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Simplify usage and improve shooter tuner interface

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This commit is contained in:
nathanrsxtn
2022-03-29 14:02:55 -06:00
parent b0fb7a26b9
commit 232cd94fa4
2 changed files with 70 additions and 78 deletions
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src/main/java/frc4388/robot/commands/ShooterTuner.java
+29 -78
View File
@@ -8,7 +8,7 @@ import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.StandardOpenOption;
import java.nio.file.attribute.FileOwnerAttributeView;
import java.util.Arrays;
import java.util.logging.Level;
import java.util.logging.Logger;
import com.diffplug.common.base.Errors;
@@ -20,13 +20,10 @@ import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.Subsystem;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.BoomBoom.ShooterTableEntry;
import frc4388.utility.SendableTable;
public class ShooterTuner extends CommandBase {
private static final Logger LOGGER = Logger.getLogger(ShooterTuner.class.getSimpleName());
@@ -34,21 +31,16 @@ public class ShooterTuner extends CommandBase {
private final BoomBoom m_boomBoom;
private final ShotEditor m_shotEditor;
private final CSVAppender m_shotCsvAppender;
private final DistanceReader m_distanceReader;
private final ShooterTableEditor m_shooterTableEditor;
private final DisabledInstantCommand m_shooterTableUpdater;
private final DisabledInstantCommand m_printCsvFile;
private final ShooterTableEntry tableOverrideEntry;
private final SendableTable m_tableEditor;
private boolean measureDistance = false;
public ShooterTuner(BoomBoom boomBoom) {
m_boomBoom = boomBoom;
m_shotEditor = new ShotEditor();
m_shotCsvAppender = new CSVAppender();
m_distanceReader = new DistanceReader();
m_shooterTableEditor = new ShooterTableEditor();
m_printCsvFile = new DisabledInstantCommand(() -> LOGGER.info(Errors.log().wrapWithDefault(() -> Files.readString(PATH), "Failed to read CSV")), "Print");
m_shooterTableUpdater = new DisabledInstantCommand(m_boomBoom::loadShooterTable, "Load CSV");
tableOverrideEntry = new ShooterTableEntry();
m_tableEditor = new SendableTable(() -> m_boomBoom.m_shooterTable);
setName("Shooter Data Mode");
}
@@ -56,35 +48,38 @@ public class ShooterTuner extends CommandBase {
public void initialize() {
var tab = Shuffleboard.getTab("Shooter Tuner");
if (tab.getComponents().isEmpty()) {
var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 3);
manual.add("Distance Reader", m_distanceReader);
var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 5);
manual.add("Manual Shooter Data", m_shotEditor);
manual.add("Shooter Table Appender", m_shotCsvAppender);
var csv = tab.getLayout("Shooter Data", BuiltInLayouts.kList).withPosition(2, 0).withSize(4, 3);
csv.addBoolean("Is Shooter Data Overridden", this::isOverridden);
csv.add("Shooter Data (Broken)", m_shooterTableEditor);
csv.add("Shooter CSV Loader", m_shooterTableUpdater);
csv.add("Print CSV File", m_printCsvFile);
manual.add("Manual Data Appender", m_shotCsvAppender);
var csv = tab.getLayout("Shooter Table", BuiltInLayouts.kList).withPosition(2, 0).withSize(7, 5);
csv.add("Shooter Table", m_tableEditor);
csv.add("Shooter Tuner State", this);
}
tableOverrideEntry.distance = 0.0;
tableOverrideEntry.hoodExt = 0.0;
tableOverrideEntry.drumVelocity = 0.0;
m_boomBoom.m_shooterTable = new ShooterTableEntry[] { tableOverrideEntry };
Shuffleboard.selectTab("Shooter Tuner");
SmartDashboard.putData("TABLE", m_tableEditor);
}
@Override
public void execute() {
if (measureDistance)
tableOverrideEntry.distance = SmartDashboard.getNumber("SmartDashboard/Distance to Target", -1);
}
@Override
public void end(boolean interrupted) {
m_boomBoom.loadShooterTable();
LOGGER.info(Errors.log().wrapWithDefault(() -> Files.readString(PATH), "Failed to read CSV"));
}
@Override
public final boolean isFinished() {
return true;
return false;
}
@Override
public String getName() {
return isOverridden() ? "Tuner Override" : "CSV File";
}
private boolean isOverridden() {
return m_boomBoom.m_shooterTable.length == 1 && m_boomBoom.m_shooterTable[0].equals(tableOverrideEntry);
return isScheduled() ? "Enabled" : "Disabled";
}
@Override
@@ -92,68 +87,32 @@ public class ShooterTuner extends CommandBase {
return true;
}
private static void setReadOnlyProperty(Object o) {
System.err.println("Unable to set read-only property.");
}
private class DisabledInstantCommand extends InstantCommand {
public DisabledInstantCommand(Runnable toRun, String name, Subsystem... requirements) {
super(toRun, requirements);
setName(name);
}
@Override
public boolean runsWhenDisabled() {
return true;
}
}
private class DistanceReader extends CommandBase {
@Override
public void execute() {
tableOverrideEntry.distance = SmartDashboard.getNumber("Distance to Target", -1);
}
@Override
public String getName() {
return isScheduled() ? "Reading" : "Enable";
}
@Override
public boolean runsWhenDisabled() {
return true;
}
}
private class ShotEditor implements Sendable {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("RobotPreferences");
builder.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d);
builder.addDoubleProperty("Hood Extension", () -> tableOverrideEntry.hoodExt, d -> tableOverrideEntry.hoodExt = d);
builder.addDoubleProperty("Measured Distance", () -> tableOverrideEntry.distance, ShooterTuner::setReadOnlyProperty);
builder.addDoubleProperty("Distance", () -> tableOverrideEntry.distance, d -> tableOverrideEntry.distance = d);
builder.addBooleanProperty("Measure Distance", () -> measureDistance, b -> measureDistance = b);
}
}
private class CSVAppender extends CommandBase {
@Override
public void initialize() {
public void execute() {
if (RobotBase.isReal()) Errors.log().run(() -> Files.getFileAttributeView(PATH, FileOwnerAttributeView.class).setOwner(FileSystems.getDefault().getUserPrincipalLookupService().lookupPrincipalByName("admin")));
try (OutputStream csvOutputStream = Files.newOutputStream(PATH, StandardOpenOption.WRITE, StandardOpenOption.APPEND)) {
csvOutputStream.write(String.format("%s,%s,%s%n", tableOverrideEntry.distance, tableOverrideEntry.hoodExt, tableOverrideEntry.drumVelocity).getBytes());
} catch (IOException e) {
System.out.println(e);
LOGGER.log(Level.SEVERE, "Failed to write CSV", e);
}
super.cancel();
}
@Override
public String getName() {
return isScheduled() ? "Appending" : "Append";
}
@Override
public final boolean isFinished() {
return true;
return isScheduled() ? "Appending" : "Append to File";
}
@Override
@@ -161,12 +120,4 @@ public class ShooterTuner extends CommandBase {
return true;
}
}
private class ShooterTableEditor implements Sendable {
@Override
public void initSendable(SendableBuilder builder) {
builder.addStringArrayProperty("distance", () -> new String[] { "hoodExt", "drumVelocity" }, ShooterTuner::setReadOnlyProperty);
Arrays.stream(m_boomBoom.m_shooterTable).forEach(e -> builder.addDoubleArrayProperty(Double.toString(e.distance), () -> new double[] { e.hoodExt, e.drumVelocity }, ShooterTuner::setReadOnlyProperty));
}
}
}
src/main/java/frc4388/utility/SendableTable.java
+41
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@@ -0,0 +1,41 @@
package frc4388.utility;
import java.nio.ByteBuffer;
import java.util.Arrays;
import java.util.function.Supplier;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import frc4388.robot.subsystems.BoomBoom.ShooterTableEntry;
public class SendableTable implements Sendable {
private Supplier<ShooterTableEntry[]> m_table;
public SendableTable(Supplier<ShooterTableEntry[]> table) {
m_table = table;
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Table");
builder.addRawProperty("table", this::getTableAsBytes, null);
builder.addStringArrayProperty("header", () -> new String[] {"distance", "hoodExt", "drumVelocity"}, null);
}
private byte[] getTableAsBytes() {
ShooterTableEntry[] table = m_table.get();
ByteBuffer byteBuffer = ByteBuffer.allocate(Double.BYTES * 3 * table.length);
Arrays.stream(table).forEach(e -> {
byteBuffer.putDouble(e.distance);
byteBuffer.putDouble(e.hoodExt);
byteBuffer.putDouble(e.drumVelocity);
});
return byteBuffer.hasArray() ? byteBuffer.array() : new byte[0];
}
private void setTableFromBytes(byte[] bytes) {
ByteBuffer byteBuffer = ByteBuffer.wrap(bytes);
ShooterTableEntry[] table = m_table.get();
for (int i = 0; i < table.length; i++) {
table[i].distance = byteBuffer.getDouble();
table[i].hoodExt = byteBuffer.getDouble();
table[i].drumVelocity = byteBuffer.getDouble();
}
}
}