001// Copyright (c) Choreo contributors
002
003package choreo.trajectory;
004
005import com.google.gson.JsonDeserializationContext;
006import com.google.gson.JsonDeserializer;
007import com.google.gson.JsonElement;
008import com.google.gson.JsonParseException;
009import java.lang.reflect.Type;
010
011/** A marker for an event in a trajectory. */
012public class EventMarker {
013  /** GSON deserializer for choreolib event markers */
014  public static class Deserializer implements JsonDeserializer<EventMarker> {
015    /** Default constructor. */
016    public Deserializer() {}
017
018    public EventMarker deserialize(
019        JsonElement json, Type typeOfT, JsonDeserializationContext context)
020        throws JsonParseException {
021      try {
022        var targetTimestamp =
023            json.getAsJsonObject()
024                .get("from")
025                .getAsJsonObject()
026                .get("targetTimestamp")
027                .getAsDouble();
028        var offset =
029            json.getAsJsonObject()
030                .get("from")
031                .getAsJsonObject()
032                .get("offset")
033                .getAsJsonObject()
034                .get("val")
035                .getAsDouble();
036        var event = json.getAsJsonObject().get("name").getAsString();
037
038        return new EventMarker(targetTimestamp + offset, event);
039      } catch (IllegalStateException
040          | UnsupportedOperationException
041          | NullPointerException
042          | NumberFormatException e) {
043        return new EventMarker(-1, "");
044      }
045    }
046  }
047
048  /** The timestamp of the event. */
049  public final double timestamp;
050
051  /** The event. */
052  public final String event;
053
054  /**
055   * Constructs an EventMarker with the specified parameters.
056   *
057   * @param timestamp The timestamp of the event.
058   * @param event The event.
059   */
060  public EventMarker(double timestamp, String event) {
061    this.timestamp = timestamp;
062    this.event = event;
063  }
064
065  /**
066   * Returns a new EventMarker with the timestamp offset by the specified amount.
067   *
068   * @param timestampOffset The amount to offset the timestamp by.
069   * @return A new EventMarker with the timestamp offset by the specified amount.
070   */
071  public EventMarker offsetBy(double timestampOffset) {
072    return new EventMarker(timestamp + timestampOffset, event);
073  }
074
075  @Override
076  public boolean equals(Object obj) {
077    if (!(obj instanceof EventMarker)) {
078      return false;
079    }
080
081    var other = (EventMarker) obj;
082    return this.timestamp == other.timestamp && this.event.equals(other.event);
083  }
084}