[choreolib] Remove controller function typedef (#852)

SleipnirGroup · Oct 7, 2024 · 174b678 · 174b678
1 parent 24dba6e
commit 174b678
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Showing 5 changed files with 28 additions and 40 deletions.
diff --git a/choreolib/src/main/java/choreo/Choreo.java b/choreolib/src/main/java/choreo/Choreo.java
@@ -91,15 +91,6 @@ public static ProjectFile getProjectFile() {
     return LAZY_PROJECT_FILE.get();
   }
 
-  /**
-   * This interface exists as a type alias. A ControlFunction has a signature of ({@link Pose2d},
-   * {@link SampleType}).
-   *
-   * @param <SampleType> DifferentialSample or SwerveSample.
-   */
-  public interface ControlFunction<SampleType extends TrajectorySample<SampleType>>
-      extends BiConsumer<Pose2d, SampleType> {}
-
   /**
    * This interface exists as a type alias. A TrajectoryLogger has a signature of ({@link
    * Trajectory}, {@link Boolean})-&gt;void, where the function consumes a trajectory and a boolean
@@ -291,7 +282,7 @@ public void clear() {
    *     Command}s.
    * @param poseSupplier A function that returns the current field-relative {@link Pose2d} of the
    *     robot.
-   * @param controller A {@link ControlFunction} to follow the current {@link Trajectory}&lt;{@link
+   * @param controller A {@link BiConsumer} to follow the current {@link Trajectory}&lt;{@link
    *     SampleType}&gt;.
    * @param mirrorTrajectory If this returns true, the path will be mirrored to the opposite side,
    *     while keeping the same coordinate system origin. This will be called every loop during the
@@ -304,7 +295,7 @@ public void clear() {
   public static <SampleType extends TrajectorySample<SampleType>> AutoFactory createAutoFactory(
       Subsystem driveSubsystem,
       Supplier<Pose2d> poseSupplier,
-      ControlFunction<SampleType> controller,
+      BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
       AutoBindings bindings) {
     return new AutoFactory(
@@ -324,7 +315,7 @@ public static <SampleType extends TrajectorySample<SampleType>> AutoFactory crea
    *     Command}s.
    * @param poseSupplier A function that returns the current field-relative {@link Pose2d} of the
    *     robot.
-   * @param controller A {@link ControlFunction} to follow the current {@link Trajectory}&lt;{@link
+   * @param controller A {@link BiConsumer} to follow the current {@link Trajectory}&lt;{@link
    *     SampleType}&gt;.
    * @param mirrorTrajectory If this returns true, the path will be mirrored to the opposite side,
    *     while keeping the same coordinate system origin. This will be called every loop during the
@@ -339,7 +330,7 @@ public static <SampleType extends TrajectorySample<SampleType>> AutoFactory crea
   public static <SampleType extends TrajectorySample<SampleType>> AutoFactory createAutoFactory(
       Subsystem driveSubsystem,
       Supplier<Pose2d> poseSupplier,
-      ControlFunction<SampleType> controller,
+      BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
       AutoBindings bindings,
       TrajectoryLogger<SampleType> trajectoryLogger) {

diff --git a/choreolib/src/main/java/choreo/auto/AutoFactory.java b/choreolib/src/main/java/choreo/auto/AutoFactory.java
@@ -3,7 +3,6 @@
 package choreo.auto;
 
 import choreo.Choreo;
-import choreo.Choreo.ControlFunction;
 import choreo.Choreo.TrajectoryCache;
 import choreo.Choreo.TrajectoryLogger;
 import choreo.trajectory.SwerveSample;
@@ -20,6 +19,7 @@
 import java.util.HashMap;
 import java.util.List;
 import java.util.Optional;
+import java.util.function.BiConsumer;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
 
@@ -124,7 +124,7 @@ HashMap<String, Command> getBindings() {
 
   private final TrajectoryCache trajectoryCache = new TrajectoryCache();
   private final Supplier<Pose2d> poseSupplier;
-  private final ControlFunction<? extends TrajectorySample<?>> controller;
+  private final BiConsumer<Pose2d, ? extends TrajectorySample<?>> controller;
   private final BooleanSupplier mirrorTrajectory;
   private final Subsystem driveSubsystem;
   private final AutoBindings bindings = new AutoBindings();
@@ -144,7 +144,7 @@ HashMap<String, Command> getBindings() {
    */
   public <SampleType extends TrajectorySample<SampleType>> AutoFactory(
       Supplier<Pose2d> poseSupplier,
-      ControlFunction<SampleType> controller,
+      BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
       Subsystem driveSubsystem,
       AutoBindings bindings,
@@ -241,8 +241,8 @@ public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajecto
       Trajectory<SampleType> trajectory, AutoLoop loop) {
     // type solidify everything
     final Trajectory<SampleType> solidTrajectory = trajectory;
-    final ControlFunction<SampleType> solidController =
-        (ControlFunction<SampleType>) this.controller;
+    final BiConsumer<Pose2d, SampleType> solidController =
+        (BiConsumer<Pose2d, SampleType>) this.controller;
     final Optional<TrajectoryLogger<SampleType>> solidLogger =
         this.trajectoryLogger.map(logger -> (TrajectoryLogger<SampleType>) logger);
     return new AutoTrajectory(

diff --git a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
@@ -2,7 +2,6 @@
 
 package choreo.auto;
 
-import choreo.Choreo.ControlFunction;
 import choreo.Choreo.TrajectoryLogger;
 import choreo.auto.AutoFactory.AutoBindings;
 import choreo.trajectory.DifferentialSample;
@@ -21,6 +20,7 @@
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import java.util.Optional;
+import java.util.function.BiConsumer;
 import java.util.function.BooleanSupplier;
 import java.util.function.Supplier;
 
@@ -43,7 +43,7 @@ public class AutoTrajectory {
   private final Trajectory<? extends TrajectorySample<?>> trajectory;
   private final TrajectoryLogger<? extends TrajectorySample<?>> trajectoryLogger;
   private final Supplier<Pose2d> poseSupplier;
-  private final ControlFunction<? extends TrajectorySample<?>> controller;
+  private final BiConsumer<Pose2d, ? extends TrajectorySample<?>> controller;
   private final BooleanSupplier mirrorTrajectory;
   private final Timer timer = new Timer();
   private final Subsystem driveSubsystem;
@@ -80,7 +80,7 @@ <SampleType extends TrajectorySample<SampleType>> AutoTrajectory(
       String name,
       Trajectory<SampleType> trajectory,
       Supplier<Pose2d> poseSupplier,
-      ControlFunction<SampleType> controller,
+      BiConsumer<Pose2d, SampleType> controller,
       BooleanSupplier mirrorTrajectory,
       Optional<TrajectoryLogger<SampleType>> trajectoryLogger,
       Subsystem driveSubsystem,
@@ -155,13 +155,13 @@ private void cmdExecute() {
         this.trajectory.sampleAt(timeIntoTrajectory(), mirrorTrajectory.getAsBoolean());
 
     if (sample instanceof SwerveSample) {
-      ControlFunction<SwerveSample> swerveController =
-          (ControlFunction<SwerveSample>) this.controller;
+      BiConsumer<Pose2d, SwerveSample> swerveController =
+          (BiConsumer<Pose2d, SwerveSample>) this.controller;
       SwerveSample swerveSample = (SwerveSample) sample;
       swerveController.accept(poseSupplier.get(), swerveSample);
     } else if (sample instanceof DifferentialSample) {
-      ControlFunction<DifferentialSample> differentialController =
-          (ControlFunction<DifferentialSample>) this.controller;
+      BiConsumer<Pose2d, DifferentialSample> differentialController =
+          (BiConsumer<Pose2d, DifferentialSample>) this.controller;
       DifferentialSample differentialSample = (DifferentialSample) sample;
       differentialController.accept(poseSupplier.get(), differentialSample);
     }
@@ -173,27 +173,27 @@ private void cmdEnd(boolean interrupted) {
     timer.stop();
     if (interrupted) {
       if (currentSample instanceof SwerveSample) {
-        ControlFunction<SwerveSample> swerveController =
-            (ControlFunction<SwerveSample>) this.controller;
+        BiConsumer<Pose2d, SwerveSample> swerveController =
+            (BiConsumer<Pose2d, SwerveSample>) this.controller;
         SwerveSample swerveSample = (SwerveSample) currentSample;
         swerveController.accept(currentSample.getPose(), swerveSample);
       } else if (currentSample instanceof DifferentialSample) {
-        ControlFunction<DifferentialSample> differentialController =
-            (ControlFunction<DifferentialSample>) this.controller;
+        BiConsumer<Pose2d, DifferentialSample> differentialController =
+            (BiConsumer<Pose2d, DifferentialSample>) this.controller;
         DifferentialSample differentialSample = (DifferentialSample) currentSample;
         differentialController.accept(currentSample.getPose(), differentialSample);
       }
     } else {
       TrajectorySample<?> sample = this.trajectory.getFinalSample();
 
       if (sample instanceof SwerveSample) {
-        ControlFunction<SwerveSample> swerveController =
-            (ControlFunction<SwerveSample>) this.controller;
+        BiConsumer<Pose2d, SwerveSample> swerveController =
+            (BiConsumer<Pose2d, SwerveSample>) this.controller;
         SwerveSample swerveSample = (SwerveSample) sample;
         swerveController.accept(poseSupplier.get(), swerveSample);
       } else if (sample instanceof DifferentialSample) {
-        ControlFunction<DifferentialSample> differentialController =
-            (ControlFunction<DifferentialSample>) this.controller;
+        BiConsumer<Pose2d, DifferentialSample> differentialController =
+            (BiConsumer<Pose2d, DifferentialSample>) this.controller;
         DifferentialSample differentialSample = (DifferentialSample) sample;
         differentialController.accept(poseSupplier.get(), differentialSample);
       }

diff --git a/choreolib/src/main/native/include/choreo/auto/AutoFactory.h b/choreolib/src/main/native/include/choreo/auto/AutoFactory.h
@@ -131,7 +131,7 @@ class AutoFactory {
    * @param trajectoryLogger Choreo::CreateAutoFactory()
    */
   AutoFactory(std::function<frc::Pose2d()> poseSupplier,
-              ControllerFunction<SampleType> controller,
+              std::function<void(frc::Pose2d, SampleType)> controller,
               std::function<bool()> mirrorTrajectory,
               const frc2::Subsystem& driveSubsystem, AutoBindings bindings,
               std::optional<TrajectoryLogger> trajectoryLogger)
@@ -236,7 +236,7 @@ class AutoFactory {
 
  private:
   std::function<frc::Pose2d()> poseSupplier;
-  ControllerFunction<SampleType> controller;
+  std::function<void(frc::Pose2d, SampleType)> controller;
   std::function<bool()> mirrorTrajectory;
   const frc2::Subsystem& driveSubsystem;
   AutoBindings autoBindings{};

diff --git a/choreolib/src/main/native/include/choreo/auto/AutoTrajectory.h b/choreolib/src/main/native/include/choreo/auto/AutoTrajectory.h
@@ -21,9 +21,6 @@
 
 namespace choreo {
 
-template <choreo::TrajectorySample SampleType>
-using ControllerFunction = std::function<void(frc::Pose2d, SampleType)>;
-
 using TrajectoryLogger = std::function<void(frc::Pose2d, bool)>;
 
 static constexpr units::meter_t DEFAULT_TOLERANCE = 3_in;
@@ -55,7 +52,7 @@ class AutoTrajectory {
   AutoTrajectory(std::string_view name,
                  const choreo::Trajectory<SampleType>& trajectory,
                  std::function<frc::Pose2d()> poseSupplier,
-                 ControllerFunction<SampleType> controller,
+                 std::function<void(frc::Pose2d, SampleType)> controller,
                  std::function<bool()> mirrorTrajectory,
                  std::optional<TrajectoryLogger> trajectoryLogger,
                  const frc2::Subsystem& driveSubsystem, frc::EventLoop* loop,
@@ -330,7 +327,7 @@ class AutoTrajectory {
   std::string name;
   const choreo::Trajectory<SampleType>& trajectory;
   std::function<frc::Pose2d()> poseSupplier;
-  ControllerFunction<SampleType> controller;
+  std::function<void(frc::Pose2d, SampleType)> controller;
   std::function<bool()> mirrorTrajectory;
   std::optional<TrajectoryLogger> trajectoryLogger;
   const frc2::Subsystem& driveSubsystem;