slightly more improvements

utahrobotics · May 1, 2024 · 3fd2dec · 3fd2dec
1 parent ee16034
commit 3fd2dec
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Showing 6 changed files with 117 additions and 138 deletions.
diff --git a/compute-shader/src/buffers.rs b/compute-shader/src/buffers.rs
@@ -123,7 +123,9 @@ pub trait CreateBuffer: ValidBufferType {
 }
 
 impl<T: BufferSized + ?Sized, H: HostReadableWritable, S: ShaderWritable, O: UniformOrStorage>
-CreateBuffer for BufferType<T, H, S, O> where Self: ValidBufferType
+    CreateBuffer for BufferType<T, H, S, O>
+where
+    Self: ValidBufferType,
 {
     const HOST_CAN_READ: bool = H::CAN_READ;
     const HOST_CAN_WRITE: bool = H::CAN_WRITE;

diff --git a/compute-shader/src/lib.rs b/compute-shader/src/lib.rs
@@ -1,8 +1,6 @@
 use std::sync::RwLock;
 
-use buffers::{
-    BufferDestination, BufferSource, CreateBuffer, ValidBufferType
-};
+use buffers::{BufferDestination, BufferSource, CreateBuffer, ValidBufferType};
 use crossbeam::queue::SegQueue;
 use futures::FutureExt;
 use fxhash::FxHashMap;
@@ -177,11 +175,7 @@ impl<A> Compute<A> {
     }
 }
 
-
-impl<B1,>
-    Compute<(
-        B1,
-    )>
+impl<B1> Compute<(B1,)>
 where
     B1: CreateBuffer,
 {
@@ -194,45 +188,27 @@ where
         Ok(Self::new_inner(
             shader_module_decsriptor,
             device,
-            Box::new([
-                type1.into_buffer(0, device),
-            ]),
-            Box::new([
-                type1.into_layout(0),
-            ]),
-            [type1.size()]
-                .into_iter()
-                .max()
-                .unwrap(),
+            Box::new([type1.into_buffer(0, device)]),
+            Box::new([type1.into_layout(0)]),
+            [type1.size()].into_iter().max().unwrap(),
         ))
     }
 
-    pub fn new_pass(
-        &self,
-        arg1: impl BufferSource<B1::WriteType>,
-    ) -> ComputePass<(
-        B1,
-    )> {
+    pub fn new_pass(&self, arg1: impl BufferSource<B1::WriteType>) -> ComputePass<(B1,)> {
         self.new_pass_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
         })
     }
 
-    pub async fn write_args(
-        &self,
-        arg1: impl BufferSource<B1::WriteType>,
-    ) {
+    pub async fn write_args(&self, arg1: impl BufferSource<B1::WriteType>) {
         self.write_args_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
         })
         .await;
     }
 }
 
-impl<B1, B2>
-    Compute<(
-        B1, B2,
-    )>
+impl<B1, B2> Compute<(B1, B2)>
 where
     B1: CreateBuffer,
     B2: CreateBuffer,
@@ -247,28 +223,17 @@ where
         Ok(Self::new_inner(
             shader_module_decsriptor,
             device,
-            Box::new([
-                type1.into_buffer(0, device),
-                type2.into_buffer(1, device),
-            ]),
-            Box::new([
-                type1.into_layout(0),
-                type2.into_layout(1),
-            ]),
-            [type1.size(), type2.size()]
-                .into_iter()
-                .max()
-                .unwrap(),
+            Box::new([type1.into_buffer(0, device), type2.into_buffer(1, device)]),
+            Box::new([type1.into_layout(0), type2.into_layout(1)]),
+            [type1.size(), type2.size()].into_iter().max().unwrap(),
         ))
     }
 
     pub fn new_pass(
         &self,
         arg1: impl BufferSource<B1::WriteType>,
         arg2: impl BufferSource<B2::WriteType>,
-    ) -> ComputePass<(
-        B1, B2,
-    )> {
+    ) -> ComputePass<(B1, B2)> {
         self.new_pass_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
             arg2.into_buffer(command_encoder, &arg_buffers[1], stager, device);
@@ -288,10 +253,7 @@ where
     }
 }
 
-impl<B1, B2, B3>
-    Compute<(
-        B1, B2, B3,
-    )>
+impl<B1, B2, B3> Compute<(B1, B2, B3)>
 where
     B1: CreateBuffer,
     B2: CreateBuffer,
@@ -330,9 +292,7 @@ where
         arg1: impl BufferSource<B1::WriteType>,
         arg2: impl BufferSource<B2::WriteType>,
         arg3: impl BufferSource<B3::WriteType>,
-    ) -> ComputePass<(
-        B1, B2, B3,
-    )> {
+    ) -> ComputePass<(B1, B2, B3)> {
         self.new_pass_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
             arg2.into_buffer(command_encoder, &arg_buffers[1], stager, device);
@@ -354,10 +314,7 @@ where
         .await;
     }
 }
-impl<B1, B2, B3, B4>
-    Compute<(
-        B1, B2, B3, B4,
-    )>
+impl<B1, B2, B3, B4> Compute<(B1, B2, B3, B4)>
 where
     B1: CreateBuffer,
     B2: CreateBuffer,
@@ -401,9 +358,7 @@ where
         arg2: impl BufferSource<B2::WriteType>,
         arg3: impl BufferSource<B3::WriteType>,
         arg4: impl BufferSource<B4::WriteType>,
-    ) -> ComputePass<(
-        B1, B2, B3, B4,
-    )> {
+    ) -> ComputePass<(B1, B2, B3, B4)> {
         self.new_pass_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
             arg2.into_buffer(command_encoder, &arg_buffers[1], stager, device);
@@ -428,10 +383,7 @@ where
         .await;
     }
 }
-impl<B1, B2, B3, B4, B5>
-    Compute<(
-        B1, B2, B3, B4, B5,
-    )>
+impl<B1, B2, B3, B4, B5> Compute<(B1, B2, B3, B4, B5)>
 where
     B1: CreateBuffer,
     B2: CreateBuffer,
@@ -466,10 +418,16 @@ where
                 type4.into_layout(3),
                 type5.into_layout(4),
             ]),
-            [type1.size(), type2.size(), type3.size(), type4.size(), type5.size()]
-                .into_iter()
-                .max()
-                .unwrap(),
+            [
+                type1.size(),
+                type2.size(),
+                type3.size(),
+                type4.size(),
+                type5.size(),
+            ]
+            .into_iter()
+            .max()
+            .unwrap(),
         ))
     }
 
@@ -480,9 +438,7 @@ where
         arg3: impl BufferSource<B3::WriteType>,
         arg4: impl BufferSource<B4::WriteType>,
         arg5: impl BufferSource<B5::WriteType>,
-    ) -> ComputePass<(
-        B1, B2, B3, B4, B5
-    )> {
+    ) -> ComputePass<(B1, B2, B3, B4, B5)> {
         self.new_pass_inner(|command_encoder, arg_buffers, stager, device| {
             arg1.into_buffer(command_encoder, &arg_buffers[0], stager, device);
             arg2.into_buffer(command_encoder, &arg_buffers[1], stager, device);
@@ -580,19 +536,14 @@ impl<'a, A> ComputePass<'a, A> {
     }
 }
 
-impl<'a, B1,> ComputePass<'a, (B1,)>
+impl<'a, B1> ComputePass<'a, (B1,)>
 where
     B1: ValidBufferType,
 {
-    pub async fn call(
-        self,
-        mut arg1: impl BufferDestination<B1::ReadType>,
-    ) {
+    pub async fn call(self, mut arg1: impl BufferDestination<B1::ReadType>) {
         let (device, buffers, (state1,)) = self
             .call_inner(|command_encoder, arg_buffers, buffers, device| {
-                (
-                    arg1.enqueue(command_encoder, &arg_buffers[0], &buffers, device),
-                )
+                (arg1.enqueue(command_encoder, &arg_buffers[0], &buffers, device),)
             })
             .await;
 
@@ -683,7 +634,6 @@ where
     }
 }
 
-
 impl<'a, B1, B2, B3, B4, B5> ComputePass<'a, (B1, B2, B3, B4, B5)>
 where
     B1: ValidBufferType,

diff --git a/localization/src/engines/window.rs b/localization/src/engines/window.rs
@@ -240,7 +240,7 @@ pub struct WindowConfig<N: Float, FI, FV, FA, FAV> {
 impl<N: Float> Default for DefaultWindowConfig<N> {
     fn default() -> Self {
         Self {
-            bucket_duration: Duration::from_secs(1),
+            bucket_duration: Duration::from_secs(2),
             max_no_observation_duration: Duration::from_millis(100),
             isometry_func: |_| {},
             linear_velocity_func: |_| {},

diff --git a/lunasimbot/src/main.rs b/lunasimbot/src/main.rs
@@ -92,7 +92,11 @@ async fn main(context: MainRuntimeContext) -> anyhow::Result<()> {
                 .flat_map(|y| {
                     (-100..100).into_iter().map(move |x| HeightQuery {
                         isometry: Isometry3::from_parts(
-                            (isometry * Point3::from(origin + Vector3::new(x as f32 * 0.02, 0.0, y as f32 * 0.02))).into(),
+                            (isometry
+                                * Point3::from(
+                                    origin + Vector3::new(x as f32 * 0.02, 0.0, y as f32 * 0.02),
+                                ))
+                            .into(),
                             UnitQuaternion::default(),
                         ),
                         max_points: 32,
@@ -147,7 +151,8 @@ async fn main(context: MainRuntimeContext) -> anyhow::Result<()> {
         .get_path_pub()
         .accept_subscription(path_sub.create_subscription());
 
-    let driver = DifferentialDriver::new(robot_base.get_ref());
+    let mut driver = DifferentialDriver::new(robot_base.get_ref());
+    driver.skip_distance = 0.5;
     let mut drive_mode_pub = driver.create_drive_mode_sub().into_mono_pub();
     drive_mode_pub.set(DriveMode::ForwardOnly);
     pathfinder