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Remove vestigial generics #52

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Nov 4, 2023
Merged

Remove vestigial generics #52

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76 changes: 21 additions & 55 deletions src/missions/action.rs
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
use anyhow::Result;
use async_trait::async_trait;
use core::fmt::Debug;
use std::{marker::PhantomData, sync::Arc, thread};
use std::{sync::Arc, thread};
use tokio::{join, runtime::Handle, sync::Mutex};
use uuid::Uuid;

Expand Down Expand Up @@ -42,14 +42,13 @@ pub trait ActionMod<Input: Send + Sync>: Action {
* An action that runs one of two actions depending on if its conditional reference is true or false.
*/
#[derive(Debug)]
pub struct ActionConditional<U, V: Action, W: Action, X: Action> {
pub struct ActionConditional<V: Action, W: Action, X: Action> {
condition: V,
true_branch: W,
false_branch: X,
_phantom_u: PhantomData<U>,
}

impl<U, V: Action, W: Action, X: Action> Action for ActionConditional<U, V, W, X> {
impl<V: Action, W: Action, X: Action> Action for ActionConditional<V, W, X> {
fn dot_string(&self) -> DotString {
let true_str = self.true_branch.dot_string();
let false_str = self.false_branch.dot_string();
Expand Down Expand Up @@ -85,13 +84,12 @@ impl<U, V: Action, W: Action, X: Action> Action for ActionConditional<U, V, W, X
/**
* Implementation for the ActionConditional struct.
*/
impl<U, V: Action, W: Action, X: Action> ActionConditional<U, V, W, X> {
impl<V: Action, W: Action, X: Action> ActionConditional<V, W, X> {
pub const fn new(condition: V, true_branch: W, false_branch: X) -> Self {
Self {
condition,
true_branch,
false_branch,
_phantom_u: PhantomData,
}
}
}
Expand All @@ -105,7 +103,7 @@ impl<
V: ActionExec<Output = bool>,
W: ActionExec<Output = U>,
X: ActionExec<Output = U>,
> ActionExec for ActionConditional<U, V, W, X>
> ActionExec for ActionConditional<V, W, X>
{
type Output = U;
async fn execute(&mut self) -> Self::Output {
Expand Down Expand Up @@ -295,14 +293,12 @@ impl<
}

#[derive(Debug)]
pub struct ActionSequence<T, U, V, W> {
pub struct ActionSequence<V, W> {
first: V,
second: W,
_phantom_t: PhantomData<T>,
_phantom_u: PhantomData<U>,
}

impl<T, U, V: Action, W: Action> Action for ActionSequence<T, U, V, W> {
impl<V: Action, W: Action> Action for ActionSequence<V, W> {
fn dot_string(&self) -> DotString {
let first_str = self.first.dot_string();
let second_str = self.second.dot_string();
Expand All @@ -322,26 +318,15 @@ impl<T, U, V: Action, W: Action> Action for ActionSequence<T, U, V, W> {
}
}

impl<T, U, V, W> ActionSequence<T, U, V, W> {
impl<V, W> ActionSequence<V, W> {
pub const fn new(first: V, second: W) -> Self {
Self {
first,
second,
_phantom_t: PhantomData,
_phantom_u: PhantomData,
}
Self { first, second }
}
}

#[async_trait]
impl<
T: Send + Sync,
U: Send + Sync,
X: Send + Sync,
Y: Send + Sync,
V: ActionExec<Output = Y>,
W: ActionExec<Output = X>,
> ActionExec for ActionSequence<T, U, V, W>
impl<X: Send + Sync, Y: Send + Sync, V: ActionExec<Output = Y>, W: ActionExec<Output = X>>
ActionExec for ActionSequence<V, W>
{
type Output = (Y, X);
async fn execute(&mut self) -> Self::Output {
Expand All @@ -350,14 +335,12 @@ impl<
}

#[derive(Debug)]
pub struct ActionParallel<T: Send + Sync, U: Send + Sync, V: Action, W: Action> {
pub struct ActionParallel<V: Action, W: Action> {
first: Arc<Mutex<V>>,
second: Arc<Mutex<W>>,
_phantom_t: PhantomData<T>,
_phantom_u: PhantomData<U>,
}

impl<T: Send + Sync, U: Send + Sync, V: Action, W: Action> Action for ActionParallel<T, U, V, W> {
impl<V: Action, W: Action> Action for ActionParallel<V, W> {
fn dot_string(&self) -> DotString {
let first_str = self.first.blocking_lock().dot_string();
let second_str = self.second.blocking_lock().dot_string();
Expand Down Expand Up @@ -389,26 +372,22 @@ impl<T: Send + Sync, U: Send + Sync, V: Action, W: Action> Action for ActionPara
}
}

impl<T: Send + Sync, U: Send + Sync, V: Action, W: Action> ActionParallel<T, U, V, W> {
impl<V: Action, W: Action> ActionParallel<V, W> {
pub fn new(first: V, second: W) -> Self {
Self {
first: Arc::from(Mutex::from(first)),
second: Arc::from(Mutex::from(second)),
_phantom_t: PhantomData,
_phantom_u: PhantomData,
}
}
}

#[async_trait]
impl<
T: 'static + Send + Sync,
U: 'static + Send + Sync,
Y: 'static + Send + Sync,
X: 'static + Send + Sync,
V: 'static + ActionExec<Output = Y>,
W: 'static + ActionExec<Output = X>,
> ActionExec for ActionParallel<T, U, V, W>
> ActionExec for ActionParallel<V, W>
{
type Output = (Y, X);
async fn execute(&mut self) -> Self::Output {
Expand All @@ -429,14 +408,12 @@ impl<
}

#[derive(Debug)]
pub struct ActionConcurrent<T, U, V: Action, W: Action> {
pub struct ActionConcurrent<V: Action, W: Action> {
first: V,
second: W,
_phantom_t: PhantomData<T>,
_phantom_u: PhantomData<U>,
}

impl<T, U, V: Action, W: Action> Action for ActionConcurrent<T, U, V, W> {
impl<V: Action, W: Action> Action for ActionConcurrent<V, W> {
fn dot_string(&self) -> DotString {
let first_str = self.first.dot_string();
let second_str = self.second.dot_string();
Expand Down Expand Up @@ -468,26 +445,15 @@ impl<T, U, V: Action, W: Action> Action for ActionConcurrent<T, U, V, W> {
}
}

impl<T, U, V: Action, W: Action> ActionConcurrent<T, U, V, W> {
impl<V: Action, W: Action> ActionConcurrent<V, W> {
pub const fn new(first: V, second: W) -> Self {
Self {
first,
second,
_phantom_t: PhantomData,
_phantom_u: PhantomData,
}
Self { first, second }
}
}

#[async_trait]
impl<
T: Send + Sync,
U: Send + Sync,
X: Send + Sync,
Y: Send + Sync,
V: ActionExec<Output = Y>,
W: ActionExec<Output = X>,
> ActionExec for ActionConcurrent<T, U, V, W>
impl<X: Send + Sync, Y: Send + Sync, V: ActionExec<Output = Y>, W: ActionExec<Output = X>>
ActionExec for ActionConcurrent<V, W>
{
type Output = (Y, X);
async fn execute(&mut self) -> Self::Output {
Expand Down
19 changes: 8 additions & 11 deletions src/missions/basic.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,15 +61,15 @@ pub fn descend_and_go_forward<
// time in seconds that each action will wait until before continuing onto the next action.
let dive_duration = 5.0;
let forward_duration = 5.0;
ActionSequence::<T, T, _, _>::new(
ActionSequence::new(
WaitArm::new(context),
ActionSequence::<T, T, _, _>::new(
ActionSequence::<T, T, _, _>::new(
ActionSequence::new(
ActionSequence::new(
Descend::new(context, depth),
DelayAction::new(dive_duration),
),
ActionSequence::<T, T, _, _>::new(
ActionSequence::<T, T, _, _>::new(
ActionSequence::new(
ActionSequence::new(
StraightMovement::new(context, depth, true),
DelayAction::new(forward_duration),
),
Expand All @@ -89,12 +89,9 @@ pub fn gate_run<
let model = Buoy::default();
println!("OUTER MODEL LOAD");

ActionSequence::<T, T, _, _>::new(
ActionConcurrent::<T, T, _, _>::new(
descend_and_go_forward(context),
StartBno055::new(context),
),
ActionWhile::new(TupleSecond::new(ActionSequence::<T, T, _, _>::new(
ActionSequence::new(
ActionConcurrent::new(descend_and_go_forward(context), StartBno055::new(context)),
ActionWhile::new(TupleSecond::new(ActionSequence::new(
ActionChain::new(
VisionNormOffset::<T, Buoy<OnnxModel>, f64>::new(context, model),
AdjustMovement::new(context, depth),
Expand Down
16 changes: 8 additions & 8 deletions src/missions/example.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,9 @@ pub fn initial_descent<
>(
context: &T,
) -> impl ActionExec + '_ {
ActionSequence::<T, T, _, _>::new(
ActionConcurrent::<T, T, _, _>::new(WaitArm::new(context), Descend::new(context, -0.5)),
WaitArm::new(context), //ActionConcurrent::<T, T, _, _>::new(WaitArm::new(context), Descend::new(context, -1.0)),
ActionSequence::new(
ActionConcurrent::new(WaitArm::new(context), Descend::new(context, -0.5)),
WaitArm::new(context), //ActionConcurrent::new(WaitArm::new(context), Descend::new(context, -1.0)),
)
}

Expand All @@ -31,17 +31,17 @@ pub fn initial_descent<
/// Runs two nested actions in order: Waiting for arm and descending in
/// parallel, followed by waiting for arm and descending concurrently.
pub fn always_wait<T: Send + Sync>(context: &T) -> impl Action + '_ {
ActionConditional::<T, _, _, _>::new(
ActionConditional::new(
AlwaysTrue::new(),
WaitArm::new(context),
Descend::new(context, -0.5),
)
}

pub fn sequence_conditional<T: Send + Sync>(context: &T) -> impl Action + '_ {
ActionSequence::<T, T, _, _>::new(
ActionSequence::<T, T, _, _>::new(WaitArm::new(context), Descend::new(context, -1.0)),
ActionConditional::<T, _, _, _>::new(
ActionSequence::new(
ActionSequence::new(WaitArm::new(context), Descend::new(context, -1.0)),
ActionConditional::new(
AlwaysTrue::new(),
WaitArm::new(context),
Descend::new(context, -0.5),
Expand All @@ -50,7 +50,7 @@ pub fn sequence_conditional<T: Send + Sync>(context: &T) -> impl Action + '_ {
}

pub fn race_conditional<T: Send + Sync>(context: &T) -> impl Action + '_ {
ActionConditional::<T, _, _, _>::new(
ActionConditional::new(
AlwaysTrue::new(),
WaitArm::new(context),
RaceAction::new(Descend::new(context, -0.5), DelayAction::new(1.0)),
Expand Down
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