y2020/control_loops/drivetrain/BUILD

load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")

genrule(
    name = "genrule_drivetrain",
    outs = [
        "drivetrain_dog_motor_plant.h",
        "drivetrain_dog_motor_plant.cc",
        "kalman_drivetrain_motor_plant.h",
        "kalman_drivetrain_motor_plant.cc",
    ],
    cmd = "$(location //y2020/control_loops/python:drivetrain) $(OUTS)",
    tools = [
        "//y2020/control_loops/python:drivetrain",
    ],
)

genrule(
    name = "genrule_polydrivetrain",
    outs = [
        "polydrivetrain_dog_motor_plant.h",
        "polydrivetrain_dog_motor_plant.cc",
        "polydrivetrain_cim_plant.h",
        "polydrivetrain_cim_plant.cc",
        "hybrid_velocity_drivetrain.h",
        "hybrid_velocity_drivetrain.cc",
    ],
    cmd = "$(location //y2020/control_loops/python:polydrivetrain) $(OUTS)",
    tools = [
        "//y2020/control_loops/python:polydrivetrain",
    ],
)

cc_library(
    name = "polydrivetrain_plants",
    srcs = [
        "drivetrain_dog_motor_plant.cc",
        "hybrid_velocity_drivetrain.cc",
        "kalman_drivetrain_motor_plant.cc",
        "polydrivetrain_dog_motor_plant.cc",
    ],
    hdrs = [
        "drivetrain_dog_motor_plant.h",
        "hybrid_velocity_drivetrain.h",
        "kalman_drivetrain_motor_plant.h",
        "polydrivetrain_dog_motor_plant.h",
    ],
    visibility = ["//visibility:public"],
    deps = [
        "//frc971/control_loops:hybrid_state_feedback_loop",
        "//frc971/control_loops:state_feedback_loop",
    ],
)

cc_library(
    name = "drivetrain_base",
    srcs = [
        "drivetrain_base.cc",
    ],
    hdrs = [
        "drivetrain_base.h",
    ],
    visibility = ["//visibility:public"],
    deps = [
        ":polydrivetrain_plants",
        "//frc971:shifter_hall_effect",
        "//frc971/control_loops/drivetrain:drivetrain_config",
    ],
)

cc_binary(
    name = "drivetrain",
    srcs = [
        "drivetrain_main.cc",
    ],
    visibility = ["//visibility:public"],
    deps = [
        ":drivetrain_base",
        "//aos:init",
        "//aos/events:shm_event_loop",
        "//frc971/control_loops/drivetrain:drivetrain_lib",
    ],
)

cc_binary(
    name = "drivetrain_replay",
    srcs = ["drivetrain_replay.cc"],
    data = ["//y2020:config.json"],
    deps = [
        ":drivetrain_base",
        "//aos:configuration",
        "//aos:init",
        "//aos/events:shm_event_loop",
        "//aos/events:simulated_event_loop",
        "//aos/events/logging:logger",
        "//frc971/control_loops/drivetrain:drivetrain_lib",
        "@com_github_gflags_gflags//:gflags",
        "@com_github_google_glog//:glog",
    ],
)