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Fixup CLI modifying trajectory parameters #1201

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Fixup CLI modifying trajectory parameters #1201

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5f694b0
Don't have generator modify trajectory parameters while generating
pjreiniger Feb 16, 2025
052e1a4
Merge remote-tracking branch 'origin/main' into fixup_cli_modifying_f…
pjreiniger Feb 23, 2025
652f889
Major change in strategy; All changes are now located in the CLI
pjreiniger Feb 25, 2025
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114 changes: 77 additions & 37 deletions src-cli/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ use std::{
thread::{self, JoinHandle},
};

use choreo_core::spec::trajectory::TrajectoryFile;
use choreo_core::{
file_management::{self, WritingResources},
generation::generate::generate,
Expand Down Expand Up @@ -192,48 +193,87 @@ impl Cli {
let cln_project = project.clone();
let cln_resources = resources.clone();
let cln_trajectory_name = trajectory_name.clone();
let handle =
thread::spawn(
move || match generate(cln_project.clone(), trajectory, i as i64) {
Ok(new_trajectory) => {
let runtime =
choreo_core::tokio::runtime::Builder::new_current_thread()
.enable_all()
.build()
.expect("Failed to build tokio runtime");
let write_result = runtime.block_on(
file_management::write_trajectory_file_immediately(
&cln_resources,
new_trajectory,
),
let handle = thread::spawn(move || {
match generate(cln_project.clone(), trajectory.clone(), i as i64) {
Ok(regenerated_trajectory) => {
// The raw generation has the opportunity to change waypoints to help massage the trajoptlib generation. We only care about adopting the generated trajectory
let mut sanitized_regenerated_trajectory = TrajectoryFile {
trajectory: regenerated_trajectory.trajectory,
..trajectory
};

// The initial generation does not update the control intervals. This runs an initial guess pass for each waypoint on the sanitized version of the file in-place.
let control_intervals =
choreo_core::generation::intervals::guess_control_interval_counts(
&cln_project.config.snapshot(),
&sanitized_regenerated_trajectory.params.snapshot(),
);
match write_result {
Ok(_) => {
tracing::info!(
"Successfully generated trajectory {:} for {:}",
cln_trajectory_name,
cln_project.name
);
}
Err(e) => {
tracing::error!(
"Failed to write trajectory {:} for {:}: {:}",
cln_trajectory_name,
cln_project.name,
e
);
match control_intervals {
Ok(control_intervals) => {
for (i, count) in control_intervals.iter().enumerate() {
let waypoint =
&mut sanitized_regenerated_trajectory.params.waypoints[i];
if waypoint.override_intervals && *count != waypoint.intervals {
tracing::warn!("Control interval guessing did not ignore override intervals!");
} else {
waypoint.intervals = *count;
}
}
}
Err(e) => {
tracing::error!(
"Guess intervals failed {:} for {:}: {:}",
cln_trajectory_name,
cln_project.name,
e
);
}
}
Err(e) => {
tracing::error!(
"Failed to generate trajectory {:}: {:}",
cln_trajectory_name,
e
);

let runtime = choreo_core::tokio::runtime::Builder::new_current_thread()
.enable_all()
.build()
.expect("Failed to build tokio runtime");

// Finally, we write the fully generated file to disk
let write_result =
runtime.block_on(file_management::write_trajectory_file_immediately(
&cln_resources,
TrajectoryFile {
trajectory: sanitized_regenerated_trajectory.trajectory,
snapshot: Some(
sanitized_regenerated_trajectory.params.snapshot(),
),
..sanitized_regenerated_trajectory
},
));
match write_result {
Ok(_) => {
tracing::info!(
"Successfully generated trajectory {:} for {:}",
cln_trajectory_name,
cln_project.name
);
}
Err(e) => {
tracing::error!(
"Failed to write trajectory {:} for {:}: {:}",
cln_trajectory_name,
cln_project.name,
e
);
}
}
},
);
}
Err(e) => {
tracing::error!(
"Failed to generate trajectory {:}: {:}",
cln_trajectory_name,
e
);
}
}
});

thread_handles.push(handle);
}
Expand Down
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