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WideStance Left and right #1208
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| use color_eyre::Result; | ||
| use context_attribute::context; | ||
| use framework::MainOutput; | ||
| use hardware::PathsInterface; | ||
| use motionfile::{MotionFile, MotionInterpolator}; | ||
| use serde::{Deserialize, Serialize}; | ||
| use std::time::Duration; | ||
| use types::{ | ||
| condition_input::ConditionInput, | ||
| cycle_time::CycleTime, | ||
| joints::Joints, | ||
| motion_selection::{MotionSafeExits, MotionSelection, MotionType}, | ||
| }; | ||
|
|
||
| #[derive(Deserialize, Serialize)] | ||
| pub struct WideStanceLeft { | ||
| interpolator: MotionInterpolator<Joints<f32>>, | ||
| } | ||
|
|
||
| #[context] | ||
| pub struct CreationContext { | ||
| hardware_interface: HardwareInterface, | ||
| } | ||
|
|
||
| #[context] | ||
| pub struct CycleContext { | ||
| condition_input: Input<ConditionInput, "condition_input">, | ||
| cycle_time: Input<CycleTime, "cycle_time">, | ||
| motion_selection: Input<MotionSelection, "motion_selection">, | ||
|
|
||
| motion_safe_exits: CyclerState<MotionSafeExits, "motion_safe_exits">, | ||
| } | ||
|
|
||
| #[context] | ||
| #[derive(Default)] | ||
| pub struct MainOutputs { | ||
| pub wide_stance_left_positions: MainOutput<Joints<f32>>, | ||
| pub wide_stance_left_estimated_remaining_duration: MainOutput<Option<Duration>>, | ||
| } | ||
|
|
||
| impl WideStanceLeft { | ||
| pub fn new(context: CreationContext<impl PathsInterface>) -> Result<Self> { | ||
| let paths = context.hardware_interface.get_paths(); | ||
| Ok(Self { | ||
| interpolator: MotionFile::from_path(paths.motions.join("wide_stance_left.json"))? | ||
| .try_into()?, | ||
| }) | ||
| } | ||
|
|
||
| pub fn advance_interpolator(&mut self, context: CycleContext) { | ||
| let last_cycle_duration = context.cycle_time.last_cycle_duration; | ||
| let condition_input = context.condition_input; | ||
|
|
||
| context.motion_safe_exits[MotionType::WideStanceLeft] = false; | ||
|
|
||
| self.interpolator | ||
| .advance_by(last_cycle_duration, condition_input); | ||
|
|
||
| context.motion_safe_exits[MotionType::WideStanceLeft] = self.interpolator.is_finished(); | ||
| } | ||
|
|
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| pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> { | ||
| let wide_stance_left_estimated_remaining_duration = | ||
| if let MotionType::WideStanceLeft = context.motion_selection.current_motion { | ||
| self.advance_interpolator(context); | ||
| Some(self.interpolator.estimated_remaining_duration()) | ||
| } else { | ||
| self.interpolator.reset(); | ||
| None | ||
| }; | ||
| Ok(MainOutputs { | ||
| wide_stance_left_positions: self.interpolator.value().into(), | ||
| wide_stance_left_estimated_remaining_duration: | ||
| wide_stance_left_estimated_remaining_duration.into(), | ||
| }) | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| use color_eyre::Result; | ||
| use context_attribute::context; | ||
| use framework::MainOutput; | ||
| use hardware::PathsInterface; | ||
| use motionfile::{MotionFile, MotionInterpolator}; | ||
| use serde::{Deserialize, Serialize}; | ||
| use std::time::Duration; | ||
| use types::{ | ||
| condition_input::ConditionInput, | ||
| cycle_time::CycleTime, | ||
| joints::{mirror::Mirror, Joints}, | ||
| motion_selection::{MotionSafeExits, MotionSelection, MotionType}, | ||
| }; | ||
|
|
||
| #[derive(Deserialize, Serialize)] | ||
| pub struct WideStanceRight { | ||
| interpolator: MotionInterpolator<Joints<f32>>, | ||
| } | ||
|
|
||
| #[context] | ||
| pub struct CreationContext { | ||
| hardware_interface: HardwareInterface, | ||
| } | ||
|
|
||
| #[context] | ||
| pub struct CycleContext { | ||
| condition_input: Input<ConditionInput, "condition_input">, | ||
| cycle_time: Input<CycleTime, "cycle_time">, | ||
| motion_selection: Input<MotionSelection, "motion_selection">, | ||
|
|
||
| motion_safe_exits: CyclerState<MotionSafeExits, "motion_safe_exits">, | ||
| } | ||
|
|
||
| #[context] | ||
| #[derive(Default)] | ||
| pub struct MainOutputs { | ||
| pub wide_stance_right_positions: MainOutput<Joints<f32>>, | ||
| pub wide_stance_right_estimated_remaining_duration: MainOutput<Option<Duration>>, | ||
| } | ||
|
|
||
| impl WideStanceRight { | ||
| pub fn new(context: CreationContext<impl PathsInterface>) -> Result<Self> { | ||
| let paths = context.hardware_interface.get_paths(); | ||
| Ok(Self { | ||
| interpolator: MotionFile::from_path(paths.motions.join("wide_stance_left.json"))? | ||
| .try_into()?, | ||
| }) | ||
| } | ||
|
|
||
| pub fn advance_interpolator(&mut self, context: CycleContext) { | ||
| let last_cycle_duration = context.cycle_time.last_cycle_duration; | ||
| let condition_input = context.condition_input; | ||
|
|
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| context.motion_safe_exits[MotionType::WideStanceRight] = false; | ||
|
|
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| self.interpolator | ||
| .advance_by(last_cycle_duration, condition_input); | ||
|
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| context.motion_safe_exits[MotionType::WideStanceRight] = self.interpolator.is_finished(); | ||
| } | ||
|
|
||
| pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> { | ||
| let wide_stance_right_estimated_remaining_duration = | ||
| if let MotionType::WideStanceRight = context.motion_selection.current_motion { | ||
| self.advance_interpolator(context); | ||
| Some(self.interpolator.estimated_remaining_duration()) | ||
| } else { | ||
| self.interpolator.reset(); | ||
| None | ||
| }; | ||
| Ok(MainOutputs { | ||
| wide_stance_right_positions: self.interpolator.value().mirrored().into(), | ||
| wide_stance_right_estimated_remaining_duration: | ||
| wide_stance_right_estimated_remaining_duration.into(), | ||
| }) | ||
| } | ||
| } |
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I think a simple if-else statement is completely sufficient. This is basically a glorified if-else. Other opinions? @h3ndrk
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Looks like it, but not sure about the
_in line 89 🤔There was a problem hiding this comment.
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I'm sure. All cases are mutually exclusive