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152 changes: 152 additions & 0 deletions
152
src/main/java/frc/robot/subsystems/drive/HybridOdometryThread.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| package frc.robot.subsystems.drive; | ||
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| import com.ctre.phoenix6.BaseStatusSignal; | ||
| import com.ctre.phoenix6.StatusSignal; | ||
| import com.ctre.phoenix6.hardware.ParentDevice; | ||
| import java.util.ArrayList; | ||
| import java.util.List; | ||
| import java.util.OptionalDouble; | ||
| import java.util.Queue; | ||
| import java.util.concurrent.ArrayBlockingQueue; | ||
| import java.util.concurrent.locks.Lock; | ||
| import java.util.concurrent.locks.ReentrantLock; | ||
| import java.util.function.Supplier; | ||
| import org.littletonrobotics.junction.Logger; | ||
|
|
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| public class HybridOdometryThread extends Thread { | ||
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| private final Lock signalsLock = new ReentrantLock(); | ||
| private List<BaseStatusSignal> phoenixSignals = new ArrayList<>(); | ||
| private List<Supplier<OptionalDouble>> polledSignals = new ArrayList<>(); | ||
| private List<Queue<Double>> queues = new ArrayList<>(); | ||
| private List<Queue<Double>> timestampQueues = new ArrayList<>(); | ||
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| // Ensures samples added to correct queue | ||
| private List<Integer> signalTypes = new ArrayList<>(); // 0 for Phoenix 1 for polled | ||
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| private static final int PHOENIX_SIGNAL = 0; | ||
| private static final int POLLED_SIGNAL = 1; | ||
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| private static HybridOdometryThread instance = null; | ||
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| public static HybridOdometryThread getInstance() { | ||
| if (instance == null) { | ||
| instance = new HybridOdometryThread(); | ||
| } | ||
| return instance; | ||
| } | ||
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| private HybridOdometryThread() { | ||
| setName("HybridOdometryThread"); | ||
| setDaemon(true); | ||
| } | ||
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| @Override | ||
| public void start() { | ||
| if (timestampQueues.size() > 0) { | ||
| super.start(); | ||
| } | ||
| } | ||
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| public Queue<Double> registerSignal(ParentDevice device, StatusSignal<Double> signal) { | ||
| Queue<Double> queue = new ArrayBlockingQueue<>(20); | ||
| signalsLock.lock(); | ||
| Drive.odometryLock.lock(); | ||
| try { | ||
| phoenixSignals.add(signal); | ||
| queues.add(queue); | ||
| signalTypes.add(PHOENIX_SIGNAL); | ||
| } finally { | ||
| signalsLock.unlock(); | ||
| Drive.odometryLock.unlock(); | ||
| } | ||
| return queue; | ||
| } | ||
|
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| public Queue<Double> registerSignal(Supplier<OptionalDouble> signal) { | ||
| Queue<Double> queue = new ArrayBlockingQueue<>(20); | ||
| Drive.odometryLock.lock(); | ||
| try { | ||
| polledSignals.add(signal); | ||
| queues.add(queue); | ||
| signalTypes.add(POLLED_SIGNAL); | ||
| } finally { | ||
| Drive.odometryLock.unlock(); | ||
| } | ||
| return queue; | ||
| } | ||
|
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| public Queue<Double> makeTimestampQueue() { | ||
| Queue<Double> queue = new ArrayBlockingQueue<>(20); | ||
| Drive.odometryLock.lock(); | ||
| try { | ||
| timestampQueues.add(queue); | ||
| } finally { | ||
| Drive.odometryLock.unlock(); | ||
| } | ||
| return queue; | ||
| } | ||
|
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| @Override | ||
| public void run() { | ||
| while (true) { | ||
| signalsLock.lock(); | ||
| try { | ||
| if (!phoenixSignals.isEmpty()) { | ||
| BaseStatusSignal.waitForAll(2.0 / 250.0, phoenixSignals.toArray(new BaseStatusSignal[0])); | ||
| } else { | ||
| Thread.sleep((long) (1000.0 / 250.0)); | ||
| } | ||
| } catch (InterruptedException e) { | ||
| e.printStackTrace(); | ||
| } finally { | ||
| signalsLock.unlock(); | ||
| } | ||
|
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| Drive.odometryLock.lock(); | ||
| try { | ||
| double timestamp = Logger.getRealTimestamp() / 1e6; | ||
| double totalLatency = 0.0; | ||
| for (BaseStatusSignal signal : phoenixSignals) { | ||
| totalLatency += signal.getTimestamp().getLatency(); | ||
| } | ||
| if (!phoenixSignals.isEmpty()) { | ||
| timestamp -= totalLatency / phoenixSignals.size(); | ||
| } | ||
|
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| // If 1 thing breaks everything breaks, probably a bad idea idrc | ||
| boolean allValid = true; | ||
| int phoenixIndex = 0; | ||
| int polledIndex = 0; | ||
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| for (int i = 0; i < signalTypes.size(); i++) { | ||
| double value; | ||
| if (signalTypes.get(i) == PHOENIX_SIGNAL) { | ||
| value = phoenixSignals.get(phoenixIndex++).getValueAsDouble(); | ||
| } else { | ||
| OptionalDouble optionalValue = polledSignals.get(polledIndex++).get(); | ||
| if (optionalValue.isPresent()) { | ||
| value = optionalValue.getAsDouble(); | ||
| } else { | ||
| allValid = false; | ||
| break; | ||
| } | ||
| } | ||
|
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| if (allValid) { | ||
| queues.get(i).offer(value); | ||
| } | ||
| } | ||
|
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| // All thingies sampled together | ||
| if (allValid) { | ||
| for (Queue<Double> timestampQueue : timestampQueues) { | ||
| timestampQueue.offer(timestamp); | ||
| } | ||
| } | ||
| } finally { | ||
| Drive.odometryLock.unlock(); | ||
| } | ||
| } | ||
| } | ||
| } |
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