOptional public PIDGains pidGains = null; + public APProfile profile = null; + public APConstraints constraints = null; + public PIDGains pidGains = null; + + /** No-arg constructor retained for JSON deserialization. */ + public AutoPilotAction() {} + + /** Authoring constructor used by the Java auto generator. */ + public AutoPilotAction( + APTarget target, + APConstraints constraints, + APProfile profile, + PIDGains pidGains, + boolean canMirror) { + this.target = target; + this.constraints = constraints; + this.profile = profile; + this.pidGains = pidGains; + this.canMirror = canMirror; + } private void ensureTargetAndPoseAreNotNull() { Objects.requireNonNull(target, "Target cannot be null for AutoPilotAction"); diff --git a/src/main/java/frc/robot/auto/drive/DriveAutoAction.java b/src/main/java/frc/robot/auto/drive/DriveAutoAction.java index bf764ec1..f7d5734a 100644 --- a/src/main/java/frc/robot/auto/drive/DriveAutoAction.java +++ b/src/main/java/frc/robot/auto/drive/DriveAutoAction.java @@ -1,12 +1,10 @@ package frc.robot.auto.drive; import frc.robot.auto.AutoAction; -import frc.robot.util.ts.GeneratedDefault; public abstract class DriveAutoAction extends AutoAction { // Just tells us if we can mirror for things // Because for things like climb we can not mirror the climb poses - @GeneratedDefault("True") public boolean canMirror = true; } diff --git a/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java b/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java index 87a5bed5..404169a6 100644 --- a/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java +++ b/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java @@ -18,9 +18,20 @@ public class FollowPathPlannerPath extends DriveAutoAction { public static RobotConfig config; public static PathFollowingController controller; + private static boolean configInitialized = false; private static final BooleanSupplier FALSE = () -> false; - static { + /** + * Lazily loads the PathPlanner {@code RobotConfig} and controller on first use. This used to run + * in a static initializer, but that pulled in NetworkTables/SmartDashboard at class-load time, + * which prevents the class from loading in the headless Java auto generator. It is only needed + * when actually building a command, so it is deferred to {@link #toCommand}. + */ + private static void ensureConfigInitialized() { + if (configInitialized) { + return; + } + configInitialized = true; try { config = RobotConfig.fromGUISettings(); controller = @@ -33,6 +44,7 @@ public class FollowPathPlannerPath extends DriveAutoAction { @Override public Command toCommand(AutoActionContext context) { + ensureConfigInitialized(); var path = context.autos().getPath(pathName); if (path == null) { throw new RuntimeException("Path not found: " + pathName); diff --git a/src/main/java/frc/robot/auto/drive/XBasedAutoPilotAction.java b/src/main/java/frc/robot/auto/drive/XBasedAutoPilotAction.java index e0824012..c5d726ce 100644 --- a/src/main/java/frc/robot/auto/drive/XBasedAutoPilotAction.java +++ b/src/main/java/frc/robot/auto/drive/XBasedAutoPilotAction.java @@ -1,11 +1,28 @@ package frc.robot.auto.drive; +import com.therekrab.autopilot.APConstraints; +import com.therekrab.autopilot.APProfile; +import com.therekrab.autopilot.APTarget; import com.therekrab.autopilot.Autopilot; +import coppercore.wpilib_interface.tuning.PIDGains; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.drive.DriveCoordinatorCommands; public class XBasedAutoPilotAction extends AutoPilotAction { + /** No-arg constructor retained for JSON deserialization. */ + public XBasedAutoPilotAction() {} + + /** Authoring constructor used by the Java auto generator. */ + public XBasedAutoPilotAction( + APTarget target, + APConstraints constraints, + APProfile profile, + PIDGains pidGains, + boolean canMirror) { + super(target, constraints, profile, pidGains, canMirror); + } + @Override public Command toCommand(AutoActionContext context) { var realTarget = prepareAutoAction(context); diff --git a/src/main/java/frc/robot/auto/general/NetworkConfigurableWait.java b/src/main/java/frc/robot/auto/general/NetworkConfigurableWait.java index db16f1a6..24654a61 100644 --- a/src/main/java/frc/robot/auto/general/NetworkConfigurableWait.java +++ b/src/main/java/frc/robot/auto/general/NetworkConfigurableWait.java @@ -25,6 +25,15 @@ public class NetworkConfigurableWait extends AutoAction { private Time defaultDelay; @JSONExclude private LoggedNetworkNumber waitTimeSeconds; + /** No-arg constructor retained for JSON deserialization. */ + public NetworkConfigurableWait() {} + + /** Authoring constructor used by the Java auto generator. */ + public NetworkConfigurableWait(String name, Time defaultDelay) { + this.name = name; + this.defaultDelay = defaultDelay; + } + @JSONExclude private static final Map nameToLoggedNetworkNumber = new HashMap<>(); diff --git a/src/main/java/frc/robot/constants/JsonConstants.java b/src/main/java/frc/robot/constants/JsonConstants.java index 1575ebc0..1c2dc475 100644 --- a/src/main/java/frc/robot/constants/JsonConstants.java +++ b/src/main/java/frc/robot/constants/JsonConstants.java @@ -18,25 +18,17 @@ import coppercore.parameter_tools.path_provider.EnvironmentHandler; import coppercore.wpilib_interface.controllers.Controllers; import coppercore.wpilib_interface.subsystems.motors.profile.MotionProfileConfig; -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.wpilibj.Filesystem; -import frc.robot.Constants; import frc.robot.RobotContainer; -import frc.robot.auto.Auto; import frc.robot.auto.Autos; import frc.robot.constants.drive.DriveConstants; import frc.robot.constants.drive.PhysicalDriveConstants; import frc.robot.util.json.JSONAPTarget; import frc.robot.util.json.JSONMotionProfileConfig; -import frc.robot.util.ts.PythonGenerator; -import frc.robot.util.ts.PythonGeometryMethods; /** * JsonConstants handles loading and saving of all constants through JSON. Call `loadConstants` @@ -151,20 +143,6 @@ public static JSONHandler loadConstants(RobotContainer robotContainer) { controllers = jsonHandler.getObject(new Controllers(), operatorConstants.controllerBindingsFile); - if (Constants.currentMode == Constants.Mode.SIM) { - PythonGeometryMethods.registerAll(); - PythonGenerator.generateForClasses( - "auto_action.py", - Auto.class, - Transform2d.class, - Transform3d.class, - Rotation2d.class, - Rotation3d.class, - Pose2d.class, - Pose3d.class, - Translation2d.class, - Translation3d.class); - } return jsonHandler; } diff --git a/src/main/java/frc/robot/util/json/JSONAPTarget.java b/src/main/java/frc/robot/util/json/JSONAPTarget.java index 8f449ede..5ab6d8d5 100644 --- a/src/main/java/frc/robot/util/json/JSONAPTarget.java +++ b/src/main/java/frc/robot/util/json/JSONAPTarget.java @@ -5,15 +5,14 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.units.measure.Distance; -import frc.robot.util.ts.GeneratedOptional; import java.lang.reflect.Constructor; public class JSONAPTarget extends JSONObject { protected Pose2d reference; - @GeneratedOptional protected Rotation2d entryAngle; + protected Rotation2d entryAngle; protected double velocity; - @GeneratedOptional protected Distance rotationRadius; + protected Distance rotationRadius; public JSONAPTarget(APTarget target) { super(target); diff --git a/src/main/java/frc/robot/util/ts/GeneratedDefault.java b/src/main/java/frc/robot/util/ts/GeneratedDefault.java deleted file mode 100644 index da6a2143..00000000 --- a/src/main/java/frc/robot/util/ts/GeneratedDefault.java +++ /dev/null @@ -1,13 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** Supplies an explicit Python default value for a generated dataclass field. */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.FIELD) -public @interface GeneratedDefault { - String value(); -} diff --git a/src/main/java/frc/robot/util/ts/GeneratedOptional.java b/src/main/java/frc/robot/util/ts/GeneratedOptional.java deleted file mode 100644 index 56e4b8e2..00000000 --- a/src/main/java/frc/robot/util/ts/GeneratedOptional.java +++ /dev/null @@ -1,14 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** - * Marks a field as optional in the generated Python dataclass. The field will be emitted as {@code - * Optional[T] = None}. - */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.FIELD) -public @interface GeneratedOptional {} diff --git a/src/main/java/frc/robot/util/ts/PythonAppend.java b/src/main/java/frc/robot/util/ts/PythonAppend.java deleted file mode 100644 index 4440b513..00000000 --- a/src/main/java/frc/robot/util/ts/PythonAppend.java +++ /dev/null @@ -1,25 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Repeatable; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** - * Injects raw Python code into the generated file. Place on a Java class that is processed by - * PythonGenerator. - * - *

Use {@code atTop = true} to place the code at the top of the file (e.g., for imports) instead - * of after the class. - */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.TYPE) -@Repeatable(PythonAppends.class) -public @interface PythonAppend { - /** The raw Python code to inject. */ - String value(); - - /** If true, the code is placed at the top of the file (before any classes). Defaults to false. */ - boolean atTop() default false; -} diff --git a/src/main/java/frc/robot/util/ts/PythonAppends.java b/src/main/java/frc/robot/util/ts/PythonAppends.java deleted file mode 100644 index a054d792..00000000 --- a/src/main/java/frc/robot/util/ts/PythonAppends.java +++ /dev/null @@ -1,13 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** Container annotation for repeatable {@link PythonAppend} annotations. */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.TYPE) -public @interface PythonAppends { - PythonAppend[] value(); -} diff --git a/src/main/java/frc/robot/util/ts/PythonGenerator.java b/src/main/java/frc/robot/util/ts/PythonGenerator.java deleted file mode 100644 index c0c45546..00000000 --- a/src/main/java/frc/robot/util/ts/PythonGenerator.java +++ /dev/null @@ -1,918 +0,0 @@ -package frc.robot.util.ts; - -import com.google.gson.FieldNamingStrategy; -import coppercore.parameter_tools.json.JSONSyncConfig; -import coppercore.parameter_tools.json.JSONSyncConfigBuilder; -import coppercore.parameter_tools.json.adapters.measure.JSONMeasure; -import coppercore.parameter_tools.json.annotations.JSONExclude; -import coppercore.parameter_tools.json.annotations.JsonSubtype; -import coppercore.parameter_tools.json.annotations.JsonType; -import coppercore.parameter_tools.json.helpers.JSONConverter; -import coppercore.parameter_tools.json.helpers.JSONConverter.ConversionException; -import coppercore.parameter_tools.json.helpers.JSONObject; -import edu.wpi.first.units.Measure; -import edu.wpi.first.units.PerUnit; -import edu.wpi.first.units.Unit; -import edu.wpi.first.wpilibj.Filesystem; -import java.io.FileWriter; -import java.io.IOException; -import java.lang.reflect.*; -import java.nio.file.Path; -import java.util.*; - -/** - * Generates Python dataclass definitions from any Java class using the same config rules as - * JSONSync / JSONHandler. - */ -public final class PythonGenerator { - - private static final JSONSyncConfig defaultConfig = new JSONSyncConfigBuilder().build(); - - private static FieldNamingStrategy namingStrategy; - - private static final Map, String> primitiveMap = new HashMap<>(); - private static final Map pythonTypeMap = new HashMap<>(); - private static final Set> generated = new HashSet<>(); - private static final Set defaultChecked = new HashSet<>(); - private static final Set defaultSupported = new HashSet<>(); - private static final StringBuilder output = new StringBuilder(); - private static boolean hasGeneratedUnits = false; - private static final Path BASE_PATH = - Filesystem.getDeployDirectory() - .toPath() - .resolve("../../..") - .normalize() - .resolve("auto_generator/src"); - // Output to auto_generator/src/ - private static String unitFilePath = "units.py"; - private static boolean hasImportedUnits = false; - - public static Set> emitted = new HashSet<>(); - - // Track classes that need to_dict methods generated - private static final List toDictMethods = new ArrayList<>(); - - // Extra methods to inject into generated classes we can't annotate (e.g. WPILib geometry classes) - private static final Map, List> extraMethods = new HashMap<>(); - - // Reverse mapping: JSONConverter wrapper class → original WPILib class - private static final Map, Class> convertedToOriginal = new HashMap<>(); - - /** - * Register additional Python methods to be injected into the generated dataclass for a given Java - * class. Each string is a complete method definition (indented with 4 spaces). Call this before - * generateForClasses. - */ - public static void registerExtraMethods(Class clazz, String... methods) { - extraMethods.computeIfAbsent(clazz, k -> new ArrayList<>()).addAll(Arrays.asList(methods)); - } - - private static boolean shouldSkipField(Field field) { - return Modifier.isStatic(field.getModifiers()) - || Modifier.isTransient(field.getModifiers()) - || field.isAnnotationPresent(JSONExclude.class); - } - - public static void setUnitFilePath(String path) { - unitFilePath = path; - } - - // ============================================ - // Units file generation - // ============================================ - - public static void generateUnitsFile(Path outputDir) { - if (hasGeneratedUnits) return; - hasGeneratedUnits = true; - StringBuilder sb = new StringBuilder(); - sb.append( - "\"\"\"\n" - + "Auto-generated by PythonGenerator. Do not edit manually.\n" - + "\n" - + "Provides unit types and measure creation functions that serialize\n" - + "to the same JSON format the Java robot code expects.\n" - + "\"\"\"\n\n" - + "from __future__ import annotations\n\n" - + "from dataclasses import dataclass\n\n\n" - + "@dataclass\n" - + "class Measure:\n" - + " \"\"\"A measure with a numeric value and a unit name string.\"\"\"\n" - + " value: float\n" - + " unit: str\n\n" - + " def to_dict(self) -> dict:\n" - + " return {\"value\": self.value, \"unit\": self.unit}\n\n\n" - + "@dataclass\n" - + "class Unit:\n" - + " \"\"\"A named unit that can create Measure instances.\"\"\"\n" - + " name: str\n\n" - + " def of(self, value: float) -> Measure:\n" - + " return Measure(value=value, unit=self.name)\n\n\n"); - - Set units = new HashSet<>(); - HashMap, String> baseUnits = new HashMap<>(); - Set emittedMeasureNames = new HashSet<>(); - JSONMeasure.unitMap.forEach( - (name, unitFunc) -> { - var measure = unitFunc.apply(1.0); - var unit = measure.unit(); - var baseUnit = unit.getBaseUnit(); - if (baseUnit == null) return; - Class baseUnitClass = baseUnit.getClass(); - if (!baseUnits.containsKey(baseUnitClass)) { - String measureName; - if (baseUnit instanceof PerUnit perBaseUnit) { - String numeratorName = - stripUnitSuffix(perBaseUnit.numerator().getBaseUnit().getClass().getSimpleName()); - String denominatorName = - stripUnitSuffix( - perBaseUnit.denominator().getBaseUnit().getClass().getSimpleName()); - measureName = numeratorName + "Per" + denominatorName; - } else { - measureName = stripUnitSuffix(baseUnitClass.getSimpleName()); - } - if (emittedMeasureNames.contains(measureName)) return; - emittedMeasureNames.add(measureName); - // In Python, we don't need separate UnitType classes — just comments - sb.append("# ").append(measureName).append(" unit type\n"); - pythonTypeMap.put(baseUnitClass, measureName); - baseUnits.put(baseUnitClass, measureName); - } - if (units.contains(unit)) return; - String registeredName = baseUnits.get(baseUnitClass); - if (registeredName == null) return; - units.add(unit); - pythonTypeMap.put(unit.getClass(), registeredName); - var unitName = unit.name().replace(" ", "_").replace("-", "_"); - if (unitName.equals("")) unitName = "Unitless"; - sb.append(unitName).append(" = Unit(\"").append(unit.name()).append("\")\n"); - }); - - System.out.println("Generated Python definitions for " + units.size() + " units."); - - try (FileWriter writer = new FileWriter(outputDir.resolve(unitFilePath).toString())) { - writer.write(sb.toString()); - } catch (IOException e) { - throw new RuntimeException(e); - } - } - - static { - primitiveMap.put(int.class, "int"); - primitiveMap.put(Integer.class, "int"); - primitiveMap.put(double.class, "float"); - primitiveMap.put(Double.class, "float"); - primitiveMap.put(float.class, "float"); - primitiveMap.put(Float.class, "float"); - primitiveMap.put(long.class, "int"); - primitiveMap.put(Long.class, "int"); - primitiveMap.put(short.class, "int"); - primitiveMap.put(Short.class, "int"); - primitiveMap.put(byte.class, "int"); - primitiveMap.put(Byte.class, "int"); - - primitiveMap.put(boolean.class, "bool"); - primitiveMap.put(Boolean.class, "bool"); - - primitiveMap.put(String.class, "str"); - primitiveMap.put(char.class, "str"); - primitiveMap.put(Character.class, "str"); - - pythonTypeMap.putAll(primitiveMap); - } - - // ============================================ - // Public Entry - // ============================================ - - private static Path outputDir; - - private static void initGenerator() { - generated.clear(); - emitted.clear(); - output.setLength(0); - toDictMethods.clear(); - convertedToOriginal.clear(); - hasImportedUnits = false; - - output.append( - "\"\"\"\n" - + "Auto-generated by PythonGenerator. Do not edit manually.\n" - + "\"\"\"\n\n" - + "from __future__ import annotations\n\n" - + "import json\n" - + "import math as _math\n" - + "from dataclasses import dataclass, field\n" - + "from typing import Any, Callable, List, Optional\n\n"); - - namingStrategy = defaultConfig.namingPolicy(); - } - - private static void writeOutput(String filePath) { - try (FileWriter writer = new FileWriter(outputDir.resolve(filePath).toString())) { - writer.write(output.toString()); - } catch (IOException e) { - throw new RuntimeException(e); - } - } - - public static void generateForObjects(Path outputDir, String filePath, Object... roots) { - PythonGenerator.outputDir = outputDir; - initGenerator(); - - for (Object root : roots) { - resolveType(root.getClass()); - } - - writeOutput(filePath); - } - - public static void generateForClasses(Path outputDir, String filePath, Class... rootClasses) { - PythonGenerator.outputDir = outputDir; - initGenerator(); - - for (Class rootClass : rootClasses) { - resolveType(rootClass); - } - - writeOutput(filePath); - } - - /** Convenience overload that uses the default BASE_PATH as output directory. */ - public static void generateForClasses(String filePath, Class... rootClasses) { - generateForClasses(BASE_PATH, filePath, rootClasses); - } - - // ============================================ - // Core Generation - // ============================================ - - private static void generateType(Class clazz, String suggestedName) { - if (generated.contains(clazz)) return; - if (isPrimitive(clazz)) return; - if (clazz.isEnum()) { - generateEnum(clazz); - return; - } - - generated.add(clazz); - - if (clazz.isAnnotationPresent(JsonType.class)) { - generateDiscriminatedUnion(clazz); - return; - } - - generateDataclass(clazz, suggestedName); - } - - // ============================================ - // Dataclass generation - // ============================================ - - private record PythonField( - String name, - String pyName, - String type, - Class originalType, - boolean isOptional, - boolean supportsDefault, - String generatedDefault) {} - - /** Convert camelCase to snake_case */ - private static String toSnakeCase(String name) { - StringBuilder sb = new StringBuilder(); - for (int i = 0; i < name.length(); i++) { - char c = name.charAt(i); - if (Character.isUpperCase(c)) { - if (i > 0) sb.append('_'); - sb.append(Character.toLowerCase(c)); - } else { - sb.append(c); - } - } - return sb.toString(); - } - - public static void generateDataclass(Class clazz, String suggestedName) { - suggestedName = suggestedName != null ? suggestedName : clazz.getSimpleName(); - if (emitted.contains(clazz)) return; - emitted.add(clazz); - pythonTypeMap.put(clazz, suggestedName); - - StringBuilder sb = new StringBuilder(); - sb.append("\n@dataclass\n"); - sb.append("class ").append(suggestedName).append(":\n"); - - ArrayList fields = new ArrayList<>(); - - for (Field jField : clazz.getDeclaredFields()) { - if (shouldSkipField(jField)) continue; - - Class fieldType = jField.getType(); - Class originalFieldType = fieldType; - - try { - fieldType = JSONConverter.convert(fieldType); - } catch (ConversionException ignored) { - } - - String pyType = resolveType(jField.getGenericType(), originalFieldType.getSimpleName()); - String jsonName = namingStrategy.translateName(jField); - String pyName = toSnakeCase(jsonName); - - boolean isOptional = - jField.isAnnotationPresent(GeneratedOptional.class) - || Optional.class.isAssignableFrom(fieldType); - - boolean supportsDefault = supportsDefaultValue(originalFieldType); - - fields.add( - new PythonField( - jsonName, - pyName, - pyType, - originalFieldType, - isOptional, - supportsDefault, - getGeneratedDefault(jField))); - } - - // Emit fields — fields with defaults must come after fields without - // First: fields without defaults, then fields with defaults - List noDefault = new ArrayList<>(); - List withDefault = new ArrayList<>(); - for (PythonField f : fields) { - if (f.isOptional || f.supportsDefault || f.generatedDefault != null) { - withDefault.add(f); - } else { - noDefault.add(f); - } - } - - if (noDefault.isEmpty() && withDefault.isEmpty()) { - sb.append(" pass\n"); - } - - for (PythonField f : noDefault) { - sb.append(" ").append(f.pyName).append(": "); - sb.append(f.type); - sb.append("\n"); - } - - for (PythonField f : withDefault) { - sb.append(" ").append(f.pyName).append(": "); - if (f.isOptional) { - sb.append("Optional[").append(f.type).append("]"); - sb.append(" = None"); - } else { - sb.append(f.type); - String defaultVal = - f.generatedDefault != null - ? f.generatedDefault - : getPythonDefaultValue(f.originalType, f.type); - sb.append(" = ").append(defaultVal); - } - sb.append("\n"); - } - - // Generate __post_init__ for complex default values - List needsPostInit = new ArrayList<>(); - for (PythonField f : withDefault) { - if (!f.isOptional && isComplexType(f.originalType)) { - needsPostInit.add(f); - } - } - - // Emit to_dict method - sb.append("\n def to_dict(self) -> dict:\n"); - if (fields.isEmpty()) { - sb.append(" return {}\n"); - } else { - sb.append(" d: dict = {}\n"); - for (PythonField f : fields) { - if (f.isOptional) { - sb.append(" if self.").append(f.pyName).append(" is not None:\n"); - sb.append(" d[\"") - .append(f.name) - .append("\"] = _to_dict(self.") - .append(f.pyName) - .append(")\n"); - } else { - sb.append(" d[\"") - .append(f.name) - .append("\"] = _to_dict(self.") - .append(f.pyName) - .append(")\n"); - } - } - sb.append(" return d\n"); - } - - // Emit PythonMethod annotations - emitPythonMethods(clazz, sb); - emitExtraMethods(clazz, sb); - - sb.append("\n"); - output.append(sb); - emitPythonAppends(clazz); - } - - // ============================================ - // Polymorphism - // ============================================ - - private static void generateDiscriminatedUnion(Class baseClass) { - JsonType typeAnnotation = baseClass.getAnnotation(JsonType.class); - String discriminator = typeAnnotation.property(); - - List subtypeNames = new ArrayList<>(); - - pythonTypeMap.put(baseClass, baseClass.getSimpleName()); - - for (JsonSubtype subtype : typeAnnotation.subtypes()) { - Class subClass = subtype.clazz(); - String name = subtype.name(); - - subtypeNames.add(subClass.getSimpleName()); - generateSubtype(subClass, discriminator, name, baseClass); - } - - // Union type alias - output - .append("\n") - .append(baseClass.getSimpleName()) - .append(" = Optional[") - .append(String.join(" | ", subtypeNames)) - .append("]\n\n"); - - emitPythonAppends(baseClass); - } - - private static void generateSubtype( - Class clazz, String discriminator, String discriminatorValue, Class baseClass) { - if (generated.contains(clazz)) return; - generated.add(clazz); - - pythonTypeMap.put(clazz, clazz.getSimpleName()); - - StringBuilder sb = new StringBuilder(); - - sb.append("\n@dataclass\n"); - sb.append("class ").append(clazz.getSimpleName()).append(":\n"); - - // Discriminator field - sb.append(" ") - .append(toSnakeCase(discriminator)) - .append(": str = field(default=\"") - .append(discriminatorValue) - .append("\", init=False)\n"); - - ArrayList fields = new ArrayList<>(); - - for (Field jField : getAllFields(clazz)) { - if (shouldSkipField(jField)) continue; - if (jField.getName().equals(discriminator)) continue; - - Class fieldType = jField.getType(); - Class originalFieldType = fieldType; - - try { - fieldType = JSONConverter.convert(fieldType); - } catch (ConversionException ignored) { - } - - String pyType = resolveType(jField.getGenericType(), originalFieldType.getSimpleName()); - String jsonName = namingStrategy.translateName(jField); - String pyName = toSnakeCase(jsonName); - - boolean isOptional = - jField.isAnnotationPresent(GeneratedOptional.class) - || Optional.class.isAssignableFrom(fieldType); - - boolean supportsDefault = supportsDefaultValue(originalFieldType); - - fields.add( - new PythonField( - jsonName, - pyName, - pyType, - originalFieldType, - isOptional, - supportsDefault, - getGeneratedDefault(jField))); - } - - // Fields without defaults first, then with defaults - List noDefault = new ArrayList<>(); - List withDefault = new ArrayList<>(); - for (PythonField f : fields) { - if (f.isOptional || f.supportsDefault || f.generatedDefault != null) { - withDefault.add(f); - } else { - noDefault.add(f); - } - } - - if (noDefault.isEmpty() && withDefault.isEmpty()) { - // only the discriminator - } - - for (PythonField f : noDefault) { - sb.append(" ").append(f.pyName).append(": "); - sb.append(f.type); - sb.append("\n"); - } - - for (PythonField f : withDefault) { - sb.append(" ").append(f.pyName).append(": "); - if (f.isOptional) { - sb.append("Optional[").append(f.type).append("]"); - sb.append(" = None"); - } else { - sb.append(f.type); - String defaultVal = - f.generatedDefault != null - ? f.generatedDefault - : getPythonDefaultValue(f.originalType, f.type); - sb.append(" = ").append(defaultVal); - } - sb.append("\n"); - } - - // to_dict - sb.append("\n def to_dict(self) -> dict:\n"); - sb.append(" d: dict = {\"") - .append(discriminator) - .append("\": self.") - .append(toSnakeCase(discriminator)) - .append("}\n"); - for (PythonField f : fields) { - if (f.isOptional) { - sb.append(" if self.").append(f.pyName).append(" is not None:\n"); - sb.append(" d[\"") - .append(f.name) - .append("\"] = _to_dict(self.") - .append(f.pyName) - .append(")\n"); - } else { - sb.append(" d[\"") - .append(f.name) - .append("\"] = _to_dict(self.") - .append(f.pyName) - .append(")\n"); - } - } - sb.append(" return d\n"); - - // Methods from base class and subclass - emitPythonMethods(baseClass, sb); - emitPythonMethods(clazz, sb); - emitExtraMethods(baseClass, sb); - emitExtraMethods(clazz, sb); - - sb.append("\n"); - output.append(sb); - emitPythonAppends(clazz); - } - - // ============================================ - // Type Resolution - // ============================================ - - private static String resolveType(Type type) { - return resolveType(type, null); - } - - private static String resolveType(Type type, String suggestedName) { - if (type instanceof Class clazz) { - boolean isUnit = isUnitType(clazz); - if (isUnit) { - ensureUnitsIncluded(); - } - - try { - Class> wrapper = JSONConverter.convert(clazz); - if (wrapper != null) { - suggestedName = clazz.getSimpleName(); - convertedToOriginal.put(wrapper, clazz); - clazz = wrapper; - } - } catch (JSONConverter.ConversionException ignored) { - } - - if (primitiveMap.containsKey(clazz)) { - return primitiveMap.get(clazz); - } - - if (clazz.isArray()) { - return "List[" + resolveType(clazz.getComponentType()) + "]"; - } - - if (Map.class.isAssignableFrom(clazz)) { - return "dict"; - } - - suggestedName = suggestedName != null ? suggestedName : clazz.getSimpleName(); - if (isUnit) { - return "units.Measure"; - } - generateType(clazz, suggestedName); - return suggestedName; - } - - if (type instanceof ParameterizedType pt) { - Type raw = pt.getRawType(); - Type[] args = pt.getActualTypeArguments(); - if (raw instanceof Class rawClass) { - boolean isUnit = isUnitType(rawClass); - if (isUnit) { - ensureUnitsIncluded(); - } - - if (Collection.class.isAssignableFrom(rawClass)) { - return "List[" + resolveType(args[0]) + "]"; - } - - if (Map.class.isAssignableFrom(rawClass)) { - return "dict"; - } - - if (Optional.class.isAssignableFrom(rawClass)) { - return "Optional[" + resolveType(args[0]) + "]"; - } - - try { - Class> wrapper = JSONConverter.convert(rawClass); - if (wrapper != null) { - suggestedName = rawClass.getSimpleName(); - convertedToOriginal.put(wrapper, rawClass); - rawClass = wrapper; - } - } catch (JSONConverter.ConversionException ignored) { - } - - if (isUnitType(rawClass)) { - isUnit = true; - ensureUnitsIncluded(); - } - - suggestedName = suggestedName != null ? suggestedName : rawClass.getSimpleName(); - generateType(rawClass, suggestedName); - if (isUnit) { - return "units.Measure"; - } - return suggestedName; - } - } - - return "Any"; - } - - // ============================================ - // Enums - // ============================================ - - private static void generateEnum(Class clazz) { - if (generated.contains(clazz)) return; - generated.add(clazz); - pythonTypeMap.put(clazz, clazz.getSimpleName()); - - Object[] constants = clazz.getEnumConstants(); - List values = new ArrayList<>(); - for (Object constant : constants) { - values.add("\"" + constant.toString() + "\""); - } - - output - .append("\n") - .append(clazz.getSimpleName()) - .append(" = str # Literal[") - .append(String.join(", ", values)) - .append("]\n\n"); - } - - // ============================================ - // Python-specific code injection - // ============================================ - - private static void emitPythonMethods(Class clazz, StringBuilder sb) { - PythonMethod[] methods = clazz.getAnnotationsByType(PythonMethod.class); - for (PythonMethod method : methods) { - sb.append("\n"); - if (!method.comment().isEmpty()) { - // Emit as docstring inside the method - } - sb.append(" "); - if (method.isStatic()) { - sb.append("@staticmethod\n "); - } - sb.append("def ").append(method.name()).append("("); - if (!method.isStatic()) { - sb.append("self"); - } - sb.append(")"); - if (!method.returnType().equals("None") && !method.returnType().equals("self")) { - sb.append(" -> ").append(method.returnType()); - } - sb.append(":\n"); - if (!method.comment().isEmpty()) { - sb.append(" \"\"\"").append(method.comment()).append("\"\"\"\n"); - } - for (String line : method.body()) { - sb.append(" ").append(line).append("\n"); - } - } - } - - private static void emitExtraMethods(Class clazz, StringBuilder sb) { - List methods = extraMethods.get(clazz); - // If not found directly, try the original (pre-JSONConverter) class - if (methods == null) { - Class original = convertedToOriginal.get(clazz); - if (original != null) { - methods = extraMethods.get(original); - } - } - if (methods == null) return; - for (String methodCode : methods) { - sb.append("\n"); - // Re-indent each line with 4-space class-level indent. - // Java text blocks strip the common leading whitespace, so the code - // arrives unindented — we need to add the class body indent back. - for (String line : methodCode.split("\n", -1)) { - if (line.isEmpty()) { - sb.append("\n"); - } else { - sb.append(" ").append(line).append("\n"); - } - } - } - } - - private static void emitPythonAppends(Class clazz) { - PythonAppend[] appends = clazz.getAnnotationsByType(PythonAppend.class); - for (PythonAppend append : appends) { - if (append.atTop()) { - // Insert after the initial imports block - int insertPos = output.indexOf("from typing import"); - if (insertPos >= 0) { - insertPos = output.indexOf("\n", insertPos) + 1; - output.insert(insertPos, append.value() + "\n"); - } else { - output.insert(0, append.value() + "\n"); - } - } else { - output.append(append.value()).append("\n"); - } - } - } - - // ============================================ - // Utilities - // ============================================ - - private static String stripUnitSuffix(String name) { - return name.endsWith("Unit") ? name.substring(0, name.length() - 4) : name; - } - - private static boolean isPrimitive(Class clazz) { - return clazz.isPrimitive() || primitiveMap.containsKey(clazz); - } - - private static List getAllFields(Class clazz) { - List fields = new ArrayList<>(); - while (clazz != null) { - fields.addAll(Arrays.asList(clazz.getDeclaredFields())); - clazz = clazz.getSuperclass(); - } - return fields; - } - - private static boolean isUnitType(Class clazz) { - return Measure.class.isAssignableFrom(clazz) || Unit.class.isAssignableFrom(clazz); - } - - private static boolean isComplexType(Class type) { - return !isPrimitive(type) && !type.isEnum() && !isUnitType(type); - } - - private static String getGeneratedDefault(Field field) { - GeneratedDefault generatedDefault = field.getAnnotation(GeneratedDefault.class); - return generatedDefault == null ? null : generatedDefault.value(); - } - - private static boolean supportsDefaultValue(Type type) { - if (!defaultChecked.contains(type)) { - getPythonDefaultValue(type, ""); - } - return defaultSupported.contains(type); - } - - private static String getPythonDefaultValue(Type type, String pyTypeName) { - if (type instanceof Class clazz) { - if (primitiveMap.containsKey(clazz)) { - defaultChecked.add(type); - defaultSupported.add(type); - String pyType = primitiveMap.get(clazz); - switch (pyType) { - case "int": - return "0"; - case "float": - return "0.0"; - case "bool": - return "False"; - case "str": - return "\"\""; - default: - return "None"; - } - } - - if (clazz.isArray() || Collection.class.isAssignableFrom(clazz)) { - defaultChecked.add(type); - defaultSupported.add(type); - return "field(default_factory=list)"; - } - - if (clazz.isEnum()) { - Object[] constants = clazz.getEnumConstants(); - if (constants.length > 0) { - defaultChecked.add(type); - defaultSupported.add(type); - return "\"" + constants[0].toString() + "\""; - } - } - - if (Modifier.isAbstract(clazz.getModifiers())) { - defaultChecked.add(type); - defaultSupported.add(type); - return "None"; - } - - if (isUnitType(clazz)) { - defaultChecked.add(type); - defaultSupported.add(type); - return "None"; - } - - try { - var wrapper = JSONConverter.convert(clazz); - if (wrapper != null) { - String wrapperName = pythonTypeMap.getOrDefault(clazz, clazz.getSimpleName()); - defaultChecked.add(type); - defaultSupported.add(type); - return "field(default_factory=" + wrapperName + ")"; - } - } catch (ConversionException ignored) { - } - - // Check if all sub-fields support defaults - for (Field field : getAllFields(clazz)) { - if (shouldSkipField(field)) continue; - if (field.isAnnotationPresent(GeneratedOptional.class)) continue; - if (!supportsDefaultValue(field.getType())) { - defaultChecked.add(type); - return "None"; - } - } - - defaultChecked.add(type); - defaultSupported.add(type); - String className = pythonTypeMap.getOrDefault(clazz, clazz.getSimpleName()); - return "field(default_factory=" + className + ")"; - } - - if (type instanceof ParameterizedType pt) { - Type raw = pt.getRawType(); - if (raw instanceof Class rawClass) { - if (Collection.class.isAssignableFrom(rawClass)) { - defaultChecked.add(type); - defaultSupported.add(type); - return "field(default_factory=list)"; - } - if (Map.class.isAssignableFrom(rawClass)) { - defaultChecked.add(type); - defaultSupported.add(type); - return "field(default_factory=dict)"; - } - if (Optional.class.isAssignableFrom(rawClass)) { - defaultChecked.add(type); - defaultSupported.add(type); - return "None"; - } - } - } - - defaultChecked.add(type); - defaultSupported.add(type); - return "None"; - } - - private static void ensureUnitsIncluded() { - if (!hasGeneratedUnits) { - generateUnitsFile(outputDir); - } - if (hasImportedUnits) return; - hasImportedUnits = true; - output.append("from . import units\n\n"); - } -} diff --git a/src/main/java/frc/robot/util/ts/PythonGeometryMethods.java b/src/main/java/frc/robot/util/ts/PythonGeometryMethods.java deleted file mode 100644 index 895ad113..00000000 --- a/src/main/java/frc/robot/util/ts/PythonGeometryMethods.java +++ /dev/null @@ -1,399 +0,0 @@ -package frc.robot.util.ts; - -import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Pose3d; -import edu.wpi.first.math.geometry.Rotation2d; -import edu.wpi.first.math.geometry.Rotation3d; -import edu.wpi.first.math.geometry.Transform2d; -import edu.wpi.first.math.geometry.Transform3d; -import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.math.geometry.Translation3d; - -/** - * Registers WPILib-style geometry methods (plus, minus, transform_by, etc.) with PythonGenerator so - * they appear on the generated dataclasses in auto_action.py. - * - *

Call {@link #registerAll()} before {@code PythonGenerator.generateForClasses(...)}. - */ -public final class PythonGeometryMethods { - - private PythonGeometryMethods() {} - - public static void registerAll() { - registerRotation2dMethods(); - registerTranslation2dMethods(); - registerPose2dMethods(); - registerTransform2dMethods(); - registerRotation3dMethods(); - registerTranslation3dMethods(); - registerPose3dMethods(); - registerTransform3dMethods(); - } - - // ========================================================================= - // Rotation2d - // ========================================================================= - - private static void registerRotation2dMethods() { - PythonGenerator.registerExtraMethods( - Rotation2d.class, - // properties - m( - """ - @property - def radians(self) -> float: - return _math.radians(self.degrees)"""), - m( - """ - @property - def cos(self) -> float: - return _math.cos(self.radians)"""), - m( - """ - @property - def sin(self) -> float: - return _math.sin(self.radians)"""), - // constructors - m( - """ - @staticmethod - def from_radians(radians: float) -> Rotation2d: - return Rotation2d(degrees=_math.degrees(radians))"""), - // operators - m( - """ - def plus(self, other: Rotation2d) -> Rotation2d: - return Rotation2d(degrees=self.degrees + other.degrees)"""), - m( - """ - def minus(self, other: Rotation2d) -> Rotation2d: - return Rotation2d(degrees=self.degrees - other.degrees)"""), - m( - """ - def unary_minus(self) -> Rotation2d: - return Rotation2d(degrees=-self.degrees)"""), - m( - """ - def rotate_by(self, other: Rotation2d) -> Rotation2d: - return self.plus(other)"""), - // dunder operators - m( - """ - def __neg__(self) -> Rotation2d: - return self.unary_minus()"""), - m( - """ - def __add__(self, other: Rotation2d) -> Rotation2d: - return self.plus(other)"""), - m( - """ - def __sub__(self, other: Rotation2d) -> Rotation2d: - return self.minus(other)""")); - } - - // ========================================================================= - // Translation2d - // ========================================================================= - - private static void registerTranslation2dMethods() { - PythonGenerator.registerExtraMethods( - Translation2d.class, - // properties - m( - """ - @property - def norm(self) -> float: - return _math.hypot(self.x, self.y)"""), - // operators - m( - """ - def plus(self, other: Translation2d) -> Translation2d: - return Translation2d(x=self.x + other.x, y=self.y + other.y)"""), - m( - """ - def minus(self, other: Translation2d) -> Translation2d: - return Translation2d(x=self.x - other.x, y=self.y - other.y)"""), - m( - """ - def unary_minus(self) -> Translation2d: - return Translation2d(x=-self.x, y=-self.y)"""), - m( - """ - def times(self, scalar: float) -> Translation2d: - return Translation2d(x=self.x * scalar, y=self.y * scalar)"""), - m( - """ - def div(self, scalar: float) -> Translation2d: - return Translation2d(x=self.x / scalar, y=self.y / scalar)"""), - m( - """ - def rotate_by(self, rotation: Rotation2d) -> Translation2d: - c = rotation.cos - s = rotation.sin - return Translation2d(x=self.x * c - self.y * s, y=self.x * s + self.y * c)"""), - m( - """ - def distance(self, other: Translation2d) -> float: - return self.minus(other).norm"""), - // dunder operators - m( - """ - def __neg__(self) -> Translation2d: - return self.unary_minus()"""), - m( - """ - def __add__(self, other: Translation2d) -> Translation2d: - return self.plus(other)"""), - m( - """ - def __sub__(self, other: Translation2d) -> Translation2d: - return self.minus(other)"""), - m( - """ - def __mul__(self, scalar: float) -> Translation2d: - return self.times(scalar)"""), - m( - """ - def __truediv__(self, scalar: float) -> Translation2d: - return self.div(scalar)"""), - // conversions - m( - """ - def to_pose2d(self, rotation: Optional[Rotation2d] = None) -> Pose2d: - \"\"\"Convert to a Pose2d, optionally with a rotation (defaults to 0 deg).\"\"\" - return Pose2d( - translation=Translation2d(x=self.x, y=self.y), - rotation=rotation if rotation is not None else Rotation2d(), - )""")); - } - - // ========================================================================= - // Pose2d - // ========================================================================= - - private static void registerPose2dMethods() { - PythonGenerator.registerExtraMethods( - Pose2d.class, - m( - """ - def plus(self, other: Transform2d) -> Pose2d: - \"\"\"Apply a transform (equivalent to transform_by).\"\"\" - return self.transform_by(other)"""), - m( - """ - def transform_by(self, transform: Transform2d) -> Pose2d: - \"\"\"Apply a Transform2d to this pose (WPILib transformBy).\"\"\" - t_trans = transform.translation if transform.translation else Translation2d() - t_rot = transform.rotation if transform.rotation else Rotation2d() - new_translation = self.translation.plus(t_trans.rotate_by(self.rotation)) - new_rotation = self.rotation.plus(t_rot) - return Pose2d(translation=new_translation, rotation=new_rotation)"""), - m( - """ - def translate_by(self, translation: Translation2d) -> Pose2d: - \"\"\"Translate this pose by a Translation2d (no rotation change).\"\"\" - return Pose2d( - translation=self.translation.plus(translation), - rotation=Rotation2d(degrees=self.rotation.degrees), - )"""), - m( - """ - def rotate_by(self, rotation: Rotation2d) -> Pose2d: - \"\"\"Rotate this pose by a Rotation2d.\"\"\" - return Pose2d( - translation=self.translation.rotate_by(rotation), - rotation=self.rotation.plus(rotation), - )"""), - m( - """ - def rotate_around(self, point: Translation2d, rotation: Rotation2d) -> Pose2d: - \"\"\"Rotate this pose around a given point.\"\"\" - new_translation = self.translation.minus(point).rotate_by(rotation).plus(point) - new_rotation = self.rotation.plus(rotation) - return Pose2d(translation=new_translation, rotation=new_rotation)"""), - m( - """ - def relative_to(self, other: Pose2d) -> Pose2d: - \"\"\"Express this pose relative to other's coordinate frame.\"\"\" - inv_rot = other.rotation.unary_minus() - delta = self.translation.minus(other.translation).rotate_by(inv_rot) - new_rot = self.rotation.minus(other.rotation) - return Pose2d(translation=delta, rotation=new_rot)"""), - m( - """ - def inverse(self) -> Pose2d: - inv_rot = self.rotation.unary_minus() - inv_trans = self.translation.unary_minus().rotate_by(inv_rot) - return Pose2d(translation=inv_trans, rotation=inv_rot)"""), - // conversions - m( - """ - def to_pose3d(self, z: float = 0.0) -> Pose3d: - return Pose3d( - translation=Translation3d(x=self.translation.x, y=self.translation.y, z=z), - rotation=Rotation3d(yaw=self.rotation.degrees), - )"""), - m( - """ - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.translation.x, y=self.translation.y)""")); - } - - // ========================================================================= - // Transform2d - // ========================================================================= - - private static void registerTransform2dMethods() { - PythonGenerator.registerExtraMethods( - Transform2d.class, - m( - """ - def plus(self, other: Transform2d) -> Transform2d: - \"\"\"Compose two transforms.\"\"\" - return Transform2d( - translation=self.translation.plus(other.translation.rotate_by(self.rotation)), - rotation=self.rotation.plus(other.rotation), - )"""), - m( - """ - def inverse(self) -> Transform2d: - inv_rot = self.rotation.unary_minus() - inv_trans = self.translation.unary_minus().rotate_by(inv_rot) - return Transform2d(translation=inv_trans, rotation=inv_rot)""")); - } - - // ========================================================================= - // Rotation3d - // ========================================================================= - - private static void registerRotation3dMethods() { - PythonGenerator.registerExtraMethods( - Rotation3d.class, - m( - """ - def plus(self, other: Rotation3d) -> Rotation3d: - return Rotation3d(roll=self.roll + other.roll, pitch=self.pitch + other.pitch, yaw=self.yaw + other.yaw)"""), - m( - """ - def minus(self, other: Rotation3d) -> Rotation3d: - return Rotation3d(roll=self.roll - other.roll, pitch=self.pitch - other.pitch, yaw=self.yaw - other.yaw)"""), - m( - """ - def unary_minus(self) -> Rotation3d: - return Rotation3d(roll=-self.roll, pitch=-self.pitch, yaw=-self.yaw)"""), - m( - """ - def to_rotation2d(self) -> Rotation2d: - return Rotation2d(degrees=self.yaw)""")); - } - - // ========================================================================= - // Translation3d - // ========================================================================= - - private static void registerTranslation3dMethods() { - PythonGenerator.registerExtraMethods( - Translation3d.class, - m( - """ - def plus(self, other: Translation3d) -> Translation3d: - return Translation3d(x=self.x + other.x, y=self.y + other.y, z=self.z + other.z)"""), - m( - """ - def minus(self, other: Translation3d) -> Translation3d: - return Translation3d(x=self.x - other.x, y=self.y - other.y, z=self.z - other.z)"""), - m( - """ - def unary_minus(self) -> Translation3d: - return Translation3d(x=-self.x, y=-self.y, z=-self.z)"""), - m( - """ - def times(self, scalar: float) -> Translation3d: - return Translation3d(x=self.x * scalar, y=self.y * scalar, z=self.z * scalar)"""), - m( - """ - @property - def norm(self) -> float: - return _math.sqrt(self.x ** 2 + self.y ** 2 + self.z ** 2)"""), - m( - """ - def distance(self, other: Translation3d) -> float: - return self.minus(other).norm"""), - // conversions - m( - """ - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.x, y=self.y)"""), - m( - """ - def to_pose2d(self, rotation: Optional[Rotation2d] = None) -> Pose2d: - \"\"\"Convert to a Pose2d (dropping Z), optionally with a rotation.\"\"\" - return Pose2d( - translation=Translation2d(x=self.x, y=self.y), - rotation=rotation if rotation is not None else Rotation2d(), - )""")); - } - - // ========================================================================= - // Pose3d - // ========================================================================= - - private static void registerPose3dMethods() { - PythonGenerator.registerExtraMethods( - Pose3d.class, - m( - """ - def translate_by(self, translation: Translation3d) -> Pose3d: - return Pose3d( - translation=self.translation.plus(translation), - rotation=Rotation3d(roll=self.rotation.roll, pitch=self.rotation.pitch, yaw=self.rotation.yaw), - )"""), - // conversions - m( - """ - def to_pose2d(self) -> Pose2d: - return Pose2d( - translation=Translation2d(x=self.translation.x, y=self.translation.y), - rotation=Rotation2d(degrees=self.rotation.yaw), - )"""), - m( - """ - def to_translation2d(self) -> Translation2d: - return Translation2d(x=self.translation.x, y=self.translation.y)""")); - } - - // ========================================================================= - // Transform3d - // ========================================================================= - - private static void registerTransform3dMethods() { - PythonGenerator.registerExtraMethods( - Transform3d.class, - m( - """ - def plus(self, other: Transform3d) -> Transform3d: - return Transform3d( - translation=self.translation.plus(other.translation), - rotation=self.rotation.plus(other.rotation), - )"""), - m( - """ - def inverse(self) -> Transform3d: - return Transform3d( - translation=self.translation.unary_minus(), - rotation=self.rotation.unary_minus(), - )""")); - } - - /** - * Helper to trim text block leading whitespace while keeping relative indentation. Text blocks - * may have leading newlines which we strip. - */ - private static String m(String textBlock) { - // Strip the leading newline that text blocks produce - if (textBlock.startsWith("\n")) { - textBlock = textBlock.substring(1); - } - return textBlock; - } -} diff --git a/src/main/java/frc/robot/util/ts/PythonMethod.java b/src/main/java/frc/robot/util/ts/PythonMethod.java deleted file mode 100644 index 131c50a3..00000000 --- a/src/main/java/frc/robot/util/ts/PythonMethod.java +++ /dev/null @@ -1,42 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Repeatable; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** - * Defines a Python method to be injected into the generated dataclass. Place on a Java class that - * is processed by PythonGenerator. - * - *

Example: - * - * 

- * @PythonMethod(
- *     name = "add",
- *     returnType = "self",
- *     body = {"_call_hook(self)", "return self"},
- *     comment = "Adds this command to the current auto and returns itself for chaining."
- * )
- *
- */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.TYPE) -@Repeatable(PythonMethods.class) -public @interface PythonMethod { - /** The method name. */ - String name(); - - /** The Python return type annotation (e.g. "self", "None"). Defaults to "None". */ - String returnType() default "None"; - - /** The method body as individual statements. Each element becomes one indented line. */ - String[] body(); - - /** An optional docstring for the method. */ - String comment() default ""; - - /** Whether this is a static method. Defaults to false. */ - boolean isStatic() default false; -} diff --git a/src/main/java/frc/robot/util/ts/PythonMethods.java b/src/main/java/frc/robot/util/ts/PythonMethods.java deleted file mode 100644 index f6de875e..00000000 --- a/src/main/java/frc/robot/util/ts/PythonMethods.java +++ /dev/null @@ -1,13 +0,0 @@ -package frc.robot.util.ts; - -import java.lang.annotation.ElementType; -import java.lang.annotation.Retention; -import java.lang.annotation.RetentionPolicy; -import java.lang.annotation.Target; - -/** Container annotation for repeatable {@link PythonMethod} annotations. */ -@Retention(RetentionPolicy.RUNTIME) -@Target(ElementType.TYPE) -public @interface PythonMethods { - PythonMethod[] value(); -} From f73591d1afa481ec7a919ed077d3af180e4c36a4 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 21:41:48 -0400 Subject: [PATCH 02/20] Regenerate Autos.json from the Java generator Structurally identical to the previous file except the LeftClimb/RightClimb target poses, which now use the WELDED AprilTag layout (the deploy fieldType constant) instead of the andymark layout the old Python generator hardcoded. The remaining line churn is formatting only: the Java/gson output uses 2-space indentation and always emits doubles (e.g. -90.0, 1.0), whereas the Python output used 4-space indentation and bare int literals. Autos.json is excluded from spotless and the round-trip check is structural, so the format is inconsequential. Co-Authored-By: Claude Opus 4.8 --- src/main/deploy/constants/comp/Autos.json | 6498 ++++++++++----------- 1 file changed, 3249 insertions(+), 3249 deletions(-) diff --git a/src/main/deploy/constants/comp/Autos.json b/src/main/deploy/constants/comp/Autos.json index 1b9a404c..154634e0 100644 --- a/src/main/deploy/constants/comp/Autos.json +++ b/src/main/deploy/constants/comp/Autos.json @@ -1,3312 +1,3312 @@ { - "autos": { - "Literally just shoot Auto": { - "rootAction": { - "type": "Sequence", + "autos": { + "Aggressive Depot From Bump": { + "rootAction": { + "actions": [ + { + "actions": [ + { + "type": "StartShooting" + }, + { + "delay": { + "value": 1.5, + "unit": "Second" + }, + "type": "Wait" + }, + { + "actions": [ + { + "target": { + "reference": { + "rotation": { + "degrees": -90.0 + }, + "translation": { + "x": 3.5, + "y": 7.55 + } + }, + "entryAngle": { + "degrees": 0.0 + }, + "velocity": 4.2 + }, + "constraints": { + "velocity": 2.0, + "acceleration": 2.0, + "jerk": 2.0 + }, + "pidGains": { + "kP": 1.5, + "kI": 0.0, + "kD": 0.0, + "kS": 0.0, + "kG": 0.0, + "kV": 0.0, + "kA": 0.0 + }, + "canMirror": true, + "type": "AutoPilotAction" + } + ], + "type": "Sequence" + }, + { + "type": "StopShooting" + }, + { + "target": { + "reference": { + "rotation": { + "degrees": -90.0 + }, + "translation": { + "x": 5.2, + "y": 7.4 + } + }, + "velocity": 5.1 + }, + "constraints": { + "velocity": 5.1, + "acceleration": 200.0, + "jerk": 0.0 + }, + "canMirror": true, + "type": "XBasedAutoPilotAction" + }, + { + "actions": [ + { + "type": "DeployIntakeAction" + }, + { + "pathName": "Left Side Aggressive Sweep Intake In", + "mirrorPath": false, + "canMirror": true, + "type": "FollowPathPlannerPath" + } + ], + "type": "Parallel" + }, + { "actions": [ - { + { + "actions": [ + { + "delay": { + "value": 0.6, + "unit": "Second" + }, + "type": "Wait" + }, + { "type": "StartShooting" + } + ], + "type": "Sequence" + }, + { + "pathName": "Left Bump To Alliance", + "mirrorPath": false, + "canMirror": true, + "type": "FollowPathPlannerPath" + } + ], + "type": "Parallel" + }, + { + "delay": { + "value": 0.1, + "unit": "Second" + }, + "type": "Wait" + }, + { + "target": { + "reference": { + "rotation": { + "degrees": -90.0 + }, + "translation": { + "x": 2.7, + "y": 5.75 } - ] - }, - "canBeMirrored": false, - "shouldBeFlipped": false - }, - "Aggressive Depot": { - "rootAction": { - "type": "Sequence", + }, + "velocity": 0.0 + }, + "canMirror": true, + "type": "AutoPilotAction" + }, + { "actions": [ - { - "type": "Sequence", - "actions": [ - { - "type": "XBasedAutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": -90 - }, - "translation": { - "x": 5.2, - "y": 7.4 - } - }, - "velocity": 5.1 - }, - "constraints": { - "velocity": 5.1, - "acceleration": 200.0, - "jerk": 0.0 - }, - "canMirror": true - }, - { - "type": "Parallel", - "actions": [ - { - "type": "DeployIntakeAction" - }, - { - "type": "FollowPathPlannerPath", - "pathName": "Left Side Aggressive Sweep Intake In", - "mirrorPath": false, - "canMirror": true - } - ] - }, - { - "type": "Parallel", - "actions": [ - { - "type": "Sequence", - "actions": [ - { - "type": "Wait", - "delay": { - "value": 0.6, - "unit": "Second" - } - }, - { - "type": "StartShooting" - } - ] - }, - { - "type": "FollowPathPlannerPath", - "pathName": "Left Bump To Alliance", - "mirrorPath": false, - "canMirror": true - } - ] - }, - { - "type": "Wait", - "delay": { - "value": 0.1, - "unit": "Second" - } - }, - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": -90 - }, - "translation": { - "x": 2.7, - "y": 5.75 - } - }, - "velocity": 0.0 - }, - "canMirror": true - }, - { - "type": "Sequence", - "actions": [ - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.25, - "unit": "Second" - } - } - ] - }, - { - "type": "Sequence", - "actions": [ - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - } - ] - }, - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": -90 - }, - "translation": { - "x": 3.5, - "y": 7.55 - } - }, - "entryAngle": { - "degrees": 0 - }, - "velocity": 4.2 - }, - "constraints": { - "velocity": 2.0, - "acceleration": 2.0, - "jerk": 2.0 - }, - "pidGains": { - "kP": 1.5, - "kI": 0.0, - "kD": 0.0, - "kS": 0.0, - "kG": 0.0, - "kV": 0.0, - "kA": 0.0 - }, - "canMirror": true - }, - { - "type": "Parallel", - "actions": [ - { - "type": "StopShooting" - }, - { - "type": "Sequence", - 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"value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - } - ] - } - ] - }, - "canBeMirrored": false, - "shouldBeFlipped": true - }, - "Center Depot": { - "rootAction": { - "type": "Sequence", + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.25, + "unit": "Second" + }, + "type": "Wait" + } + ], + "type": "Sequence" + }, + { "actions": [ - { - "type": "DeployIntakeAction" + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" }, - { - "type": "StartShooting" + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" }, - { - "type": "NetworkConfigurableWait", - "name": "Center Depot - Shoot Preload", - "defaultDelay": { - "value": 4.0, - "unit": "Second" - } + "type": "Wait" + } + ], + "type": "Sequence" + } + ], + "type": "Sequence" + }, + { + "actions": [ + { + "target": { + "reference": { + "rotation": { + "degrees": 135.0 }, - { - "type": "Sequence", - "actions": [ - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": 135 - }, - "translation": { - "x": 1.5, - "y": 5.1 - } - }, - "velocity": 1.0 - }, - "profile": { - "constraints": { - "velocity": 5.1, - "acceleration": 10.0, - "jerk": 3.0 - }, - "errorXY": { - "value": 0.1, - "unit": "Meter" - }, - "errorTheta": { - "value": 4.0, - "unit": "Degree" - }, - "beelineRadius": { - "value": 0.2, - "unit": "Meter" - } - }, - "canMirror": true - }, - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": 135 - }, - "translation": { - "x": 0.715, - "y": 5.1 - } - }, - "velocity": 0.0 - }, - "constraints": { - "velocity": 1.0, - "acceleration": 3.0, - "jerk": 3.0 - }, - "pidGains": { - "kP": 1.5, - "kI": 0.0, - "kD": 0.0, - "kS": 0.0, - "kG": 0.0, - "kV": 0.0, - "kA": 0.0 - }, - "canMirror": true - }, - { - "type": "Wait", - "delay": { - "value": 0.1, - "unit": "Second" - } - }, - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": 135 - }, - "translation": { - "x": 0.715, - "y": 6.4 - } - }, - "velocity": 0.0 - }, - "constraints": { - "velocity": 1.0, - "acceleration": 3.0, - "jerk": 2.0 - }, - "pidGains": { - "kP": 1.5, - "kI": 0.0, - "kD": 0.0, - "kS": 0.0, - "kG": 0.0, - "kV": 0.0, - "kA": 0.0 - }, - "canMirror": true - }, - { - "type": "Wait", - "delay": { - "value": 0.1, - "unit": "Second" - } - }, - { - "type": "AutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": 135 - }, - "translation": { - "x": 1.0, - "y": 6.8 - } - }, - "velocity": 0.0 - }, - "constraints": { - "velocity": 5.1, - "acceleration": 5.0, - "jerk": 3.0 - }, - "pidGains": { - "kP": 1.5, - "kI": 0.0, - "kD": 0.0, - "kS": 0.0, - "kG": 0.0, - "kV": 0.0, - "kA": 0.0 - }, - "canMirror": true - } - ] + "translation": { + "x": 1.5, + "y": 5.1 + } + }, + "velocity": 1.0 + }, + "profile": { + "constraints": { + "velocity": 5.1, + "acceleration": 10.0, + "jerk": 3.0 + }, + "errorXY": { + "value": 0.1, + "unit": "Meter" + }, + "errorTheta": { + "value": 4.0, + "unit": "Degree" + }, + "beelineRadius": { + "value": 0.2, + "unit": "Meter" + } + }, + "canMirror": true, + "type": "AutoPilotAction" + }, + { + "target": { + "reference": { + "rotation": { + "degrees": 135.0 }, - { - "type": "Wait", - "delay": { - "value": 2.0, - "unit": "Second" - } + "translation": { + "x": 0.715, + "y": 5.1 + } + }, + "velocity": 0.0 + }, + "constraints": { + "velocity": 1.0, + "acceleration": 3.0, + "jerk": 3.0 + }, + "pidGains": { + "kP": 1.5, + "kI": 0.0, + "kD": 0.0, + "kS": 0.0, + "kG": 0.0, + "kV": 0.0, + "kA": 0.0 + }, + "canMirror": true, + "type": "AutoPilotAction" + }, + { + "delay": { + "value": 0.1, + "unit": "Second" + }, + "type": "Wait" + }, + { + "target": { + "reference": { + "rotation": { + "degrees": 135.0 }, - { - "type": "Sequence", - "actions": [ - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "StowIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - }, - { - "type": "DeployIntakeAction" - }, - { - "type": "Wait", - "delay": { - "value": 0.16666666666666666, - "unit": "Second" - } - } - ] + "translation": { + "x": 0.715, + "y": 6.4 + } + }, + "velocity": 0.0 + }, + "constraints": { + "velocity": 1.0, + "acceleration": 3.0, + "jerk": 2.0 + }, + "pidGains": { + "kP": 1.5, + "kI": 0.0, + "kD": 0.0, + "kS": 0.0, + "kG": 0.0, + "kV": 0.0, + "kA": 0.0 + }, + "canMirror": true, + "type": "AutoPilotAction" + }, + { + "delay": { + "value": 0.1, + "unit": "Second" + }, + "type": "Wait" + }, + { + "target": { + "reference": { + "rotation": { + "degrees": 135.0 + }, + "translation": { + "x": 1.0, + "y": 6.8 } - ] + }, + "velocity": 0.0 + }, + "constraints": { + "velocity": 5.1, + "acceleration": 5.0, + "jerk": 3.0 + }, + "pidGains": { + "kP": 1.5, + "kI": 0.0, + "kD": 0.0, + "kS": 0.0, + "kG": 0.0, + "kV": 0.0, + "kA": 0.0 + }, + "canMirror": true, + "type": "AutoPilotAction" + } + ], + "type": "Sequence" + }, + { + "delay": { + "value": 1.0, + "unit": "Second" }, - "canBeMirrored": false, - "shouldBeFlipped": true - } - }, - "routines": { - "LeftClimb": { - "type": "Sequence", + "type": "Wait" + }, + { "actions": [ - { - "type": "Parallel", - "actions": [ - { - "type": "Sequence", - "actions": [ - { - "type": "XBasedAutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": -90.0 - }, - "translation": { - "x": 1.515154, - "y": 4.1813182 - } - }, - "entryAngle": { - "degrees": 0 - }, - "velocity": 0.0 - }, - "constraints": { - "velocity": 2.0, - "acceleration": 2.0, - "jerk": 0.1 - }, - "canMirror": true - } - ] - }, - { - "type": "ClimbSearchAction" - } - ] + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" }, - { - "type": "Wait", - "delay": { - "value": 0.5, - "unit": "Second" - } + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "StowIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "DeployIntakeAction" + }, + { + "delay": { + "value": 0.16666666666666666, + "unit": "Second" + }, + "type": "Wait" + } + ], + "type": "Sequence" + } + ], + "type": "Sequence" + }, + "canBeMirrored": false, + "shouldBeFlipped": true + } + }, + "routines": { + "RightClimb": { + "actions": [ + { + "actions": [ + { + "actions": [ { - "type": "ClimbHangAction" + "target": { + "reference": { + "rotation": { + "degrees": -90.0 + }, + "translation": { + "x": 1.515154, + "y": 3.3395875999999998 + } + }, + "entryAngle": { + "degrees": 0.0 + }, + "velocity": 0.0 + }, + "constraints": { + "velocity": 2.0, + "acceleration": 2.0, + "jerk": 0.1 + }, + "canMirror": true, + "type": "XBasedAutoPilotAction" } - ] + ], + "type": "Sequence" + }, + { + "type": "ClimbSearchAction" + } + ], + "type": "Parallel" }, - "RightClimb": { - "type": "Sequence", - "actions": [ - { - "type": "Parallel", - "actions": [ - { - "type": "Sequence", - "actions": [ - { - "type": "XBasedAutoPilotAction", - "target": { - "reference": { - "rotation": { - "degrees": -90.0 - }, - "translation": { - "x": 1.515154, - "y": 3.3240682 - } - }, - "entryAngle": { - "degrees": 0 - }, - "velocity": 0.0 - }, - "constraints": { - "velocity": 2.0, - "acceleration": 2.0, - "jerk": 0.1 - }, - "canMirror": true - } - ] - }, - { - "type": "ClimbSearchAction" - } - ] - }, - { - "type": "Wait", - "delay": { - "value": 0.5, - "unit": "Second" - } - }, + { + "delay": { + "value": 0.5, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "ClimbHangAction" + } + ], + "type": "Sequence" + }, + "LeftClimb": { + "actions": [ + { + "actions": [ + { + "actions": [ { - "type": "ClimbHangAction" + "target": { + "reference": { + "rotation": { + "degrees": -90.0 + }, + "translation": { + "x": 1.515154, + "y": 4.196837599999999 + } + }, + "entryAngle": { + "degrees": 0.0 + }, + "velocity": 0.0 + }, + "constraints": { + "velocity": 2.0, + "acceleration": 2.0, + "jerk": 0.1 + }, + "canMirror": true, + "type": "XBasedAutoPilotAction" } - ] + ], + "type": "Sequence" + }, + { + "type": "ClimbSearchAction" + } + ], + "type": "Parallel" + }, + { + "delay": { + "value": 0.5, + "unit": "Second" + }, + "type": "Wait" + }, + { + "type": "ClimbHangAction" } + ], + "type": "Sequence" } -} \ No newline at end of file + } +} From 3d9d60b8bceac931bced17c71a1a750d19baafd7 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 21:46:43 -0400 Subject: [PATCH 03/20] Bring auto_generator_java Java sources into spotless scope Add auto_generator_java to the spotless Java target so the generator sources are held to the same googleJavaFormat standard as the robot code, and apply the formatter. Pure formatting; generator output is unchanged. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 29 ++++++++++++------- .../frc/robot/autogen/Field.java | 12 ++++---- build.gradle | 12 +++++--- 3 files changed, 34 insertions(+), 19 deletions(-) diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index 2ec03b7f..eda4a7d5 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -1,8 +1,8 @@ package frc.robot.autogen; +import static frc.robot.autogen.Dsl.ap; import static frc.robot.autogen.Dsl.apConstraints; import static frc.robot.autogen.Dsl.apProfile; -import static frc.robot.autogen.Dsl.ap; import static frc.robot.autogen.Dsl.climbHang; import static frc.robot.autogen.Dsl.climbSearch; import static frc.robot.autogen.Dsl.degrees; @@ -66,13 +66,11 @@ public static void main(String[] args) { private static Autos build() { Autos autos = new Autos(); - autos.autos.put( - "Literally just shoot Auto", new Auto(seq(startShooting()), false, false)); + autos.autos.put("Literally just shoot Auto", new Auto(seq(startShooting()), false, false)); autos.autos.put("Aggressive Depot", auto(seq(aggressive(true, false, false, true)))); autos.autos.put("Aggressive No Depot", auto(seq(aggressive(false, false, false, true)))); - autos.autos.put( - "Aggressive Depot From Bump", auto(seq(aggressive(true, true, true, false)))); + autos.autos.put("Aggressive Depot From Bump", auto(seq(aggressive(true, true, true, false)))); autos.autos.put("Conservative Depot", auto(seq(conservative(true, false, false, true)))); autos.autos.put("Conservative No Depot", auto(seq(conservative(false, false, false, true)))); @@ -152,13 +150,23 @@ private static AutoAction goToDepotAndIntake() { return seq( ap().pose(1.5, 5.1, 135) .velocity(1.0) - .profile(apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) + .profile( + apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) + .ap(), + ap().pose(0.715, 5.1, 135) + .constraints(apConstraints(1.0, 3.0, 3.0)) + .pidGains(pidGains(1.5)) .ap(), - ap().pose(0.715, 5.1, 135).constraints(apConstraints(1.0, 3.0, 3.0)).pidGains(pidGains(1.5)).ap(), waitSeconds(0.1), - ap().pose(0.715, 6.4, 135).constraints(apConstraints(1.0, 3.0, 2.0)).pidGains(pidGains(1.5)).ap(), + ap().pose(0.715, 6.4, 135) + .constraints(apConstraints(1.0, 3.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap(), waitSeconds(0.1), - ap().pose(1.0, 6.8, 135).constraints(apConstraints(5.1, 5.0, 3.0)).pidGains(pidGains(1.5)).ap()); + ap().pose(1.0, 6.8, 135) + .constraints(apConstraints(5.1, 5.0, 3.0)) + .pidGains(pidGains(1.5)) + .ap()); } private static AutoAction aggressive( @@ -289,7 +297,8 @@ private static AutoAction follower() { f.add(ap().pose(2.700, 5.75, -90).ap()); f.add( ap().pose(1.5, 5.1, 135) - .profile(apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) + .profile( + apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) .ap()); f.add(startShooting()); f.add(networkConfigurableWait("Follower - Before Depot", seconds(0.0))); diff --git a/auto_generator_java/frc/robot/autogen/Field.java b/auto_generator_java/frc/robot/autogen/Field.java index 6a91dbb6..4c7d3203 100644 --- a/auto_generator_java/frc/robot/autogen/Field.java +++ b/auto_generator_java/frc/robot/autogen/Field.java @@ -16,9 +16,9 @@ /** * Wires the robot's {@link FieldConstants} to work headlessly inside the generator. * - *

{@code FieldConstants.Tower.leftUpright()} reads {@code JsonConstants.aprilTagConstants}, whose - * {@code getTagLayout()} normally calls {@code Filesystem.getDeployDirectory()} (which loads the HAL - * native library). The generator runs under a bare JVM with no HAL, so instead we load the + *

{@code FieldConstants.Tower.leftUpright()} reads {@code JsonConstants.aprilTagConstants}, + * whose {@code getTagLayout()} normally calls {@code Filesystem.getDeployDirectory()} (which loads + * the HAL native library). The generator runs under a bare JVM with no HAL, so instead we load the * AprilTag layout directly from a repo-relative path — honoring the {@code fieldType} deployment * constant — and inject it as the cached layout via reflection. This reuses all robot geometry with * no duplication and no HAL. @@ -49,7 +49,8 @@ public static void initialize(String environment) { } private static String resolveLayoutFileName(String environment) { - Path constantsFile = DEPLOY.resolve("constants").resolve(environment).resolve("AprilTagConstants.json"); + Path constantsFile = + DEPLOY.resolve("constants").resolve(environment).resolve("AprilTagConstants.json"); try { if (Files.exists(constantsFile)) { JsonObject json = JsonParser.parseString(Files.readString(constantsFile)).getAsJsonObject(); @@ -66,7 +67,8 @@ private static String resolveLayoutFileName(String environment) { } public static Pose2d leftClimbLocation() { - return new Pose2d(FieldConstants.Tower.leftUpright(), new Rotation2d()).transformBy(CLIMB_OFFSET); + return new Pose2d(FieldConstants.Tower.leftUpright(), new Rotation2d()) + .transformBy(CLIMB_OFFSET); } public static Pose2d rightClimbLocation() { diff --git a/build.gradle b/build.gradle index 0c44f574..be54aa7b 100644 --- a/build.gradle +++ b/build.gradle @@ -221,13 +221,17 @@ createVersionFile.dependsOn(eventDeploy) project.compileJava.dependsOn(spotlessApply) spotless { java { - // Restrict formatting to files under the workspace 'src' directory. - // Using '.' can sometimes pick up files mounted from other filesystems - // (e.g. WSL mounts) which Spotless rejects. Targeting 'src' keeps the - // formatter inside the project directory. + // Restrict formatting to files under the workspace 'src' and + // 'auto_generator_java' directories. Using '.' can sometimes pick up + // files mounted from other filesystems (e.g. WSL mounts) which Spotless + // rejects. Targeting specific directories keeps the formatter inside the + // project directory. target fileTree('src') { include "**/*.java" exclude "**/build/**", "**/build-*/**", "settings_gui/**" + }, fileTree('auto_generator_java') { + include "**/*.java" + exclude "**/build/**" } toggleOffOn() googleJavaFormat() From 1bac4272750e1e1ecae22b43431e114cb867eb85 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 22:08:27 -0400 Subject: [PATCH 04/20] Restore explanatory comments from the Python autos Port the intent comments, TODOs, and commented-out alternatives from the old Python autos.py/routines.py/constants.py into AutosGen (cycle markers, the high-speed trench constraint rationale, the "beeline to trench exit" note, the autopilot-panic waits in the depot routine, the Follower "don't deploy into the trench" note, and the climb lineup notes). No effect on generated output. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 59 ++++++++++++++++++- 1 file changed, 56 insertions(+), 3 deletions(-) diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index eda4a7d5..b59144b3 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -44,10 +44,22 @@ */ public final class AutosGen { + // TODO: Add alliance-relative coordinate utilities. + // TODO: Replace placeholder coordinates with real field positions. + // TODO: Switch to AutoPilotAction with entry angle and exit velocity for trench segments. + // --- constants ported from the old constants.py --------------------------- + // TODO: Maybe make these loaded from the constants files in the main robot code + // instead of hardcoded here, to avoid duplication and potential inconsistencies. + // (The climb poses below are now derived from the robot's FieldConstants; see Field.) private static final double DEFAULT_TRENCH_VELOCITY = 4.2; private static final double AGGRESSIVE_TRENCH_VELOCITY = 5.1; private static final Pose2d LEFT_TRENCH_CENTER_SIDE_POSE = pose2d(5.2, 7.4, -90); + + // Shooting position in the middle of the left side of the alliance zone. + // This is where we end up after coming over the bump. + private static final Pose2d LEFT_ALLIANCE_ZONE_MIDDLE_POSE = pose2d(2.700, 5.75, -90); + private static final APConstraints CLIMB_CONSTRAINTS = apConstraints(2.0, 2.0, 0.1); public static void main(String[] args) { @@ -98,6 +110,7 @@ private static Autos build() { startShooting(), networkConfigurableWait("Center Depot - Shoot Preload", seconds(4.0)), goToDepotAndIntake(), + // startShooting(); waitSeconds(2.0), cycleIntake(6.0 / 3.0, 6)), false, @@ -143,10 +156,13 @@ private static AutoAction fromBumpPrepareForTrench(double angle) { private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { return seq( ap().pose(4.0, 7.55, -90).velocity(DEFAULT_TRENCH_VELOCITY).entryAngle(0).xap(), + // xBasedAutopilot(LEFT_TRENCH_CENTER_SIDE_POSE transformed by rotation, + // velocity, entryAngle=secondEntryAngle) followPath("Left Trench To Center Intake In")); } private static AutoAction goToDepotAndIntake() { + // drive near the depot and slow down so that we don't go too fast while intaking return seq( ap().pose(1.5, 5.1, 135) .velocity(1.0) @@ -157,11 +173,15 @@ private static AutoAction goToDepotAndIntake() { .constraints(apConstraints(1.0, 3.0, 3.0)) .pidGains(pidGains(1.5)) .ap(), + // Wait to stop autopilot from seeing initial velocity and panicking. + // Autopilot is probably more robust and simpler. Also removes a path planner + // path and enables us to use hot reload to tune it: followPath("Intake Depot"). waitSeconds(0.1), ap().pose(0.715, 6.4, 135) .constraints(apConstraints(1.0, 3.0, 2.0)) .pidGains(pidGains(1.5)) .ap(), + // Wait to stop autopilot from seeing initial velocity and panicking. waitSeconds(0.1), ap().pose(1.0, 6.8, 135) .constraints(apConstraints(5.1, 5.0, 3.0)) @@ -186,19 +206,36 @@ private static AutoAction aggressive( a.add(stopShooting()); } + // Cycle 1 + + // Autopilot under the trench. + // Gives us solid acceleration and makes us resilient to unpredictable starting + // location. a.add( ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) .velocity(AGGRESSIVE_TRENCH_VELOCITY) + // Constraints here are unique to this very high speed, high + // acceleration movement, so almost infinite acceleration limit is + // hardcoded in here. .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + // No entry angle, we just want to beeline to trench exit. .xap()); + + // with parallel(): + // stowIntake(); + // followPath("Starting Position Left Trench To Center Intake In"); + a.add(parallel(deployIntake(), followPath("Left Side Aggressive Sweep Intake In"))); a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); a.add(waitSeconds(0.1)); - a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap()); a.add(cycleIntake(2.5, 5)); if (doSecondSweep) { a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); + + // wait(1.0), + // Cycle 2 a.add( ap().pose(3.5, 7.55, -90) .velocity(DEFAULT_TRENCH_VELOCITY) @@ -244,14 +281,18 @@ private static AutoAction conservative( a.add(stopShooting()); } + // Cycle 1 + a.add(ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap()); a.add(parallel(stowIntake(), followPath("Starting Position Left Trench To Center"))); a.add(parallel(deployIntake(), followPath("Left Side Conservative Sweep"))); a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); a.add(waitSeconds(0.1)); - a.add(ap().pose(2.700, 5.75, -90).ap()); + a.add(ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap()); a.add(waitSeconds(2.5)); + // wait(1.0), + // Cycle 2 if (doSecondSweep) { a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); a.add( @@ -284,11 +325,19 @@ private static AutoAction conservative( private static AutoAction follower() { List f = new ArrayList<>(); + // Don't deploy the intake to avoid smashing it into the trench. + // deployIntake(); + // startShooting(); f.add(networkConfigurableWait("Follower - Preload", seconds(2.5))); + // stopShooting(); f.add( ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) .velocity(2.0) + // Constraints here are unique to this very high speed, high + // acceleration movement, so almost infinite acceleration limit is + // hardcoded in here. .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + // No entry angle, we just want to beeline to trench exit. .xap()); f.add(deployIntake()); f.add(followPath("Left Side Follower Sweep Intake In")); @@ -308,10 +357,14 @@ private static AutoAction follower() { return seq(f); } + /** Reusable climb lineup subroutine. */ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { return seq( parallel( - seq(ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), + seq( + // xBasedAutopilot(FieldConstants.Alliance.center transformed by + // climb_offset, constraints=CLIMB_CONSTRAINTS) + ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), climbSearch()), waitSeconds(0.5), climbHang()); From 725dd5dfaa3a802c71624ca5f4208b287e5c6d6e Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 22:32:55 -0400 Subject: [PATCH 05/20] Set the AutoAction type discriminator in the base class; drop TypeTagger coppercore's @JsonType/@JsonSubtype only choose the subclass on deserialize; PolymorphTypeAdapterFactory.write() does not emit the discriminator, so the "type" field must be populated on the object (see ExampleJsonSyncClass, where each subtype passes its name to the base constructor). Previously this was done by a separate generator-side TypeTagger pass. Instead, AutoAction now resolves its own discriminator from the @JsonSubtype table at construction (single source of truth, no per-subclass boilerplate). Gson still overwrites it from JSON on load (Unsafe skips the initializer), so this only takes effect when actions are built directly in Java. TypeTagger is removed; generator output is unchanged. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 1 - .../frc/robot/autogen/TypeTagger.java | 108 ------------------ src/main/java/frc/robot/auto/AutoAction.java | 22 +++- 3 files changed, 21 insertions(+), 110 deletions(-) delete mode 100644 auto_generator_java/frc/robot/autogen/TypeTagger.java diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index b59144b3..c617a453 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -67,7 +67,6 @@ public static void main(String[] args) { Field.initialize(environment); Autos autos = build(); - TypeTagger.tag(autos); JSONConverter.addConversion(APTarget.class, JSONAPTarget.class); JSONSyncConfig config = new JSONSyncConfigBuilder().build(); diff --git a/auto_generator_java/frc/robot/autogen/TypeTagger.java b/auto_generator_java/frc/robot/autogen/TypeTagger.java deleted file mode 100644 index 1e184701..00000000 --- a/auto_generator_java/frc/robot/autogen/TypeTagger.java +++ /dev/null @@ -1,108 +0,0 @@ -package frc.robot.autogen; - -import coppercore.parameter_tools.json.annotations.JsonSubtype; -import coppercore.parameter_tools.json.annotations.JsonType; -import frc.robot.auto.Auto; -import frc.robot.auto.AutoAction; -import frc.robot.auto.Autos; -import java.lang.reflect.Field; -import java.util.HashMap; -import java.util.Map; - -/** - * Populates the {@code type} discriminator field on every {@link AutoAction} in an object graph. - * - *

coppercore's polymorphic adapter reads the discriminator on deserialize but does NOT write it - * on serialize — the value comes from the plain {@code AutoAction.type} field. When authoring autos - * in Java we never set that field by hand; instead we look each instance up in {@link AutoAction}'s - * own {@link JsonType} subtype table (the single source of truth) and set {@code type} from the - * runtime class. - */ -public final class TypeTagger { - private TypeTagger() {} - - private static final Map, String> NAME_BY_CLASS = buildNameTable(); - - private static Map, String> buildNameTable() { - Map, String> table = new HashMap<>(); - JsonType jsonType = AutoAction.class.getAnnotation(JsonType.class); - if (jsonType == null) { - throw new IllegalStateException("AutoAction is missing its @JsonType annotation"); - } - for (JsonSubtype subtype : jsonType.subtypes()) { - table.put(subtype.clazz(), subtype.name()); - } - return table; - } - - /** Recursively tags every AutoAction reachable from the given Autos object. */ - public static void tag(Autos autos) { - autos.autos.values().forEach(TypeTagger::tagAuto); - autos.routines.values().forEach(TypeTagger::tagAction); - } - - private static void tagAuto(Auto auto) { - tagAction(readField(auto, Auto.class, "rootAction")); - } - - private static void tagAction(Object value) { - if (value == null) { - return; - } - if (value instanceof AutoAction action) { - String name = NAME_BY_CLASS.get(action.getClass()); - if (name == null) { - throw new IllegalStateException( - "No @JsonSubtype registered for " + action.getClass().getName()); - } - action.type = name; - // Recurse into any AutoAction-typed fields (e.g. Sequence.actions, Deadline.deadline). - for (Field field : allFields(action.getClass())) { - recurse(get(field, action)); - } - } - } - - private static void recurse(Object value) { - if (value instanceof AutoAction) { - tagAction(value); - } else if (value instanceof Object[] array) { - for (Object element : array) { - recurse(element); - } - } else if (value instanceof Iterable iterable) { - for (Object element : iterable) { - recurse(element); - } - } - } - - private static Iterable allFields(Class clazz) { - java.util.List fields = new java.util.ArrayList<>(); - for (Class c = clazz; c != null && c != Object.class; c = c.getSuperclass()) { - for (Field field : c.getDeclaredFields()) { - fields.add(field); - } - } - return fields; - } - - private static Object readField(Object target, Class declaringClass, String name) { - try { - Field field = declaringClass.getDeclaredField(name); - field.setAccessible(true); - return field.get(target); - } catch (ReflectiveOperationException e) { - throw new RuntimeException(e); - } - } - - private static Object get(Field field, Object target) { - try { - field.setAccessible(true); - return field.get(target); - } catch (IllegalAccessException e) { - return null; - } - } -} diff --git a/src/main/java/frc/robot/auto/AutoAction.java b/src/main/java/frc/robot/auto/AutoAction.java index 3ceb6d32..68ac7451 100644 --- a/src/main/java/frc/robot/auto/AutoAction.java +++ b/src/main/java/frc/robot/auto/AutoAction.java @@ -23,6 +23,8 @@ import frc.robot.auto.general.Sequence; import frc.robot.auto.general.Wait; import frc.robot.subsystems.drive.DriveCoordinator; +import java.util.HashMap; +import java.util.Map; @JsonType( property = "type", @@ -51,7 +53,25 @@ }) public abstract class AutoAction { - public String type; + /** Maps each concrete AutoAction class to its JSON discriminator, from the @JsonType table. */ + private static final Map, String> TYPE_NAMES = buildTypeNames(); + + private static Map, String> buildTypeNames() { + Map, String> names = new HashMap<>(); + for (JsonSubtype subtype : AutoAction.class.getAnnotation(JsonType.class).subtypes()) { + names.put(subtype.clazz(), subtype.name()); + } + return names; + } + + /** + * The polymorphic discriminator written to JSON. coppercore's adapter uses @JsonType/@JsonSubtype + * only to pick the subclass when *deserializing*; on *serialize* it just emits this field. Gson + * populates it from the JSON when loading (bypassing this initializer via Unsafe), so this + * default only matters when an action is constructed directly in Java (e.g. the auto generator), + * where it resolves the discriminator from the runtime class using the @JsonSubtype table above. + */ + public String type = TYPE_NAMES.get(getClass()); public record AutoActionContext( DriveCoordinator driveCoordinator, From 9525f733cb47e4fc9b79b5ccf035ebae4afa36e8 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Tue, 16 Jun 2026 23:13:40 -0400 Subject: [PATCH 06/20] Run the auto generator as a full robot JVM (HAL + native libs) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The generator now runs with the WPILib native libraries on its library path, so auto code has unrestricted access to the rest of the robot code (HAL, Filesystem, NetworkTables) exactly as on the robot — rather than being constrained to a headless subset. This removes the previous workarounds: - Field.java no longer reflects into AprilTagConstants.cachedLayout. It initializes HAL, loads AprilTagConstants for the environment via the normal coppercore path, and uses FieldConstants.Tower directly (no geometry duplication, no reflection). - FollowPathPlannerPath's eager static initializer is restored (the lazy-init workaround was only needed when NetworkTables couldn't load headlessly). generate.sh: bootstrap now also runs extractReleaseNative; the run sets LD_LIBRARY_PATH + -Djava.library.path to build/jni/release. Since initializing HAL prints native chatter to stdout, the generator writes JSON to a file and generate.sh emits that file to stdout, keeping stdout clean JSON. Output is structurally identical; spotlessCheck and the auto round-trip CI pass. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 14 +++- .../frc/robot/autogen/Field.java | 70 ++++++++----------- auto_generator_java/generate.sh | 33 ++++++--- .../auto/drive/FollowPathPlannerPath.java | 14 +--- 4 files changed, 67 insertions(+), 64 deletions(-) diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index c617a453..b013a20f 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -62,8 +62,12 @@ public final class AutosGen { private static final APConstraints CLIMB_CONSTRAINTS = apConstraints(2.0, 2.0, 0.1); - public static void main(String[] args) { + public static void main(String[] args) throws java.io.IOException { String environment = args.length > 0 ? args[0] : "comp"; + // The JSON is written to this file rather than stdout: initializing HAL prints native + // diagnostics to stdout, which would otherwise corrupt the serialized output. + String outputFile = args.length > 1 ? args[1] : null; + Field.initialize(environment); Autos autos = build(); @@ -71,7 +75,13 @@ public static void main(String[] args) { JSONConverter.addConversion(APTarget.class, JSONAPTarget.class); JSONSyncConfig config = new JSONSyncConfigBuilder().build(); JSONSync sync = new JSONSync<>(autos, "", config); - System.out.println(sync.serialize()); + String json = sync.serialize(); + + if (outputFile != null) { + java.nio.file.Files.writeString(java.nio.file.Path.of(outputFile), json); + } else { + System.out.println(json); + } } private static Autos build() { diff --git a/auto_generator_java/frc/robot/autogen/Field.java b/auto_generator_java/frc/robot/autogen/Field.java index 4c7d3203..dfeaaa21 100644 --- a/auto_generator_java/frc/robot/autogen/Field.java +++ b/auto_generator_java/frc/robot/autogen/Field.java @@ -1,12 +1,13 @@ package frc.robot.autogen; -import com.google.gson.JsonObject; -import com.google.gson.JsonParser; -import edu.wpi.first.apriltag.AprilTagFieldLayout; +import coppercore.parameter_tools.json.JSONSync; +import coppercore.parameter_tools.json.JSONSyncConfigBuilder; +import edu.wpi.first.hal.HAL; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.wpilibj.Filesystem; import frc.robot.constants.AprilTagConstants; import frc.robot.constants.FieldConstants; import frc.robot.constants.JsonConstants; @@ -14,56 +15,45 @@ import java.nio.file.Path; /** - * Wires the robot's {@link FieldConstants} to work headlessly inside the generator. + * Sets up the robot environment the generator runs in and exposes the field-derived climb poses. * - *

{@code FieldConstants.Tower.leftUpright()} reads {@code JsonConstants.aprilTagConstants}, - * whose {@code getTagLayout()} normally calls {@code Filesystem.getDeployDirectory()} (which loads - * the HAL native library). The generator runs under a bare JVM with no HAL, so instead we load the - * AprilTag layout directly from a repo-relative path — honoring the {@code fieldType} deployment - * constant — and inject it as the cached layout via reflection. This reuses all robot geometry with - * no duplication and no HAL. + *

The generator runs under a JVM that has the WPILib native libraries on its library path (see + * generate.sh), so it can use robot code that touches HAL/Filesystem just like the real robot. We + * initialize HAL and load {@link AprilTagConstants} for the active environment, then reuse {@link + * FieldConstants} directly — no reflection, no geometry duplication. */ public final class Field { private Field() {} - private static final Path DEPLOY = Path.of("src", "main", "deploy"); - // climb_offset from the old constants.py: translate (0.41, 0.0225), rotate -90 degrees. private static final Transform2d CLIMB_OFFSET = new Transform2d(new Translation2d(0.41, 0.0225), Rotation2d.fromDegrees(-90.0)); - /** Loads the AprilTag layout for the given environment and installs it for FieldConstants. */ + /** Initializes HAL and loads the AprilTag layout (honoring the fieldType deploy constant). */ public static void initialize(String environment) { - String fileName = resolveLayoutFileName(environment); - Path layoutPath = DEPLOY.resolve("apriltags").resolve(fileName); - try { - AprilTagFieldLayout layout = new AprilTagFieldLayout(layoutPath); - AprilTagConstants constants = new AprilTagConstants(); - java.lang.reflect.Field cached = AprilTagConstants.class.getDeclaredField("cachedLayout"); - cached.setAccessible(true); - cached.set(constants, layout); - JsonConstants.aprilTagConstants = constants; - } catch (ReflectiveOperationException | java.io.IOException e) { - throw new RuntimeException("Failed to load AprilTag layout from " + layoutPath, e); - } - } + HAL.initialize(500, 0); - private static String resolveLayoutFileName(String environment) { Path constantsFile = - DEPLOY.resolve("constants").resolve(environment).resolve("AprilTagConstants.json"); - try { - if (Files.exists(constantsFile)) { - JsonObject json = JsonParser.parseString(Files.readString(constantsFile)).getAsJsonObject(); - if (json.has("fieldType")) { - return AprilTagConstants.FieldType.valueOf(json.get("fieldType").getAsString()) - .getJsonFilename(); - } - } - } catch (Exception e) { - System.err.println("[autogen] Could not read " + constantsFile + ": " + e); + Filesystem.getDeployDirectory() + .toPath() + .resolve("constants") + .resolve(environment) + .resolve("AprilTagConstants.json"); + + AprilTagConstants constants; + if (Files.exists(constantsFile)) { + JSONSync sync = + new JSONSync<>( + new AprilTagConstants(), + constantsFile.toString(), + new JSONSyncConfigBuilder().build()); + sync.loadData(); + constants = sync.getObject(); + } else { + // No environment-specific override; fall back to the class default field type. + constants = new AprilTagConstants(); } - // Fall back to the class default field type. - return new AprilTagConstants().fieldType.getJsonFilename(); + JsonConstants.aprilTagConstants = constants; } public static Pose2d leftClimbLocation() { diff --git a/auto_generator_java/generate.sh b/auto_generator_java/generate.sh index b1110765..72a18e2c 100755 --- a/auto_generator_java/generate.sh +++ b/auto_generator_java/generate.sh @@ -3,17 +3,23 @@ # Fast Java auto generator: compiles the auto-definition sources against the # already-compiled robot classes and runs them, emitting Autos.json to stdout. # +# The generator runs as a real (if headless) robot JVM: the WPILib native +# libraries are put on the library path so the auto code has full, unrestricted +# access to the rest of the robot code (HAL, Filesystem, NetworkTables, etc.), +# exactly as it would on the robot. +# # This deliberately bypasses gradle on the hot path. A warm gradle daemon still # spends ~4s configuring an up-to-date compileJava task on this project; a bare # javac + java cycle is well under that. Gradle is only invoked for the one-time -# bootstrap (compile robot classes + dump the classpath), or when --bootstrap is -# passed (e.g. after editing robot/builder classes or changing dependencies). +# bootstrap (compile robot classes, extract native libs, dump the classpath), or +# when --bootstrap is passed (e.g. after editing robot/builder code or changing +# dependencies). # # Usage: -# generate.sh [ENVIRONMENT] # print Autos.json for ENVIRONMENT (default: comp) -# generate.sh --bootstrap [ENVIRONMENT] # force recompile of robot classes + classpath first +# generate.sh [ENVIRONMENT] # print Autos.json for ENVIRONMENT (default: comp) +# generate.sh --bootstrap [ENVIRONMENT] # force recompile + native extraction + classpath dump # -# All diagnostics go to stderr so stdout is clean JSON. +# All diagnostics (and native HAL stdout chatter) go to stderr so stdout is clean JSON. set -euo pipefail SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" @@ -22,8 +28,10 @@ cd "$ROOT" CP_FILE="build/autogen-classpath.txt" CLASSES="build/classes/java/main" +NATIVE_DIR="build/jni/release" GEN_SRC="auto_generator_java" GEN_OUT="build/autogen-out" +OUT_JSON="$GEN_OUT/Autos.json" INIT_SCRIPT="$GEN_SRC/dump-classpath.gradle" # Faster JVM startup for the short-lived javac/java processes. @@ -36,9 +44,9 @@ if [[ "${1:-}" == "--bootstrap" ]]; then fi ENVIRONMENT="${1:-comp}" -if [[ "$bootstrap" == 1 || ! -f "$CP_FILE" || ! -d "$CLASSES" ]]; then - echo "[generate] bootstrapping: gradle compileJava + classpath dump..." >&2 - ./gradlew --init-script "$INIT_SCRIPT" compileJava dumpAutoGenClasspath -q >&2 +if [[ "$bootstrap" == 1 || ! -f "$CP_FILE" || ! -d "$CLASSES" || ! -d "$NATIVE_DIR" ]]; then + echo "[generate] bootstrapping: gradle compileJava + native extraction + classpath dump..." >&2 + ./gradlew --init-script "$INIT_SCRIPT" compileJava extractReleaseNative dumpAutoGenClasspath -q >&2 fi CP="$(cat "$CP_FILE"):$CLASSES" @@ -62,4 +70,11 @@ else fi echo "[generate] running generator for environment '$ENVIRONMENT'..." >&2 -exec java "${JVM_FAST[@]}" -cp "$CP:$GEN_OUT" frc.robot.autogen.AutosGen "$ENVIRONMENT" +# Native JNI libs (and their transitive .so deps) must be resolvable both for the +# JVM's System.loadLibrary (java.library.path) and the dynamic linker (LD_LIBRARY_PATH). +export LD_LIBRARY_PATH="$ROOT/$NATIVE_DIR:${LD_LIBRARY_PATH:-}" +# Send the JVM's own stdout (HAL native chatter) to stderr; the generator writes the +# JSON to OUT_JSON, which we then emit on stdout so callers get clean JSON. +java "${JVM_FAST[@]}" -Djava.library.path="$ROOT/$NATIVE_DIR" \ + -cp "$CP:$GEN_OUT" frc.robot.autogen.AutosGen "$ENVIRONMENT" "$OUT_JSON" 1>&2 +cat "$OUT_JSON" diff --git a/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java b/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java index 404169a6..87a5bed5 100644 --- a/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java +++ b/src/main/java/frc/robot/auto/drive/FollowPathPlannerPath.java @@ -18,20 +18,9 @@ public class FollowPathPlannerPath extends DriveAutoAction { public static RobotConfig config; public static PathFollowingController controller; - private static boolean configInitialized = false; private static final BooleanSupplier FALSE = () -> false; - /** - * Lazily loads the PathPlanner {@code RobotConfig} and controller on first use. This used to run - * in a static initializer, but that pulled in NetworkTables/SmartDashboard at class-load time, - * which prevents the class from loading in the headless Java auto generator. It is only needed - * when actually building a command, so it is deferred to {@link #toCommand}. - */ - private static void ensureConfigInitialized() { - if (configInitialized) { - return; - } - configInitialized = true; + static { try { config = RobotConfig.fromGUISettings(); controller = @@ -44,7 +33,6 @@ private static void ensureConfigInitialized() { @Override public Command toCommand(AutoActionContext context) { - ensureConfigInitialized(); var path = context.autos().getPath(pathName); if (path == null) { throw new RuntimeException("Path not found: " + pathName); From 6db1c64fa69092f10c448afc606954753685bbfd Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 13:19:33 -0400 Subject: [PATCH 07/20] Don't echo the POST response body on successful publish On success the tuning server's POST response is just the full autos JSON echoed back, which is noise on stdout. Drain it silently and only print the status line; failures still surface the response body via the raised PublishError. Co-Authored-By: Claude Opus 4.8 --- auto_generator/build_autos.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/auto_generator/build_autos.py b/auto_generator/build_autos.py index 3ef916e7..3863aa3c 100644 --- a/auto_generator/build_autos.py +++ b/auto_generator/build_autos.py @@ -176,10 +176,10 @@ def publish(base_url: str, env: str, content: str) -> None: req = urllib.request.Request(url, method="POST") try: with urllib.request.urlopen(req, timeout=5) as resp: - body = resp.read().decode("utf-8", errors="replace") + # Drain the response but don't echo it; on success the body is just the + # full autos JSON, which is only noise. Failures are reported below. + resp.read() print(f" POST {url} -> {resp.status}") - if body: - print(f" Response: {body}") except urllib.error.HTTPError as e: body = e.read().decode("utf-8", errors="replace") if e.fp else "" message = f"POST {url} failed: HTTP {e.code} {e.reason}" From 391726a63c2d377b6061d4257fc4401ccf9f0bf3 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 13:36:28 -0400 Subject: [PATCH 08/20] Port the generator driver from bash to cross-platform Python generate.sh was bash-only and could not run on native Windows (no bash; ':' classpath separator; ./gradlew; LD_LIBRARY_PATH). Replace it with generate.py, which branches per-OS: - gradlew.bat vs ./gradlew - os.pathsep for the classpath - native loader var: PATH (Windows), DYLD_LIBRARY_PATH (macOS), LD_LIBRARY_PATH (Linux) - java/javac resolved from JAVA_HOME when set (WPILib's JDK), else PATH build_autos.py imports generate.py as a module and calls generate() directly (no second Python process), returning the JSON in-memory; generator progress and HAL native chatter stream to stderr so stdout stays clean. Verified on Linux: bootstrap + hot path produce byte-for-structure-identical output, build_autos.py and the auto round-trip CI pass, hot path ~2s. The Windows code paths are explicit but not executed here; the one unverified assumption is that GradleRIO's extractReleaseNative populates build/jni/release with the Windows DLLs (standard GradleRIO layout). Co-Authored-By: Claude Opus 4.8 --- .gitignore | 4 + auto_generator/build_autos.py | 37 +++---- auto_generator_java/generate.py | 177 ++++++++++++++++++++++++++++++++ auto_generator_java/generate.sh | 80 --------------- 4 files changed, 196 insertions(+), 102 deletions(-) create mode 100755 auto_generator_java/generate.py delete mode 100755 auto_generator_java/generate.sh diff --git a/.gitignore b/.gitignore index d012c1d3..38a40cca 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,10 @@ # This gitignore has been specially created by the WPILib team. # If you remove items from this file, intellisense might break. +### Python ### +__pycache__/ +*.pyc + ### C++ ### # Prerequisites *.d diff --git a/auto_generator/build_autos.py b/auto_generator/build_autos.py index 3863aa3c..0eb0a954 100644 --- a/auto_generator/build_autos.py +++ b/auto_generator/build_autos.py @@ -20,6 +20,7 @@ from __future__ import annotations import argparse +import importlib.util import json import subprocess import sys @@ -31,9 +32,13 @@ _SCRIPT_DIR = Path(__file__).resolve().parent _REPO_ROOT = _SCRIPT_DIR.parent -# The autos are authored in Java and serialized to Autos.json by this generator, -# which reuses the robot's own coppercore Gson configuration. See auto_generator_java/. -GENERATOR = _REPO_ROOT / "auto_generator_java" / "generate.sh" +# The autos are authored in Java and serialized to Autos.json by the cross-platform +# generator driver, which reuses the robot's own coppercore Gson configuration. +# Load it as a module (it lives outside this directory). See auto_generator_java/. +_GENERATOR_PATH = _REPO_ROOT / "auto_generator_java" / "generate.py" +_spec = importlib.util.spec_from_file_location("autogen_generate", _GENERATOR_PATH) +_autogen = importlib.util.module_from_spec(_spec) +_spec.loader.exec_module(_autogen) OUTPUT_DIR = _REPO_ROOT / "src" / "main" / "deploy" / "constants" CONFIG_FILE = OUTPUT_DIR / "config.json" @@ -60,27 +65,15 @@ def detect_environment() -> str: def generate_autos_json(env: str, bootstrap: bool = False) -> str: - """Run the Java auto generator and return the Autos.json content for `env`. + """Build the autos via the Java generator and return the Autos.json content for `env`. - The generator prints clean JSON to stdout and progress/diagnostics to stderr. + Generator progress and native (HAL) diagnostics stream to stderr; the JSON is + returned in-memory. """ - cmd = [str(GENERATOR)] - if bootstrap: - cmd.append("--bootstrap") - cmd.append(env) - result = subprocess.run( - cmd, - cwd=str(_REPO_ROOT), - text=True, - stdout=subprocess.PIPE, - stderr=subprocess.PIPE, - check=False, - ) - if result.stderr: - print(result.stderr, file=sys.stderr, end="") - if result.returncode != 0: - raise SystemExit(f"Java auto generator failed with status {result.returncode}") - return result.stdout + try: + return _autogen.generate(env, bootstrap) + except subprocess.CalledProcessError as e: + raise SystemExit(f"Java auto generator failed with status {e.returncode}") def _is_json_number(value: Any) -> bool: diff --git a/auto_generator_java/generate.py b/auto_generator_java/generate.py new file mode 100755 index 00000000..f340729e --- /dev/null +++ b/auto_generator_java/generate.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python3 +""" +Cross-platform driver for the Java auto generator. + +Compiles the auto-definition sources (auto_generator_java/) against the already +compiled robot classes and runs them as a (headless) robot JVM with the WPILib +native libraries on the path, so the auto code has full, unrestricted access to +the rest of the robot code (HAL, Filesystem, NetworkTables), exactly as on the +robot. Emits Autos.json to stdout. + +This deliberately bypasses gradle on the hot path. A warm gradle daemon still +spends ~4s configuring an up-to-date compileJava task on this project; a bare +javac + java cycle is well under that. Gradle is only invoked for the one-time +bootstrap (compile robot classes, extract native libs, dump the classpath), or +when --bootstrap is passed (e.g. after editing robot/builder code or changing +dependencies). + +Usage: + python generate.py [ENVIRONMENT] # print Autos.json (default env: comp) + python generate.py --bootstrap [ENVIRONMENT] # force recompile + native extraction + dump + +All diagnostics (and native HAL stdout chatter) go to stderr so stdout is clean JSON. +""" +from __future__ import annotations + +import os +import platform +import subprocess +import sys +from pathlib import Path + +_THIS_DIR = Path(__file__).resolve().parent # auto_generator_java/ +_ROOT = _THIS_DIR.parent + +CP_FILE = _ROOT / "build" / "autogen-classpath.txt" +CLASSES = _ROOT / "build" / "classes" / "java" / "main" +NATIVE_DIR = _ROOT / "build" / "jni" / "release" +GEN_SRC = _THIS_DIR +GEN_OUT = _ROOT / "build" / "autogen-out" +OUT_JSON = GEN_OUT / "Autos.json" +MARKER = GEN_OUT / ".compiled" +INIT_SCRIPT = _THIS_DIR / "dump-classpath.gradle" +MAIN_CLASS = "frc.robot.autogen.AutosGen" + +_IS_WINDOWS = os.name == "nt" +JVM_FAST = ["-XX:+UseSerialGC", "-XX:TieredStopAtLevel=1", "-XX:-UsePerfData"] + + +def _log(message: str) -> None: + print(f"[generate] {message}", file=sys.stderr, flush=True) + + +def _gradlew() -> str: + return str(_ROOT / ("gradlew.bat" if _IS_WINDOWS else "gradlew")) + + +def _jdk_tool(name: str) -> str: + """Resolve a JDK tool (java/javac), preferring JAVA_HOME (set by the WPILib env).""" + java_home = os.environ.get("JAVA_HOME") + if java_home: + exe = name + (".exe" if _IS_WINDOWS else "") + candidate = Path(java_home) / "bin" / exe + if candidate.exists(): + return str(candidate) + return name # fall back to PATH + + +def _java_sources() -> list[str]: + return [str(p) for p in sorted(GEN_SRC.rglob("*.java"))] + + +def _sources_changed() -> bool: + if not MARKER.exists(): + return True + marker_mtime = MARKER.stat().st_mtime + return any(Path(src).stat().st_mtime > marker_mtime for src in _java_sources()) + + +def _bootstrap() -> None: + _log("bootstrapping: gradle compileJava + native extraction + classpath dump...") + subprocess.run( + [ + _gradlew(), + "--init-script", + str(INIT_SCRIPT), + "compileJava", + "extractReleaseNative", + "dumpAutoGenClasspath", + "-q", + ], + cwd=str(_ROOT), + check=True, + stdout=sys.stderr, # keep gradle chatter out of stdout (which carries the JSON) + ) + + +def _native_loader_env() -> dict[str, str]: + """Environment with the native lib dir prepended to the OS's dynamic-loader path.""" + env = dict(os.environ) + var = { + "Windows": "PATH", + "Darwin": "DYLD_LIBRARY_PATH", + }.get(platform.system(), "LD_LIBRARY_PATH") + existing = env.get(var, "") + env[var] = str(NATIVE_DIR) + (os.pathsep + existing if existing else "") + return env + + +def generate(env: str = "comp", bootstrap: bool = False) -> str: + """Build the autos and return the Autos.json content for `env`.""" + if bootstrap or not CP_FILE.exists() or not CLASSES.is_dir() or not NATIVE_DIR.is_dir(): + _bootstrap() + + classpath = CP_FILE.read_text(encoding="utf-8").strip() + os.pathsep + str(CLASSES) + GEN_OUT.mkdir(parents=True, exist_ok=True) + + if _sources_changed(): + _log("compiling generator sources...") + subprocess.run( + [ + _jdk_tool("javac"), + "-J-XX:+UseSerialGC", + "-J-XX:TieredStopAtLevel=1", + "-J-XX:-UsePerfData", + "-cp", + classpath, + "-d", + str(GEN_OUT), + *_java_sources(), + ], + cwd=str(_ROOT), + check=True, + ) + MARKER.touch() + else: + _log("generator sources unchanged; skipping compile") + + _log(f"running generator for environment '{env}'...") + run_classpath = classpath + os.pathsep + str(GEN_OUT) + # The generator writes JSON to OUT_JSON. Initializing HAL prints native chatter to + # the JVM's stdout, so we route that to our stderr to keep it out of the JSON. + subprocess.run( + [ + _jdk_tool("java"), + *JVM_FAST, + f"-Djava.library.path={NATIVE_DIR}", + "-cp", + run_classpath, + MAIN_CLASS, + env, + str(OUT_JSON), + ], + cwd=str(_ROOT), + check=True, + stdout=sys.stderr, + env=_native_loader_env(), + ) + return OUT_JSON.read_text(encoding="utf-8") + + +def main(argv: list[str]) -> int: + bootstrap = False + args = list(argv) + if args and args[0] == "--bootstrap": + bootstrap = True + args = args[1:] + env = args[0] if args else "comp" + sys.stdout.write(generate(env, bootstrap)) + return 0 + + +if __name__ == "__main__": + try: + raise SystemExit(main(sys.argv[1:])) + except subprocess.CalledProcessError as exc: + print(f"[generate] command failed ({exc.returncode}): {exc.cmd}", file=sys.stderr) + raise SystemExit(exc.returncode) diff --git a/auto_generator_java/generate.sh b/auto_generator_java/generate.sh deleted file mode 100755 index 72a18e2c..00000000 --- a/auto_generator_java/generate.sh +++ /dev/null @@ -1,80 +0,0 @@ -#!/usr/bin/env bash -# -# Fast Java auto generator: compiles the auto-definition sources against the -# already-compiled robot classes and runs them, emitting Autos.json to stdout. -# -# The generator runs as a real (if headless) robot JVM: the WPILib native -# libraries are put on the library path so the auto code has full, unrestricted -# access to the rest of the robot code (HAL, Filesystem, NetworkTables, etc.), -# exactly as it would on the robot. -# -# This deliberately bypasses gradle on the hot path. A warm gradle daemon still -# spends ~4s configuring an up-to-date compileJava task on this project; a bare -# javac + java cycle is well under that. Gradle is only invoked for the one-time -# bootstrap (compile robot classes, extract native libs, dump the classpath), or -# when --bootstrap is passed (e.g. after editing robot/builder code or changing -# dependencies). -# -# Usage: -# generate.sh [ENVIRONMENT] # print Autos.json for ENVIRONMENT (default: comp) -# generate.sh --bootstrap [ENVIRONMENT] # force recompile + native extraction + classpath dump -# -# All diagnostics (and native HAL stdout chatter) go to stderr so stdout is clean JSON. -set -euo pipefail - -SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" -ROOT="$(cd "$SCRIPT_DIR/.." && pwd)" -cd "$ROOT" - -CP_FILE="build/autogen-classpath.txt" -CLASSES="build/classes/java/main" -NATIVE_DIR="build/jni/release" -GEN_SRC="auto_generator_java" -GEN_OUT="build/autogen-out" -OUT_JSON="$GEN_OUT/Autos.json" -INIT_SCRIPT="$GEN_SRC/dump-classpath.gradle" - -# Faster JVM startup for the short-lived javac/java processes. -JVM_FAST=(-XX:+UseSerialGC -XX:TieredStopAtLevel=1 -XX:-UsePerfData) - -bootstrap=0 -if [[ "${1:-}" == "--bootstrap" ]]; then - bootstrap=1 - shift -fi -ENVIRONMENT="${1:-comp}" - -if [[ "$bootstrap" == 1 || ! -f "$CP_FILE" || ! -d "$CLASSES" || ! -d "$NATIVE_DIR" ]]; then - echo "[generate] bootstrapping: gradle compileJava + native extraction + classpath dump..." >&2 - ./gradlew --init-script "$INIT_SCRIPT" compileJava extractReleaseNative dumpAutoGenClasspath -q >&2 -fi - -CP="$(cat "$CP_FILE"):$CLASSES" -mkdir -p "$GEN_OUT" - -# Skip compilation if no generator source is newer than the last build output. -needs_compile=1 -marker="$GEN_OUT/.compiled" -if [[ -f "$marker" && -z "$(find "$GEN_SRC" -name '*.java' -newer "$marker" -print -quit)" ]]; then - needs_compile=0 -fi - -if [[ "$needs_compile" == 1 ]]; then - echo "[generate] compiling generator sources..." >&2 - # shellcheck disable=SC2046 - javac -J-XX:+UseSerialGC -J-XX:TieredStopAtLevel=1 -J-XX:-UsePerfData \ - -cp "$CP" -d "$GEN_OUT" $(find "$GEN_SRC" -name '*.java') - touch "$marker" -else - echo "[generate] generator sources unchanged; skipping compile" >&2 -fi - -echo "[generate] running generator for environment '$ENVIRONMENT'..." >&2 -# Native JNI libs (and their transitive .so deps) must be resolvable both for the -# JVM's System.loadLibrary (java.library.path) and the dynamic linker (LD_LIBRARY_PATH). -export LD_LIBRARY_PATH="$ROOT/$NATIVE_DIR:${LD_LIBRARY_PATH:-}" -# Send the JVM's own stdout (HAL native chatter) to stderr; the generator writes the -# JSON to OUT_JSON, which we then emit on stdout so callers get clean JSON. -java "${JVM_FAST[@]}" -Djava.library.path="$ROOT/$NATIVE_DIR" \ - -cp "$CP:$GEN_OUT" frc.robot.autogen.AutosGen "$ENVIRONMENT" "$OUT_JSON" 1>&2 -cat "$OUT_JSON" From b5b9a0fddb9a341a2a42d2d02b4f758189e4765f Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 15:15:22 -0400 Subject: [PATCH 09/20] Add fluent combinator DSL and rewrite autos to use it Replace the varargs seq(...)/parallel(...)/race(...) helpers with fluent combinators on AutoAction: action.andThen(b, c) // Sequence of action, b, c action.inParallelWith(x) // Parallel of action, x a.andThen(b).andThen(c) // chained, flattened race.racingWith(x, y) // Race of x, y andThen/inParallelWith/racingWith live on AutoAction; Sequence/Parallel/Race override them to flatten and gain static of(...)/of(List) factories. Dsl exposes empty seq/par/race starters; the combinators return new (flattened) containers, so the shared starters are never mutated. AutosGen is rewritten in this style: parallels start from the action (stowIntake().inParallelWith(followPath(...))), and the conditional builders (aggressive/conservative/cycleIntake) accumulate with `result = result.andThen(...)` instead of a mutable List + add(), so there are no more List/a.add() calls. Code logic is otherwise unchanged. Generated Autos.json is structurally identical; spotlessCheck and the auto round-trip CI pass. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 281 +++++++++--------- .../frc/robot/autogen/Dsl.java | 46 ++- src/main/java/frc/robot/auto/AutoAction.java | 28 ++ .../java/frc/robot/auto/general/Parallel.java | 22 ++ .../java/frc/robot/auto/general/Race.java | 22 ++ .../java/frc/robot/auto/general/Sequence.java | 22 ++ 6 files changed, 257 insertions(+), 164 deletions(-) diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index b013a20f..a0fe5867 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -10,7 +10,6 @@ import static frc.robot.autogen.Dsl.followPath; import static frc.robot.autogen.Dsl.meters; import static frc.robot.autogen.Dsl.networkConfigurableWait; -import static frc.robot.autogen.Dsl.parallel; import static frc.robot.autogen.Dsl.pidGains; import static frc.robot.autogen.Dsl.pose2d; import static frc.robot.autogen.Dsl.rotation2d; @@ -32,15 +31,20 @@ import frc.robot.auto.Auto; import frc.robot.auto.AutoAction; import frc.robot.auto.Autos; +import frc.robot.auto.general.Sequence; import frc.robot.util.json.JSONAPTarget; -import java.util.ArrayList; -import java.util.List; /** * Builds every auto routine in Java and serializes them to the Autos.json format using the robot's * own coppercore Gson configuration. Replaces the former Python auto generator. * - *

Usage: {@code java frc.robot.autogen.AutosGen [environment]} — prints the JSON to stdout. + *

Actions compose with the fluent combinators on {@link AutoAction}: {@code action.andThen(...)} + * builds a {@link Sequence} and {@code action.inParallelWith(...)} builds a {@link + * frc.robot.auto.general.Parallel}, both starting from any action or from the empty {@code + * Dsl.seq}/{@code Dsl.par} starters. Conditional sequences accumulate with {@code result = + * result.andThen(...)} (andThen flattens, so this just appends). + * + *

Usage: {@code java frc.robot.autogen.AutosGen [environment] [outputFile]}. */ public final class AutosGen { @@ -87,23 +91,28 @@ public static void main(String[] args) throws java.io.IOException { private static Autos build() { Autos autos = new Autos(); - autos.autos.put("Literally just shoot Auto", new Auto(seq(startShooting()), false, false)); + autos.autos.put( + "Literally just shoot Auto", new Auto(seq.andThen(startShooting()), false, false)); - autos.autos.put("Aggressive Depot", auto(seq(aggressive(true, false, false, true)))); - autos.autos.put("Aggressive No Depot", auto(seq(aggressive(false, false, false, true)))); - autos.autos.put("Aggressive Depot From Bump", auto(seq(aggressive(true, true, true, false)))); + autos.autos.put("Aggressive Depot", auto(seq.andThen(aggressive(true, false, false, true)))); + autos.autos.put( + "Aggressive No Depot", auto(seq.andThen(aggressive(false, false, false, true)))); + autos.autos.put( + "Aggressive Depot From Bump", auto(seq.andThen(aggressive(true, true, true, false)))); - autos.autos.put("Conservative Depot", auto(seq(conservative(true, false, false, true)))); - autos.autos.put("Conservative No Depot", auto(seq(conservative(false, false, false, true)))); autos.autos.put( - "Conservative Depot From Bump", auto(seq(conservative(true, true, true, false)))); + "Conservative Depot", auto(seq.andThen(conservative(true, false, false, true)))); + autos.autos.put( + "Conservative No Depot", auto(seq.andThen(conservative(false, false, false, true)))); + autos.autos.put( + "Conservative Depot From Bump", auto(seq.andThen(conservative(true, true, true, false)))); autos.autos.put("Follower", auto(follower())); autos.autos.put( "Single Swipe Then Depot", new Auto( - seq( + seq.andThen( aggressive(false, false, false, false), goToDepotAndIntake(), waitSeconds(1.0), @@ -114,7 +123,7 @@ private static Autos build() { autos.autos.put( "Center Depot", new Auto( - seq( + seq.andThen( deployIntake(), startShooting(), networkConfigurableWait("Center Depot - Shoot Preload", seconds(4.0)), @@ -142,18 +151,17 @@ private static Auto auto(AutoAction root) { private static AutoAction cycleIntake(double time, int count) { double delayEach = time / 2 / count; - List actions = new ArrayList<>(); + Sequence result = seq; for (int i = 0; i < count; i++) { - actions.add(stowIntake()); - actions.add(waitSeconds(delayEach)); - actions.add(deployIntake()); - actions.add(waitSeconds(delayEach)); + result = + result.andThen( + stowIntake(), waitSeconds(delayEach), deployIntake(), waitSeconds(delayEach)); } - return seq(actions); + return result; } private static AutoAction fromBumpPrepareForTrench(double angle) { - return seq( + return seq.andThen( ap().pose(3.5, 7.55, angle) .velocity(DEFAULT_TRENCH_VELOCITY) .entryAngle(0) @@ -163,7 +171,7 @@ private static AutoAction fromBumpPrepareForTrench(double angle) { } private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { - return seq( + return seq.andThen( ap().pose(4.0, 7.55, -90).velocity(DEFAULT_TRENCH_VELOCITY).entryAngle(0).xap(), // xBasedAutopilot(LEFT_TRENCH_CENTER_SIDE_POSE transformed by rotation, // velocity, entryAngle=secondEntryAngle) @@ -172,7 +180,7 @@ private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { private static AutoAction goToDepotAndIntake() { // drive near the depot and slow down so that we don't go too fast while intaking - return seq( + return seq.andThen( ap().pose(1.5, 5.1, 135) .velocity(1.0) .profile( @@ -202,144 +210,148 @@ private static AutoAction aggressive( boolean useDepot, boolean fromBump, boolean shootPreload, boolean doSecondSweep) { double intakeCycleTime = 1.0 / 3.0; int intakeCycleCount = 1; - List a = new ArrayList<>(); + Sequence result = seq; if (shootPreload) { - a.add(startShooting()); - a.add(waitSeconds(1.5)); + result = result.andThen(startShooting(), waitSeconds(1.5)); } if (fromBump) { - a.add(fromBumpPrepareForTrench(-90)); + result = result.andThen(fromBumpPrepareForTrench(-90)); } if (shootPreload) { - a.add(stopShooting()); + result = result.andThen(stopShooting()); } // Cycle 1 - - // Autopilot under the trench. - // Gives us solid acceleration and makes us resilient to unpredictable starting - // location. - a.add( - ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) - .velocity(AGGRESSIVE_TRENCH_VELOCITY) - // Constraints here are unique to this very high speed, high - // acceleration movement, so almost infinite acceleration limit is - // hardcoded in here. - .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) - // No entry angle, we just want to beeline to trench exit. - .xap()); - - // with parallel(): - // stowIntake(); - // followPath("Starting Position Left Trench To Center Intake In"); - - a.add(parallel(deployIntake(), followPath("Left Side Aggressive Sweep Intake In"))); - a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); - a.add(waitSeconds(0.1)); - a.add(ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap()); - a.add(cycleIntake(2.5, 5)); + result = + result.andThen( + // Autopilot under the trench. + // Gives us solid acceleration and makes us resilient to unpredictable starting + // location. + ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) + .velocity(AGGRESSIVE_TRENCH_VELOCITY) + // Constraints here are unique to this very high speed, high + // acceleration movement, so almost infinite acceleration limit is + // hardcoded in here. + .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + // No entry angle, we just want to beeline to trench exit. + .xap(), + // stowIntake().inParallelWith( + // followPath("Starting Position Left Trench To Center Intake In")) + deployIntake().inParallelWith(followPath("Left Side Aggressive Sweep Intake In")), + waitSeconds(0.6) + .andThen(startShooting()) + .inParallelWith(followPath("Left Bump To Alliance")), + waitSeconds(0.1), + ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap(), + cycleIntake(2.5, 5)); if (doSecondSweep) { - a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); - - // wait(1.0), - // Cycle 2 - a.add( - ap().pose(3.5, 7.55, -90) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) - .ap()); - a.add(parallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn())); - a.add(parallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In"))); - a.add(parallel(seq(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance"))); - a.add(waitSeconds(0.1)); - a.add(ap().pose(2.700, 5.75, -90).ap()); - a.add(waitSeconds(1)); + result = + result.andThen( + cycleIntake(intakeCycleTime, intakeCycleCount), + // wait(1.0), + // Cycle 2 + ap().pose(3.5, 7.55, -90) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap(), + stopShooting().inParallelWith(goToCenterUnderLeftTrenchFromAllianceIntakeIn()), + deployIntake().inParallelWith(followPath("Left Side Close 2nd Sweep Intake In")), + waitSeconds(0.4) + .andThen(startShooting()) + .inParallelWith(followPath("Left Bump To Alliance")), + waitSeconds(0.1), + ap().pose(2.700, 5.75, -90).ap(), + waitSeconds(1)); } if (useDepot) { - a.add( - ap().pose(1.5, 5.9, -180) - .velocity(0.0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) - .ap()); + result = + result.andThen( + ap().pose(1.5, 5.9, -180) + .velocity(0.0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); } - a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); - return seq(a); + return result.andThen(cycleIntake(intakeCycleTime, intakeCycleCount)); } private static AutoAction conservative( boolean useDepot, boolean fromBump, boolean shootPreload, boolean doSecondSweep) { double intakeCycleTime = 0.5; int intakeCycleCount = 1; - List a = new ArrayList<>(); + Sequence result = seq; if (shootPreload) { - a.add(startShooting()); - a.add(waitSeconds(1.5)); + result = result.andThen(startShooting(), waitSeconds(1.5)); } if (fromBump) { - a.add(fromBumpPrepareForTrench(0)); + result = result.andThen(fromBumpPrepareForTrench(0)); } if (shootPreload) { - a.add(stopShooting()); + result = result.andThen(stopShooting()); } // Cycle 1 - - a.add(ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap()); - a.add(parallel(stowIntake(), followPath("Starting Position Left Trench To Center"))); - a.add(parallel(deployIntake(), followPath("Left Side Conservative Sweep"))); - a.add(parallel(seq(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance"))); - a.add(waitSeconds(0.1)); - a.add(ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap()); - a.add(waitSeconds(2.5)); + result = + result.andThen( + ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap(), + stowIntake().inParallelWith(followPath("Starting Position Left Trench To Center")), + deployIntake().inParallelWith(followPath("Left Side Conservative Sweep")), + waitSeconds(0.6) + .andThen(startShooting()) + .inParallelWith(followPath("Left Bump To Alliance")), + waitSeconds(0.1), + ap().pose(2.700, 5.75, -90).ap(), + waitSeconds(2.5)); // wait(1.0), // Cycle 2 if (doSecondSweep) { - a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); - a.add( - ap().pose(3.5, 7.55, -90) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) - .ap()); - a.add(parallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn())); - a.add(parallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In"))); - a.add(parallel(seq(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance"))); - a.add(waitSeconds(0.1)); - a.add(ap().pose(2.700, 5.75, -90).ap()); - a.add(waitSeconds(1)); + result = + result.andThen( + cycleIntake(intakeCycleTime, intakeCycleCount), + ap().pose(3.5, 7.55, -90) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap(), + stopShooting().inParallelWith(goToCenterUnderLeftTrenchFromAllianceIntakeIn()), + deployIntake().inParallelWith(followPath("Left Side Close 2nd Sweep Intake In")), + waitSeconds(0.4) + .andThen(startShooting()) + .inParallelWith(followPath("Left Bump To Alliance")), + waitSeconds(0.1), + ap().pose(2.700, 5.75, -90).ap(), + waitSeconds(1)); } if (useDepot) { - a.add( - ap().pose(1.5, 5.9, -180) - .velocity(0.0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) - .ap()); + result = + result.andThen( + ap().pose(1.5, 5.9, -180) + .velocity(0.0) + .constraints(apConstraints(2.0, 2.0, 2.0)) + .pidGains(pidGains(1.5)) + .ap()); } - a.add(cycleIntake(intakeCycleTime, intakeCycleCount)); - return seq(a); + return result.andThen(cycleIntake(intakeCycleTime, intakeCycleCount)); } private static AutoAction follower() { - List f = new ArrayList<>(); // Don't deploy the intake to avoid smashing it into the trench. // deployIntake(); // startShooting(); - f.add(networkConfigurableWait("Follower - Preload", seconds(2.5))); - // stopShooting(); - f.add( + return seq.andThen( + networkConfigurableWait("Follower - Preload", seconds(2.5)), + // stopShooting(); ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) .velocity(2.0) // Constraints here are unique to this very high speed, high @@ -347,36 +359,31 @@ private static AutoAction follower() { // hardcoded in here. .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. - .xap()); - f.add(deployIntake()); - f.add(followPath("Left Side Follower Sweep Intake In")); - f.add(networkConfigurableWait("Follower - Before Bump Return", seconds(0.0))); - f.add(waitSeconds(0.1)); - f.add(ap().pose(2.700, 5.75, -90).ap()); - f.add( + .xap(), + deployIntake(), + followPath("Left Side Follower Sweep Intake In"), + networkConfigurableWait("Follower - Before Bump Return", seconds(0.0)), + waitSeconds(0.1), + ap().pose(2.700, 5.75, -90).ap(), ap().pose(1.5, 5.1, 135) .profile( apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) - .ap()); - f.add(startShooting()); - f.add(networkConfigurableWait("Follower - Before Depot", seconds(0.0))); - f.add(goToDepotAndIntake()); - f.add(waitSeconds(2.0)); - f.add(cycleIntake(6.0 / 3.0, 6)); - return seq(f); + .ap(), + startShooting(), + networkConfigurableWait("Follower - Before Depot", seconds(0.0)), + goToDepotAndIntake(), + waitSeconds(2.0), + cycleIntake(6.0 / 3.0, 6)); } /** Reusable climb lineup subroutine. */ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { - return seq( - parallel( - seq( - // xBasedAutopilot(FieldConstants.Alliance.center transformed by - // climb_offset, constraints=CLIMB_CONSTRAINTS) - ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), - climbSearch()), - waitSeconds(0.5), - climbHang()); + // xBasedAutopilot(FieldConstants.Alliance.center transformed by + // climb_offset, constraints=CLIMB_CONSTRAINTS) + return seq.andThen( + ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()) + .inParallelWith(climbSearch()) + .andThen(waitSeconds(0.5), climbHang()); } private AutosGen() {} diff --git a/auto_generator_java/frc/robot/autogen/Dsl.java b/auto_generator_java/frc/robot/autogen/Dsl.java index 47085282..ab8c2a8a 100644 --- a/auto_generator_java/frc/robot/autogen/Dsl.java +++ b/auto_generator_java/frc/robot/autogen/Dsl.java @@ -33,13 +33,13 @@ import frc.robot.auto.general.Race; import frc.robot.auto.general.Sequence; import frc.robot.auto.general.Wait; -import java.util.List; /** * Small authoring DSL for building auto routines in Java. Mirrors the helpers that used to live in - * the Python {@code shorthands.py}/{@code auto_lib.py}. All factory methods return plain {@link - * AutoAction} objects; nesting is expressed with {@link #seq}, {@link #parallel}, {@link #race} and - * {@link #deadline}. + * the Python {@code shorthands.py}/{@code auto_lib.py}. Factory methods return plain {@link + * AutoAction} objects; nesting is expressed with the fluent combinators on {@link AutoAction} + * starting from the {@link #seq}, {@link #par} and {@link #race} entry points, e.g. {@code + * seq.andThen(a, b)}, {@code par.inParallelWith(x, y)}, or {@code action.andThen(...)}. */ public final class Dsl { private Dsl() {} @@ -269,31 +269,23 @@ public static AutoAction followPath(String pathName, boolean mirrorPath, boolean // --------------------------------------------------------------------------- // Containers + // + // Compose actions fluently via the combinators on AutoAction: + // seq.andThen(a, b, c) // Sequence of a, b, c + // a.andThen(b).andThen(c) // same, chained (flattened) + // par.inParallelWith(x, y) // Parallel of x, y + // race.racingWith(x, y) // Race of x, y + // `seq`, `par` and `race` are empty starters; andThen/inParallelWith/racingWith + // return new (flattened) containers, so the shared starters are never mutated. + // For conditional building from a list, use Sequence.of(list) / Parallel.of(list). // --------------------------------------------------------------------------- - public static Sequence seq(AutoAction... actions) { - Sequence sequence = new Sequence(); - sequence.actions = actions; - return sequence; - } - - public static Sequence seq(List actions) { - return seq(actions.toArray(new AutoAction[0])); - } + /** Empty Sequence starter: {@code seq.andThen(...)}. */ + public static final Sequence seq = Sequence.of(); - public static Parallel parallel(AutoAction... actions) { - Parallel parallel = new Parallel(); - parallel.actions = actions; - return parallel; - } + /** Empty Parallel starter: {@code par.inParallelWith(...)}. */ + public static final Parallel par = Parallel.of(); - public static Parallel parallel(List actions) { - return parallel(actions.toArray(new AutoAction[0])); - } - - public static Race race(AutoAction... actions) { - Race race = new Race(); - race.actions = actions; - return race; - } + /** Empty Race starter: {@code race.racingWith(...)}. */ + public static final Race race = Race.of(); } diff --git a/src/main/java/frc/robot/auto/AutoAction.java b/src/main/java/frc/robot/auto/AutoAction.java index 68ac7451..54419847 100644 --- a/src/main/java/frc/robot/auto/AutoAction.java +++ b/src/main/java/frc/robot/auto/AutoAction.java @@ -95,4 +95,32 @@ public AutoActionContext mirror() { } public abstract Command toCommand(AutoActionContext data); + + // --------------------------------------------------------------------------- + // Fluent combinators for composing actions when authoring autos. + // --------------------------------------------------------------------------- + + /** Returns a {@link Sequence} that runs this action, then {@code next} in order. */ + public Sequence andThen(AutoAction... next) { + AutoAction[] all = new AutoAction[next.length + 1]; + all[0] = this; + System.arraycopy(next, 0, all, 1, next.length); + return Sequence.of(all); + } + + /** Returns a {@link Parallel} that runs this action alongside {@code others}. */ + public Parallel inParallelWith(AutoAction... others) { + AutoAction[] all = new AutoAction[others.length + 1]; + all[0] = this; + System.arraycopy(others, 0, all, 1, others.length); + return Parallel.of(all); + } + + /** Returns a {@link Race} of this action against {@code others} (ends when the first does). */ + public Race racingWith(AutoAction... others) { + AutoAction[] all = new AutoAction[others.length + 1]; + all[0] = this; + System.arraycopy(others, 0, all, 1, others.length); + return Race.of(all); + } } diff --git a/src/main/java/frc/robot/auto/general/Parallel.java b/src/main/java/frc/robot/auto/general/Parallel.java index f51e5071..1becd821 100644 --- a/src/main/java/frc/robot/auto/general/Parallel.java +++ b/src/main/java/frc/robot/auto/general/Parallel.java @@ -3,12 +3,34 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import frc.robot.auto.AutoAction; +import java.util.List; import java.util.Objects; import java.util.stream.Stream; public class Parallel extends AutoAction { public AutoAction[] actions; + /** Creates a Parallel of the given actions. */ + public static Parallel of(AutoAction... actions) { + Parallel parallel = new Parallel(); + parallel.actions = actions; + return parallel; + } + + /** Creates a Parallel from a list of actions (convenient for conditional building). */ + public static Parallel of(List actions) { + return of(actions.toArray(new AutoAction[0])); + } + + /** Adds {@code others} to run alongside this parallel, returning a new flattened Parallel. */ + @Override + public Parallel inParallelWith(AutoAction... others) { + AutoAction[] all = new AutoAction[actions.length + others.length]; + System.arraycopy(actions, 0, all, 0, actions.length); + System.arraycopy(others, 0, all, actions.length, others.length); + return of(all); + } + @Override public Command toCommand(AutoActionContext data) { Objects.requireNonNull(actions, "actions cannot be null"); diff --git a/src/main/java/frc/robot/auto/general/Race.java b/src/main/java/frc/robot/auto/general/Race.java index 4639775c..caff87bf 100644 --- a/src/main/java/frc/robot/auto/general/Race.java +++ b/src/main/java/frc/robot/auto/general/Race.java @@ -3,12 +3,34 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelRaceGroup; import frc.robot.auto.AutoAction; +import java.util.List; import java.util.Objects; import java.util.stream.Stream; public class Race extends AutoAction { public AutoAction[] actions; + /** Creates a Race of the given actions (all run until the first finishes). */ + public static Race of(AutoAction... actions) { + Race race = new Race(); + race.actions = actions; + return race; + } + + /** Creates a Race from a list of actions. */ + public static Race of(List actions) { + return of(actions.toArray(new AutoAction[0])); + } + + /** Adds {@code others} to race against this, returning a new flattened Race. */ + @Override + public Race racingWith(AutoAction... others) { + AutoAction[] all = new AutoAction[actions.length + others.length]; + System.arraycopy(actions, 0, all, 0, actions.length); + System.arraycopy(others, 0, all, actions.length, others.length); + return of(all); + } + @Override public Command toCommand(AutoActionContext data) { Objects.requireNonNull(actions, "actions cannot be null"); diff --git a/src/main/java/frc/robot/auto/general/Sequence.java b/src/main/java/frc/robot/auto/general/Sequence.java index b277ef76..b7e15f4e 100644 --- a/src/main/java/frc/robot/auto/general/Sequence.java +++ b/src/main/java/frc/robot/auto/general/Sequence.java @@ -3,6 +3,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import frc.robot.auto.AutoAction; +import java.util.List; import java.util.Objects; import java.util.stream.Stream; @@ -10,6 +11,27 @@ public class Sequence extends AutoAction { public AutoAction[] actions; + /** Creates a Sequence of the given actions. */ + public static Sequence of(AutoAction... actions) { + Sequence sequence = new Sequence(); + sequence.actions = actions; + return sequence; + } + + /** Creates a Sequence from a list of actions (convenient for conditional building). */ + public static Sequence of(List actions) { + return of(actions.toArray(new AutoAction[0])); + } + + /** Appends {@code next} to this sequence, returning a new flattened Sequence. */ + @Override + public Sequence andThen(AutoAction... next) { + AutoAction[] all = new AutoAction[actions.length + next.length]; + System.arraycopy(actions, 0, all, 0, actions.length); + System.arraycopy(next, 0, all, actions.length, next.length); + return of(all); + } + @Override public Command toCommand(AutoActionContext data) { Objects.requireNonNull(actions, "actions cannot be null"); From fe9ccf0b06d944b75ef2038a18d3ebab00d3032b Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 15:53:50 -0400 Subject: [PATCH 10/20] Replace .inParallelWith decorator with explicit inParallel(...) grouping MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A trailing `.inParallelWith(x)` on a chain read ambiguously — it was unclear whether x ran alongside the whole preceding sequence or just the last action. Remove the .inParallelWith / .racingWith decorators and instead make grouping explicit: - inParallel(a, b, c) / inRace(a, b, c) factories (Dsl), used inside andThen: seq.andThen(x, inParallel(a, b), y) - action.andThenInParallel(a, b) / andThenRacing(a, b) sugar on AutoAction (= andThen(Parallel.of(...)) / andThen(Race.of(...))). The empty `par`/`race` starters are removed; `seq` remains for andThen chains. AutosGen's parallels are now written as inParallel(...) groups. Generated Autos.json is structurally identical; spotlessCheck and the round-trip CI pass. Co-Authored-By: Claude Opus 4.8 --- .../frc/robot/autogen/AutosGen.java | 59 ++++++++++--------- .../frc/robot/autogen/Dsl.java | 36 ++++++----- src/main/java/frc/robot/auto/AutoAction.java | 26 ++++---- .../java/frc/robot/auto/general/Parallel.java | 9 --- .../java/frc/robot/auto/general/Race.java | 9 --- 5 files changed, 66 insertions(+), 73 deletions(-) diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/auto_generator_java/frc/robot/autogen/AutosGen.java index a0fe5867..404acb39 100644 --- a/auto_generator_java/frc/robot/autogen/AutosGen.java +++ b/auto_generator_java/frc/robot/autogen/AutosGen.java @@ -8,6 +8,7 @@ import static frc.robot.autogen.Dsl.degrees; import static frc.robot.autogen.Dsl.deployIntake; import static frc.robot.autogen.Dsl.followPath; +import static frc.robot.autogen.Dsl.inParallel; import static frc.robot.autogen.Dsl.meters; import static frc.robot.autogen.Dsl.networkConfigurableWait; import static frc.robot.autogen.Dsl.pidGains; @@ -38,11 +39,10 @@ * Builds every auto routine in Java and serializes them to the Autos.json format using the robot's * own coppercore Gson configuration. Replaces the former Python auto generator. * - *

Actions compose with the fluent combinators on {@link AutoAction}: {@code action.andThen(...)} - * builds a {@link Sequence} and {@code action.inParallelWith(...)} builds a {@link - * frc.robot.auto.general.Parallel}, both starting from any action or from the empty {@code - * Dsl.seq}/{@code Dsl.par} starters. Conditional sequences accumulate with {@code result = - * result.andThen(...)} (andThen flattens, so this just appends). + *

Sequencing uses {@code seq.andThen(...)} (or {@code action.andThen(...)}); parallel/race + * groups are built explicitly with {@code inParallel(...)} / {@code inRace(...)} so grouping is + * never ambiguous, e.g. {@code seq.andThen(a, inParallel(b, c))}. Conditional sequences accumulate + * with {@code result = result.andThen(...)} (andThen flattens, so this just appends). * *

Usage: {@code java frc.robot.autogen.AutosGen [environment] [outputFile]}. */ @@ -236,12 +236,12 @@ private static AutoAction aggressive( .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. .xap(), - // stowIntake().inParallelWith( + // inParallel(stowIntake(), // followPath("Starting Position Left Trench To Center Intake In")) - deployIntake().inParallelWith(followPath("Left Side Aggressive Sweep Intake In")), - waitSeconds(0.6) - .andThen(startShooting()) - .inParallelWith(followPath("Left Bump To Alliance")), + inParallel(deployIntake(), followPath("Left Side Aggressive Sweep Intake In")), + inParallel( + seq.andThen(waitSeconds(0.6), startShooting()), + followPath("Left Bump To Alliance")), waitSeconds(0.1), ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap(), cycleIntake(2.5, 5)); @@ -258,11 +258,11 @@ private static AutoAction aggressive( .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) .ap(), - stopShooting().inParallelWith(goToCenterUnderLeftTrenchFromAllianceIntakeIn()), - deployIntake().inParallelWith(followPath("Left Side Close 2nd Sweep Intake In")), - waitSeconds(0.4) - .andThen(startShooting()) - .inParallelWith(followPath("Left Bump To Alliance")), + inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), + inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), + inParallel( + seq.andThen(waitSeconds(0.4), startShooting()), + followPath("Left Bump To Alliance")), waitSeconds(0.1), ap().pose(2.700, 5.75, -90).ap(), waitSeconds(1)); @@ -301,11 +301,11 @@ private static AutoAction conservative( result = result.andThen( ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap(), - stowIntake().inParallelWith(followPath("Starting Position Left Trench To Center")), - deployIntake().inParallelWith(followPath("Left Side Conservative Sweep")), - waitSeconds(0.6) - .andThen(startShooting()) - .inParallelWith(followPath("Left Bump To Alliance")), + inParallel(stowIntake(), followPath("Starting Position Left Trench To Center")), + inParallel(deployIntake(), followPath("Left Side Conservative Sweep")), + inParallel( + seq.andThen(waitSeconds(0.6), startShooting()), + followPath("Left Bump To Alliance")), waitSeconds(0.1), ap().pose(2.700, 5.75, -90).ap(), waitSeconds(2.5)); @@ -322,11 +322,11 @@ private static AutoAction conservative( .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) .ap(), - stopShooting().inParallelWith(goToCenterUnderLeftTrenchFromAllianceIntakeIn()), - deployIntake().inParallelWith(followPath("Left Side Close 2nd Sweep Intake In")), - waitSeconds(0.4) - .andThen(startShooting()) - .inParallelWith(followPath("Left Bump To Alliance")), + inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), + inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), + inParallel( + seq.andThen(waitSeconds(0.4), startShooting()), + followPath("Left Bump To Alliance")), waitSeconds(0.1), ap().pose(2.700, 5.75, -90).ap(), waitSeconds(1)); @@ -381,9 +381,12 @@ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { // xBasedAutopilot(FieldConstants.Alliance.center transformed by // climb_offset, constraints=CLIMB_CONSTRAINTS) return seq.andThen( - ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()) - .inParallelWith(climbSearch()) - .andThen(waitSeconds(0.5), climbHang()); + inParallel( + seq.andThen( + ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), + climbSearch()), + waitSeconds(0.5), + climbHang()); } private AutosGen() {} diff --git a/auto_generator_java/frc/robot/autogen/Dsl.java b/auto_generator_java/frc/robot/autogen/Dsl.java index ab8c2a8a..330dd33a 100644 --- a/auto_generator_java/frc/robot/autogen/Dsl.java +++ b/auto_generator_java/frc/robot/autogen/Dsl.java @@ -37,9 +37,9 @@ /** * Small authoring DSL for building auto routines in Java. Mirrors the helpers that used to live in * the Python {@code shorthands.py}/{@code auto_lib.py}. Factory methods return plain {@link - * AutoAction} objects; nesting is expressed with the fluent combinators on {@link AutoAction} - * starting from the {@link #seq}, {@link #par} and {@link #race} entry points, e.g. {@code - * seq.andThen(a, b)}, {@code par.inParallelWith(x, y)}, or {@code action.andThen(...)}. + * AutoAction} objects; sequencing is expressed with {@code seq.andThen(...)} (or {@code + * action.andThen(...)}), and parallel/race groups are built explicitly with the {@link #inParallel} + * / {@link #inRace} factories, e.g. {@code seq.andThen(a, inParallel(b, c))}. */ public final class Dsl { private Dsl() {} @@ -270,22 +270,28 @@ public static AutoAction followPath(String pathName, boolean mirrorPath, boolean // --------------------------------------------------------------------------- // Containers // - // Compose actions fluently via the combinators on AutoAction: - // seq.andThen(a, b, c) // Sequence of a, b, c - // a.andThen(b).andThen(c) // same, chained (flattened) - // par.inParallelWith(x, y) // Parallel of x, y - // race.racingWith(x, y) // Race of x, y - // `seq`, `par` and `race` are empty starters; andThen/inParallelWith/racingWith - // return new (flattened) containers, so the shared starters are never mutated. - // For conditional building from a list, use Sequence.of(list) / Parallel.of(list). + // Sequencing uses the fluent combinators on AutoAction; parallel/race groups are + // built explicitly with the inParallel(...) / inRace(...) factories so grouping is + // never ambiguous: + // seq.andThen(a, b, c) // Sequence of a, b, c + // seq.andThen(a, inParallel(b, c)) // a, then b and c together + // a.andThenInParallel(b, c) // sugar for a.andThen(inParallel(b, c)) + // inParallel(seq.andThen(a, b), c) // [a then b] alongside c + // `seq` is an empty starter; andThen returns a new (flattened) Sequence, so the + // shared starter is never mutated. For conditional building, accumulate with + // `result = result.andThen(...)`. // --------------------------------------------------------------------------- /** Empty Sequence starter: {@code seq.andThen(...)}. */ public static final Sequence seq = Sequence.of(); - /** Empty Parallel starter: {@code par.inParallelWith(...)}. */ - public static final Parallel par = Parallel.of(); + /** Builds a Parallel that runs the given actions together. */ + public static Parallel inParallel(AutoAction... actions) { + return Parallel.of(actions); + } - /** Empty Race starter: {@code race.racingWith(...)}. */ - public static final Race race = Race.of(); + /** Builds a Race of the given actions (the group ends when the first finishes). */ + public static Race inRace(AutoAction... actions) { + return Race.of(actions); + } } diff --git a/src/main/java/frc/robot/auto/AutoAction.java b/src/main/java/frc/robot/auto/AutoAction.java index 54419847..bbbc4662 100644 --- a/src/main/java/frc/robot/auto/AutoAction.java +++ b/src/main/java/frc/robot/auto/AutoAction.java @@ -108,19 +108,21 @@ public Sequence andThen(AutoAction... next) { return Sequence.of(all); } - /** Returns a {@link Parallel} that runs this action alongside {@code others}. */ - public Parallel inParallelWith(AutoAction... others) { - AutoAction[] all = new AutoAction[others.length + 1]; - all[0] = this; - System.arraycopy(others, 0, all, 1, others.length); - return Parallel.of(all); + /** + * Returns a {@link Sequence} that runs this action, then runs {@code parallelActions} together in + * parallel. Sugar for {@code andThen(Parallel.of(parallelActions))} — the parallel grouping is + * explicit, so there is no ambiguity about what runs alongside what. + */ + public Sequence andThenInParallel(AutoAction... parallelActions) { + return andThen(Parallel.of(parallelActions)); } - /** Returns a {@link Race} of this action against {@code others} (ends when the first does). */ - public Race racingWith(AutoAction... others) { - AutoAction[] all = new AutoAction[others.length + 1]; - all[0] = this; - System.arraycopy(others, 0, all, 1, others.length); - return Race.of(all); + /** + * Returns a {@link Sequence} that runs this action, then races {@code raceActions} against each + * other (the group ends when the first finishes). Sugar for {@code + * andThen(Race.of(raceActions))}. + */ + public Sequence andThenRacing(AutoAction... raceActions) { + return andThen(Race.of(raceActions)); } } diff --git a/src/main/java/frc/robot/auto/general/Parallel.java b/src/main/java/frc/robot/auto/general/Parallel.java index 1becd821..b6c9d07f 100644 --- a/src/main/java/frc/robot/auto/general/Parallel.java +++ b/src/main/java/frc/robot/auto/general/Parallel.java @@ -22,15 +22,6 @@ public static Parallel of(List actions) { return of(actions.toArray(new AutoAction[0])); } - /** Adds {@code others} to run alongside this parallel, returning a new flattened Parallel. */ - @Override - public Parallel inParallelWith(AutoAction... others) { - AutoAction[] all = new AutoAction[actions.length + others.length]; - System.arraycopy(actions, 0, all, 0, actions.length); - System.arraycopy(others, 0, all, actions.length, others.length); - return of(all); - } - @Override public Command toCommand(AutoActionContext data) { Objects.requireNonNull(actions, "actions cannot be null"); diff --git a/src/main/java/frc/robot/auto/general/Race.java b/src/main/java/frc/robot/auto/general/Race.java index caff87bf..f09863a4 100644 --- a/src/main/java/frc/robot/auto/general/Race.java +++ b/src/main/java/frc/robot/auto/general/Race.java @@ -22,15 +22,6 @@ public static Race of(List actions) { return of(actions.toArray(new AutoAction[0])); } - /** Adds {@code others} to race against this, returning a new flattened Race. */ - @Override - public Race racingWith(AutoAction... others) { - AutoAction[] all = new AutoAction[actions.length + others.length]; - System.arraycopy(actions, 0, all, 0, actions.length); - System.arraycopy(others, 0, all, actions.length, others.length); - return of(all); - } - @Override public Command toCommand(AutoActionContext data) { Objects.requireNonNull(actions, "actions cannot be null"); From b78fd51aaa39a8a99f4133ac57c7b5778fe3d4e1 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 15:58:53 -0400 Subject: [PATCH 11/20] Move the auto generator into src/main/java/frc/robot/autogen MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The generator Java (AutosGen, Dsl, Field) now lives under src/main/java like the rest of the robot code, so it's compiled by gradle as part of main and covered by spotless automatically (it's inert at robot runtime — never invoked). The driver tooling (generate.py, dump-classpath.gradle) moves next to build_autos.py in auto_generator/, and auto_generator_java/ is removed. generate.py now fast-compiles only the autogen package (src/main/java/frc/robot/ autogen) on the hot path and puts that output first on the run classpath so it takes precedence over the copy gradle compiles into build/classes/java/main. build.gradle's spotless java target drops the now-redundant auto_generator_java entry. Generated Autos.json is structurally identical; spotlessCheck and the round-trip CI pass. Co-Authored-By: Claude Opus 4.8 --- auto_generator/build_autos.py | 10 +++++----- .../dump-classpath.gradle | 0 .../generate.py | 14 +++++++++----- build.gradle | 12 ++++-------- .../main/java}/frc/robot/autogen/AutosGen.java | 0 .../main/java}/frc/robot/autogen/Dsl.java | 0 .../main/java}/frc/robot/autogen/Field.java | 0 7 files changed, 18 insertions(+), 18 deletions(-) rename {auto_generator_java => auto_generator}/dump-classpath.gradle (100%) rename {auto_generator_java => auto_generator}/generate.py (88%) rename {auto_generator_java => src/main/java}/frc/robot/autogen/AutosGen.java (100%) rename {auto_generator_java => src/main/java}/frc/robot/autogen/Dsl.java (100%) rename {auto_generator_java => src/main/java}/frc/robot/autogen/Field.java (100%) diff --git a/auto_generator/build_autos.py b/auto_generator/build_autos.py index 0eb0a954..f577c01e 100644 --- a/auto_generator/build_autos.py +++ b/auto_generator/build_autos.py @@ -3,7 +3,7 @@ build_autos.py Orchestrates auto generation and publishing. The autos themselves are authored -in Java (see auto_generator_java/) and serialized to Autos.json by a fast Java +in Java (see src/main/java/frc/robot/autogen) and serialized to Autos.json by a fast Java generator that reuses the robot's own coppercore Gson configuration. This script invokes that generator, then writes the local Autos.json and/or publishes to the robot's tuning server (verifying a structural round-trip on PUT). @@ -32,10 +32,10 @@ _SCRIPT_DIR = Path(__file__).resolve().parent _REPO_ROOT = _SCRIPT_DIR.parent -# The autos are authored in Java and serialized to Autos.json by the cross-platform -# generator driver, which reuses the robot's own coppercore Gson configuration. -# Load it as a module (it lives outside this directory). See auto_generator_java/. -_GENERATOR_PATH = _REPO_ROOT / "auto_generator_java" / "generate.py" +# The autos are authored in Java (src/main/java/frc/robot/autogen) and serialized to +# Autos.json by the cross-platform generator driver, which reuses the robot's own +# coppercore Gson configuration. Load it as a module (it sits next to this file). +_GENERATOR_PATH = _SCRIPT_DIR / "generate.py" _spec = importlib.util.spec_from_file_location("autogen_generate", _GENERATOR_PATH) _autogen = importlib.util.module_from_spec(_spec) _spec.loader.exec_module(_autogen) diff --git a/auto_generator_java/dump-classpath.gradle b/auto_generator/dump-classpath.gradle similarity index 100% rename from auto_generator_java/dump-classpath.gradle rename to auto_generator/dump-classpath.gradle diff --git a/auto_generator_java/generate.py b/auto_generator/generate.py similarity index 88% rename from auto_generator_java/generate.py rename to auto_generator/generate.py index f340729e..9511ee59 100755 --- a/auto_generator_java/generate.py +++ b/auto_generator/generate.py @@ -2,8 +2,8 @@ """ Cross-platform driver for the Java auto generator. -Compiles the auto-definition sources (auto_generator_java/) against the already -compiled robot classes and runs them as a (headless) robot JVM with the WPILib +Compiles the auto-definition sources (src/main/java/frc/robot/autogen) against the +already-compiled robot classes and runs them as a (headless) robot JVM with the WPILib native libraries on the path, so the auto code has full, unrestricted access to the rest of the robot code (HAL, Filesystem, NetworkTables), exactly as on the robot. Emits Autos.json to stdout. @@ -29,13 +29,15 @@ import sys from pathlib import Path -_THIS_DIR = Path(__file__).resolve().parent # auto_generator_java/ +_THIS_DIR = Path(__file__).resolve().parent # auto_generator/ _ROOT = _THIS_DIR.parent CP_FILE = _ROOT / "build" / "autogen-classpath.txt" CLASSES = _ROOT / "build" / "classes" / "java" / "main" NATIVE_DIR = _ROOT / "build" / "jni" / "release" -GEN_SRC = _THIS_DIR +# Only the autogen package is fast-compiled on the hot path (the rest of the robot +# is already compiled into CLASSES by the bootstrap's gradle compileJava). +GEN_SRC = _ROOT / "src" / "main" / "java" / "frc" / "robot" / "autogen" GEN_OUT = _ROOT / "build" / "autogen-out" OUT_JSON = GEN_OUT / "Autos.json" MARKER = GEN_OUT / ".compiled" @@ -136,7 +138,9 @@ def generate(env: str = "comp", bootstrap: bool = False) -> str: _log("generator sources unchanged; skipping compile") _log(f"running generator for environment '{env}'...") - run_classpath = classpath + os.pathsep + str(GEN_OUT) + # GEN_OUT goes first so the freshly fast-compiled autogen classes take precedence + # over the (possibly stale) copies the gradle bootstrap compiled into CLASSES. + run_classpath = str(GEN_OUT) + os.pathsep + classpath # The generator writes JSON to OUT_JSON. Initializing HAL prints native chatter to # the JVM's stdout, so we route that to our stderr to keep it out of the JSON. subprocess.run( diff --git a/build.gradle b/build.gradle index be54aa7b..0c44f574 100644 --- a/build.gradle +++ b/build.gradle @@ -221,17 +221,13 @@ createVersionFile.dependsOn(eventDeploy) project.compileJava.dependsOn(spotlessApply) spotless { java { - // Restrict formatting to files under the workspace 'src' and - // 'auto_generator_java' directories. Using '.' can sometimes pick up - // files mounted from other filesystems (e.g. WSL mounts) which Spotless - // rejects. Targeting specific directories keeps the formatter inside the - // project directory. + // Restrict formatting to files under the workspace 'src' directory. + // Using '.' can sometimes pick up files mounted from other filesystems + // (e.g. WSL mounts) which Spotless rejects. Targeting 'src' keeps the + // formatter inside the project directory. target fileTree('src') { include "**/*.java" exclude "**/build/**", "**/build-*/**", "settings_gui/**" - }, fileTree('auto_generator_java') { - include "**/*.java" - exclude "**/build/**" } toggleOffOn() googleJavaFormat() diff --git a/auto_generator_java/frc/robot/autogen/AutosGen.java b/src/main/java/frc/robot/autogen/AutosGen.java similarity index 100% rename from auto_generator_java/frc/robot/autogen/AutosGen.java rename to src/main/java/frc/robot/autogen/AutosGen.java diff --git a/auto_generator_java/frc/robot/autogen/Dsl.java b/src/main/java/frc/robot/autogen/Dsl.java similarity index 100% rename from auto_generator_java/frc/robot/autogen/Dsl.java rename to src/main/java/frc/robot/autogen/Dsl.java diff --git a/auto_generator_java/frc/robot/autogen/Field.java b/src/main/java/frc/robot/autogen/Field.java similarity index 100% rename from auto_generator_java/frc/robot/autogen/Field.java rename to src/main/java/frc/robot/autogen/Field.java From 81fd54aefd421f1b6bc99243cbac1ed2562a333a Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 16:12:59 -0400 Subject: [PATCH 12/20] Rename AutosGen -> GenerateAutos and Ap.ap() -> Ap.toAutoAction() - Class AutosGen renamed to GenerateAutos (file, class, constructor, javadoc, and MAIN_CLASS in generate.py). - The AutoPilotAction builder terminal Dsl.Ap.ap() is renamed to toAutoAction() so it no longer collides in name with the Dsl.ap() entry point. Generated Autos.json is structurally identical; spotlessCheck passes. Co-Authored-By: Claude Opus 4.8 --- auto_generator/generate.py | 2 +- src/main/java/frc/robot/autogen/Dsl.java | 2 +- .../{AutosGen.java => GenerateAutos.java} | 36 +++++++++---------- 3 files changed, 20 insertions(+), 20 deletions(-) rename src/main/java/frc/robot/autogen/{AutosGen.java => GenerateAutos.java} (95%) diff --git a/auto_generator/generate.py b/auto_generator/generate.py index 9511ee59..db0a5b7f 100755 --- a/auto_generator/generate.py +++ b/auto_generator/generate.py @@ -42,7 +42,7 @@ OUT_JSON = GEN_OUT / "Autos.json" MARKER = GEN_OUT / ".compiled" INIT_SCRIPT = _THIS_DIR / "dump-classpath.gradle" -MAIN_CLASS = "frc.robot.autogen.AutosGen" +MAIN_CLASS = "frc.robot.autogen.GenerateAutos" _IS_WINDOWS = os.name == "nt" JVM_FAST = ["-XX:+UseSerialGC", "-XX:TieredStopAtLevel=1", "-XX:-UsePerfData"] diff --git a/src/main/java/frc/robot/autogen/Dsl.java b/src/main/java/frc/robot/autogen/Dsl.java index 330dd33a..59840674 100644 --- a/src/main/java/frc/robot/autogen/Dsl.java +++ b/src/main/java/frc/robot/autogen/Dsl.java @@ -188,7 +188,7 @@ private APTarget target() { return target; } - public AutoPilotAction ap() { + public AutoPilotAction toAutoAction() { return new AutoPilotAction(target(), constraints, profile, pidGains, canMirror); } diff --git a/src/main/java/frc/robot/autogen/AutosGen.java b/src/main/java/frc/robot/autogen/GenerateAutos.java similarity index 95% rename from src/main/java/frc/robot/autogen/AutosGen.java rename to src/main/java/frc/robot/autogen/GenerateAutos.java index 404acb39..be7d122a 100644 --- a/src/main/java/frc/robot/autogen/AutosGen.java +++ b/src/main/java/frc/robot/autogen/GenerateAutos.java @@ -44,9 +44,9 @@ * never ambiguous, e.g. {@code seq.andThen(a, inParallel(b, c))}. Conditional sequences accumulate * with {@code result = result.andThen(...)} (andThen flattens, so this just appends). * - *

Usage: {@code java frc.robot.autogen.AutosGen [environment] [outputFile]}. + *

Usage: {@code java frc.robot.autogen.GenerateAutos [environment] [outputFile]}. */ -public final class AutosGen { +public final class GenerateAutos { // TODO: Add alliance-relative coordinate utilities. // TODO: Replace placeholder coordinates with real field positions. @@ -167,7 +167,7 @@ private static AutoAction fromBumpPrepareForTrench(double angle) { .entryAngle(0) .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) - .ap()); + .toAutoAction()); } private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { @@ -185,11 +185,11 @@ private static AutoAction goToDepotAndIntake() { .velocity(1.0) .profile( apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) - .ap(), + .toAutoAction(), ap().pose(0.715, 5.1, 135) .constraints(apConstraints(1.0, 3.0, 3.0)) .pidGains(pidGains(1.5)) - .ap(), + .toAutoAction(), // Wait to stop autopilot from seeing initial velocity and panicking. // Autopilot is probably more robust and simpler. Also removes a path planner // path and enables us to use hot reload to tune it: followPath("Intake Depot"). @@ -197,13 +197,13 @@ private static AutoAction goToDepotAndIntake() { ap().pose(0.715, 6.4, 135) .constraints(apConstraints(1.0, 3.0, 2.0)) .pidGains(pidGains(1.5)) - .ap(), + .toAutoAction(), // Wait to stop autopilot from seeing initial velocity and panicking. waitSeconds(0.1), ap().pose(1.0, 6.8, 135) .constraints(apConstraints(5.1, 5.0, 3.0)) .pidGains(pidGains(1.5)) - .ap()); + .toAutoAction()); } private static AutoAction aggressive( @@ -243,7 +243,7 @@ private static AutoAction aggressive( seq.andThen(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).ap(), + ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).toAutoAction(), cycleIntake(2.5, 5)); if (doSecondSweep) { @@ -257,14 +257,14 @@ private static AutoAction aggressive( .entryAngle(0) .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) - .ap(), + .toAutoAction(), inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), inParallel( seq.andThen(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).ap(), + ap().pose(2.700, 5.75, -90).toAutoAction(), waitSeconds(1)); } @@ -275,7 +275,7 @@ private static AutoAction aggressive( .velocity(0.0) .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) - .ap()); + .toAutoAction()); } return result.andThen(cycleIntake(intakeCycleTime, intakeCycleCount)); @@ -307,7 +307,7 @@ private static AutoAction conservative( seq.andThen(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).ap(), + ap().pose(2.700, 5.75, -90).toAutoAction(), waitSeconds(2.5)); // wait(1.0), @@ -321,14 +321,14 @@ private static AutoAction conservative( .entryAngle(0) .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) - .ap(), + .toAutoAction(), inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), inParallel( seq.andThen(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).ap(), + ap().pose(2.700, 5.75, -90).toAutoAction(), waitSeconds(1)); } @@ -339,7 +339,7 @@ private static AutoAction conservative( .velocity(0.0) .constraints(apConstraints(2.0, 2.0, 2.0)) .pidGains(pidGains(1.5)) - .ap()); + .toAutoAction()); } return result.andThen(cycleIntake(intakeCycleTime, intakeCycleCount)); @@ -364,11 +364,11 @@ private static AutoAction follower() { followPath("Left Side Follower Sweep Intake In"), networkConfigurableWait("Follower - Before Bump Return", seconds(0.0)), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).ap(), + ap().pose(2.700, 5.75, -90).toAutoAction(), ap().pose(1.5, 5.1, 135) .profile( apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) - .ap(), + .toAutoAction(), startShooting(), networkConfigurableWait("Follower - Before Depot", seconds(0.0)), goToDepotAndIntake(), @@ -389,5 +389,5 @@ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { climbHang()); } - private AutosGen() {} + private GenerateAutos() {} } From 62ea6e108f467371d8cc4adca8569a67876e729f Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 16:18:18 -0400 Subject: [PATCH 13/20] Rename Ap.xap() -> Ap.toXBasedAutoAction() Consistent with Ap.toAutoAction(); the XBased autopilot builder terminal now reads clearly. Generated Autos.json is structurally identical; spotlessCheck passes. Co-Authored-By: Claude Opus 4.8 --- src/main/java/frc/robot/autogen/Dsl.java | 2 +- .../java/frc/robot/autogen/GenerateAutos.java | 20 ++++++++++--------- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/autogen/Dsl.java b/src/main/java/frc/robot/autogen/Dsl.java index 59840674..aabd2868 100644 --- a/src/main/java/frc/robot/autogen/Dsl.java +++ b/src/main/java/frc/robot/autogen/Dsl.java @@ -192,7 +192,7 @@ public AutoPilotAction toAutoAction() { return new AutoPilotAction(target(), constraints, profile, pidGains, canMirror); } - public XBasedAutoPilotAction xap() { + public XBasedAutoPilotAction toXBasedAutoAction() { return new XBasedAutoPilotAction(target(), constraints, profile, pidGains, canMirror); } } diff --git a/src/main/java/frc/robot/autogen/GenerateAutos.java b/src/main/java/frc/robot/autogen/GenerateAutos.java index be7d122a..d0f0f727 100644 --- a/src/main/java/frc/robot/autogen/GenerateAutos.java +++ b/src/main/java/frc/robot/autogen/GenerateAutos.java @@ -52,10 +52,6 @@ public final class GenerateAutos { // TODO: Replace placeholder coordinates with real field positions. // TODO: Switch to AutoPilotAction with entry angle and exit velocity for trench segments. - // --- constants ported from the old constants.py --------------------------- - // TODO: Maybe make these loaded from the constants files in the main robot code - // instead of hardcoded here, to avoid duplication and potential inconsistencies. - // (The climb poses below are now derived from the robot's FieldConstants; see Field.) private static final double DEFAULT_TRENCH_VELOCITY = 4.2; private static final double AGGRESSIVE_TRENCH_VELOCITY = 5.1; private static final Pose2d LEFT_TRENCH_CENTER_SIDE_POSE = pose2d(5.2, 7.4, -90); @@ -172,7 +168,10 @@ private static AutoAction fromBumpPrepareForTrench(double angle) { private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { return seq.andThen( - ap().pose(4.0, 7.55, -90).velocity(DEFAULT_TRENCH_VELOCITY).entryAngle(0).xap(), + ap().pose(4.0, 7.55, -90) + .velocity(DEFAULT_TRENCH_VELOCITY) + .entryAngle(0) + .toXBasedAutoAction(), // xBasedAutopilot(LEFT_TRENCH_CENTER_SIDE_POSE transformed by rotation, // velocity, entryAngle=secondEntryAngle) followPath("Left Trench To Center Intake In")); @@ -235,7 +234,7 @@ private static AutoAction aggressive( // hardcoded in here. .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. - .xap(), + .toXBasedAutoAction(), // inParallel(stowIntake(), // followPath("Starting Position Left Trench To Center Intake In")) inParallel(deployIntake(), followPath("Left Side Aggressive Sweep Intake In")), @@ -300,7 +299,7 @@ private static AutoAction conservative( // Cycle 1 result = result.andThen( - ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).xap(), + ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).toXBasedAutoAction(), inParallel(stowIntake(), followPath("Starting Position Left Trench To Center")), inParallel(deployIntake(), followPath("Left Side Conservative Sweep")), inParallel( @@ -359,7 +358,7 @@ private static AutoAction follower() { // hardcoded in here. .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. - .xap(), + .toXBasedAutoAction(), deployIntake(), followPath("Left Side Follower Sweep Intake In"), networkConfigurableWait("Follower - Before Bump Return", seconds(0.0)), @@ -383,7 +382,10 @@ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { return seq.andThen( inParallel( seq.andThen( - ap().pose(targetPose).entryAngle(entryAngle).constraints(CLIMB_CONSTRAINTS).xap()), + ap().pose(targetPose) + .entryAngle(entryAngle) + .constraints(CLIMB_CONSTRAINTS) + .toXBasedAutoAction()), climbSearch()), waitSeconds(0.5), climbHang()); From 77c2f3146fa746dc7e6a11b5ade7fec7817d59ad Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 16:54:47 -0400 Subject: [PATCH 14/20] Rework autopilot builder API: autoPilotTo(...) entry + with* setters - Replace `ap().pose(x, y, a)` with an `autoPilotTo(x, y, a)` entry point (overloads for (x, y), (x, y, angle), and Pose2d); the target pose is now required at construction (Ap.reference is final). - Rename all builder setters to the with* convention: withVelocity, withEntryAngle, withConstraints, withPidGains, and also withProfile, withRotationRadius, withCanMirror. Reads e.g. autoPilotTo(3.5, 7.55, -90).withVelocity(4.2).withConstraints(...) .toAutoAction(). Generated Autos.json is structurally identical; spotlessCheck passes. Co-Authored-By: Claude Opus 4.8 --- src/main/java/frc/robot/autogen/Dsl.java | 51 ++++---- .../java/frc/robot/autogen/GenerateAutos.java | 112 +++++++++--------- 2 files changed, 82 insertions(+), 81 deletions(-) diff --git a/src/main/java/frc/robot/autogen/Dsl.java b/src/main/java/frc/robot/autogen/Dsl.java index aabd2868..28a05a00 100644 --- a/src/main/java/frc/robot/autogen/Dsl.java +++ b/src/main/java/frc/robot/autogen/Dsl.java @@ -111,9 +111,24 @@ public static PIDGains pidGains(double kP) { return PIDGains.kPID(kP, 0.0, 0.0); } + /** Starts building an autopilot action targeting the given pose. */ + public static Ap autoPilotTo(double x, double y, double angleDegrees) { + return new Ap(pose2d(x, y, angleDegrees)); + } + + /** Starts building an autopilot action targeting (x, y) with zero heading. */ + public static Ap autoPilotTo(double x, double y) { + return autoPilotTo(x, y, 0.0); + } + + /** Starts building an autopilot action targeting the given pose. */ + public static Ap autoPilotTo(Pose2d reference) { + return new Ap(reference); + } + /** Fluent builder for {@link AutoPilotAction} / {@link XBasedAutoPilotAction}. */ public static final class Ap { - private Pose2d reference; + private final Pose2d reference; private Rotation2d entryAngle; private double velocity = 0.0; private Distance rotationRadius; @@ -122,62 +137,52 @@ public static final class Ap { private PIDGains pidGains; private boolean canMirror = true; - public Ap pose(double x, double y, double angleDegrees) { - this.reference = pose2d(x, y, angleDegrees); - return this; - } - - public Ap pose(double x, double y) { - return pose(x, y, 0.0); - } - - public Ap pose(Pose2d reference) { + private Ap(Pose2d reference) { this.reference = reference; - return this; } - public Ap velocity(double velocity) { + public Ap withVelocity(double velocity) { this.velocity = velocity; return this; } - public Ap entryAngle(double degrees) { + public Ap withEntryAngle(double degrees) { this.entryAngle = rotation2d(degrees); return this; } - public Ap entryAngle(Rotation2d entryAngle) { + public Ap withEntryAngle(Rotation2d entryAngle) { this.entryAngle = entryAngle; return this; } - public Ap rotationRadius(Distance rotationRadius) { + public Ap withRotationRadius(Distance rotationRadius) { this.rotationRadius = rotationRadius; return this; } - public Ap constraints(APConstraints constraints) { + public Ap withConstraints(APConstraints constraints) { this.constraints = constraints; return this; } - public Ap profile(APProfile profile) { + public Ap withProfile(APProfile profile) { this.profile = profile; return this; } - public Ap pidGains(PIDGains pidGains) { + public Ap withPidGains(PIDGains pidGains) { this.pidGains = pidGains; return this; } - public Ap canMirror(boolean canMirror) { + public Ap withCanMirror(boolean canMirror) { this.canMirror = canMirror; return this; } private APTarget target() { - APTarget target = new APTarget(reference == null ? new Pose2d() : reference); + APTarget target = new APTarget(reference); if (entryAngle != null) { target = target.withEntryAngle(entryAngle); } @@ -197,10 +202,6 @@ public XBasedAutoPilotAction toXBasedAutoAction() { } } - public static Ap ap() { - return new Ap(); - } - // --------------------------------------------------------------------------- // Primitive action shorthands // --------------------------------------------------------------------------- diff --git a/src/main/java/frc/robot/autogen/GenerateAutos.java b/src/main/java/frc/robot/autogen/GenerateAutos.java index d0f0f727..847ff8dd 100644 --- a/src/main/java/frc/robot/autogen/GenerateAutos.java +++ b/src/main/java/frc/robot/autogen/GenerateAutos.java @@ -1,8 +1,8 @@ package frc.robot.autogen; -import static frc.robot.autogen.Dsl.ap; import static frc.robot.autogen.Dsl.apConstraints; import static frc.robot.autogen.Dsl.apProfile; +import static frc.robot.autogen.Dsl.autoPilotTo; import static frc.robot.autogen.Dsl.climbHang; import static frc.robot.autogen.Dsl.climbSearch; import static frc.robot.autogen.Dsl.degrees; @@ -158,19 +158,19 @@ private static AutoAction cycleIntake(double time, int count) { private static AutoAction fromBumpPrepareForTrench(double angle) { return seq.andThen( - ap().pose(3.5, 7.55, angle) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(3.5, 7.55, angle) + .withVelocity(DEFAULT_TRENCH_VELOCITY) + .withEntryAngle(0) + .withConstraints(apConstraints(2.0, 2.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction()); } private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { return seq.andThen( - ap().pose(4.0, 7.55, -90) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) + autoPilotTo(4.0, 7.55, -90) + .withVelocity(DEFAULT_TRENCH_VELOCITY) + .withEntryAngle(0) .toXBasedAutoAction(), // xBasedAutopilot(LEFT_TRENCH_CENTER_SIDE_POSE transformed by rotation, // velocity, entryAngle=secondEntryAngle) @@ -180,28 +180,28 @@ private static AutoAction goToCenterUnderLeftTrenchFromAllianceIntakeIn() { private static AutoAction goToDepotAndIntake() { // drive near the depot and slow down so that we don't go too fast while intaking return seq.andThen( - ap().pose(1.5, 5.1, 135) - .velocity(1.0) - .profile( + autoPilotTo(1.5, 5.1, 135) + .withVelocity(1.0) + .withProfile( apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) .toAutoAction(), - ap().pose(0.715, 5.1, 135) - .constraints(apConstraints(1.0, 3.0, 3.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(0.715, 5.1, 135) + .withConstraints(apConstraints(1.0, 3.0, 3.0)) + .withPidGains(pidGains(1.5)) .toAutoAction(), // Wait to stop autopilot from seeing initial velocity and panicking. // Autopilot is probably more robust and simpler. Also removes a path planner // path and enables us to use hot reload to tune it: followPath("Intake Depot"). waitSeconds(0.1), - ap().pose(0.715, 6.4, 135) - .constraints(apConstraints(1.0, 3.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(0.715, 6.4, 135) + .withConstraints(apConstraints(1.0, 3.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction(), // Wait to stop autopilot from seeing initial velocity and panicking. waitSeconds(0.1), - ap().pose(1.0, 6.8, 135) - .constraints(apConstraints(5.1, 5.0, 3.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(1.0, 6.8, 135) + .withConstraints(apConstraints(5.1, 5.0, 3.0)) + .withPidGains(pidGains(1.5)) .toAutoAction()); } @@ -227,12 +227,12 @@ private static AutoAction aggressive( // Autopilot under the trench. // Gives us solid acceleration and makes us resilient to unpredictable starting // location. - ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) - .velocity(AGGRESSIVE_TRENCH_VELOCITY) + autoPilotTo(LEFT_TRENCH_CENTER_SIDE_POSE) + .withVelocity(AGGRESSIVE_TRENCH_VELOCITY) // Constraints here are unique to this very high speed, high // acceleration movement, so almost infinite acceleration limit is // hardcoded in here. - .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + .withConstraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. .toXBasedAutoAction(), // inParallel(stowIntake(), @@ -242,7 +242,7 @@ private static AutoAction aggressive( seq.andThen(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).toAutoAction(), + autoPilotTo(LEFT_ALLIANCE_ZONE_MIDDLE_POSE).toAutoAction(), cycleIntake(2.5, 5)); if (doSecondSweep) { @@ -251,11 +251,11 @@ private static AutoAction aggressive( cycleIntake(intakeCycleTime, intakeCycleCount), // wait(1.0), // Cycle 2 - ap().pose(3.5, 7.55, -90) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(3.5, 7.55, -90) + .withVelocity(DEFAULT_TRENCH_VELOCITY) + .withEntryAngle(0) + .withConstraints(apConstraints(2.0, 2.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction(), inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), @@ -263,17 +263,17 @@ private static AutoAction aggressive( seq.andThen(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).toAutoAction(), + autoPilotTo(2.700, 5.75, -90).toAutoAction(), waitSeconds(1)); } if (useDepot) { result = result.andThen( - ap().pose(1.5, 5.9, -180) - .velocity(0.0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(1.5, 5.9, -180) + .withVelocity(0.0) + .withConstraints(apConstraints(2.0, 2.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction()); } @@ -299,14 +299,14 @@ private static AutoAction conservative( // Cycle 1 result = result.andThen( - ap().pose(5.2, 7.4).velocity(DEFAULT_TRENCH_VELOCITY).toXBasedAutoAction(), + autoPilotTo(5.2, 7.4).withVelocity(DEFAULT_TRENCH_VELOCITY).toXBasedAutoAction(), inParallel(stowIntake(), followPath("Starting Position Left Trench To Center")), inParallel(deployIntake(), followPath("Left Side Conservative Sweep")), inParallel( seq.andThen(waitSeconds(0.6), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).toAutoAction(), + autoPilotTo(2.700, 5.75, -90).toAutoAction(), waitSeconds(2.5)); // wait(1.0), @@ -315,11 +315,11 @@ private static AutoAction conservative( result = result.andThen( cycleIntake(intakeCycleTime, intakeCycleCount), - ap().pose(3.5, 7.55, -90) - .velocity(DEFAULT_TRENCH_VELOCITY) - .entryAngle(0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(3.5, 7.55, -90) + .withVelocity(DEFAULT_TRENCH_VELOCITY) + .withEntryAngle(0) + .withConstraints(apConstraints(2.0, 2.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction(), inParallel(stopShooting(), goToCenterUnderLeftTrenchFromAllianceIntakeIn()), inParallel(deployIntake(), followPath("Left Side Close 2nd Sweep Intake In")), @@ -327,17 +327,17 @@ private static AutoAction conservative( seq.andThen(waitSeconds(0.4), startShooting()), followPath("Left Bump To Alliance")), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).toAutoAction(), + autoPilotTo(2.700, 5.75, -90).toAutoAction(), waitSeconds(1)); } if (useDepot) { result = result.andThen( - ap().pose(1.5, 5.9, -180) - .velocity(0.0) - .constraints(apConstraints(2.0, 2.0, 2.0)) - .pidGains(pidGains(1.5)) + autoPilotTo(1.5, 5.9, -180) + .withVelocity(0.0) + .withConstraints(apConstraints(2.0, 2.0, 2.0)) + .withPidGains(pidGains(1.5)) .toAutoAction()); } @@ -351,21 +351,21 @@ private static AutoAction follower() { return seq.andThen( networkConfigurableWait("Follower - Preload", seconds(2.5)), // stopShooting(); - ap().pose(LEFT_TRENCH_CENTER_SIDE_POSE) - .velocity(2.0) + autoPilotTo(LEFT_TRENCH_CENTER_SIDE_POSE) + .withVelocity(2.0) // Constraints here are unique to this very high speed, high // acceleration movement, so almost infinite acceleration limit is // hardcoded in here. - .constraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) + .withConstraints(apConstraints(AGGRESSIVE_TRENCH_VELOCITY, 200.0)) // No entry angle, we just want to beeline to trench exit. .toXBasedAutoAction(), deployIntake(), followPath("Left Side Follower Sweep Intake In"), networkConfigurableWait("Follower - Before Bump Return", seconds(0.0)), waitSeconds(0.1), - ap().pose(2.700, 5.75, -90).toAutoAction(), - ap().pose(1.5, 5.1, 135) - .profile( + autoPilotTo(2.700, 5.75, -90).toAutoAction(), + autoPilotTo(1.5, 5.1, 135) + .withProfile( apProfile(apConstraints(5.1, 10.0, 3.0), meters(0.1), degrees(4.0), meters(0.2))) .toAutoAction(), startShooting(), @@ -382,9 +382,9 @@ private static AutoAction climb(Pose2d targetPose, Rotation2d entryAngle) { return seq.andThen( inParallel( seq.andThen( - ap().pose(targetPose) - .entryAngle(entryAngle) - .constraints(CLIMB_CONSTRAINTS) + autoPilotTo(targetPose) + .withEntryAngle(entryAngle) + .withConstraints(CLIMB_CONSTRAINTS) .toXBasedAutoAction()), climbSearch()), waitSeconds(0.5), From 267954681eda740740ae468c2c09f50a340a1d58 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 17:47:48 -0400 Subject: [PATCH 15/20] Make Sequence/Parallel/Race actions fields private MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Nothing outside these classes referenced `actions` — construction goes through of(...)/andThen(...) and it's read only by toCommand(). They were public only by historical data-holder convention. Gson (de)serializes private fields reflectively (the JSON key stays "actions"), so this changes nothing on the wire. Verified: generated Autos.json structurally identical; round-trip CI passes (robot deserializes into the private fields); spotlessCheck passes. Co-Authored-By: Claude Opus 4.8 --- hello | Bin 0 -> 15960 bytes hello.c | 6 ++++++ .../java/frc/robot/auto/general/Parallel.java | 2 +- src/main/java/frc/robot/auto/general/Race.java | 2 +- .../java/frc/robot/auto/general/Sequence.java | 2 +- 5 files changed, 9 insertions(+), 3 deletions(-) create mode 100755 hello create mode 100644 hello.c diff --git a/hello b/hello new file mode 100755 index 0000000000000000000000000000000000000000..8fe62644bf110887fce005c3353da4fca7cac216 GIT binary patch literal 15960 zcmeHOYit}>6~4QU6NfsnlP1)0AYPTGq)<=%RsuCyKQl(ogV?5kDC4zvY_GHrcXzh6 z3rdX)s8$mZBt)xHq#z*$iK_GmKMVrlDi8`1sQH0NRUt)zpi~0th=Kx$4CmZA-();p zCsKuwD$SL4zI(oN&b@ce+?~C%bMBJ^!-MfyOrcb%k13YM>pdnZif6l|LXcDk)D}86 zsXb~V$s081>60Fi)+?9dYq3W7Dnj;a;7SF2pGPYoM##v1>y>>xASys5=fQr}tPnYj zW$6G2z29Ggov9@B(Z{z$1P1+hD9g>B!E*On{FKCHTo8UNvfnG>_lo!dS7n?)#FJyf zp92!lFt(763oz_ABYt7*_uLea``|Ki)k(jT{*H^^j)ZPTg|Wk<6%hS>g8bytipA{# zm-&SBx88LyCH_DOuiBr@OmubZ&!(HRnS6P!dG0`0b61B^Dj03LV;)z6K0K!mA01QF z%nEZ7MipQ1WVFY+9inIZb9*OM+tMdL^WsBwe|YZ6`^|5j`quB*hR4l5Y{P}y!xUi| z^Mh@?czls*sVjBS{!LC3>m1l;dj*|IT%rQc{Zz6~uVY_Yhi@SMUi!SP%$A*!vMdVs zq*ZcKMaRmeGI?Sq=Tg>GCZEb?p0E|GIrv@b@bFM?pVelx8J&K;y+c_;qerZ?U9_h& zCC4s~9_h;#^7d$IB5PAy)44)kTDLsYiiR|}I7PpTK78a7Bj$sIm`~-#%x1nSt-}4_ zYu})d#+7_c6~5>AekHeYD@v`10eB^RO;W2Bc*vIyc|2b)z6L0l1AK5^Tnq3#k5Em(RrpOLVlJbt2%`u@5r`rXMIeem6oDuLQ3T%o5%^o(o`0E(f37i~ zu6}L5Qs$ReoVfd{x%ji1^ZMl6&gY1B_dZX@x~8OJ`x(}}am97rsWU9QdtW5&R9#cQ z(t3CAV{7ErzYHy1{G7RT#a#U3>haNm)|J*@ny0&eMXk6yN67T8DWk6GOS(Ve=ZP^- zR~H!$-f(u((7L!zL)+|Lu4`Ig!}Ee!p z-#`1m@i-~DGDdzh@)x#p3%|Iwdee26d9aV1*KyHt_9M%Rs6-KnA`nF&ia->BC<0Lg zq6kD0h$0Y0Ac{Z~f&Whg`2Ch?XS0O|6Au@PS$?gjV!Nw8%I}H!eNpYI>oWNu;VHt0 z2){!(OgK!~dEIq?Ovvvxxx}70p<;9OvE8+sYR=G$E9Utf{*5`+fR#A^U%pKF^XJ-odds^A3H^gm~_Y$N4CY zZx5jw*joRUc;A+dV>BR^qY_0Ria->BC<0Lgq6kD0h$0Y0Ac{Z~fp=L1kXML2LgWZ? 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Extract the robot's full constant-loading sequence into JsonConstants.loadConstants() (no tuning server, no RobotContainer) and have both robot startup and the generator call it: - JsonConstants.loadConstants() loads every constant for the config.json-selected environment; loadConstants(RobotContainer) delegates to it then starts the tuning server when enabled (unchanged robot behavior). - Field.initialize() now just does HAL.initialize() + JsonConstants.loadConstants(), so FieldConstants and all other frc.robot.constants are available to autos with zero duplicated loading logic. Because loadConstants() is config.json-driven (like the robot), the generator now selects its environment from config.json; the generator no longer takes an env argument (build_autos still uses env only to choose the output directory). Generated Autos.json is structurally identical; spotlessCheck and the round-trip CI pass. Cost: the hot path grows to ~2.7s since loading all constants also runs Phoenix sim init and the @AfterJsonLoad hooks. Co-Authored-By: Claude Opus 4.8 --- auto_generator/generate.py | 5 ++- src/main/java/frc/robot/autogen/Field.java | 40 ++++--------------- .../java/frc/robot/autogen/GenerateAutos.java | 10 +++-- .../frc/robot/constants/JsonConstants.java | 28 +++++++++++-- 4 files changed, 40 insertions(+), 43 deletions(-) diff --git a/auto_generator/generate.py b/auto_generator/generate.py index db0a5b7f..06d9a141 100755 --- a/auto_generator/generate.py +++ b/auto_generator/generate.py @@ -137,7 +137,9 @@ def generate(env: str = "comp", bootstrap: bool = False) -> str: else: _log("generator sources unchanged; skipping compile") - _log(f"running generator for environment '{env}'...") + # The generator selects the environment from the deploy constants/config.json (the same way + # the robot does); `env` here is only what the caller intends to write to, for logging. + _log(f"running generator (requested env '{env}'; environment comes from config.json)...") # GEN_OUT goes first so the freshly fast-compiled autogen classes take precedence # over the (possibly stale) copies the gradle bootstrap compiled into CLASSES. run_classpath = str(GEN_OUT) + os.pathsep + classpath @@ -151,7 +153,6 @@ def generate(env: str = "comp", bootstrap: bool = False) -> str: "-cp", run_classpath, MAIN_CLASS, - env, str(OUT_JSON), ], cwd=str(_ROOT), diff --git a/src/main/java/frc/robot/autogen/Field.java b/src/main/java/frc/robot/autogen/Field.java index dfeaaa21..0bb07462 100644 --- a/src/main/java/frc/robot/autogen/Field.java +++ b/src/main/java/frc/robot/autogen/Field.java @@ -1,26 +1,21 @@ package frc.robot.autogen; -import coppercore.parameter_tools.json.JSONSync; -import coppercore.parameter_tools.json.JSONSyncConfigBuilder; import edu.wpi.first.hal.HAL; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; import edu.wpi.first.math.geometry.Translation2d; -import edu.wpi.first.wpilibj.Filesystem; -import frc.robot.constants.AprilTagConstants; import frc.robot.constants.FieldConstants; import frc.robot.constants.JsonConstants; -import java.nio.file.Files; -import java.nio.file.Path; /** * Sets up the robot environment the generator runs in and exposes the field-derived climb poses. * *

The generator runs under a JVM that has the WPILib native libraries on its library path (see - * generate.sh), so it can use robot code that touches HAL/Filesystem just like the real robot. We - * initialize HAL and load {@link AprilTagConstants} for the active environment, then reuse {@link - * FieldConstants} directly — no reflection, no geometry duplication. + * generate.py), so it can use robot code that touches HAL/Filesystem just like the real robot. We + * initialize HAL and then run the robot's own constant-loading sequence ({@link + * JsonConstants#loadConstants()}), which makes every constant (FieldConstants, AprilTagConstants, + * drive constants, ...) available exactly as on the robot — no duplicated loading logic. */ public final class Field { private Field() {} @@ -29,31 +24,10 @@ private Field() {} private static final Transform2d CLIMB_OFFSET = new Transform2d(new Translation2d(0.41, 0.0225), Rotation2d.fromDegrees(-90.0)); - /** Initializes HAL and loads the AprilTag layout (honoring the fieldType deploy constant). */ - public static void initialize(String environment) { + /** Initializes HAL and loads all robot constants for the active (config.json) environment. */ + public static void initialize() { HAL.initialize(500, 0); - - Path constantsFile = - Filesystem.getDeployDirectory() - .toPath() - .resolve("constants") - .resolve(environment) - .resolve("AprilTagConstants.json"); - - AprilTagConstants constants; - if (Files.exists(constantsFile)) { - JSONSync sync = - new JSONSync<>( - new AprilTagConstants(), - constantsFile.toString(), - new JSONSyncConfigBuilder().build()); - sync.loadData(); - constants = sync.getObject(); - } else { - // No environment-specific override; fall back to the class default field type. - constants = new AprilTagConstants(); - } - JsonConstants.aprilTagConstants = constants; + JsonConstants.loadConstants(); } public static Pose2d leftClimbLocation() { diff --git a/src/main/java/frc/robot/autogen/GenerateAutos.java b/src/main/java/frc/robot/autogen/GenerateAutos.java index 847ff8dd..5c9ae57d 100644 --- a/src/main/java/frc/robot/autogen/GenerateAutos.java +++ b/src/main/java/frc/robot/autogen/GenerateAutos.java @@ -44,7 +44,8 @@ * never ambiguous, e.g. {@code seq.andThen(a, inParallel(b, c))}. Conditional sequences accumulate * with {@code result = result.andThen(...)} (andThen flattens, so this just appends). * - *

Usage: {@code java frc.robot.autogen.GenerateAutos [environment] [outputFile]}. + *

Usage: {@code java frc.robot.autogen.GenerateAutos [outputFile]} (environment comes from the + * deploy constants/config.json). With no outputFile the JSON is printed to stdout. */ public final class GenerateAutos { @@ -63,12 +64,13 @@ public final class GenerateAutos { private static final APConstraints CLIMB_CONSTRAINTS = apConstraints(2.0, 2.0, 0.1); public static void main(String[] args) throws java.io.IOException { - String environment = args.length > 0 ? args[0] : "comp"; // The JSON is written to this file rather than stdout: initializing HAL prints native // diagnostics to stdout, which would otherwise corrupt the serialized output. - String outputFile = args.length > 1 ? args[1] : null; + String outputFile = args.length > 0 ? args[0] : null; - Field.initialize(environment); + // Initialize HAL and load all robot constants (the environment is selected by the deploy + // constants/config.json, exactly as on the robot). + Field.initialize(); Autos autos = build(); diff --git a/src/main/java/frc/robot/constants/JsonConstants.java b/src/main/java/frc/robot/constants/JsonConstants.java index 1c2dc475..c7856aba 100644 --- a/src/main/java/frc/robot/constants/JsonConstants.java +++ b/src/main/java/frc/robot/constants/JsonConstants.java @@ -55,7 +55,16 @@ public class JsonConstants { JSONMeasure.registerUnit(RPM.per(Second), "RPM Per Second"); } - public static JSONHandler loadConstants(RobotContainer robotContainer) { + /** + * Loads every constant from JSON for the active environment (selected via deploy + * constants/config.json) and returns the configured {@link JSONHandler}. + * + *

This is the shared initialization sequence used both by robot startup ({@link + * #loadConstants(RobotContainer)}) and by the offline auto generator (see frc.robot.autogen), so + * there is a single code path for resolving and deserializing constants. It does not start the + * tuning server. + */ + public static JSONHandler loadConstants() { environmentHandler = EnvironmentHandler.getEnvironmentHandler( @@ -107,6 +116,20 @@ public static JSONHandler loadConstants(RobotContainer robotContainer) { autos = jsonHandler.getObject(new Autos(), "Autos.json"); + controllers = + jsonHandler.getObject(new Controllers(), operatorConstants.controllerBindingsFile); + + return jsonHandler; + } + + /** + * Robot-startup variant: loads all constants (see {@link #loadConstants()}) and, when the active + * environment enables it, starts the constant/autos tuning server. The {@code robotContainer} is + * used to reload auto commands when the autos route receives a POST. + */ + public static JSONHandler loadConstants(RobotContainer robotContainer) { + loadConstants(); + if (featureFlags.useTuningServer) { // do not crash Robot if routes could not be added for any reason try { @@ -140,9 +163,6 @@ public static JSONHandler loadConstants(RobotContainer robotContainer) { } } - controllers = - jsonHandler.getObject(new Controllers(), operatorConstants.controllerBindingsFile); - return jsonHandler; } From 7b014b41f4c1f0f6a521a52cbfdbcc56218eaa1f Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Wed, 17 Jun 2026 19:05:06 -0400 Subject: [PATCH 18/20] removed outdated comment --- src/main/java/frc/robot/constants/JsonConstants.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/constants/JsonConstants.java b/src/main/java/frc/robot/constants/JsonConstants.java index c7856aba..30e0c638 100644 --- a/src/main/java/frc/robot/constants/JsonConstants.java +++ b/src/main/java/frc/robot/constants/JsonConstants.java @@ -76,8 +76,6 @@ public static JSONHandler loadConstants() { jsonSyncSettings.addJsonTypeAdapterFactory(new OptionalTypeAdapterFactory()); - // jsonSyncSettings.setUpPolymorphAdapter(AutoAction.class); - var pathProvider = environmentHandler.getEnvironmentPathProvider(); System.out.println("[JsonConstants] Environment name: " + pathProvider.getEnvironmentName()); From e28e8e6b1df33f20f8667ad824f16ecfdecf2a41 Mon Sep 17 00:00:00 2001 From: Godmar Back Date: Fri, 19 Jun 2026 14:24:34 -0400 Subject: [PATCH 19/20] removed inadvertently committed hello --- hello | Bin 15960 -> 0 bytes 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100755 hello diff --git a/hello b/hello deleted file mode 100755 index 8fe62644bf110887fce005c3353da4fca7cac216..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 15960 zcmeHOYit}>6~4QU6NfsnlP1)0AYPTGq)<=%RsuCyKQl(ogV?5kDC4zvY_GHrcXzh6 z3rdX)s8$mZBt)xHq#z*$iK_GmKMVrlDi8`1sQH0NRUt)zpi~0th=Kx$4CmZA-();p zCsKuwD$SL4zI(oN&b@ce+?~C%bMBJ^!-MfyOrcb%k13YM>pdnZif6l|LXcDk)D}86 zsXb~V$s081>60Fi)+?9dYq3W7Dnj;a;7SF2pGPYoM##v1>y>>xASys5=fQr}tPnYj zW$6G2z29Ggov9@B(Z{z$1P1+hD9g>B!E*On{FKCHTo8UNvfnG>_lo!dS7n?)#FJyf zp92!lFt(763oz_ABYt7*_uLea``|Ki)k(jT{*H^^j)ZPTg|Wk<6%hS>g8bytipA{# zm-&SBx88LyCH_DOuiBr@OmubZ&!(HRnS6P!dG0`0b61B^Dj03LV;)z6K0K!mA01QF z%nEZ7MipQ1WVFY+9inIZb9*OM+tMdL^WsBwe|YZ6`^|5j`quB*hR4l5Y{P}y!xUi| z^Mh@?czls*sVjBS{!LC3>m1l;dj*|IT%rQc{Zz6~uVY_Yhi@SMUi!SP%$A*!vMdVs zq*ZcKMaRmeGI?Sq=Tg>GCZEb?p0E|GIrv@b@bFM?pVelx8J&K;y+c_;qerZ?U9_h& zCC4s~9_h;#^7d$IB5PAy)44)kTDLsYiiR|}I7PpTK78a7Bj$sIm`~-#%x1nSt-}4_ zYu})d#+7_c6~5>AekHeYD@v`10eB^RO;W2Bc*vIyc|2b)z6L0l1AK5^Tnq3#k5Em(RrpOLVlJbt2%`u@5r`rXMIeem6oDuLQ3T%o5%^o(o`0E(f37i~ zu6}L5Qs$ReoVfd{x%ji1^ZMl6&gY1B_dZX@x~8OJ`x(}}am97rsWU9QdtW5&R9#cQ z(t3CAV{7ErzYHy1{G7RT#a#U3>haNm)|J*@ny0&eMXk6yN67T8DWk6GOS(Ve=ZP^- zR~H!$-f(u((7L!zL)+|Lu4`Ig!}Ee!p z-#`1m@i-~DGDdzh@)x#p3%|Iwdee26d9aV1*KyHt_9M%Rs6-KnA`nF&ia->BC<0Lg zq6kD0h$0Y0Ac{Z~f&Whg`2Ch?XS0O|6Au@PS$?gjV!Nw8%I}H!eNpYI>oWNu;VHt0 z2){!(OgK!~dEIq?Ovvvxxx}70p<;9OvE8+sYR=G$E9Utf{*5`+fR#A^U%pKF^XJ-odds^A3H^gm~_Y$N4CY zZx5jw*joRUc;A+dV>BR^qY_0Ria->BC<0Lgq6kD0h$0Y0Ac{Z~fp=L1kXML2LgWZ? 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