Make initial bot3 folder and structure.
Change-Id: I9b7e97fe8533b99a28ab15b4ade5e9ac95c7d836
diff --git a/bot3/autonomous/auto.cc b/bot3/autonomous/auto.cc
new file mode 100644
index 0000000..0a2f99a
--- /dev/null
+++ b/bot3/autonomous/auto.cc
@@ -0,0 +1,47 @@
+#include <stdio.h>
+
+#include <memory>
+
+#include "aos/common/util/phased_loop.h"
+#include "aos/common/time.h"
+#include "aos/common/util/trapezoid_profile.h"
+#include "aos/common/logging/logging.h"
+#include "aos/common/logging/queue_logging.h"
+
+#include "bot3/autonomous/auto.q.h"
+#include "bot3/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/actors/drivetrain_actor.h"
+
+using ::aos::time::Time;
+using ::bot3::control_loops::drivetrain_queue;
+
+namespace bot3 {
+namespace autonomous {
+
+struct ProfileParams {
+ double velocity;
+ double acceleration;
+};
+
+namespace time = ::aos::time;
+
+bool ShouldExitAuto() {
+ ::bot3::autonomous::autonomous.FetchLatest();
+ bool ans = !::bot3::autonomous::autonomous->run_auto;
+ if (ans) {
+ LOG(INFO, "Time to exit auto mode\n");
+ }
+ return ans;
+}
+
+void HandleAuto() {
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ LOG(INFO, "Starting auto mode at %f\n", start_time.ToSeconds());
+ ::std::unique_ptr<::frc971::actors::DrivetrainAction> drive;
+ LOG(INFO, "Doing nothing in auto.\n");
+
+ if (ShouldExitAuto()) return;
+}
+
+} // namespace autonomous
+} // namespace bot3
diff --git a/bot3/autonomous/auto.h b/bot3/autonomous/auto.h
new file mode 100644
index 0000000..896d22c
--- /dev/null
+++ b/bot3/autonomous/auto.h
@@ -0,0 +1,12 @@
+#ifndef BOT3_AUTONOMOUS_AUTO_H_
+#define BOT3_AUTONOMOUS_AUTO_H_
+
+namespace bot3 {
+namespace autonomous {
+
+void HandleAuto();
+
+} // namespace autonomous
+} // namespace bot3
+
+#endif // BOT3_AUTONOMOUS_AUTO_H_
diff --git a/bot3/autonomous/auto.q b/bot3/autonomous/auto.q
new file mode 100644
index 0000000..3636d31
--- /dev/null
+++ b/bot3/autonomous/auto.q
@@ -0,0 +1,8 @@
+package bot3.autonomous;
+
+message AutoControl {
+ // True if auto mode should be running, false otherwise.
+ bool run_auto;
+};
+
+queue AutoControl autonomous;
diff --git a/bot3/autonomous/auto_main.cc b/bot3/autonomous/auto_main.cc
new file mode 100644
index 0000000..f9b978c
--- /dev/null
+++ b/bot3/autonomous/auto_main.cc
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include "aos/common/time.h"
+#include "aos/linux_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "bot3/autonomous/auto.q.h"
+#include "bot3/autonomous/auto.h"
+
+using ::aos::time::Time;
+
+int main(int /*argc*/, char * /*argv*/[]) {
+ ::aos::Init();
+
+ LOG(INFO, "Auto main started\n");
+ ::bot3::autonomous::autonomous.FetchLatest();
+ while (!::bot3::autonomous::autonomous.get()) {
+ ::bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+
+ while (true) {
+ while (!::bot3::autonomous::autonomous->run_auto) {
+ ::bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Starting auto mode\n");
+ ::aos::time::Time start_time = ::aos::time::Time::Now();
+ ::bot3::autonomous::HandleAuto();
+
+ ::aos::time::Time elapsed_time = ::aos::time::Time::Now() - start_time;
+ LOG(INFO, "Auto mode exited in %f, waiting for it to finish.\n",
+ elapsed_time.ToSeconds());
+ while (::bot3::autonomous::autonomous->run_auto) {
+ ::bot3::autonomous::autonomous.FetchNextBlocking();
+ LOG(INFO, "Got another auto packet\n");
+ }
+ LOG(INFO, "Waiting for auto to start back up.\n");
+ }
+ ::aos::Cleanup();
+ return 0;
+}
+
diff --git a/bot3/autonomous/autonomous.gyp b/bot3/autonomous/autonomous.gyp
new file mode 100644
index 0000000..11c5997
--- /dev/null
+++ b/bot3/autonomous/autonomous.gyp
@@ -0,0 +1,46 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'auto_queue',
+ 'type': 'static_library',
+ 'sources': ['auto.q'],
+ 'variables': {
+ 'header_path': 'bot3/autonomous',
+ },
+ 'includes': ['../../aos/build/queues.gypi'],
+ },
+ {
+ 'target_name': 'auto_lib',
+ 'type': 'static_library',
+ 'sources': [
+ 'auto.cc',
+ ],
+ 'dependencies': [
+ 'auto_queue',
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ '<(DEPTH)/bot3/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/common/util/util.gyp:phased_loop',
+ '<(AOS)/common/util/util.gyp:trapezoid_profile',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(DEPTH)/frc971/actors/actors.gyp:drivetrain_action_lib',
+ '<(AOS)/common/logging/logging.gyp:queue_logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/controls/controls.gyp:control_loop',
+ ],
+ },
+ {
+ 'target_name': 'auto_bot3',
+ 'type': 'executable',
+ 'sources': [
+ 'auto_main.cc',
+ ],
+ 'dependencies': [
+ '<(AOS)/linux_code/linux_code.gyp:init',
+ 'auto_queue',
+ 'auto_lib',
+ ],
+ },
+ ],
+}