Auto path preview and a bit of turret cleanup

simgui.json

@@ -52,6 +52,14 @@
           ],
           "style": "Hidden"
         },
+        "activePath": {
+          "arrows": false,
+          "style": "Line"
+        },
+        "autoPathPreview": {
+          "arrows": false,
+          "style": "Line"
+        },
         "bottom": 1914,
         "height": 8.069275856018066,
         "left": 245,

src/main/java/com/team1816/lib/BaseRobot.java

@@ -41,6 +41,17 @@ protected BaseRobot() {
     public void robotPeriodic() {
         // Update the pose of the robot on the field.
         FieldContainer.field.setRobotPose(BaseRobotState.robotPose);
+        // Update the path preview until the match starts.
+        if (!BaseRobotState.hasAutoStarted) {
+            baseRobotContainer.autoModeManager.updateAutoPathPreviewDisplay();
+        }
+    }
+
+    @Override
+    public void autonomousInit() {
+        BaseRobotState.hasAutoStarted = true;
+        // Clear the path preview at the start of the match.
+        baseRobotContainer.autoModeManager.clearAutoPathPreviewDisplay();
     }
 
     /**

src/main/java/com/team1816/lib/BaseRobotContainer.java

@@ -1,18 +1,12 @@
 package com.team1816.lib;
 
-import com.pathplanner.lib.commands.PathPlannerAuto;
-import com.pathplanner.lib.util.FlippingUtil;
 import com.team1816.lib.auto.AutoModeManager;
 import com.team1816.lib.auto.PathfindManager;
 import com.team1816.lib.inputs.CommandButtonBoard;
 import com.team1816.lib.subsystems.BaseSuperstructure;
 import com.team1816.lib.subsystems.LedManager;
 import com.team1816.lib.subsystems.Vision;
 import com.team1816.lib.subsystems.drivetrain.Swerve;
-import com.team1816.lib.util.GreenLogger;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 public abstract class BaseRobotContainer {
@@ -23,7 +17,6 @@ public abstract class BaseRobotContainer {
 
     protected final Swerve swerve = new Swerve(driverController);
     protected final Vision vision = new Vision();
-    private boolean poseInitialized;
 
     protected PathfindManager pathfindManager;
     public AutoModeManager autoModeManager;
@@ -36,48 +29,7 @@ public void initializeLibSubSystems() {
         Singleton.CreateSubSystem(LedManager.class);
 
         pathfindManager = Singleton.get(PathfindManager.class);
-        autoModeManager = Singleton.get(AutoModeManager.class);
-
-        if (autoModeManager != null) {
-            autoModeManager.onChange(this::updatePoseOnSelection);
-        } else {
-            GreenLogger.log("Failed to initialize AutoModeManager!");
-        }
-    }
-
-    public void updateInitialPose(){
-        if(poseInitialized || DriverStation.getAlliance().isEmpty()) return;
-        forceUpdatePose();
-    }
-
-    /**
-     * Forces pose update regardless of poseInitialized state.
-     * Called from autonomousInit to ensure pose is always set before auto starts.
-     */
-    public void forceUpdatePose(){
-        updatePoseOnSelection(autoModeManager.getSelectedAuto());
-    }
-
-    private void updatePoseOnSelection(Command selectedAuto) {
-        if (selectedAuto != null) {
-            try {
-                Pose2d startingPose = selectedAuto instanceof PathPlannerAuto
-                    ? ((PathPlannerAuto) selectedAuto).getStartingPose()
-                    : Pose2d.kZero;
-                if (startingPose != null) {
-                    var alliance = DriverStation.getAlliance();
-                    if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
-                        startingPose = FlippingUtil.flipFieldPose(startingPose);
-                    }
-                    // Reset odometry and update Field2d this is to give drivers clue that the
-                    // proper auto is set prior to auto start
-                    swerve.resetPose(startingPose);
-                    poseInitialized = true;
-                }
-            } catch (Exception e) {
-                GreenLogger.log("Error loading auto pose: " + e.getMessage());
-            }
-        }
+        autoModeManager = new AutoModeManager(swerve::resetPose);
     }
 
     /**

src/main/java/com/team1816/lib/BaseRobotState.java

@@ -43,4 +43,9 @@ public class BaseRobotState {
      * to be the pre-vision position estimate of the real robot.
      */
     public static Pose2d simActualOrRawOdometryPose = Pose2d.kZero;
+
+    /**
+     * If autonomous has ever been initialized.
+     */
+    public static boolean hasAutoStarted = false;
 }

src/main/java/com/team1816/lib/auto/AutoModeManager.java

@@ -2,83 +2,245 @@
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.FlippingUtil;
-import com.pathplanner.lib.util.PPLibTelemetry;
+import com.pathplanner.lib.util.PathPlannerLogging;
+import com.team1816.lib.BaseRobotState;
+import com.team1816.lib.util.FieldContainer;
 import com.team1816.lib.util.GreenLogger;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.json.simple.parser.ParseException;
 
-import java.util.Optional;
+import java.io.IOException;
+import java.util.*;
 import java.util.function.Consumer;
 import java.util.stream.Stream;
 
 /**
- * Manages SmartDashboard and logging of autos. Does NOT interact directly with {@link CommandScheduler} or the drivetrain.
+ * Manages creating the auto chooser to select the auto routine. Also handles resetting the robot's
+ * pose based on the auto starting pose, and drawing the path preview. Does NOT interact directly
+ * with {@link CommandScheduler} or the drivetrain.
  */
 public class AutoModeManager {
     private final SendableChooser<Command> autoChooser;
-    private Consumer<Command> listener;
+    /**
+     * A mapping of the auto names as displayed in the {@link #autoChooser} to the path preview for
+     * that auto to display on the dashboard.
+     */
+    private final HashMap<String, List<Pose2d>> autoPathPreviewMap = new HashMap<>();
+    /**
+     * A consumer that will accept a {@link Pose2d} to reset the robot's pose to.
+     */
+    private final Consumer<Pose2d> resetPoseConsumer;
 
     /**
-     * Puts dropdown in SmartDashboard and adds all autos.
+     * Constructs the {@link AutoModeManager}, including putting the auto dropdown in
+     * SmartDashboard and handling the creation of mirrored versions of autos.
+     *
+     * @param resetPoseConsumer A consumer that will accept a {@link Pose2d} that is the auto
+     *                          starting pose to reset the robot's pose to.
      */
-    public AutoModeManager() {
+    public AutoModeManager(Consumer<Pose2d> resetPoseConsumer) {
+        this.resetPoseConsumer = resetPoseConsumer;
+
+        // Build the auto chooser with all the autos from PathPlanner and mirrored versions of most
+        // autos.
         autoChooser = AutoBuilder.buildAutoChooserWithOptionsModifier(
             autos -> autos.flatMap(auto -> {
                 // Get the name of the original auto for PathPlanner to look for.
-                String autoName = auto.getName();
+                String originalAutoName = auto.getName();
                 // Don't create a mirrored version if marked with "[DM]" (Don't Mirror).
-                if (autoName.startsWith("[DM]")) {
-                    // Remove the "[DM]" marker for the display name, and any spaces.
-                    auto.setName(autoName.substring(5).stripLeading());
+                if (originalAutoName.startsWith("[DM]")) {
+                    // Remove the "[DM]" marker for the display name, and any leading spaces.
+                    String modifiedAutoName = originalAutoName.substring(5).stripLeading();
+                    auto.setName(modifiedAutoName);
+                    addAutoPathPreviewToMap(originalAutoName, modifiedAutoName, false);
                     return Stream.of(auto);
                 }
                 // Rename the original auto to specify it is the left version.
-                auto.setName("Left " + autoName);
+                String leftAutoName = "Left " + originalAutoName;
+                auto.setName(leftAutoName);
+                addAutoPathPreviewToMap(originalAutoName, leftAutoName, false);
                 // Create a mirrored version of the auto.
-                PathPlannerAuto mirroredAuto = new PathPlannerAuto(autoName, true);
+                PathPlannerAuto mirroredAuto = new PathPlannerAuto(originalAutoName, true);
                 // Rename the mirrored auto to specify it is the right version.
-                mirroredAuto.setName("Right " + autoName);
+                String rightAutoName = "Right " + originalAutoName;
+                mirroredAuto.setName(rightAutoName);
+                addAutoPathPreviewToMap(originalAutoName, rightAutoName, true);
                 // Return both the original and the mirrored auto.
                 return Stream.of(auto, mirroredAuto);
             })
         );
+
+        // Publish the auto chooser to the SmartDashboard.
         SmartDashboard.putData("Auto Mode", autoChooser);
 
-        listener = a -> {};
+        // Display the active path on the main Field2d. This is the path that PathPlanner is
+        // actively running, not a path that is scheduled to run once auto starts.
+        PathPlannerLogging.setLogActivePathCallback(pose2ds ->
+            FieldContainer.field.getObject("activePath").setPoses(pose2ds)
+        );
+
+        // Create a trigger and use it to reset the pose to the auto start pose whenever the
+        // alliance color changes.
+        new Trigger(() ->
+            // If the alliance is blue, defaulting to true if the alliance is empty.
+            DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+        )
+            .onChange(Commands.runOnce(() ->
+                resetRobotPoseToAutoStart(autoChooser.getSelected(), false)
+            ).ignoringDisable(true));
+
+        // Register a listener to reset the pose to the auto start pose whenever the selected auto
+        // changes.
+        autoChooser.onChange(autoCommand -> resetRobotPoseToAutoStart(autoCommand, false));
 
-        autoChooser.onChange(a -> {
-            // log starting pose
-            Pose2d startingPose = a instanceof PathPlannerAuto
-                ? ((PathPlannerAuto) a).getStartingPose()
+        // Use the autonomous trigger to force reset the pose to the auto start pose whenever auto
+        // starts, to make sure the pose is set correctly at the beginning of auto.
+        RobotModeTriggers.autonomous().onTrue(Commands.runOnce(() ->
+            resetRobotPoseToAutoStart(autoChooser.getSelected(), true)
+        ).ignoringDisable(true));
+    }
+
+    /**
+     * Resets the robot pose using the {@link #resetPoseConsumer} to the start pose of the passed
+     * in auto command.
+     *
+     * @param autoCommand The auto command to use the start pose of.
+     * @param forceResetPose If the pose should be reset regardless of whether the match has
+     *                       already started.
+     */
+    private void resetRobotPoseToAutoStart(Command autoCommand, boolean forceResetPose) {
+        // Only reset the pose if auto has not started, or if forceResetPose is true. This is to
+        // prevent resetting the pose in the middle of a match. This is based on if auto has ever
+        // started, rather than just checking if we are currently in teleop or auto, because we
+        // want to prevent the pose resetting even during the disabled period between auto and
+        // teleop.
+        if (!BaseRobotState.hasAutoStarted || forceResetPose) {
+            // Get the starting pose for the auto. If this is the default None auto, it will just
+            // be an empty Command rather than a PathPlannerAuto, so use Pose2d.kZero in that case.
+            Pose2d startingPose = autoCommand instanceof PathPlannerAuto
+                ? ((PathPlannerAuto) autoCommand).getStartingPose()
                 : Pose2d.kZero;
-            Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
-            if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
-                startingPose = FlippingUtil.flipFieldPose(startingPose);
-            }
-            GreenLogger.log("Auto Mode Manager- starting pose: " + startingPose);
-            // TODO: why is this not PPLibTelemetry.setCurrentPose? look into this after Pittsburgh
-            PPLibTelemetry.setTargetPose(startingPose);
+            // Flip the starting pose based on alliance, defaulting to blue if the alliance is empty.
+            startingPose = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+                ? startingPose
+                : FlippingUtil.flipFieldPose(startingPose);
+            // Call the consumer to reset the robot's pose.
+            resetPoseConsumer.accept(startingPose);
+        }
+    }
+
+    /**
+     * Updates the display of the selected auto path on the field.
+     */
+    public void updateAutoPathPreviewDisplay() {
+        String autoName = autoChooser.getSelected().getName();
+        List<Pose2d> path = autoPathPreviewMap.get(autoName);
+        if (path != null) {
+            // Flip the path based on alliance, defaulting to blue if the alliance is empty.
+            path = DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue) == DriverStation.Alliance.Blue
+                ? path
+                : path.stream().map(FlippingUtil::flipFieldPose).toList();
+            // The number of Pose2ds to move through in the path per second.
+            double pose2dsPerSecond = 300;
+            // Zero-indexed progress through the path to display. Use the timer to have it count
+            // up, using modulus to loop back to the start when the path ends.
+            int pathProgress = (int) ((Timer.getFPGATimestamp() * pose2dsPerSecond) % (path.size()));
+            // Show the path on the field up to the pathProgress.
+            FieldContainer.field.getObject("autoPathPreview").setPoses(
+                path.stream().limit(pathProgress + 1).toList()
+            );
+        }
+        else {
+            // Clear the poses if no valid path was found.
+            clearAutoPathPreviewDisplay();
+        }
+    }
 
-            if (listener != null) listener.accept(a);
-        });
+    /**
+     * Clear the display of the selected auto path on the field.
+     */
+    public void clearAutoPathPreviewDisplay() {
+        FieldContainer.field.getObject("autoPathPreview").setPoses();
     }
 
     /**
-     * Retrieves currently selected auto.
+     * Adds the paths from the auto to the {@link #autoPathPreviewMap} so we can look it up later for
+     * displaying on the field using the name stored in the {@link #autoChooser}. This is necessary
+     * because we modify the auto names when we build the auto chooser, and the only way to get the
+     * paths is to load the auto from the file, which requires having the original auto file name.
+     *
+     * @param originalAutoName The name of the auto file that contains the paths.
+     * @param modifiedAutoName The modified name of the auto that will be used later to find the
+     *                         paths from the map.
+     * @param mirror If the paths stored should be mirrored to the other side of the current
+     *               alliance from the original paths stored in the auto file.
      */
-    public Command getSelectedAuto() {
-        return autoChooser.getSelected();
+    private void addAutoPathPreviewToMap(String originalAutoName, String modifiedAutoName, boolean mirror) {
+        try {
+            // Load the paths for the auto.
+            List<PathPlannerPath> pathPlannerPaths = PathPlannerAuto.getPathGroupFromAutoFile(originalAutoName);
+
+            // Combine the paths into a single list of Pose2ds, with repeated Pose2ds at the end of
+            // each path and at the very end to create pauses when running through the path with
+            // the preview.
+            // The number of times to repeat the last Pose2d in each path.
+            int pathEndRepeats = 5;
+            // The number of times to repeat the last Pose2d in the whole auto.
+            int autoEndRepeats = 10;
+            List<Pose2d> combinedPath = new ArrayList<>();
+            for (int i = 0; i < pathPlannerPaths.size(); i++) {
+                PathPlannerPath path = pathPlannerPaths.get(i);
+
+                // Mirror the path if necessary.
+                if (mirror) path = path.mirrorPath();
+
+                // Get the list of poses representing the path.
+                List<Pose2d> pathPoses = path.getPathPoses();
+                if (pathPoses.isEmpty()) continue;
+
+                // Add all the poses from the individual path to the combined path.
+                combinedPath.addAll(pathPoses);
+
+                // Repeat the last pose in the individual path to create a pause at the end of each
+                // path.
+                Pose2d lastPose = pathPoses.get(pathPoses.size() - 1);
+                combinedPath.addAll(Collections.nCopies(pathEndRepeats, lastPose));
+
+                // If this is the last path in the auto, repeat the last pose in the path to create
+                // a longer pause at the very end of the auto.
+                if (i == pathPlannerPaths.size() - 1) {
+                    combinedPath.addAll(Collections.nCopies(autoEndRepeats, lastPose));
+                }
+            }
+
+            autoPathPreviewMap.put(
+                modifiedAutoName,
+                combinedPath
+            );
+        } catch (IOException e) {
+            GreenLogger.log(e);
+            GreenLogger.log("IOException while getting path group. See above stack trace for details.");
+        } catch (ParseException e) {
+            GreenLogger.log(e);
+            GreenLogger.log("ParseException while getting path group. See above stack trace for details.");
+        }
     }
 
     /**
-     * Registers a single listener to changes to the auto choosers.
+     * Retrieves currently selected auto from the {@link #autoChooser}.
      */
-    public void onChange(Consumer<Command> listener) {
-        this.listener = listener;
+    public Command getSelectedAuto() {
+        return autoChooser.getSelected();
     }
 }