Add Roadrunner

TeamCode/util/AssetsTrajectoryManager.java

@@ -0,0 +1,70 @@
+package org.firstinspires.ftc.teamcode.util;
+
+import androidx.annotation.Nullable;
+
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfig;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryConfigManager;
+import com.acmerobotics.roadrunner.trajectory.config.TrajectoryGroupConfig;
+
+import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+/**
+ * Set of utilities for loading trajectories from assets (the plugin save location).
+ */
+public class AssetsTrajectoryManager {
+
+    /**
+     * Loads the group config.
+     */
+    public static @Nullable
+    TrajectoryGroupConfig loadGroupConfig() {
+        try {
+            InputStream inputStream = AppUtil.getDefContext().getAssets().open(
+                    "trajectory/" + TrajectoryConfigManager.GROUP_FILENAME);
+            return TrajectoryConfigManager.loadGroupConfig(inputStream);
+        } catch (IOException e) {
+            return null;
+        }
+    }
+
+    /**
+     * Loads a trajectory config with the given name.
+     */
+    public static @Nullable TrajectoryConfig loadConfig(String name) {
+        try {
+            InputStream inputStream = AppUtil.getDefContext().getAssets().open(
+                    "trajectory/" + name + ".yaml");
+            return TrajectoryConfigManager.loadConfig(inputStream);
+        } catch (IOException e) {
+            return null;
+        }
+    }
+
+    /**
+     * Loads a trajectory builder with the given name.
+     */
+    public static @Nullable TrajectoryBuilder loadBuilder(String name) {
+        TrajectoryGroupConfig groupConfig = loadGroupConfig();
+        TrajectoryConfig config = loadConfig(name);
+        if (groupConfig == null || config == null) {
+            return null;
+        }
+        return config.toTrajectoryBuilder(groupConfig);
+    }
+
+    /**
+     * Loads a trajectory with the given name.
+     */
+    public static @Nullable Trajectory load(String name) {
+        TrajectoryBuilder builder = loadBuilder(name);
+        if (builder == null) {
+            return null;
+        }
+        return builder.build();
+    }
+}