Merge "Revert "Log images on the jevois.""
diff --git a/BUILD b/BUILD
new file mode 100644
index 0000000..4509a20
--- /dev/null
+++ b/BUILD
@@ -0,0 +1 @@
+exports_files(["tsconfig.json"])
diff --git a/WORKSPACE b/WORKSPACE
index b1199c7..f5428db 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -407,3 +407,31 @@
"http://www.frc971.org/Build-Dependencies/core-5.14.1-headers.zip",
],
)
+
+http_archive(
+ name = "build_bazel_rules_typescript",
+ strip_prefix = "rules_typescript-0.21.0",
+ url = "https://github.com/bazelbuild/rules_typescript/archive/0.21.0.zip",
+)
+
+# Fetch our Bazel dependencies that aren't distributed on npm
+load("@build_bazel_rules_typescript//:package.bzl", "rules_typescript_dependencies")
+
+rules_typescript_dependencies()
+
+# Setup TypeScript toolchain
+load("@build_bazel_rules_typescript//:defs.bzl", "ts_setup_workspace")
+
+ts_setup_workspace()
+
+# Setup the NodeJS toolchain
+load("@build_bazel_rules_nodejs//:defs.bzl", "node_repositories", "yarn_install")
+
+node_repositories()
+
+# Setup Bazel managed npm dependencies with the `yarn_install` rule.
+yarn_install(
+ name = "npm",
+ package_json = "//:package.json",
+ yarn_lock = "//:yarn.lock",
+)
diff --git a/aos/input/action_joystick_input.cc b/aos/input/action_joystick_input.cc
index 991ea17..81e277d 100644
--- a/aos/input/action_joystick_input.cc
+++ b/aos/input/action_joystick_input.cc
@@ -16,13 +16,18 @@
data.GetControlBit(ControlBit::kEnabled);
if (auto_running_ != last_auto_running) {
if (auto_running_) {
+ auto_was_running_ = true;
StartAuto();
} else {
StopAuto();
}
}
- if (!auto_running_) {
+ if (!auto_running_ || (run_teleop_in_auto_ && !action_queue_.Running())) {
+ if (auto_was_running_) {
+ AutoEnded();
+ auto_was_running_ = false;
+ }
if (!data.GetControlBit(ControlBit::kEnabled)) {
action_queue_.CancelAllActions();
LOG(DEBUG, "Canceling\n");
diff --git a/aos/input/action_joystick_input.h b/aos/input/action_joystick_input.h
index d4023ca..87b980e 100644
--- a/aos/input/action_joystick_input.h
+++ b/aos/input/action_joystick_input.h
@@ -24,7 +24,14 @@
virtual ~ActionJoystickInput() {}
+ protected:
+ void set_run_teleop_in_auto(bool run_teleop_in_auto) {
+ run_teleop_in_auto_ = run_teleop_in_auto;
+ }
+
private:
+ // Handles anything that needs to be cleaned up when the auto action exits.
+ virtual void AutoEnded() {}
// Handles any year specific superstructure code.
virtual void HandleTeleop(const ::aos::input::driver_station::Data &data) = 0;
@@ -38,6 +45,16 @@
// True if an action was running last cycle.
bool was_running_ = false;
+ // If true, we will run teleop during auto mode after auto mode ends. This is
+ // to support the 2019 sandstorm mode. Auto will run, and then when the
+ // action ends (either when it's done, or when the driver triggers it to
+ // finish early), we will run teleop regardless of the mode.
+ bool run_teleop_in_auto_ = false;
+
+ // Bool to track if auto was running the last cycle through. This lets us
+ // call AutoEnded when the auto mode function stops.
+ bool auto_was_running_ = false;
+
::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
::aos::common::actions::ActionQueue action_queue_;
};
diff --git a/aos/input/drivetrain_input.cc b/aos/input/drivetrain_input.cc
index 02957a8..248f1ce 100644
--- a/aos/input/drivetrain_input.cc
+++ b/aos/input/drivetrain_input.cc
@@ -62,12 +62,15 @@
}
}
- if (is_control_loop_driving) {
- if (drivetrain_queue.status.get()) {
- left_goal_ = drivetrain_queue.status->estimated_left_position;
- right_goal_ = drivetrain_queue.status->estimated_right_position;
+ if (drivetrain_queue.status.get()) {
+ if (is_control_loop_driving && !last_is_control_loop_driving_) {
+ left_goal_ = drivetrain_queue.status->estimated_left_position +
+ wheel * wheel_multiplier_;
+ right_goal_ = drivetrain_queue.status->estimated_right_position -
+ wheel * wheel_multiplier_;
}
}
+
const double current_left_goal =
left_goal_ - wheel * wheel_multiplier_ + throttle * 0.3;
const double current_right_goal =
@@ -92,6 +95,8 @@
if (!new_drivetrain_goal.Send()) {
LOG(WARNING, "sending stick values failed\n");
}
+
+ last_is_control_loop_driving_ = is_control_loop_driving;
}
DrivetrainInputReader::WheelAndThrottle
@@ -242,10 +247,13 @@
// TODO(james): Make a copy assignment operator for ButtonLocation so we don't
// have to shoehorn in these ternary operators.
- const ButtonLocation kTurn1 =
+ const ButtonLocation kTurn1 = (top_button_use == TopButtonUse::kLineFollow)
+ ? SecondButton
+ : DummyButton;
+ // Turn2 does closed loop driving.
+ const ButtonLocation kTurn2 =
(top_button_use == TopButtonUse::kLineFollow) ? TopButton : DummyButton;
- // Turn2 currently does nothing on the pistol grip, ever.
- const ButtonLocation kTurn2 = DummyButton;
+
const ButtonLocation kShiftHigh =
(top_button_use == TopButtonUse::kShift) ? TopButton : DummyButton;
const ButtonLocation kShiftLow =
diff --git a/aos/input/drivetrain_input.h b/aos/input/drivetrain_input.h
index 80046ee..f4b0212 100644
--- a/aos/input/drivetrain_input.h
+++ b/aos/input/drivetrain_input.h
@@ -96,6 +96,8 @@
const driver_station::ButtonLocation turn2_;
const TurnButtonUse turn2_use_;
+ bool last_is_control_loop_driving_ = false;
+
// Structure containing the (potentially adjusted) steering and throttle
// values from the joysticks.
struct WheelAndThrottle {
@@ -183,7 +185,7 @@
driver_station::ButtonLocation turn2)
: DrivetrainInputReader(wheel_high, throttle_high, quick_turn, turn1,
TurnButtonUse::kLineFollow, turn2,
- TurnButtonUse::kLineFollow),
+ TurnButtonUse::kControlLoopDriving),
wheel_low_(wheel_low),
wheel_velocity_high_(wheel_velocity_high),
wheel_velocity_low_(wheel_velocity_low),
diff --git a/aos/logging/implementations.cc b/aos/logging/implementations.cc
index efeb704..78b6724 100644
--- a/aos/logging/implementations.cc
+++ b/aos/logging/implementations.cc
@@ -112,8 +112,10 @@
FillInMessageBase(level, message);
if (message_string.size() + size > sizeof(message->structure.serialized)) {
- LOG(FATAL, "serialized struct %s (size %zd) and message %s too big\n",
- type->name.c_str(), size, message_string.c_str());
+ LOG(FATAL,
+ "serialized struct %s (size %zd + %zd > %zd) and message %s too big\n",
+ type->name.c_str(), message_string.size(), size,
+ sizeof(message->structure.serialized), message_string.c_str());
}
message->structure.string_length = message_string.size();
memcpy(message->structure.serialized, message_string.data(),
diff --git a/aos/logging/sizes.h b/aos/logging/sizes.h
index b624a61..d7cfd4e 100644
--- a/aos/logging/sizes.h
+++ b/aos/logging/sizes.h
@@ -3,7 +3,7 @@
// This file exists so C code and context.h can both get at these constants...
-#define LOG_MESSAGE_LEN 500
+#define LOG_MESSAGE_LEN 512
#define LOG_MESSAGE_NAME_LEN 100
#endif // AOS_LOGGING_SIZES_H_
diff --git a/aos/seasocks/gen_embedded.bzl b/aos/seasocks/gen_embedded.bzl
index 60930b4..34d4bd8 100644
--- a/aos/seasocks/gen_embedded.bzl
+++ b/aos/seasocks/gen_embedded.bzl
@@ -1,45 +1,46 @@
def _gen_embedded_impl(ctx):
ctx.action(
inputs = ctx.files.srcs,
- outputs = [ ctx.outputs.header ],
+ outputs = [ ctx.outputs.source ],
executable = ctx.executable._gen_embedded,
- arguments = [ ctx.outputs.header.path ] + [f.path for f in ctx.files.srcs],
- progress_message = 'Generating %s' % ctx.outputs.header.short_path,
+ arguments = [ ctx.outputs.source.path ] + [f.path for f in ctx.files.srcs],
+ progress_message = 'Generating %s' % ctx.outputs.source.short_path,
mnemonic = 'GenEmbedded',
)
return struct(
- files = depset([ ctx.outputs.header ]),
+ files = depset([ ctx.outputs.source ]),
)
_do_gen_embedded = rule(
- implementation = _gen_embedded_impl,
- attrs = {
- 'srcs': attr.label_list(
- mandatory = True,
- non_empty = True,
- allow_files = True,
- ),
- '_gen_embedded': attr.label(
- executable = True,
- default = Label('//aos/seasocks:gen_embedded'),
- cfg = 'host',
- ),
- },
- outputs = {
- 'header': 'embedded.h',
- },
- output_to_genfiles = True,
+ attrs = {
+ "srcs": attr.label_list(
+ mandatory = True,
+ non_empty = True,
+ allow_files = True,
+ ),
+ "_gen_embedded": attr.label(
+ executable = True,
+ default = Label("//aos/seasocks:gen_embedded"),
+ cfg = "host",
+ ),
+ },
+ output_to_genfiles = True,
+ outputs = {
+ "source": "embedded.cc",
+ },
+ implementation = _gen_embedded_impl,
)
-'''Generates the header for Seasocks to load the embedded files.
+"""Generates the header for Seasocks to load the embedded files.
This always outputs a file named "embedded.h" in the current package, so there
can be a maximum of one of these rules in each package.
Attrs:
srcs: Files to allow loading.
-'''
+"""
+
def gen_embedded(name, srcs, visibility = None):
_do_gen_embedded(
name = name + '__do_gen',
@@ -48,8 +49,12 @@
)
native.cc_library(
name = name,
- visibiltity = visibility,
- hdrs = [
+ visibility = visibility,
+ linkstatic = True,
+ srcs = [
':%s__do_gen' % name,
],
+ deps = [
+ '@//third_party/seasocks',
+ ],
)
diff --git a/aos/vision/blob/BUILD b/aos/vision/blob/BUILD
index 69a2cc5..81afb93 100644
--- a/aos/vision/blob/BUILD
+++ b/aos/vision/blob/BUILD
@@ -37,9 +37,28 @@
cc_library(
name = "threshold",
- hdrs = ["threshold.h"],
+ srcs = [
+ "threshold.cc",
+ ],
+ hdrs = [
+ "threshold.h",
+ ],
deps = [
":range_image",
+ "//aos/logging",
+ "//aos/vision/image:image_types",
+ ],
+)
+
+cc_test(
+ name = "threshold_test",
+ srcs = [
+ "threshold_test.cc",
+ ],
+ deps = [
+ ":range_image",
+ ":threshold",
+ "//aos/testing:googletest",
"//aos/vision/image:image_types",
],
)
diff --git a/aos/vision/blob/range_image.cc b/aos/vision/blob/range_image.cc
index c01a919..81a8c48 100644
--- a/aos/vision/blob/range_image.cc
+++ b/aos/vision/blob/range_image.cc
@@ -5,18 +5,10 @@
namespace aos {
namespace vision {
+namespace {
-void DrawRangeImage(const RangeImage &rimg, ImagePtr outbuf, PixelRef color) {
- for (int i = 0; i < (int)rimg.ranges().size(); ++i) {
- int y = rimg.min_y() + i;
- for (ImageRange rng : rimg.ranges()[i]) {
- for (int x = rng.st; x < rng.ed; ++x) {
- outbuf.get_px(x, y) = color;
- }
- }
- }
-}
-
+// Merge sort of multiple range images into a single range image.
+// They must not overlap.
RangeImage MergeRangeImage(const BlobList &blobl) {
if (blobl.size() == 1) return blobl[0];
@@ -48,6 +40,8 @@
}
}
+} // namespace
+
std::string ShortDebugPrint(const BlobList &blobl) {
RangeImage rimg = MergeRangeImage(blobl);
std::string out;
@@ -88,6 +82,10 @@
}
}
+void PrintTo(const ImageRange &range, std::ostream *os) {
+ *os << "{" << range.st << ", " << range.ed << "}";
+}
+
void RangeImage::Flip(int image_width, int image_height) {
std::reverse(ranges_.begin(), ranges_.end());
for (std::vector<ImageRange> &range : ranges_) {
@@ -102,6 +100,31 @@
min_y_ = image_height - static_cast<int>(ranges_.size()) - min_y_;
}
+void PrintTo(const RangeImage &range, std::ostream *os) {
+ *os << "{min_y=" << range.min_y()
+ << ", ranges={";
+ bool first_row = true;
+ for (const auto &row : range) {
+ if (first_row) {
+ first_row = false;
+ } else {
+ *os << ", ";
+ }
+ *os << "{";
+ bool first_value = true;
+ for (const auto &value : row) {
+ if (first_value) {
+ first_value = false;
+ } else {
+ *os << ", ";
+ }
+ *os << "{" << value.st << ", " << value.ed << "}";
+ }
+ *os << "}";
+ }
+ *os << "}}";
+}
+
int RangeImage::npixels() {
if (npixelsc_ > 0) {
return npixelsc_;
diff --git a/aos/vision/blob/range_image.h b/aos/vision/blob/range_image.h
index 3647890..a735442 100644
--- a/aos/vision/blob/range_image.h
+++ b/aos/vision/blob/range_image.h
@@ -21,8 +21,14 @@
int calc_width() const { return ed - st; }
bool operator<(const ImageRange &o) const { return st < o.st; }
+ bool operator==(const ImageRange &other) const {
+ return st == other.st && ed == other.ed;
+ }
+ bool operator!=(const ImageRange &other) const { return !(*this == other); }
};
+void PrintTo(const ImageRange &range, std::ostream *os);
+
// Image in pre-thresholded run-length encoded format.
class RangeImage {
public:
@@ -31,9 +37,22 @@
explicit RangeImage(int l) { ranges_.reserve(l); }
RangeImage() {}
+ bool operator==(const RangeImage &other) const {
+ if (min_y_ != other.min_y_) { return false; }
+ if (ranges_ != other.ranges_) { return false; }
+ return true;
+ }
+ bool operator!=(const RangeImage &other) const { return !(*this == other); }
+
int size() const { return ranges_.size(); }
+ // Returns the total number of included pixels.
int npixels();
+ // Calculates the total number of included pixels.
+ //
+ // TODO(Brian): Present a nicer API than the current duality between this and
+ // npixels(), which is annoying because npixels() has to modify the cached
+ // data so it can't be const.
int calc_area() const;
void Flip(ImageFormat fmt) { Flip(fmt.w, fmt.h); }
@@ -59,22 +78,19 @@
// minimum index in y where the blob starts
int min_y_ = 0;
- // ranges are always sorted in y then x order
+ // Each vector<ImageRange> represents all the matched ranges in a given row.
+ // Each ImageRange within that row represents a run of pixels which matches.
std::vector<std::vector<ImageRange>> ranges_;
// Cached pixel count.
int npixelsc_ = -1;
};
+void PrintTo(const RangeImage &range, std::ostream *os);
+
typedef std::vector<RangeImage> BlobList;
typedef std::vector<const RangeImage *> BlobLRef;
-void DrawRangeImage(const RangeImage &rimg, ImagePtr outbuf, PixelRef color);
-
-// Merge sort of multiple range images into a single range image.
-// They must not overlap.
-RangeImage MergeRangeImage(const BlobList &blobl);
-
// Debug print range image as ranges.
std::string ShortDebugPrint(const BlobList &blobl);
// Debug print range image as ### for the ranges.
diff --git a/aos/vision/blob/threshold.cc b/aos/vision/blob/threshold.cc
new file mode 100644
index 0000000..74809d1
--- /dev/null
+++ b/aos/vision/blob/threshold.cc
@@ -0,0 +1,233 @@
+#include "aos/vision/blob/threshold.h"
+
+#include "aos/logging/logging.h"
+
+namespace aos {
+namespace vision {
+
+// Expands to a unique value for each combination of values for 5 bools.
+#define MASH(v0, v1, v2, v3, v4) \
+ ((uint8_t(v0) << 4) | (uint8_t(v1) << 3) | (uint8_t(v2) << 2) | \
+ (uint8_t(v3) << 1) | (uint8_t(v4)))
+
+// At a high level, the algorithm is the same as the slow thresholding, except
+// it operates in 4-pixel chunks. The handling for each of these chunks is
+// manually flattened (via codegen) into a 32-case switch statement. There are
+// 2^4 cases for each pixel being in or out, along with another set of cases
+// depending on whether the start of the chunk is in a range or not.
+RangeImage FastYuyvYThreshold(ImageFormat fmt, const char *data,
+ uint8_t value) {
+ CHECK_EQ(0, fmt.w % 4);
+ std::vector<std::vector<ImageRange>> result;
+ result.reserve(fmt.h);
+
+ // Iterate through each row.
+ for (int y = 0; y < fmt.h; ++y) {
+ // The start of the data for the current row.
+ const char *const current_row = fmt.w * y * 2 + data;
+ bool in_range = false;
+ int current_range_start = -1;
+ std::vector<ImageRange> current_row_ranges;
+ // Iterate through each 4-pixel chunk
+ for (int x = 0; x < fmt.w / 4; ++x) {
+ // The per-channel (YUYV) values in the current chunk.
+ uint8_t chunk_channels[8];
+ memcpy(&chunk_channels[0], current_row + x * 4 * 2, 8);
+ const uint8_t pattern =
+ MASH(in_range, chunk_channels[0] > value, chunk_channels[2] > value,
+ chunk_channels[4] > value, chunk_channels[6] > value);
+ switch (pattern) {
+ // clang-format off
+/*
+# Ruby code to generate the below code:
+32.times do |v|
+ puts "case MASH(#{[v[4], v[3], v[2], v[1], v[0]].join(", ")}):"
+ in_range = v[4]
+ current_range_start = "current_range_start"
+ 4.times do |i|
+ if v[3 - i] != in_range
+ if (in_range == 1)
+ puts " current_row_ranges.emplace_back(ImageRange(#{current_range_start}, x * 4 + #{i}));"
+ else
+ current_range_start = "x * 4 + #{i}"
+ end
+ in_range = v[3 - i]
+ end
+ end
+ if (current_range_start != "current_range_start")
+ puts " current_range_start = #{current_range_start};"
+ end
+ if (in_range != v[4])
+ puts " in_range = #{["false", "true"][v[0]]};"
+ end
+ puts " break;"
+end
+*/
+ // clang-format on
+ case MASH(0, 0, 0, 0, 0):
+ break;
+ case MASH(0, 0, 0, 0, 1):
+ current_range_start = x * 4 + 3;
+ in_range = true;
+ break;
+ case MASH(0, 0, 0, 1, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
+ current_range_start = x * 4 + 2;
+ break;
+ case MASH(0, 0, 0, 1, 1):
+ current_range_start = x * 4 + 2;
+ in_range = true;
+ break;
+ case MASH(0, 0, 1, 0, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
+ current_range_start = x * 4 + 1;
+ break;
+ case MASH(0, 0, 1, 0, 1):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
+ current_range_start = x * 4 + 3;
+ in_range = true;
+ break;
+ case MASH(0, 0, 1, 1, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
+ current_range_start = x * 4 + 1;
+ break;
+ case MASH(0, 0, 1, 1, 1):
+ current_range_start = x * 4 + 1;
+ in_range = true;
+ break;
+ case MASH(0, 1, 0, 0, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
+ current_range_start = x * 4 + 0;
+ break;
+ case MASH(0, 1, 0, 0, 1):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
+ current_range_start = x * 4 + 3;
+ in_range = true;
+ break;
+ case MASH(0, 1, 0, 1, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
+ current_range_start = x * 4 + 2;
+ break;
+ case MASH(0, 1, 0, 1, 1):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
+ current_range_start = x * 4 + 2;
+ in_range = true;
+ break;
+ case MASH(0, 1, 1, 0, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
+ current_range_start = x * 4 + 0;
+ break;
+ case MASH(0, 1, 1, 0, 1):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
+ current_range_start = x * 4 + 3;
+ in_range = true;
+ break;
+ case MASH(0, 1, 1, 1, 0):
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 0, x * 4 + 3));
+ current_range_start = x * 4 + 0;
+ break;
+ case MASH(0, 1, 1, 1, 1):
+ current_range_start = x * 4 + 0;
+ in_range = true;
+ break;
+ case MASH(1, 0, 0, 0, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ in_range = false;
+ break;
+ case MASH(1, 0, 0, 0, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_range_start = x * 4 + 3;
+ break;
+ case MASH(1, 0, 0, 1, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
+ current_range_start = x * 4 + 2;
+ in_range = false;
+ break;
+ case MASH(1, 0, 0, 1, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_range_start = x * 4 + 2;
+ break;
+ case MASH(1, 0, 1, 0, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
+ current_range_start = x * 4 + 1;
+ in_range = false;
+ break;
+ case MASH(1, 0, 1, 0, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
+ current_range_start = x * 4 + 3;
+ break;
+ case MASH(1, 0, 1, 1, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
+ current_range_start = x * 4 + 1;
+ in_range = false;
+ break;
+ case MASH(1, 0, 1, 1, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 0));
+ current_range_start = x * 4 + 1;
+ break;
+ case MASH(1, 1, 0, 0, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 1));
+ in_range = false;
+ break;
+ case MASH(1, 1, 0, 0, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 1));
+ current_range_start = x * 4 + 3;
+ break;
+ case MASH(1, 1, 0, 1, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 1));
+ current_row_ranges.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
+ current_range_start = x * 4 + 2;
+ in_range = false;
+ break;
+ case MASH(1, 1, 0, 1, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 1));
+ current_range_start = x * 4 + 2;
+ break;
+ case MASH(1, 1, 1, 0, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 2));
+ in_range = false;
+ break;
+ case MASH(1, 1, 1, 0, 1):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 2));
+ current_range_start = x * 4 + 3;
+ break;
+ case MASH(1, 1, 1, 1, 0):
+ current_row_ranges.emplace_back(
+ ImageRange(current_range_start, x * 4 + 3));
+ in_range = false;
+ break;
+ case MASH(1, 1, 1, 1, 1):
+ break;
+ }
+ }
+ if (in_range) {
+ current_row_ranges.emplace_back(ImageRange(current_range_start, fmt.w));
+ }
+ result.push_back(current_row_ranges);
+ }
+ return RangeImage(0, std::move(result));
+}
+
+#undef MASH
+
+} // namespace vision
+} // namespace aos
diff --git a/aos/vision/blob/threshold.h b/aos/vision/blob/threshold.h
index eef5b20..9891722 100644
--- a/aos/vision/blob/threshold.h
+++ b/aos/vision/blob/threshold.h
@@ -1,56 +1,86 @@
-#ifndef _AOS_VIISON_BLOB_THRESHOLD_H_
-#define _AOS_VIISON_BLOB_THRESHOLD_H_
+#ifndef AOS_VISION_BLOB_THRESHOLD_H_
+#define AOS_VISION_BLOB_THRESHOLD_H_
#include "aos/vision/blob/range_image.h"
#include "aos/vision/image/image_types.h"
namespace aos {
namespace vision {
+namespace threshold_internal {
-// ThresholdFn should be a lambda.
-template <typename ThresholdFn>
-RangeImage DoThreshold(ImageFormat fmt, ThresholdFn &&fn) {
- std::vector<std::vector<ImageRange>> ranges;
- ranges.reserve(fmt.h);
+// Performs thresholding in a given region using a function which determines
+// whether a given point is in or out of the region.
+//
+// fn must return a bool when called with two integers (x, y).
+template <typename PointTestFn>
+RangeImage ThresholdPointsWithFunction(ImageFormat fmt, PointTestFn &&fn) {
+ static_assert(
+ std::is_convertible<PointTestFn, std::function<bool(int, int)>>::value,
+ "Invalid threshold function");
+ std::vector<std::vector<ImageRange>> result;
+ result.reserve(fmt.h);
+ // Iterate through each row.
for (int y = 0; y < fmt.h; ++y) {
- bool p_score = false;
- int pstart = -1;
- std::vector<ImageRange> rngs;
+ // Whether we're currently in a range.
+ bool in_range = false;
+ int current_range_start = -1;
+ std::vector<ImageRange> current_row_ranges;
+ // Iterate through each pixel.
for (int x = 0; x < fmt.w; ++x) {
- if (fn(x, y) != p_score) {
- if (p_score) {
- rngs.emplace_back(ImageRange(pstart, x));
+ if (fn(x, y) != in_range) {
+ if (in_range) {
+ current_row_ranges.emplace_back(ImageRange(current_range_start, x));
} else {
- pstart = x;
+ current_range_start = x;
}
- p_score = !p_score;
+ in_range = !in_range;
}
}
- if (p_score) {
- rngs.emplace_back(ImageRange(pstart, fmt.w));
+ if (in_range) {
+ current_row_ranges.emplace_back(ImageRange(current_range_start, fmt.w));
}
- ranges.push_back(rngs);
+ result.push_back(current_row_ranges);
}
- return RangeImage(0, std::move(ranges));
+ return RangeImage(0, std::move(result));
}
-// ThresholdFn should be a lambda.
+} // namespace threshold_internal
+
+// Thresholds an image using a function which determines whether a given pixel
+// value is in or out of the region.
+//
+// fn must return a bool when called with a PixelRef.
template <typename ThresholdFn>
-RangeImage DoThreshold(const ImagePtr &img, ThresholdFn &&fn) {
- return DoThreshold(img.fmt(),
- [&](int x, int y) { return fn(img.get_px(x, y)); });
+RangeImage ThresholdImageWithFunction(const ImagePtr &img, ThresholdFn &&fn) {
+ static_assert(
+ std::is_convertible<ThresholdFn, std::function<bool(PixelRef)>>::value,
+ "Invalid threshold function");
+ return threshold_internal::ThresholdPointsWithFunction(
+ img.fmt(), [&](int x, int y) { return fn(img.get_px(x, y)); });
}
-// YUYV image types:
-inline RangeImage DoThresholdYUYV(ImageFormat fmt, const char *data,
- uint8_t value) {
- return DoThreshold(fmt, [&](int x, int y) {
- uint8_t v = data[y * fmt.w * 2 + x * 2];
- return v > value;
- });
+// Thresholds an image in YUYV format, selecting pixels with a Y (luma) greater
+// than value.
+//
+// This is implemented via a simple function that pulls out the Y values and
+// compares them each. It mostly exists for tests to compare against
+// FastYuyvYThreshold, because it's obviously correct.
+inline RangeImage SlowYuyvYThreshold(ImageFormat fmt, const char *data,
+ uint8_t value) {
+ return threshold_internal::ThresholdPointsWithFunction(
+ fmt, [&](int x, int y) {
+ uint8_t v = data[x * 2 + y * fmt.w * 2];
+ return v > value;
+ });
}
+// Thresholds an image in YUYV format, selecting pixels with a Y (luma) greater
+// than value. The width must be a multiple of 4.
+//
+// This is implemented via some tricky bit shuffling that goes fast.
+RangeImage FastYuyvYThreshold(ImageFormat fmt, const char *data, uint8_t value);
+
} // namespace vision
} // namespace aos
-#endif // _AOS_VIISON_BLOB_THRESHOLD_H_
+#endif // AOS_VISION_BLOB_THRESHOLD_H_
diff --git a/aos/vision/blob/threshold_test.cc b/aos/vision/blob/threshold_test.cc
new file mode 100644
index 0000000..108da35
--- /dev/null
+++ b/aos/vision/blob/threshold_test.cc
@@ -0,0 +1,193 @@
+#include "aos/vision/blob/threshold.h"
+
+#include <random>
+#include <vector>
+
+#include "aos/vision/blob/range_image.h"
+#include "aos/vision/image/image_types.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace aos {
+namespace vision {
+namespace testing {
+
+class YuyvYThresholdTest : public ::testing::Test {
+ public:
+ std::vector<char> RandomImage(ImageFormat format) {
+ std::vector<char> result;
+ result.resize(format.w * format.h * 2);
+ std::uniform_int_distribution<char> distribution(
+ std::numeric_limits<char>::min(), std::numeric_limits<char>::max());
+ for (size_t i = 0; i < result.size(); ++i) {
+ result[i] = distribution(generator_);
+ }
+ return result;
+ }
+
+ private:
+ std::minstd_rand generator_;
+};
+
+// Verifies that a simple image is thresholded correctly.
+//
+// Specifically, we want to get this result from the thresholding:
+// --+-----
+// +------+
+// -++++++-
+// +++-++++
+// --------
+// ++++-+++
+// ++++++++
+// +-+-+--+
+TEST_F(YuyvYThresholdTest, SimpleImage) {
+ ImageFormat format;
+ format.w = 8;
+ format.h = 8;
+
+ std::vector<std::vector<ImageRange>> expected_ranges;
+ std::vector<char> image;
+ image.resize(8 * 8 * 2);
+ // --+-----
+ image[0 * 2 + 0 * 16] = 0;
+ image[1 * 2 + 0 * 16] = 0;
+ image[2 * 2 + 0 * 16] = 128;
+ image[3 * 2 + 0 * 16] = 127;
+ image[4 * 2 + 0 * 16] = 0;
+ image[5 * 2 + 0 * 16] = 0;
+ image[6 * 2 + 0 * 16] = 0;
+ image[7 * 2 + 0 * 16] = 0;
+ expected_ranges.push_back({{{2, 3}}});
+ // +------+
+ image[0 * 2 + 1 * 16] = 128;
+ image[1 * 2 + 1 * 16] = 0;
+ image[2 * 2 + 1 * 16] = 0;
+ image[3 * 2 + 1 * 16] = 10;
+ image[4 * 2 + 1 * 16] = 30;
+ image[5 * 2 + 1 * 16] = 50;
+ image[6 * 2 + 1 * 16] = 70;
+ image[7 * 2 + 1 * 16] = 255;
+ expected_ranges.push_back({{{0, 1}, {7, 8}}});
+ // -++++++-
+ image[0 * 2 + 2 * 16] = 73;
+ image[1 * 2 + 2 * 16] = 246;
+ image[2 * 2 + 2 * 16] = 247;
+ image[3 * 2 + 2 * 16] = 248;
+ image[4 * 2 + 2 * 16] = 249;
+ image[5 * 2 + 2 * 16] = 250;
+ image[6 * 2 + 2 * 16] = 250;
+ image[7 * 2 + 2 * 16] = 45;
+ expected_ranges.push_back({{{1, 7}}});
+ // +++-++++
+ image[0 * 2 + 3 * 16] = 128;
+ image[1 * 2 + 3 * 16] = 134;
+ image[2 * 2 + 3 * 16] = 250;
+ image[3 * 2 + 3 * 16] = 0;
+ image[4 * 2 + 3 * 16] = 230;
+ image[5 * 2 + 3 * 16] = 230;
+ image[6 * 2 + 3 * 16] = 230;
+ image[7 * 2 + 3 * 16] = 210;
+ expected_ranges.push_back({{{0, 3}, {4, 8}}});
+ // --------
+ image[0 * 2 + 4 * 16] = 7;
+ image[1 * 2 + 4 * 16] = 120;
+ image[2 * 2 + 4 * 16] = 127;
+ image[3 * 2 + 4 * 16] = 0;
+ image[4 * 2 + 4 * 16] = 50;
+ image[5 * 2 + 4 * 16] = 80;
+ image[6 * 2 + 4 * 16] = 110;
+ image[7 * 2 + 4 * 16] = 25;
+ expected_ranges.push_back({{}});
+ // ++++-+++
+ image[0 * 2 + 5 * 16] = 140;
+ image[1 * 2 + 5 * 16] = 140;
+ image[2 * 2 + 5 * 16] = 140;
+ image[3 * 2 + 5 * 16] = 140;
+ image[4 * 2 + 5 * 16] = 0;
+ image[5 * 2 + 5 * 16] = 140;
+ image[6 * 2 + 5 * 16] = 140;
+ image[7 * 2 + 5 * 16] = 140;
+ expected_ranges.push_back({{{0, 4}, {5, 8}}});
+ // ++++++++
+ image[0 * 2 + 6 * 16] = 128;
+ image[1 * 2 + 6 * 16] = 128;
+ image[2 * 2 + 6 * 16] = 128;
+ image[3 * 2 + 6 * 16] = 128;
+ image[4 * 2 + 6 * 16] = 128;
+ image[5 * 2 + 6 * 16] = 128;
+ image[6 * 2 + 6 * 16] = 128;
+ image[7 * 2 + 6 * 16] = 128;
+ expected_ranges.push_back({{{0, 8}}});
+ // +-+-+--+
+ image[0 * 2 + 7 * 16] = 200;
+ image[1 * 2 + 7 * 16] = 0;
+ image[2 * 2 + 7 * 16] = 200;
+ image[3 * 2 + 7 * 16] = 0;
+ image[4 * 2 + 7 * 16] = 200;
+ image[5 * 2 + 7 * 16] = 0;
+ image[6 * 2 + 7 * 16] = 0;
+ image[7 * 2 + 7 * 16] = 200;
+ expected_ranges.push_back({{{0, 1}, {2, 3}, {4, 5}, {7, 8}}});
+ const RangeImage expected_result(0, std::move(expected_ranges));
+
+ const auto slow_result = SlowYuyvYThreshold(format, image.data(), 127);
+ ASSERT_EQ(expected_result, slow_result);
+ const auto fast_result = FastYuyvYThreshold(format, image.data(), 127);
+ ASSERT_EQ(expected_result, fast_result);
+}
+
+// Verifies that a couple of completely random images match.
+TEST_F(YuyvYThresholdTest, Random) {
+ for (int i = 0; i < 10; ++i) {
+ ImageFormat small_format;
+ small_format.w = 16;
+ small_format.h = 16;
+ const auto small_image = RandomImage(small_format);
+ const auto slow_result =
+ SlowYuyvYThreshold(small_format, small_image.data(), 127);
+ const auto fast_result =
+ FastYuyvYThreshold(small_format, small_image.data(), 127);
+ ASSERT_EQ(slow_result, fast_result);
+ }
+ for (int i = 0; i < 10; ++i) {
+ ImageFormat large_format;
+ large_format.w = 1024;
+ large_format.h = 512;
+ const auto large_image = RandomImage(large_format);
+ const auto slow_result =
+ SlowYuyvYThreshold(large_format, large_image.data(), 127);
+ const auto fast_result =
+ FastYuyvYThreshold(large_format, large_image.data(), 127);
+ ASSERT_EQ(slow_result, fast_result);
+ }
+}
+
+// Verifies that changing the U and V values doesn't affect the result.
+TEST_F(YuyvYThresholdTest, UVIgnored) {
+ ImageFormat format;
+ format.w = 32;
+ format.h = 20;
+ const auto baseline_image = RandomImage(format);
+ const auto baseline_result =
+ SlowYuyvYThreshold(format, baseline_image.data(), 127);
+ for (int i = 0; i < 5; ++i) {
+ auto tweaked_image = RandomImage(format);
+ for (int y = 0; y < format.h; ++y) {
+ for (int x = 0; x < format.w; ++x) {
+ tweaked_image[x * 2 + y * format.w * 2] =
+ baseline_image[x * 2 + y * format.w * 2];
+ }
+ }
+
+ const auto slow_result =
+ SlowYuyvYThreshold(format, tweaked_image.data(), 127);
+ ASSERT_EQ(baseline_result, slow_result);
+ const auto fast_result =
+ FastYuyvYThreshold(format, tweaked_image.data(), 127);
+ ASSERT_EQ(baseline_result, fast_result);
+ }
+}
+
+} // namespace testing
+} // namespace vision
+} // namespace aos
diff --git a/aos/vision/debug/overlay.h b/aos/vision/debug/overlay.h
index 8eb8a23..c668e17 100644
--- a/aos/vision/debug/overlay.h
+++ b/aos/vision/debug/overlay.h
@@ -129,6 +129,11 @@
lines_.emplace_back(std::pair<Segment<2>, PixelRef>(seg, newColor));
}
+ void DrawCross(::Eigen::Vector2f center, int width,
+ aos::vision::PixelRef color) {
+ DrawCross(aos::vision::Vector<2>(center.x(), center.y()), width, color);
+ }
+
void DrawCross(aos::vision::Vector<2> center, int width,
aos::vision::PixelRef color) {
using namespace aos::vision;
diff --git a/aos/vision/image/camera_params.proto b/aos/vision/image/camera_params.proto
index c109154..947de96 100644
--- a/aos/vision/image/camera_params.proto
+++ b/aos/vision/image/camera_params.proto
@@ -10,7 +10,7 @@
optional int32 height = 2 [default = 960];
// Exposure setting.
- optional int32 exposure = 3 [default = 10];
+ optional int32 exposure = 3 [default = 200];
// Brightness setting.
optional int32 brightness = 4 [default = 128];
diff --git a/aos/vision/math/vector.h b/aos/vision/math/vector.h
index 642c63f..5e7520f 100644
--- a/aos/vision/math/vector.h
+++ b/aos/vision/math/vector.h
@@ -91,6 +91,7 @@
double Mag() const { return data_.norm(); }
// Get underlying data structure
+ // TODO(austin): Everyone uses column not row vectors.
::Eigen::Matrix<double, 1, size> GetData() const { return data_; }
// Set underlying data structure
diff --git a/aos/vision/tools/jpeg_vision_test.cc b/aos/vision/tools/jpeg_vision_test.cc
index 072b57b..806fd80 100644
--- a/aos/vision/tools/jpeg_vision_test.cc
+++ b/aos/vision/tools/jpeg_vision_test.cc
@@ -74,7 +74,7 @@
prev_data_ = data.to_string();
// Threshold the image with the given lambda.
- RangeImage rimg = DoThreshold(img_ptr, [](PixelRef &px) {
+ RangeImage rimg = ThresholdImageWithFunction(img_ptr, [](PixelRef &px) {
if (px.g > 88) {
uint8_t min = std::min(px.b, px.r);
uint8_t max = std::max(px.b, px.r);
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 1b37612..0015b70 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -151,6 +151,9 @@
case IMUType::IMU_X:
last_accel_ = -::frc971::imu_values->accelerometer_x;
break;
+ case IMUType::IMU_FLIPPED_X:
+ last_accel_ = ::frc971::imu_values->accelerometer_x;
+ break;
case IMUType::IMU_Y:
last_accel_ = -::frc971::imu_values->accelerometer_y;
break;
@@ -257,7 +260,7 @@
dt_closedloop_.SetGoal(*goal);
dt_openloop_.SetGoal(*goal);
dt_spline_.SetGoal(*goal);
- dt_line_follow_.SetGoal(*goal);
+ dt_line_follow_.SetGoal(monotonic_now, *goal);
}
dt_openloop_.Update(robot_state().voltage_battery);
@@ -272,7 +275,7 @@
dt_spline_.Update(output != NULL && controller_type == 2, trajectory_state);
- dt_line_follow_.Update(trajectory_state);
+ dt_line_follow_.Update(monotonic_now, trajectory_state);
switch (controller_type) {
case 0:
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 74be414..7f778f7 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -67,6 +67,14 @@
float x;
float y;
float theta;
+ // Current lateral offset from line pointing straight out of the target.
+ float offset;
+ // Current distance from the plane of the target, in meters.
+ float distance_to_target;
+ // Current goal heading.
+ float goal_theta;
+ // Current relative heading.
+ float rel_theta;
};
queue_group DrivetrainQueue {
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 53c2315..685516f 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -34,8 +34,9 @@
};
enum class IMUType : int32_t {
- IMU_X = 0, // Use the x-axis of the IMU.
- IMU_Y = 1, // Use the y-axis of the IMU.
+ IMU_X = 0, // Use the x-axis of the IMU.
+ IMU_Y = 1, // Use the y-axis of the IMU.
+ IMU_FLIPPED_X = 2, // Use the flipped x-axis of the IMU.
};
template <typename Scalar = double>
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index b00ab3f..839f1b8 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -744,7 +744,7 @@
// Should have run off the end of the target, running along the y=x line.
EXPECT_LT(1.0, drivetrain_motor_plant_.GetPosition().x());
EXPECT_NEAR(drivetrain_motor_plant_.GetPosition().x(),
- drivetrain_motor_plant_.GetPosition().y(), 1e-4);
+ drivetrain_motor_plant_.GetPosition().y(), 0.1);
}
// Tests that the line follower will not run and defer to regular open-loop
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
index b5417af..4c51569 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.cc
@@ -1,7 +1,9 @@
-#include <iostream>
#include "frc971/control_loops/drivetrain/line_follow_drivetrain.h"
+#include <chrono>
+
#include "aos/commonmath.h"
+#include "aos/time/time.h"
#include "aos/util/math.h"
#include "frc971/control_loops/c2d.h"
#include "frc971/control_loops/dlqr.h"
@@ -9,9 +11,11 @@
namespace frc971 {
namespace control_loops {
namespace drivetrain {
+namespace {
+namespace chrono = ::std::chrono;
+} // namespace
constexpr double LineFollowDrivetrain::kMaxVoltage;
-constexpr double LineFollowDrivetrain::kPolyN;
namespace {
::Eigen::Matrix<double, 3, 3> AContinuous(
@@ -99,71 +103,34 @@
target_selector_(target_selector),
U_(0, 0) {}
-double LineFollowDrivetrain::GoalTheta(
- const ::Eigen::Matrix<double, 5, 1> &state) const {
- // TODO(james): Consider latching the sign of the goal so that the driver
- // can back up without the robot trying to turn around...
- // On the other hand, we may just want to force the driver to take over
- // entirely if they need to backup.
- int sign = ::aos::sign(goal_velocity_);
- // Given a Nth degree polynomial with just a single term that
- // has its minimum (with a slope of zero) at (0, 0) and passing
- // through (x0, y0), we will have:
- // y = a * x^N
- // a = y0 / x0^N
- // And the slope of the tangent line at (x0, y0) will be
- // N * a * x0^(N-1)
- // = N * y0 / x0^N * x0^(N-1)
- // = N * y0 / x0
- // Giving a heading of
- // atan2(-N * y0, -x0)
- // where we add the negative signs to make things work out properly when we
- // are trying to drive forwards towards zero. We reverse the sign of both
- // terms if we want to drive backwards.
- return ::std::atan2(-sign * kPolyN * state.y(), -sign * state.x());
-}
-
-double LineFollowDrivetrain::GoalThetaDot(
- const ::Eigen::Matrix<double, 5, 1> &state) const {
- // theta = atan2(-N * y0, -x0)
- // Note: d(atan2(p(t), q(t)))/dt
- // = (p(t) * q'(t) - q(t) * p'(t)) / (p(t)^2 + q(t)^2)
- // Note: x0' = cos(theta) * v, y0' = sin(theta) * v
- // Note that for the sin/cos calculations we discard the
- // negatives in the arctangent to make the signs work out (the
- // dtheta/dt needs to be correct as we travel along the path). This
- // also corresponds with the fact that thetadot is agnostic towards
- // whether the robot is driving forwards or backwards, so long as it is
- // trying to drive towards the target.
- // Note: sin(theta) = sin(atan2(N * y0, x0))
- // = N * y0 / sqrt(N^2 * y0^2 + x0^2)
- // Note: cos(theta) = cos(atan2(N * y0, x0))
- // = x0 / sqrt(N^2 * y0^2 + x0^2)
- // dtheta/dt
- // = (-x0 * (-N * y0') - -N * y0 * (-x0')) / (N^2 * y0^2 + x0^2)
- // = N * (x0 * v * sin(theta) - y0 * v * cos(theta)) / (N^2 * y0^2 + x0^2)
- // = N * v * (x0 * (N * y0) - y0 * (x0)) / (N^2 * y0^2 + x0^2)^1.5
- // = N * v * (N - 1) * x0 * y0 / (N^2 * y0^2 + x0^2)^1.5
- const double linear_vel = (state(3, 0) + state(4, 0)) / 2.0;
- const double x2 = ::std::pow(state.x(), 2);
- const double y2 = ::std::pow(state.y(), 2);
- const double norm = y2 * kPolyN * kPolyN + x2;
- // When we get too near the goal, avoid singularity in a sane manner.
- if (norm < 1e-3) {
- return 0.0;
- }
- return kPolyN * (kPolyN - 1) * linear_vel * state.x() * state.y() /
- (norm * ::std::sqrt(norm));
-}
-
void LineFollowDrivetrain::SetGoal(
+ ::aos::monotonic_clock::time_point now,
const ::frc971::control_loops::DrivetrainQueue::Goal &goal) {
// TODO(james): More properly calculate goal velocity from throttle.
- goal_velocity_ = goal.throttle;
+ goal_velocity_ = 4.0 * goal.throttle;
+ // The amount of time to freeze the target choice after the driver releases
+ // the button. Depending on the current state, we vary how long this timeout
+ // is so that we can avoid button glitches causing issues.
+ chrono::nanoseconds freeze_delay = chrono::seconds(0);
// Freeze the target once the driver presses the button; if we haven't yet
// confirmed a target when the driver presses the button, we will not do
// anything and report not ready until we have a target.
- freeze_target_ = goal.controller_type == 3;
+ if (goal.controller_type == 3) {
+ last_enable_ = now;
+ // If we already acquired a target, we want to keep track if it.
+ if (have_target_) {
+ freeze_delay = chrono::milliseconds(500);
+ // If we've had the target acquired for a while, the driver is probably
+ // happy with the current target selection, so we really want to keep it.
+ if (now > chrono::milliseconds(1000) + start_of_target_acquire_) {
+ freeze_delay = chrono::milliseconds(2000);
+ }
+ }
+ }
+ freeze_target_ = now <= freeze_delay + last_enable_;
+ // Set an adjustment that lets the driver tweak the offset for where we place
+ // the target left/right.
+ side_adjust_ = -goal.wheel * 0.1;
}
bool LineFollowDrivetrain::SetOutput(
@@ -177,7 +144,48 @@
return have_target_;
}
+double LineFollowDrivetrain::GoalTheta(
+ const ::Eigen::Matrix<double, 5, 1> &abs_state, double relative_y_offset,
+ double velocity_sign) {
+ // Calculates the goal angle for the drivetrain given our position.
+ // The calculated goal will be such that a point disc_rad to one side of the
+ // drivetrain (the side depends on where we approach from) will end up hitting
+ // the plane of the target exactly disc_rad from the center of the target.
+ // This allows us to better approach targets in the 2019 game from an
+ // angle--radii of zero imply driving straight in.
+ const double disc_rad = target_selector_->TargetRadius();
+ // Depending on whether we are to the right or left of the target, we work off
+ // of a different side of the robot.
+ const double edge_sign = relative_y_offset > 0 ? 1.0 : -1.0;
+ // Note side_adjust which is the input from the driver's wheel to allow
+ // shifting the goal target left/right.
+ const double edge_offset = edge_sign * disc_rad - side_adjust_;
+ // The point that we are trying to get the disc to hit.
+ const Pose corner = Pose(&target_pose_, {0.0, edge_offset, 0.0}, 0.0);
+ // A pose for the current robot position that is square to the target.
+ Pose square_robot =
+ Pose({abs_state.x(), abs_state.y(), 0.0}, 0.0).Rebase(&corner);
+ // To prevent numerical issues, we limit x so that when the localizer isn't
+ // working properly and ends up driving past the target, we still get sane
+ // results.
+ square_robot.mutable_pos()->x() =
+ ::std::min(::std::min(square_robot.mutable_pos()->x(), -disc_rad), -0.01);
+ // Distance from the edge of the disc on the robot to the velcro we want to
+ // hit on the target.
+ const double dist_to_corner = square_robot.xy_norm();
+ // The following actually handles calculating the heading we need the robot to
+ // take (relative to the plane of the target).
+ const double alpha = ::std::acos(disc_rad / dist_to_corner);
+ const double heading_to_robot = edge_sign * square_robot.heading();
+ double theta = -edge_sign * (M_PI - alpha - (heading_to_robot - M_PI_2));
+ if (velocity_sign < 0) {
+ theta = ::aos::math::NormalizeAngle(theta + M_PI);
+ }
+ return theta;
+}
+
void LineFollowDrivetrain::Update(
+ ::aos::monotonic_clock::time_point now,
const ::Eigen::Matrix<double, 5, 1> &abs_state) {
// Because we assume the target selector may have some internal state (e.g.,
// not confirming a target until some time as passed), we should call
@@ -189,6 +197,8 @@
// target before.
if (!have_target_ && new_target) {
have_target_ = true;
+ start_of_target_acquire_ = now;
+ velocity_sign_ = goal_velocity_ >= 0.0 ? 1.0 : -1.0;
target_pose_ = target_selector_->TargetPose();
}
} else {
@@ -197,12 +207,15 @@
have_target_ = new_target;
if (have_target_) {
target_pose_ = target_selector_->TargetPose();
+ velocity_sign_ = goal_velocity_ >= 0.0 ? 1.0 : -1.0;
}
}
-
// Get the robot pose in the target coordinate frame.
- const Pose relative_robot_pose = Pose({abs_state.x(), abs_state.y(), 0.0},
- abs_state(2, 0)).Rebase(&target_pose_);
+ relative_pose_ = Pose({abs_state.x(), abs_state.y(), 0.0}, abs_state(2, 0))
+ .Rebase(&target_pose_);
+ double goal_theta =
+ GoalTheta(abs_state, relative_pose_.rel_pos().y(), velocity_sign_);
+
// Always force a slight negative X, so that the driver can continue to drive
// past zero if they want.
// The "slight negative" needs to be large enough that we won't force
@@ -210,28 +223,38 @@
// line--because, in practice, the driver should never be trying to drive to a
// target where they are significantly off laterally at <0.1m from the target,
// this should not be a problem.
- const double relative_x = ::std::min(relative_robot_pose.rel_pos().x(), -0.1);
+ const double relative_x = ::std::min(relative_pose_.rel_pos().x(), -0.1);
const ::Eigen::Matrix<double, 5, 1> rel_state =
(::Eigen::Matrix<double, 5, 1>() << relative_x,
- relative_robot_pose.rel_pos().y(), relative_robot_pose.rel_theta(),
- abs_state(3, 0), abs_state(4, 0))
- .finished();
- ::Eigen::Matrix<double, 3, 1> controls_goal(
- GoalTheta(rel_state), goal_velocity_, GoalThetaDot(rel_state));
+ relative_pose_.rel_pos().y(), relative_pose_.rel_theta(),
+ abs_state(3, 0), abs_state(4, 0)).finished();
+ if (velocity_sign_ * goal_velocity_ < 0) {
+ goal_theta = rel_state(2, 0);
+ }
+ controls_goal_ << goal_theta, goal_velocity_, 0.0;
::Eigen::Matrix<double, 3, 1> controls_state;
controls_state(0, 0) = rel_state(2, 0);
controls_state.block<2, 1>(1, 0) =
dt_config_.Tlr_to_la() * rel_state.block<2, 1>(3, 0);
- ::Eigen::Matrix<double, 3, 1> controls_err = controls_goal - controls_state;
+ ::Eigen::Matrix<double, 3, 1> controls_err = controls_goal_ - controls_state;
// Because we are taking the difference of an angle, normaliez to [-pi, pi].
controls_err(0, 0) = ::aos::math::NormalizeAngle(controls_err(0, 0));
// TODO(james): Calculate the next goal so that we are properly doing
// feed-forwards.
::Eigen::Matrix<double, 2, 1> U_ff =
- Kff_ * (controls_goal - A_d_ * controls_goal);
+ Kff_ * (controls_goal_ - A_d_ * controls_goal_);
U_ = K_ * controls_err + U_ff;
- const double maxU = U_.lpNorm<::Eigen::Infinity>();
- U_ *= (maxU > kMaxVoltage) ? kMaxVoltage / maxU : 1.0;
+ const double maxU = ::std::max(U_(0, 0), U_(1, 0));
+ const double minU = ::std::min(U_(0, 0), U_(1, 0));
+ const double diffU = ::std::abs(U_(1, 0) - U_(0, 0));
+ const double maxAbsU = ::std::max(maxU, -minU);
+ if (diffU > 24.0) {
+ U_ *= (maxAbsU > kMaxVoltage) ? kMaxVoltage / maxAbsU : 1.0;
+ } else if (maxU > 12.0) {
+ U_ = U_ + U_.Ones() * (12.0 - maxU);
+ } else if (minU < -12.0) {
+ U_ = U_ - U_.Ones() * (minU + 12.0);
+ }
}
void LineFollowDrivetrain::PopulateStatus(
@@ -241,6 +264,11 @@
status->line_follow_logging.x = target_pose_.abs_pos().x();
status->line_follow_logging.y = target_pose_.abs_pos().y();
status->line_follow_logging.theta = target_pose_.abs_theta();
+ status->line_follow_logging.offset = relative_pose_.rel_pos().y();
+ status->line_follow_logging.distance_to_target =
+ -relative_pose_.rel_pos().x();
+ status->line_follow_logging.goal_theta = controls_goal_(0, 0);
+ status->line_follow_logging.rel_theta = relative_pose_.rel_theta();
}
} // namespace drivetrain
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain.h b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
index de9ff5a..09b2080 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain.h
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain.h
@@ -17,25 +17,22 @@
// A drivetrain that permits a velocity input from the driver while controlling
// lateral motion.
-// TODO(james): Do we want to allow some driver input on lateral control? It may
-// just be too confusing to make work effectively, but it also wouldn't be too
-// hard to just allow the driver to specify an offset to the angle/angular
-// velocity.
class LineFollowDrivetrain {
public:
typedef TypedPose<double> Pose;
- LineFollowDrivetrain(
- const DrivetrainConfig<double> &dt_config,
- TargetSelectorInterface *target_selector);
+ LineFollowDrivetrain(const DrivetrainConfig<double> &dt_config,
+ TargetSelectorInterface *target_selector);
// Sets the current goal; the drivetrain queue contains throttle_velocity
// which is used to command overall robot velocity. The goal_pose is a Pose
- // representing where we are tring to go. This would typically be the Pose of
+ // representing where we are trying to go. This would typically be the Pose of
// a Target; the positive X-axis in the Pose's frame represents the direction
// we want to go (we approach the pose from the left-half plane).
- void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+ void SetGoal(::aos::monotonic_clock::time_point now,
+ const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
// State: [x, y, theta, left_vel, right_vel]
- void Update(const ::Eigen::Matrix<double, 5, 1> &state);
+ void Update(::aos::monotonic_clock::time_point now,
+ const ::Eigen::Matrix<double, 5, 1> &state);
// Returns whether we set the output. If false, that implies that we do not
// yet have a target to track into and so some other drivetrain should take
// over.
@@ -48,24 +45,18 @@
// Nominal max voltage.
// TODO(james): Is there a config for this or anything?
static constexpr double kMaxVoltage = 12.0;
- // Degree of the polynomial to follow in. Should be strictly greater than 1.
- // A value of 1 would imply that we drive straight to the target (but not hit
- // it straight on, unless we happened to start right in front of it). A value
- // of zero would imply driving straight until we hit the plane of the target.
- // Values between 0 and 1 would imply hitting the target from the side.
- static constexpr double kPolyN = 3.0;
- static_assert(kPolyN > 1.0,
- "We want to hit targets straight on (see above comments).");
- double GoalTheta(const ::Eigen::Matrix<double, 5, 1> &state) const;
- double GoalThetaDot(const ::Eigen::Matrix<double, 5, 1> &state) const;
+ double GoalTheta(const ::Eigen::Matrix<double, 5, 1> &abs_state,
+ double relative_y_offset, double velocity_sign);
const DrivetrainConfig<double> dt_config_;
// TODO(james): These should probably be factored out somewhere.
+ // TODO(james): This controller is not actually asymptotically stable, due to
+ // the varying goal theta.
const ::Eigen::DiagonalMatrix<double, 3> Q_ =
(::Eigen::DiagonalMatrix<double, 3>().diagonal()
- << 1.0 / ::std::pow(0.01, 2),
- 1.0 / ::std::pow(0.1, 2), 1.0 / ::std::pow(10.0, 2))
+ << 1.0 / ::std::pow(0.1, 2),
+ 1.0 / ::std::pow(1.0, 2), 1.0 / ::std::pow(1.0, 2))
.finished()
.asDiagonal();
const ::Eigen::DiagonalMatrix<double, 2> R_ =
@@ -86,6 +77,20 @@
bool have_target_ = false;
Pose target_pose_;
double goal_velocity_ = 0.0;
+ // The amount to shift the center of the goal target side-to-side, to give the
+ // driver an input that lets them account for panels that are offset on the
+ // grabber.
+ double side_adjust_ = 0.0; // meters
+ double velocity_sign_ = 1.0;
+
+ // The last time at which we saw an enable button.
+ ::aos::monotonic_clock::time_point last_enable_;
+ // The time at which we first acquired the current target.
+ ::aos::monotonic_clock::time_point start_of_target_acquire_;
+ // Most recent relative pose to target, used for debugging.
+ Pose relative_pose_;
+ // Current goal state, used for debugging.
+ ::Eigen::Matrix<double, 3, 1> controls_goal_;
// Voltage output to apply
::Eigen::Matrix<double, 2, 1> U_;
diff --git a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
index 65cf9bf..414ec81 100644
--- a/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
+++ b/frc971/control_loops/drivetrain/line_follow_drivetrain_test.cc
@@ -53,8 +53,8 @@
::frc971::control_loops::DrivetrainQueue::Goal goal;
goal.throttle = driver_model_(state_);
goal.controller_type = freeze_target_ ? 3 : 0;
- drivetrain_.SetGoal(goal);
- drivetrain_.Update(state_);
+ drivetrain_.SetGoal(t_, goal);
+ drivetrain_.Update(t_, state_);
::frc971::control_loops::DrivetrainQueue::Output output;
EXPECT_EQ(expect_output_, drivetrain_.SetOutput(&output));
@@ -85,51 +85,26 @@
simulation_ur_.push_back(U(1, 0));
simulation_x_.push_back(state_.x());
simulation_y_.push_back(state_.y());
+ simulation_theta_.push_back(state_(3, 0));
}
// Check that left/right velocities are near zero and the absolute position is
// near that of the goal Pose.
void VerifyNearGoal() const {
- EXPECT_NEAR(goal_pose().abs_pos().x(), state_(0, 0), 1e-3);
- EXPECT_NEAR(goal_pose().abs_pos().y(), state_(1, 0), 1e-3);
- // state should be at 0 or PI (we should've come in striaght on or straight
- // backwards).
- const double angle_err =
- ::aos::math::DiffAngle(goal_pose().abs_theta(), state_(2, 0));
- const double angle_pi_err = ::aos::math::DiffAngle(angle_err, M_PI);
- EXPECT_LT(::std::min(::std::abs(angle_err), ::std::abs(angle_pi_err)),
- 1e-3);
+ EXPECT_NEAR(goal_pose().abs_pos().x(), state_(0, 0), 1e-2);
+ EXPECT_NEAR(goal_pose().abs_pos().y(), state_(1, 0), 1e-2);
// Left/right velocities are zero:
- EXPECT_NEAR(0.0, state_(3, 0), 1e-3);
- EXPECT_NEAR(0.0, state_(4, 0), 1e-3);
+ EXPECT_NEAR(0.0, state_(3, 0), 1e-2);
+ EXPECT_NEAR(0.0, state_(4, 0), 1e-2);
}
- void CheckGoalTheta(double x, double y, double v, double expected_theta,
- double expected_thetadot) {
+ double GoalTheta(double x, double y, double v, double throttle) {
+ ::frc971::control_loops::DrivetrainQueue::Goal goal;
+ goal.throttle = throttle;
+ drivetrain_.SetGoal(t_, goal);
::Eigen::Matrix<double, 5, 1> state;
state << x, y, 0.0, v, v;
- const double theta = drivetrain_.GoalTheta(state);
- const double thetadot = drivetrain_.GoalThetaDot(state);
- EXPECT_EQ(expected_theta, theta) << "x " << x << " y " << y << " v " << v;
- EXPECT_EQ(expected_thetadot, thetadot)
- << "x " << x << " y " << y << " v " << v;
- }
-
- void CheckGoalThetaDotAtState(double x, double y, double v) {
- ::Eigen::Matrix<double, 5, 1> state;
- state << x, y, 0.0, v, v;
- const double theta = drivetrain_.GoalTheta(state);
- const double thetadot = drivetrain_.GoalThetaDot(state);
- const double dx = v * ::std::cos(theta);
- const double dy = v * ::std::sin(theta);
- constexpr double kEps = 1e-5;
- state(0, 0) += dx * kEps;
- state(1, 0) += dy * kEps;
- const double next_theta = drivetrain_.GoalTheta(state);
- EXPECT_NEAR(thetadot, ::aos::math::DiffAngle(next_theta, theta) / kEps,
- 1e-4)
- << "theta: " << theta << " nexttheta: " << next_theta << " x " << x
- << " y " << y << " v " << v;
+ return drivetrain_.GoalTheta(state, y, throttle > 0.0 ? 1.0 : -1.0);
}
void TearDown() override {
@@ -137,6 +112,7 @@
matplotlibcpp::figure();
matplotlibcpp::plot(time_, simulation_ul_, {{"label", "ul"}});
matplotlibcpp::plot(time_, simulation_ur_, {{"label", "ur"}});
+ matplotlibcpp::plot(time_, simulation_theta_, {{"label", "theta"}});
matplotlibcpp::legend();
TypedPose<double> target = goal_pose();
@@ -194,18 +170,33 @@
::std::vector<double> simulation_ur_;
::std::vector<double> simulation_x_;
::std::vector<double> simulation_y_;
+ ::std::vector<double> simulation_theta_;
};
-TEST_F(LineFollowDrivetrainTest, ValidGoalThetaDot) {
+TEST_F(LineFollowDrivetrainTest, BasicGoalThetaCheck) {
for (double x : {1.0, 0.0, -1.0, -2.0, -3.0}) {
for (double y : {-3.0, -2.0, -1.0, 0.0, 1.0, 2.0, 3.0}) {
for (double v : {-3.0, -2.0, -1.0, 0.0, 1.0, 2.0, 3.0}) {
- if (x == 0.0 && y == 0.0) {
- // When x/y are zero, we can encounter singularities. The code should
- // just provide zeros in this case.
- CheckGoalTheta(x, y, v, 0.0, 0.0);
- } else {
- CheckGoalThetaDotAtState(x, y, v);
+ for (double throttle : {-1.0, 1.0}) {
+ target_selector_.set_target_radius(0.0);
+ const double zero_rad_theta = GoalTheta(x, y, v, throttle);
+ EXPECT_NEAR(
+ 0.0,
+ ::aos::math::DiffAngle((throttle > 0.0 ? M_PI : 0.0) +
+ ::std::atan2(y, ::std::min(-0.01, x)),
+ zero_rad_theta),
+ 1e-14);
+ target_selector_.set_target_radius(0.05);
+ const double small_rad_theta = GoalTheta(x, y, v, throttle);
+ if (y > 0) {
+ EXPECT_LT(small_rad_theta, zero_rad_theta);
+ } else if (y == 0) {
+ EXPECT_NEAR(0.0,
+ ::aos::math::DiffAngle(small_rad_theta, zero_rad_theta),
+ 1e-14);
+ } else {
+ EXPECT_GT(small_rad_theta, zero_rad_theta);
+ }
}
}
}
@@ -215,8 +206,12 @@
// If the driver commands the robot to keep going, we should just run straight
// off the end and keep going along the line:
TEST_F(LineFollowDrivetrainTest, RunOffEnd) {
- state_ << -1.0, 0.1, 0.0, 0.0, 0.0;
- driver_model_ = [](const ::Eigen::Matrix<double, 5, 1> &) { return 1.0; };
+ freeze_target_ = true;
+ state_ << -1.0, 0.0, 0.0, 0.0, 0.0;
+ // TODO(james): This test currently relies on the scalar on the throttle to
+ // velocity conversion being 4.0. This should probably be moved out into a
+ // config.
+ driver_model_ = [](const ::Eigen::Matrix<double, 5, 1> &) { return 0.25; };
RunForTime(chrono::seconds(10));
EXPECT_LT(6.0, state_.x());
EXPECT_NEAR(0.0, state_.y(), 1e-4);
@@ -250,7 +245,8 @@
set_goal_pose({{1.0, 1.0, 0.0}, M_PI_2});
RunForTime(::std::chrono::seconds(5));
- EXPECT_NEAR(0.0, state_.squaredNorm(), 1e-25);
+ EXPECT_NEAR(0.0, state_.squaredNorm(), 1e-25)
+ << "Expected state of zero, got: " << state_.transpose();
}
// Tests that when we freeze the controller without having acquired a target, we
@@ -268,9 +264,9 @@
// Now, provide a target:
target_selector_.set_has_target(true);
- set_goal_pose({{1.0, 1.0, 0.0}, M_PI_2});
+ set_goal_pose({{1.0, 2.0, 0.0}, M_PI_2});
driver_model_ = [this](const ::Eigen::Matrix<double, 5, 1> &state) {
- return (state.topRows<2>() - goal_pose().abs_pos().topRows<2>()).norm();
+ return -(state.y() - goal_pose().abs_pos().y());
};
expect_output_ = true;
@@ -289,10 +285,13 @@
: public LineFollowDrivetrainTest,
public ::testing::WithParamInterface<Pose> {};
TEST_P(LineFollowDrivetrainTargetParamTest, NonZeroTargetTest) {
+ freeze_target_ = true;
+ target_selector_.set_has_target(true);
// Start the state at zero and then put the target in a
state_.setZero();
driver_model_ = [this](const ::Eigen::Matrix<double, 5, 1> &state) {
- return (state.topRows<2>() - GetParam().abs_pos().topRows<2>()).norm();
+ return 0.2 *
+ (state.topRows<2>() - GetParam().abs_pos().topRows<2>()).norm();
};
set_goal_pose(GetParam());
RunForTime(chrono::seconds(10));
@@ -353,13 +352,13 @@
.finished()),
::testing::Values(
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return -5.0 * state.x();
+ return -1.0 * state.x();
},
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return 5.0 * state.x();
+ return 1.0 * state.x();
},
[](const ::Eigen::Matrix<double, 5, 1> &state) {
- return -1.0 * ::std::abs(state.x()) - 0.5 * state.x() * state.x();
+ return -0.25 * ::std::abs(state.x()) - 0.125 * state.x() * state.x();
})));
} // namespace testing
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index f0685dd..d63837a 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -25,6 +25,11 @@
// Gets the current target pose. Should only be called if UpdateSelection has
// returned true.
virtual TypedPose<double> TargetPose() const = 0;
+ // The "radius" of the target--for y2019, we wanted to drive in so that a disc
+ // with radius r would hit the plane of the target at an offset of exactly r
+ // from the TargetPose--this is distinct from wanting the center of the
+ // robot to project straight onto the center of the target.
+ virtual double TargetRadius() const = 0;
};
// Defines an interface for classes that provide field-global localization.
@@ -66,14 +71,17 @@
return has_target_;
}
TypedPose<double> TargetPose() const override { return pose_; }
+ double TargetRadius() const override { return target_radius_; }
void set_pose(const TypedPose<double> &pose) { pose_ = pose; }
+ void set_target_radius(double radius) { target_radius_ = radius; }
void set_has_target(bool has_target) { has_target_ = has_target; }
bool has_target() const { return has_target_; }
private:
bool has_target_ = true;
TypedPose<double> pose_;
+ double target_radius_ = 0.0;
};
// Uses the generic HybridEkf implementation to provide a basic field estimator.
diff --git a/package.json b/package.json
new file mode 100644
index 0000000..0b20391
--- /dev/null
+++ b/package.json
@@ -0,0 +1,9 @@
+{
+ "name": "971-Robot-Code",
+ "license": "MIT",
+ "devDependencies": {
+ "@bazel/bazel": "^0.19.1",
+ "@bazel/typescript": "0.21.0",
+ "typescript": "^3.1.6"
+ }
+}
diff --git a/third_party/seasocks/BUILD b/third_party/seasocks/BUILD
index 0daf8ea..974b131 100644
--- a/third_party/seasocks/BUILD
+++ b/third_party/seasocks/BUILD
@@ -1,22 +1,24 @@
-licenses(['notice'])
+licenses(["notice"])
cc_library(
- name = 'seasocks',
- visibility = ['//visibility:public'],
- srcs = glob(['src/main/c/**/*.cpp']),
- hdrs = glob([
- 'src/main/c/**/*.h',
- ], exclude=[
- 'src/main/internal/**/*',
- ]),
- includes = ['src/main/c'],
- copts = [
- # TODO(Brian): Don't apply this to all of the code...
- '-Wno-cast-align',
- '-Wno-cast-qual',
-
- '-Wno-switch-enum',
- '-Wno-format-nonliteral',
- '-Wno-unused-parameter',
- ],
+ name = "seasocks",
+ srcs = glob(include = ["src/main/c/**/*.cpp"]),
+ hdrs = glob(
+ include = [
+ "src/main/c/**/*.h",
+ ],
+ exclude = [
+ "src/main/internal/**/*",
+ ],
+ ),
+ copts = [
+ # TODO(Brian): Don't apply this to all of the code...
+ "-Wno-cast-align",
+ "-Wno-cast-qual",
+ "-Wno-switch-enum",
+ "-Wno-format-nonliteral",
+ "-Wno-unused-parameter",
+ ],
+ includes = ["src/main/c"],
+ visibility = ["//visibility:public"],
)
diff --git a/tsconfig.json b/tsconfig.json
new file mode 100644
index 0000000..91093d3
--- /dev/null
+++ b/tsconfig.json
@@ -0,0 +1,10 @@
+{
+ "compilerOptions": {
+ "experimentalDecorators": true,
+ "strict": true,
+ "noImplicitAny": false
+ },
+ "bazelOptions": {
+ "workspaceName": "971-Robot-Code"
+ }
+}
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index ceb4358..5f0a33f 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -8,6 +8,7 @@
#include <thread>
#include <vector>
+#include "internal/Embedded.h"
#include "seasocks/Server.h"
#include "aos/init.h"
@@ -22,8 +23,6 @@
#include "y2016/control_loops/superstructure/superstructure.q.h"
#include "y2016/queues/ball_detector.q.h"
-#include "y2016/dashboard/embedded.h"
-
namespace chrono = ::std::chrono;
namespace y2016 {
@@ -292,6 +291,9 @@
} // namespace y2016
int main(int, char *[]) {
+ // Make sure to reference this to force the linker to include it.
+ findEmbeddedContent("");
+
::aos::InitNRT();
::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
diff --git a/y2016/vision/target_sender.cc b/y2016/vision/target_sender.cc
index d9208ec..3e29085 100644
--- a/y2016/vision/target_sender.cc
+++ b/y2016/vision/target_sender.cc
@@ -98,8 +98,8 @@
DecodeJpeg(data, &image_);
auto fmt = image_.fmt();
- RangeImage rimg =
- DoThreshold(image_.get(), [](PixelRef &px) { return (px.g > 88); });
+ RangeImage rimg = ThresholdImageWithFunction(
+ image_.get(), [](PixelRef px) { return (px.g > 88); });
// flip the right image as this camera is mount backward
if (camera_index_ == 0) {
diff --git a/y2017/vision/target_finder.cc b/y2017/vision/target_finder.cc
index a6b049c..91e801e 100644
--- a/y2017/vision/target_finder.cc
+++ b/y2017/vision/target_finder.cc
@@ -103,17 +103,18 @@
}
aos::vision::RangeImage TargetFinder::Threshold(aos::vision::ImagePtr image) {
- return aos::vision::DoThreshold(image, [&](aos::vision::PixelRef &px) {
- if (px.g > 88) {
- uint8_t min = std::min(px.b, px.r);
- uint8_t max = std::max(px.b, px.r);
- if (min >= px.g || max >= px.g) return false;
- uint8_t a = px.g - min;
- uint8_t b = px.g - max;
- return (a > 10 && b > 10);
- }
- return false;
- });
+ return aos::vision::ThresholdImageWithFunction(
+ image, [&](aos::vision::PixelRef px) {
+ if (px.g > 88) {
+ uint8_t min = std::min(px.b, px.r);
+ uint8_t max = std::max(px.b, px.r);
+ if (min >= px.g || max >= px.g) return false;
+ uint8_t a = px.g - min;
+ uint8_t b = px.g - max;
+ return (a > 10 && b > 10);
+ }
+ return false;
+ });
}
void TargetFinder::PreFilter(BlobList &imgs) {
diff --git a/y2019/BUILD b/y2019/BUILD
index 276f09c..7c68cf9 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -8,6 +8,7 @@
":wpilib_interface",
"//y2019/control_loops/drivetrain:drivetrain",
"//y2019/control_loops/superstructure:superstructure",
+ "//y2019/actors:binaries",
],
)
diff --git a/y2019/actors/BUILD b/y2019/actors/BUILD
new file mode 100644
index 0000000..e772718
--- /dev/null
+++ b/y2019/actors/BUILD
@@ -0,0 +1,48 @@
+filegroup(
+ name = "binaries.stripped",
+ srcs = [
+ ":autonomous_action.stripped",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+filegroup(
+ name = "binaries",
+ srcs = [
+ ":autonomous_action",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "autonomous_action_lib",
+ srcs = [
+ "autonomous_actor.cc",
+ ],
+ hdrs = [
+ "autonomous_actor.h",
+ ],
+ deps = [
+ "//aos/logging",
+ "//aos/util:phased_loop",
+ "//frc971/autonomous:base_autonomous_actor",
+ "//frc971/control_loops:queues",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops/drivetrain:localizer_queue",
+ "//y2019/control_loops/drivetrain:drivetrain_base",
+ "//y2019/control_loops/superstructure:superstructure_queue",
+ ],
+)
+
+cc_binary(
+ name = "autonomous_action",
+ srcs = [
+ "autonomous_actor_main.cc",
+ ],
+ deps = [
+ ":autonomous_action_lib",
+ "//aos:init",
+ "//frc971/autonomous:auto_queue",
+ ],
+)
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
new file mode 100644
index 0000000..c14ef3c
--- /dev/null
+++ b/y2019/actors/autonomous_actor.cc
@@ -0,0 +1,132 @@
+#include "y2019/actors/autonomous_actor.h"
+
+#include <inttypes.h>
+
+#include <chrono>
+#include <cmath>
+
+#include "aos/logging/logging.h"
+#include "aos/util/phased_loop.h"
+
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/localizer.q.h"
+#include "y2019/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2019 {
+namespace actors {
+using ::frc971::control_loops::drivetrain_queue;
+using ::frc971::control_loops::drivetrain::localizer_control;
+using ::aos::monotonic_clock;
+namespace chrono = ::std::chrono;
+
+namespace {
+
+double DoubleSeconds(monotonic_clock::duration duration) {
+ return ::std::chrono::duration_cast<::std::chrono::duration<double>>(duration)
+ .count();
+}
+
+constexpr bool is_left = false;
+
+constexpr double turn_scalar = is_left ? 1.0 : -1.0;
+
+} // namespace
+
+AutonomousActor::AutonomousActor(
+ ::frc971::autonomous::AutonomousActionQueueGroup *s)
+ : frc971::autonomous::BaseAutonomousActor(
+ s, control_loops::drivetrain::GetDrivetrainConfig()) {}
+
+void AutonomousActor::Reset() {
+ elevator_goal_ = 0.01;
+ wrist_goal_ = -M_PI / 2.0;
+ intake_goal_ = -1.2;
+
+ suction_on_ = false;
+ suction_gamepiece_ = 1;
+
+ elevator_max_velocity_ = 0.0;
+ elevator_max_acceleration_ = 0.0;
+ wrist_max_velocity_ = 0.0;
+ wrist_max_acceleration_ = 0.0;
+
+ InitializeEncoders();
+ SendSuperstructureGoal();
+
+ {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start on the left l2.
+ localizer_resetter->x = 1.0;
+ localizer_resetter->y = 1.5 * turn_scalar;
+ localizer_resetter->theta = M_PI;
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ // Wait for the drivetrain to run so it has time to reset the heading.
+ // Otherwise our drivetrain reset will do a 180 right at the start.
+ drivetrain_queue.status.FetchAnother();
+ LOG(INFO, "Heading is %f\n", drivetrain_queue.status->estimated_heading);
+ InitializeEncoders();
+ ResetDrivetrain();
+ drivetrain_queue.status.FetchAnother();
+ LOG(INFO, "Heading is %f\n", drivetrain_queue.status->estimated_heading);
+
+ ResetDrivetrain();
+ InitializeEncoders();
+}
+
+const ProfileParameters kJumpDrive = {2.0, 3.0};
+const ProfileParameters kDrive = {4.0, 3.0};
+const ProfileParameters kTurn = {5.0, 15.0};
+
+bool AutonomousActor::RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) {
+ monotonic_clock::time_point start_time = monotonic_clock::now();
+ LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
+ Reset();
+
+ // Grab the disk, wait until we have vacuum, then jump
+ set_elevator_goal(0.01);
+ set_wrist_goal(-M_PI / 2.0);
+ set_intake_goal(-1.2);
+ set_suction_goal(true, 1);
+ SendSuperstructureGoal();
+
+ if (!WaitForGamePiece()) return true;
+ LOG(INFO, "Has game piece\n");
+
+ StartDrive(-4.0, 0.0, kJumpDrive, kTurn);
+ if (!WaitForDriveNear(3.3, 10.0)) return true;
+ LOG(INFO, "Lifting\n");
+ set_elevator_goal(0.30);
+ SendSuperstructureGoal();
+
+ if (!WaitForDriveNear(2.8, 10.0)) return true;
+ LOG(INFO, "Off the platform\n");
+
+ StartDrive(0.0, 1.00 * turn_scalar, kDrive, kTurn);
+ LOG(INFO, "Turn started\n");
+ if (!WaitForSuperstructureDone()) return true;
+ LOG(INFO, "Superstructure done\n");
+
+ if (!WaitForDriveNear(0.7, 10.0)) return true;
+ StartDrive(0.0, -0.35 * turn_scalar, kDrive, kTurn);
+
+ LOG(INFO, "Elevator up\n");
+ set_elevator_goal(0.01);
+ SendSuperstructureGoal();
+
+ if (!WaitForDriveDone()) return true;
+ LOG(INFO, "Done driving\n");
+
+ if (!WaitForSuperstructureDone()) return true;
+
+ LOG(INFO, "Done %f\n", DoubleSeconds(monotonic_clock::now() - start_time));
+
+ return true;
+}
+
+} // namespace actors
+} // namespace y2019
diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
new file mode 100644
index 0000000..82e1aeb
--- /dev/null
+++ b/y2019/actors/autonomous_actor.h
@@ -0,0 +1,158 @@
+#ifndef Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
+#define Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
+
+#include <chrono>
+#include <memory>
+
+#include "aos/actions/actions.h"
+#include "aos/actions/actor.h"
+#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "y2019/control_loops/superstructure/superstructure.q.h"
+
+namespace y2019 {
+namespace actors {
+
+using ::frc971::ProfileParameters;
+using ::y2019::control_loops::superstructure::superstructure_queue;
+
+class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
+ public:
+ explicit AutonomousActor(::frc971::autonomous::AutonomousActionQueueGroup *s);
+
+ bool RunAction(
+ const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
+
+ private:
+ void Reset();
+
+ double elevator_goal_ = 0.0;
+ double wrist_goal_ = 0.0;
+ double intake_goal_ = 0.0;
+
+ bool suction_on_ = true;
+ int suction_gamepiece_ = 1;
+
+ double elevator_max_velocity_ = 0.0;
+ double elevator_max_acceleration_ = 0.0;
+ double wrist_max_velocity_ = 0.0;
+ double wrist_max_acceleration_ = 0.0;
+
+ void set_elevator_goal(double elevator_goal) {
+ elevator_goal_ = elevator_goal;
+ }
+ void set_wrist_goal(double wrist_goal) { wrist_goal_ = wrist_goal; }
+ void set_intake_goal(double intake_goal) { intake_goal_ = intake_goal; }
+
+ void set_suction_goal(bool on, int gamepiece_mode) {
+ suction_on_ = on;
+ suction_gamepiece_ = gamepiece_mode;
+ }
+
+ void set_elevator_max_velocity(double elevator_max_velocity) {
+ elevator_max_velocity_ = elevator_max_velocity;
+ }
+ void set_elevator_max_acceleration(double elevator_max_acceleration) {
+ elevator_max_acceleration_ = elevator_max_acceleration;
+ }
+ void set_wrist_max_velocity(double wrist_max_velocity) {
+ wrist_max_velocity_ = wrist_max_velocity;
+ }
+ void set_wrist_max_acceleration(double wrist_max_acceleration) {
+ wrist_max_acceleration_ = wrist_max_acceleration;
+ }
+
+ void SendSuperstructureGoal() {
+ auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
+ new_superstructure_goal->elevator.unsafe_goal = elevator_goal_;
+ new_superstructure_goal->wrist.unsafe_goal = wrist_goal_;
+ new_superstructure_goal->intake.unsafe_goal = intake_goal_;
+
+ new_superstructure_goal->suction.grab_piece = suction_on_;
+ new_superstructure_goal->suction.gamepiece_mode = suction_gamepiece_;
+
+ new_superstructure_goal->elevator.profile_params.max_velocity =
+ elevator_max_velocity_;
+ new_superstructure_goal->elevator.profile_params.max_acceleration =
+ elevator_max_acceleration_;
+
+ new_superstructure_goal->wrist.profile_params.max_velocity =
+ wrist_max_velocity_;
+ new_superstructure_goal->wrist.profile_params.max_acceleration =
+ wrist_max_acceleration_;
+
+ if (!new_superstructure_goal.Send()) {
+ LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+ }
+
+ bool IsSucked() {
+ superstructure_queue.status.FetchLatest();
+
+ if (superstructure_queue.status.get()) {
+ return superstructure_queue.status->has_piece;
+ }
+ return false;
+ }
+
+ bool WaitForGamePiece() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ if (IsSucked()) {
+ return true;
+ }
+ }
+ }
+
+ bool IsSuperstructureDone() {
+ superstructure_queue.status.FetchLatest();
+
+ double kElevatorTolerance = 0.01;
+ double kWristTolerance = 0.05;
+
+ if (superstructure_queue.status.get()) {
+ const bool elevator_at_goal =
+ ::std::abs(elevator_goal_ -
+ superstructure_queue.status->elevator.position) <
+ kElevatorTolerance;
+
+ const bool wrist_at_goal =
+ ::std::abs(wrist_goal_ -
+ superstructure_queue.status->wrist.position) <
+ kWristTolerance;
+
+ return elevator_at_goal && wrist_at_goal;
+ }
+ return false;
+ }
+
+ bool WaitForSuperstructureDone() {
+ ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+ ::std::chrono::milliseconds(5) / 2);
+
+ while (true) {
+ if (ShouldCancel()) {
+ return false;
+ }
+ phased_loop.SleepUntilNext();
+ superstructure_queue.status.FetchLatest();
+ superstructure_queue.goal.FetchLatest();
+ if (IsSuperstructureDone()) {
+ return true;
+ }
+ }
+ }
+};
+
+} // namespace actors
+} // namespace y2019
+
+#endif // Y2019_ACTORS_AUTONOMOUS_ACTOR_H_
diff --git a/y2019/actors/autonomous_actor_main.cc b/y2019/actors/autonomous_actor_main.cc
new file mode 100644
index 0000000..0a77eb9
--- /dev/null
+++ b/y2019/actors/autonomous_actor_main.cc
@@ -0,0 +1,16 @@
+#include <stdio.h>
+
+#include "aos/init.h"
+#include "frc971/autonomous/auto.q.h"
+#include "y2019/actors/autonomous_actor.h"
+
+int main(int /*argc*/, char * /*argv*/ []) {
+ ::aos::Init(-1);
+
+ ::y2019::actors::AutonomousActor autonomous(
+ &::frc971::autonomous::autonomous_action);
+ autonomous.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}
diff --git a/y2019/constants.cc b/y2019/constants.cc
index 285cb21..aac1f95 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -143,9 +143,9 @@
stilts_params->zeroing_constants.allowable_encoder_error = 0.9;
r->camera_noise_parameters = {.max_viewable_distance = 10.0,
- .heading_noise = 0.2,
+ .heading_noise = 0.25,
.nominal_distance_noise = 0.3,
- .nominal_skew_noise = 0.35,
+ .nominal_skew_noise = 0.45,
.nominal_height_noise = 0.01};
// Deliberately make FOV a bit large so that we are overly conservative in
@@ -178,16 +178,19 @@
break;
case kCompTeamNumber:
- elevator_params->zeroing_constants.measured_absolute_position = 0.024407;
- elevator->potentiometer_offset = -0.075017 + 0.015837 + 0.009793 - 0.012017;
+ elevator_params->zeroing_constants.measured_absolute_position = 0.160736;
+ elevator->potentiometer_offset =
+ -0.075017 + 0.015837 + 0.009793 - 0.012017 + 0.019915 + 0.010126 +
+ 0.005541 + 0.006088 - 0.039687 + 0.005843;
intake->zeroing_constants.measured_absolute_position = 1.860016;
- wrist_params->zeroing_constants.measured_absolute_position = 0.163840;
- wrist->potentiometer_offset = -4.257454;
+ wrist_params->zeroing_constants.measured_absolute_position = 0.164498;
+ wrist->potentiometer_offset = -4.257454 - 0.058039;
- stilts_params->zeroing_constants.measured_absolute_position = 0.030049;
- stilts->potentiometer_offset = -0.015760 + 0.011604;
+ stilts_params->zeroing_constants.measured_absolute_position = 0.066843;
+ stilts->potentiometer_offset = -0.015760 + 0.011604 - 0.061213 + 0.006690;
+ FillCameraPoses(vision::CompBotTeensyId(), &r->cameras);
break;
case kPracticeTeamNumber:
@@ -308,59 +311,74 @@
constexpr double kHpSlotY = InchToMeters((26 * 12 + 10.5) / 2.0 - 25.9);
constexpr double kHpSlotTheta = M_PI;
- constexpr double kNormalZ = 0.85;
- constexpr double kPortZ = 1.04;
+ constexpr double kNormalZ = 0.80;
+ constexpr double kPortZ = 1.00;
- const Pose far_side_cargo_bay({kFarSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
- const Pose mid_side_cargo_bay({kMidSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
- const Pose near_side_cargo_bay({kNearSideCargoBayX, kSideCargoBayY, kNormalZ},
- kSideCargoBayTheta);
+ constexpr double kDiscRadius = InchToMeters(19.0 / 2.0);
+ // radius to use for placing the ball (not necessarily the radius of the ball
+ // itself...).
+ constexpr double kBallRadius = 0.05;
- const Pose face_cargo_bay({kFaceCargoBayX, kFaceCargoBayY, kNormalZ},
- kFaceCargoBayTheta);
+ constexpr Target::GoalType kBothGoal = Target::GoalType::kBoth;
+ constexpr Target::GoalType kBallGoal = Target::GoalType::kBalls;
+ constexpr Target::GoalType kDiscGoal = Target::GoalType::kHatches;
+ constexpr Target::GoalType kNoneGoal = Target::GoalType::kNone;
- const Pose rocket_port({kRocketPortX, kRocketPortY, kPortZ},
- kRocketPortTheta);
+ const Target far_side_cargo_bay(
+ {{kFarSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, kBothGoal);
+ const Target mid_side_cargo_bay(
+ {{kMidSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, kBothGoal);
+ const Target near_side_cargo_bay(
+ {{kNearSideCargoBayX, kSideCargoBayY, kNormalZ}, kSideCargoBayTheta},
+ kDiscRadius, kBothGoal);
- const Pose rocket_near({kRocketNearX, kRocketHatchY, kNormalZ},
- kRocketNearTheta);
- const Pose rocket_far({kRocketFarX, kRocketHatchY, kNormalZ},
- kRocketFarTheta);
+ const Target face_cargo_bay(
+ {{kFaceCargoBayX, kFaceCargoBayY, kNormalZ}, kFaceCargoBayTheta},
+ kDiscRadius, kBothGoal);
- const Pose hp_slot({0.0, kHpSlotY, kNormalZ}, kHpSlotTheta);
+ const Target rocket_port(
+ {{kRocketPortX, kRocketPortY, kPortZ}, kRocketPortTheta}, kBallRadius,
+ kBallGoal);
- const ::std::array<Pose, 8> quarter_field_targets{
+ const Target rocket_near(
+ {{kRocketNearX, kRocketHatchY, kNormalZ}, kRocketNearTheta}, kDiscRadius,
+ kDiscGoal);
+ const Target rocket_far(
+ {{kRocketFarX, kRocketHatchY, kNormalZ}, kRocketFarTheta}, kDiscRadius,
+ kDiscGoal);
+
+ const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.05,
+ kBothGoal);
+
+ const ::std::array<Target, 8> quarter_field_targets{
{far_side_cargo_bay, mid_side_cargo_bay, near_side_cargo_bay,
face_cargo_bay, rocket_port, rocket_near, rocket_far, hp_slot}};
// Mirror across center field mid-line (short field axis):
- ::std::array<Pose, 16> half_field_targets;
+ ::std::array<Target, 16> half_field_targets;
::std::copy(quarter_field_targets.begin(), quarter_field_targets.end(),
half_field_targets.begin());
for (int ii = 0; ii < 8; ++ii) {
const int jj = ii + 8;
half_field_targets[jj] = quarter_field_targets[ii];
- half_field_targets[jj].mutable_pos()->x() =
- 2.0 * kCenterFieldX - half_field_targets[jj].rel_pos().x();
- half_field_targets[jj].set_theta(
- aos::math::NormalizeAngle(M_PI - half_field_targets[jj].rel_theta()));
+ half_field_targets[jj].mutable_pose()->mutable_pos()->x() =
+ 2.0 * kCenterFieldX - half_field_targets[jj].pose().rel_pos().x();
+ half_field_targets[jj].mutable_pose()->set_theta(aos::math::NormalizeAngle(
+ M_PI - half_field_targets[jj].pose().rel_theta()));
+ // Targets on the opposite side of the field can't be driven to.
+ half_field_targets[jj].set_goal_type(kNoneGoal);
}
- ::std::array<Pose, 32> target_poses_;
-
// Mirror across x-axis (long field axis):
::std::copy(half_field_targets.begin(), half_field_targets.end(),
- target_poses_.begin());
+ targets_.begin());
for (int ii = 0; ii < 16; ++ii) {
const int jj = ii + 16;
- target_poses_[jj] = half_field_targets[ii];
- target_poses_[jj].mutable_pos()->y() *= -1;
- target_poses_[jj].set_theta(-target_poses_[jj].rel_theta());
- }
- for (int ii = 0; ii < 32; ++ii) {
- targets_[ii] = {target_poses_[ii]};
+ targets_[jj] = half_field_targets[ii];
+ targets_[jj].mutable_pose()->mutable_pos()->y() *= -1;
+ targets_[jj].mutable_pose()->set_theta(-targets_[jj].pose().rel_theta());
}
// Define rocket obstacles as just being a single line that should block any
diff --git a/y2019/control_loops/drivetrain/camera.h b/y2019/control_loops/drivetrain/camera.h
index d59ac21..73079c9 100644
--- a/y2019/control_loops/drivetrain/camera.h
+++ b/y2019/control_loops/drivetrain/camera.h
@@ -34,12 +34,32 @@
class TypedTarget {
public:
typedef ::frc971::control_loops::TypedPose<Scalar> Pose;
- TypedTarget(const Pose &pose) : pose_(pose) {}
+ // The nature of the target as a goal--to mark what modes it is a valid
+ // potential goal pose and to mark targets on the opposite side of the field
+ // as not being viable targets.
+ enum class GoalType {
+ // None marks targets that are on the opposite side of the field and not
+ // viable goal poses.
+ kNone,
+ // Spots where we can touch hatch panels.
+ kHatches,
+ // Spots where we can mess with balls.
+ kBalls,
+ // Spots for both (cargo ship, human loading).
+ kBoth,
+ };
+ TypedTarget(const Pose &pose, double radius = 0,
+ GoalType goal_type = GoalType::kBoth)
+ : pose_(pose), radius_(radius), goal_type_(goal_type) {}
TypedTarget() {}
Pose pose() const { return pose_; }
+ Pose *mutable_pose() { return &pose_; }
bool occluded() const { return occluded_; }
void set_occluded(bool occluded) { occluded_ = occluded; }
+ double radius() const { return radius_; }
+ GoalType goal_type() const { return goal_type_; }
+ void set_goal_type(GoalType goal_type) { goal_type_ = goal_type; }
// Get a list of points for plotting. These points should be plotted on
// an x/y plane in the global frame with lines connecting the points.
@@ -63,6 +83,13 @@
private:
Pose pose_;
bool occluded_ = false;
+ // The effective radius of the target--for placing discs, this should be the
+ // radius of the disc; for fetching discs and working with balls this should
+ // be near zero.
+ // TODO(james): We may actually want a non-zero (possibly negative?) number
+ // here for balls.
+ double radius_ = 0.0;
+ GoalType goal_type_ = GoalType::kBoth;
}; // class TypedTarget
typedef TypedTarget<double> Target;
diff --git a/y2019/control_loops/drivetrain/camera_test.cc b/y2019/control_loops/drivetrain/camera_test.cc
index d0a4b85..347e84c 100644
--- a/y2019/control_loops/drivetrain/camera_test.cc
+++ b/y2019/control_loops/drivetrain/camera_test.cc
@@ -8,12 +8,14 @@
// Check that a Target's basic operations work.
TEST(TargetTest, BasicTargetTest) {
- Target target({{1, 2, 3}, M_PI / 2.0});
+ Target target({{1, 2, 3}, M_PI / 2.0}, 1.234, Target::GoalType::kHatches);
EXPECT_EQ(1.0, target.pose().abs_pos().x());
EXPECT_EQ(2.0, target.pose().abs_pos().y());
EXPECT_EQ(3.0, target.pose().abs_pos().z());
EXPECT_EQ(M_PI / 2.0, target.pose().abs_theta());
+ EXPECT_EQ(1.234, target.radius());
+ EXPECT_EQ(Target::GoalType::kHatches, target.goal_type());
EXPECT_FALSE(target.occluded());
target.set_occluded(true);
diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 1dfe99a..089bdf0 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -26,7 +26,7 @@
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
- ::frc971::control_loops::drivetrain::IMUType::IMU_X,
+ ::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
drivetrain::MakeDrivetrainLoop,
drivetrain::MakeVelocityDrivetrainLoop,
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index e086e36..f0732a3 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -296,7 +296,7 @@
.Send();
RunForTime(chrono::seconds(3));
VerifyNearGoal();
- VerifyEstimatorAccurate(1e-4);
+ VerifyEstimatorAccurate(5e-4);
}
namespace {
@@ -307,12 +307,12 @@
// forward from roughly the right spot gets us to the HP slot.
TEST_F(LocalizedDrivetrainTest, LineFollowToHPSlot) {
set_enable_cameras(false);
- SetStartingPosition({4, 3, M_PI});
+ SetStartingPosition({4, HPSlotLeft().abs_pos().y(), M_PI});
my_drivetrain_queue_.goal.MakeWithBuilder()
.controller_type(3)
.throttle(0.9)
.Send();
- RunForTime(chrono::seconds(10));
+ RunForTime(chrono::seconds(6));
VerifyEstimatorAccurate(1e-8);
// Due to the fact that we aren't modulating the throttle, we don't try to hit
diff --git a/y2019/control_loops/drivetrain/target_selector.cc b/y2019/control_loops/drivetrain/target_selector.cc
index 449ce64..b7b7448 100644
--- a/y2019/control_loops/drivetrain/target_selector.cc
+++ b/y2019/control_loops/drivetrain/target_selector.cc
@@ -36,8 +36,16 @@
// means the largest target in the camera view).
double largest_target_noise = ::std::numeric_limits<double>::infinity();
for (const auto &view : target_views) {
+ // Skip targets that aren't viable for going to (e.g., on the opposite side
+ // of the field).
+ // TODO(james): Support ball vs. hatch mode filtering.
+ if (view.target->goal_type() == Target::GoalType::kNone ||
+ view.target->goal_type() == Target::GoalType::kBalls) {
+ continue;
+ }
if (view.noise.distance < largest_target_noise) {
target_pose_ = view.target->pose();
+ target_radius_ = view.target->radius();
largest_target_noise = view.noise.distance;
}
}
diff --git a/y2019/control_loops/drivetrain/target_selector.h b/y2019/control_loops/drivetrain/target_selector.h
index 965d7cc..7d09306 100644
--- a/y2019/control_loops/drivetrain/target_selector.h
+++ b/y2019/control_loops/drivetrain/target_selector.h
@@ -33,6 +33,8 @@
double command_speed) override;
Pose TargetPose() const override { return target_pose_; }
+ double TargetRadius() const override { return target_radius_; }
+
private:
static constexpr double kFakeFov = M_PI * 0.7;
// Longitudinal speed at which the robot must be going in order for us to make
@@ -40,6 +42,7 @@
static constexpr double kMinDecisionSpeed = 0.7; // m/s
Pose robot_pose_;
Pose target_pose_;
+ double target_radius_;
// For the noise of our fake cameras, we only really care about the max
// distance, which will be the maximum distance we let ourselves guide in
// from. The distance noise is set so that we can use the camera's estimate of
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 4b440c2..20bf19a 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -13,7 +13,7 @@
// Accessors to get some useful particular targets on the field:
Pose HPSlotLeft() { return constants::Field().targets()[7].pose(); }
Pose CargoNearLeft() { return constants::Field().targets()[2].pose(); }
-Pose RocketPortalLeft() { return constants::Field().targets()[4].pose(); }
+Pose RocketHatchFarLeft() { return constants::Field().targets()[6].pose(); }
} // namespace
// Tests the target selector with:
@@ -72,7 +72,7 @@
TestParams{(State() << 4.0, 2.0, M_PI, 0.5, 0.5).finished(), 1.0, true,
HPSlotLeft()},
// Put ourselves between the rocket and cargo ship; we should see the
- // portal driving one direction and the near cargo ship port the other.
+ // hatches driving one direction and the near cargo ship port the other.
// We also command a speed opposite the current direction of motion and
// confirm that that behaves as expected.
TestParams{(State() << 6.0, 2.0, -M_PI_2, -0.5, -0.5).finished(), 1.0,
@@ -80,9 +80,9 @@
TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(), -1.0,
true, CargoNearLeft()},
TestParams{(State() << 6.0, 2.0, -M_PI_2, 0.5, 0.5).finished(), -1.0,
- true, RocketPortalLeft()},
+ true, RocketHatchFarLeft()},
TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, -0.5).finished(), 1.0,
- true, RocketPortalLeft()},
+ true, RocketHatchFarLeft()},
// And we shouldn't see anything spinning in place:
TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, 0.5).finished(),
0.0,
diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
index e2d6eec..4a68fde 100644
--- a/y2019/control_loops/python/drivetrain.py
+++ b/y2019/control_loops/python/drivetrain.py
@@ -25,7 +25,7 @@
wheel_radius=4.0 * 0.0254 / 2.0,
G=9.0 / 52.0,
q_pos=0.14,
- q_vel=0.95,
+ q_vel=1.30,
efficiency=0.80,
has_imu=True,
force=True,
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 524a1ba..87afdfa 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -27,6 +27,7 @@
":superstructure_queue",
":vacuum",
"//aos/controls:control_loop",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2019:constants",
"//y2019:status_light",
],
@@ -48,6 +49,7 @@
"//frc971/control_loops:capped_test_plant",
"//frc971/control_loops:position_sensor_sim",
"//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2019:status_light",
"//y2019/control_loops/superstructure/intake:intake_plants",
],
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 7fc80cd..90a45f6 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -60,7 +60,7 @@
// Angle constraints for the wrist when below kElevatorClearDownHeight
static constexpr double kWristMaxAngle = M_PI / 2.0 + 0.05;
- static constexpr double kWristMinAngle = -M_PI / 2.0 - 0.05;
+ static constexpr double kWristMinAngle = -M_PI / 2.0 - 0.25;
// Angles outside of which the intake is fully clear of the wrist.
static constexpr double kIntakeOutAngle = 0.3;
diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index dd332b8..a9c7ce1 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -2,6 +2,7 @@
#include "aos/controls/control_loops.q.h"
#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2019/status_light.q.h"
@@ -92,19 +93,48 @@
intake_.set_min_position(collision_avoidance_.min_intake_goal());
intake_.set_max_position(collision_avoidance_.max_intake_goal());
+ ::frc971::control_loops::drivetrain_queue.status.FetchLatest();
+
if (status && unsafe_goal) {
// Light Logic
if (status->estopped) {
// Estop is red
- SendColors(0.5, 0.0, 0.0);
- } else if (unsafe_goal->suction.gamepiece_mode == 0) {
- // Ball mode is blue
- SendColors(0.0, 0.0, 0.5);
- } else if (unsafe_goal->suction.gamepiece_mode == 1) {
- // Disk mode is yellow
- SendColors(0.5, 0.5, 0.0);
+ SendColors(1.0, 0.0, 0.0);
+ } else if (::frc971::control_loops::drivetrain_queue.status.get() &&
+ ::frc971::control_loops::drivetrain_queue.status
+ ->line_follow_logging.frozen) {
+ // Vision align is flashing white.
+ ++line_blink_count_;
+ if (line_blink_count_ < 20) {
+ SendColors(1.0, 1.0, 1.0);
+ } else {
+ // And then flash with green if we have a game piece.
+ if (status->has_piece) {
+ SendColors(0.0, 1.0, 0.0);
+ } else {
+ SendColors(0.0, 0.0, 0.0);
+ }
+ }
+
+ if (line_blink_count_ > 40) {
+ line_blink_count_ = 0;
+ }
} else {
- SendColors(0.0, 0.0, 0.0);
+ line_blink_count_ = 0;
+ if (status->has_piece) {
+ // Green if we have a game piece.
+ SendColors(0.0, 1.0, 0.0);
+ } else if (unsafe_goal->suction.gamepiece_mode == 0 &&
+ !status->has_piece) {
+ // Ball mode is orange
+ SendColors(1.0, 0.1, 0.0);
+ } else if (unsafe_goal->suction.gamepiece_mode == 1 &&
+ !status->has_piece) {
+ // Disk mode is deep blue
+ SendColors(0.05, 0.1, 0.5);
+ } else {
+ SendColors(0.0, 0.0, 0.0);
+ }
}
}
}
diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 626c84b..2df9026 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -50,6 +50,8 @@
CollisionAvoidance collision_avoidance_;
+ int line_blink_count_ = 0;
+
static constexpr double kMinIntakeAngleForRollers = -0.7;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 4d3de51..dd327ee 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -6,16 +6,17 @@
#include "aos/controls/control_loop_test.h"
#include "aos/queue.h"
#include "frc971/control_loops/capped_test_plant.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2019/constants.h"
-#include "y2019/status_light.q.h"
#include "y2019/control_loops/superstructure/elevator/elevator_plant.h"
#include "y2019/control_loops/superstructure/intake/intake_plant.h"
#include "y2019/control_loops/superstructure/stilts/stilts_plant.h"
#include "y2019/control_loops/superstructure/superstructure.h"
#include "y2019/control_loops/superstructure/wrist/wrist_plant.h"
+#include "y2019/status_light.q.h"
namespace y2019 {
namespace control_loops {
@@ -290,6 +291,7 @@
"position"),
superstructure_(&event_loop_) {
status_light.Clear();
+ ::frc971::control_loops::drivetrain_queue.status.Clear();
set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
diff --git a/y2019/image_streamer/flip_image.cc b/y2019/image_streamer/flip_image.cc
index 6ff00ed..2db20b2 100644
--- a/y2019/image_streamer/flip_image.cc
+++ b/y2019/image_streamer/flip_image.cc
@@ -6,10 +6,12 @@
#include "third_party/cimg/CImg.h"
void flip_image(const char *input, const int input_size, JOCTET *buffer,
- unsigned int *buffer_size) {
+ unsigned int *buffer_size, bool flip) {
::cimg_library::CImg<unsigned char> image;
image.load_jpeg_buffer((JOCTET *)(input), input_size);
- image.mirror("xy");
+ if (flip) {
+ image.mirror("xy");
+ }
image.save_jpeg_buffer(buffer, *buffer_size, 80);
}
diff --git a/y2019/image_streamer/flip_image.h b/y2019/image_streamer/flip_image.h
index 6a59e96..7c31774 100644
--- a/y2019/image_streamer/flip_image.h
+++ b/y2019/image_streamer/flip_image.h
@@ -7,6 +7,6 @@
#include "third_party/libjpeg/jpeglib.h"
void flip_image(const char *input, const int input_size, JOCTET *buffer,
- unsigned int *buffer_size);
+ unsigned int *buffer_size, bool flip_image);
#endif // Y2019_IMAGE_STREAMER_FLIP_IMAGE_H
diff --git a/y2019/image_streamer/image_streamer.cc b/y2019/image_streamer/image_streamer.cc
index ed581e2..ebcd0b2 100644
--- a/y2019/image_streamer/image_streamer.cc
+++ b/y2019/image_streamer/image_streamer.cc
@@ -280,15 +280,12 @@
sampling = 0;
}
- std::string image_out;
+ ::std::string image_out;
- if (flip_) {
- unsigned int out_size = image_buffer_out_.size();
- flip_image(data.data(), data.size(), &image_buffer_out_[0], &out_size);
- image_out.assign(&image_buffer_out_[0], &image_buffer_out_[out_size]);
- } else {
- image_out = std::string(data);
- }
+ unsigned int out_size = image_buffer_out_.size();
+ flip_image(data.data(), data.size(), &image_buffer_out_[0], &out_size,
+ flip_);
+ image_out.assign(&image_buffer_out_[0], &image_buffer_out_[out_size]);
if (active_) {
auto frame = std::make_shared<Frame>(Frame{image_out});
diff --git a/y2019/jevois/teensy.cc b/y2019/jevois/teensy.cc
index 45a35b0..570892f 100644
--- a/y2019/jevois/teensy.cc
+++ b/y2019/jevois/teensy.cc
@@ -508,28 +508,6 @@
PERIPHERAL_BITBAND(GPIOD_PDDR, 1) = 0;
PORTD_PCR1 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- // Set LED pins to GPIO.
- PERIPHERAL_BITBAND(GPIOC_PDDR, 11) = 1;
- PORTC_PCR11 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 10) = 1;
- PORTC_PCR10 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 8) = 1;
- PORTC_PCR8 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 9) = 1;
- PORTC_PCR9 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOB_PDDR, 18) = 1;
- PORTB_PCR18 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 2) = 1;
- PORTC_PCR2 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOD_PDDR, 7) = 1;
- PORTD_PCR7 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOC_PDDR, 1) = 1;
- PORTC_PCR1 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOB_PDDR, 19) = 1;
- PORTB_PCR19 = PORT_PCR_DSE | PORT_PCR_MUX(1);
- PERIPHERAL_BITBAND(GPIOD_PDDR, 5) = 1;
- PORTD_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
-
auto next = aos::monotonic_clock::now();
static constexpr auto kTick = std::chrono::seconds(1);
while (true) {
@@ -705,8 +683,8 @@
packetizers[i].clear_received_packet();
if (decoded) {
if (verbose) {
- printf("uart frame cam %d, %d targets\n", (int)i,
- (int)decoded->targets.size());
+ printf("uart frame cam %d, %d targets\n", static_cast<int>(i),
+ static_cast<int>(decoded->targets.size()));
}
frame_queue.UpdateFrame(i, *decoded);
light_rings[i].last_frame = aos::monotonic_clock::now();
@@ -763,7 +741,6 @@
const y2019::vision::CameraCalibration *const constants =
y2019::vision::GetCamera(y2019::vision::CameraSerialNumbers(
ProcessorIdentifier())[i]);
- (void)constants;
calibration.calibration(0, 0) = constants->intrinsics.mount_angle;
calibration.calibration(0, 1) = constants->intrinsics.focal_length;
calibration.calibration(0, 2) = constants->intrinsics.barrel_mount;
@@ -892,6 +869,9 @@
// Clear the interrupt flag now that we've reconfigured it.
PORTA_ISFR = 1 << 17;
+ // For now, we have no need to dim the LEDs, so we're just going to set them
+ // all to GPIO mode for simplicity of programming.
+#if 0
// FTM0_CH0 is LED0 (7 in silkscreen, a beacon channel).
PORTC_PCR1 = PORT_PCR_DSE | PORT_PCR_MUX(4);
// FTM0_CH1 is LED1 (5 in silkscreen, a beacon channel).
@@ -914,6 +894,29 @@
PORTC_PCR10 = PORT_PCR_DSE | PORT_PCR_MUX(3);
// FTM3_CH7 is LED9 (for CAM0).
PORTC_PCR11 = PORT_PCR_DSE | PORT_PCR_MUX(3);
+#else
+ // Set all the LED pins to GPIO.
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 11) = 1;
+ PORTC_PCR11 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 10) = 1;
+ PORTC_PCR10 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 8) = 1;
+ PORTC_PCR8 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 9) = 1;
+ PORTC_PCR9 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOB_PDDR, 18) = 1;
+ PORTB_PCR18 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 2) = 1;
+ PORTC_PCR2 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOD_PDDR, 7) = 1;
+ PORTD_PCR7 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOC_PDDR, 1) = 1;
+ PORTC_PCR1 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOB_PDDR, 19) = 1;
+ PORTB_PCR19 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+ PERIPHERAL_BITBAND(GPIOD_PDDR, 5) = 1;
+ PORTD_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+#endif
// This hardware has been deactivated, but keep this comment for now to
// document which pins it is on.
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index b08d6b6..54d2694 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -2,6 +2,7 @@
#include <stdio.h>
#include <string.h>
#include <unistd.h>
+#include <chrono>
#include "aos/actions/actions.h"
#include "aos/init.h"
@@ -33,6 +34,8 @@
using ::aos::input::driver_station::POVLocation;
using ::aos::events::ProtoTXUdpSocket;
+namespace chrono = ::std::chrono;
+
namespace y2019 {
namespace input {
namespace joysticks {
@@ -73,18 +76,16 @@
const ButtonLocation kPanelHPIntakeBackward(5, 5);
const ButtonLocation kRelease(2, 4);
-const ButtonLocation kResetLocalizer(4, 3);
+const ButtonLocation kResetLocalizerLeftForwards(3, 14);
+const ButtonLocation kResetLocalizerLeftBackwards(4, 12);
-const ButtonLocation kAutoPanel(3, 10);
-const ButtonLocation kAutoPanelIntermediate(4, 6);
-
-const ElevatorWristPosition kAutoPanelPos{0.0, -M_PI / 2.0};
-const ElevatorWristPosition kAutoPanelIntermediatePos{0.34, -M_PI / 2.0};
+const ButtonLocation kResetLocalizerRightForwards(4, 1);
+const ButtonLocation kResetLocalizerRightBackwards(4, 11);
const ElevatorWristPosition kStowPos{0.36, 0.0};
-const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.04, M_PI / 2.0};
-const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.05, -M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.01, M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.015, -M_PI / 2.0};
const ElevatorWristPosition kPanelForwardLowerPos{0.0, M_PI / 2.0};
const ElevatorWristPosition kPanelBackwardLowerPos{0.0, -M_PI / 2.0};
@@ -98,17 +99,17 @@
const ElevatorWristPosition kPanelCargoForwardPos{0.0, M_PI / 2.0};
const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
-const ElevatorWristPosition kBallForwardLowerPos{0.46, M_PI / 2.0};
-const ElevatorWristPosition kBallBackwardLowerPos{0.15, -M_PI / 2.0};
+const ElevatorWristPosition kBallForwardLowerPos{0.42, M_PI / 2.0};
+const ElevatorWristPosition kBallBackwardLowerPos{0.14, -M_PI / 2.0};
const ElevatorWristPosition kBallForwardMiddlePos{1.16, 1.546};
-const ElevatorWristPosition kBallBackwardMiddlePos{0.876021, -1.546};
+const ElevatorWristPosition kBallBackwardMiddlePos{0.90, -1.546};
-const ElevatorWristPosition kBallForwardUpperPos{1.50, 0.961};
-const ElevatorWristPosition kBallBackwardUpperPos{1.41, -1.217};
+const ElevatorWristPosition kBallForwardUpperPos{1.51, 0.961};
+const ElevatorWristPosition kBallBackwardUpperPos{1.44, -1.217};
-const ElevatorWristPosition kBallCargoForwardPos{0.699044, 1.353};
-const ElevatorWristPosition kBallCargoBackwardPos{0.828265, -1.999};
+const ElevatorWristPosition kBallCargoForwardPos{0.739044, 1.353};
+const ElevatorWristPosition kBallCargoBackwardPos{0.868265, -1.999};
const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};
@@ -121,16 +122,28 @@
: ::aos::input::ActionJoystickInput(
event_loop,
::y2019::control_loops::drivetrain::GetDrivetrainConfig()) {
+ // Set teleop to immediately resume after auto ends for sandstorm mode.
+ set_run_teleop_in_auto(true);
+
const uint16_t team = ::aos::network::GetTeamNumber();
superstructure_queue.goal.FetchLatest();
if (superstructure_queue.goal.get()) {
grab_piece_ = superstructure_queue.goal->suction.grab_piece;
+ switch_ball_ = superstructure_queue.goal->suction.gamepiece_mode == 0;
}
video_tx_.reset(new ProtoTXUdpSocket<VisionControl>(
StringPrintf("10.%d.%d.179", team / 100, team % 100), 5000));
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) {
+ void AutoEnded() override {
+ LOG(INFO, "Auto ended, assuming disc and have piece\n");
+ grab_piece_ = true;
+ switch_ball_ = false;
+ }
+
+ void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ ::aos::monotonic_clock::time_point monotonic_now =
+ ::aos::monotonic_clock::now();
superstructure_queue.position.FetchLatest();
superstructure_queue.status.FetchLatest();
if (!superstructure_queue.status.get() ||
@@ -139,13 +152,55 @@
return;
}
+ if (!superstructure_queue.status->has_piece) {
+ last_not_has_piece_ = monotonic_now;
+ }
+
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
- if (data.PosEdge(kResetLocalizer)) {
+ if (data.PosEdge(kResetLocalizerLeftForwards)) {
auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the left feeder station.
localizer_resetter->x = 0.4;
localizer_resetter->y = 3.4;
localizer_resetter->theta = 0.0;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerLeftBackwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the left feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = 3.4;
+ localizer_resetter->theta = M_PI;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerRightForwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the right feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = -3.4;
+ localizer_resetter->theta = 0.0;
+
+ if (!localizer_resetter.Send()) {
+ LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
+
+ if (data.PosEdge(kResetLocalizerRightBackwards)) {
+ auto localizer_resetter = localizer_control.MakeMessage();
+ // Start at the right feeder station.
+ localizer_resetter->x = 0.4;
+ localizer_resetter->y = -3.4;
+ localizer_resetter->theta = M_PI;
+
if (!localizer_resetter.Send()) {
LOG(ERROR, "Failed to reset localizer.\n");
}
@@ -175,41 +230,6 @@
switch_ball_ = true;
}
- // TODO(sabina): max height please?
- if (data.IsPressed(kFallOver)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.71;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- } else if (data.IsPressed(kDeployStilt)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.50;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- if (stilts_was_above_) {
- new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
- } else {
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- }
- } else if (data.IsPressed(kHalfStilt)) {
- new_superstructure_goal->stilts.unsafe_goal = 0.345;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
- } else {
- new_superstructure_goal->stilts.unsafe_goal = 0.005;
- new_superstructure_goal->stilts.profile_params.max_velocity = 0.25;
- new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
- }
-
- if (superstructure_queue.status->stilts.position > 0.65) {
- stilts_was_above_ = true;
- } else if (superstructure_queue.status->stilts.position < 0.1) {
- stilts_was_above_ = false;
- }
-
- if (data.IsPressed(kAutoPanel)) {
- elevator_wrist_pos_ = kAutoPanelPos;
- } else if (data.IsPressed(kAutoPanelIntermediate)) {
- elevator_wrist_pos_ = kAutoPanelIntermediatePos;
- }
-
if (switch_ball_) {
if (superstructure_queue.status->has_piece) {
new_superstructure_goal->wrist.profile_params.max_acceleration = 20;
@@ -275,7 +295,8 @@
if (switch_ball_) {
if (kDoBallOutake ||
- (kDoBallIntake && !superstructure_queue.status->has_piece)) {
+ (kDoBallIntake &&
+ monotonic_now < last_not_has_piece_ + chrono::milliseconds(100))) {
new_superstructure_goal->intake.unsafe_goal = 0.959327;
}
@@ -287,12 +308,38 @@
if (kDoBallOutake) {
new_superstructure_goal->roller_voltage = -6.0;
} else {
- new_superstructure_goal->intake.unsafe_goal = -1.2;
new_superstructure_goal->roller_voltage = 0.0;
}
}
}
+ constexpr double kDeployStiltPosition = 0.5;
+
+ // TODO(sabina): max height please?
+ if (data.IsPressed(kFallOver)) {
+ new_superstructure_goal->stilts.unsafe_goal = 0.71;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 1.25;
+ } else if (data.IsPressed(kDeployStilt)) {
+ new_superstructure_goal->stilts.unsafe_goal = kDeployStiltPosition;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+ } else if (data.IsPressed(kHalfStilt)) {
+ new_superstructure_goal->stilts.unsafe_goal = 0.345;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ } else {
+ new_superstructure_goal->stilts.unsafe_goal = 0.005;
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.65;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 2.0;
+ }
+
+ if (superstructure_queue.status->stilts.position > kDeployStiltPosition &&
+ new_superstructure_goal->stilts.unsafe_goal == kDeployStiltPosition) {
+ new_superstructure_goal->stilts.profile_params.max_velocity = 0.30;
+ new_superstructure_goal->stilts.profile_params.max_acceleration = 0.75;
+ }
+
+
if (data.IsPressed(kRelease)) {
grab_piece_ = false;
}
@@ -316,7 +363,11 @@
LOG(ERROR, "Sending superstructure goal failed.\n");
}
- video_tx_->Send(vision_control_);
+ if (monotonic_now >
+ last_vision_control_ + ::std::chrono::milliseconds(50)) {
+ video_tx_->Send(vision_control_);
+ last_vision_control_ = monotonic_now;
+ }
}
private:
@@ -325,10 +376,15 @@
bool grab_piece_ = false;
bool switch_ball_ = false;
- bool stilts_was_above_ = false;
VisionControl vision_control_;
::std::unique_ptr<ProtoTXUdpSocket<VisionControl>> video_tx_;
+ ::aos::monotonic_clock::time_point last_vision_control_ =
+ ::aos::monotonic_clock::time_point::min();
+
+ // Time at which we last did not have a game piece.
+ ::aos::monotonic_clock::time_point last_not_has_piece_ =
+ ::aos::monotonic_clock::time_point::min();
};
} // namespace joysticks
diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index 5cfc52b..344e4da 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -60,6 +60,7 @@
restricted_to = VISION_TARGETS,
deps = [
":constants",
+ "//aos/util:math",
"//aos/vision/blob:contour",
"//aos/vision/blob:hierarchical_contour_merge",
"//aos/vision/blob:region_alloc",
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index 0fa8eda..310faf6 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,12 +7,12 @@
CameraCalibration camera_1 = {
{
- -0.874694 / 180.0 * M_PI, 338.619, 2.14651 / 180.0 * M_PI,
+ -0.873939 / 180.0 * M_PI, 338.976, 2.44587 / 180.0 * M_PI,
},
{
- {{-5.44063 * kInchesToMeters, 2.83405 * kInchesToMeters,
- 33.0386 * kInchesToMeters}},
- 181.723 / 180.0 * M_PI,
+ {{-5.46283 * kInchesToMeters, 2.98951 * kInchesToMeters,
+ 33.0848 * kInchesToMeters}},
+ 181.951 / 180.0 * M_PI,
},
{
1,
@@ -61,12 +61,12 @@
CameraCalibration camera_6 = {
{
- -1.17595 / 180.0 * M_PI, 346.997, 0.987547 / 180.0 * M_PI,
+ -1.15844 / 180.0 * M_PI, 348.161, 1.16894 / 180.0 * M_PI,
},
{
- {{4.88124 * kInchesToMeters, 2.15528 * kInchesToMeters,
- 33.1686 * kInchesToMeters}},
- -12.0018 / 180.0 * M_PI,
+ {{4.73183 * kInchesToMeters, 2.0984 * kInchesToMeters,
+ 33.2023 * kInchesToMeters}},
+ -11.8598 / 180.0 * M_PI,
},
{
6,
@@ -79,12 +79,12 @@
CameraCalibration camera_7 = {
{
- -2.30729 / 180.0 * M_PI, 339.894, 1.16684 / 180.0 * M_PI,
+ -2.24098 / 180.0 * M_PI, 339.231, 1.15487 / 180.0 * M_PI,
},
{
- {{3.62399 * kInchesToMeters, 3.94792 * kInchesToMeters,
- 33.3196 * kInchesToMeters}},
- 18.5828 / 180.0 * M_PI,
+ {{3.50224 * kInchesToMeters, 3.95441 * kInchesToMeters,
+ 33.3469 * kInchesToMeters}},
+ 18.6782 / 180.0 * M_PI,
},
{
7,
@@ -97,12 +97,12 @@
CameraCalibration camera_8 = {
{
- 37.0966 / 180.0 * M_PI, 339.997, 0.265968 / 180.0 * M_PI,
+ 37.1859 / 180.0 * M_PI, 339.517, 0.0405714 / 180.0 * M_PI,
},
{
- {{3.53674 * kInchesToMeters, 5.25891 * kInchesToMeters,
- 12.6869 * kInchesToMeters}},
- 92.4773 / 180.0 * M_PI,
+ {{3.57002 * kInchesToMeters, 5.26966 * kInchesToMeters,
+ 12.6807 * kInchesToMeters}},
+ 92.6787 / 180.0 * M_PI,
},
{
8,
@@ -115,12 +115,12 @@
CameraCalibration camera_9 = {
{
- 35.3461 / 180.0 * M_PI, 337.599, 3.34351 / 180.0 * M_PI,
+ 35.4154 / 180.0 * M_PI, 337.471, 3.30546 / 180.0 * M_PI,
},
{
- {{4.24216 * kInchesToMeters, -2.97032 * kInchesToMeters,
- 11.323 * kInchesToMeters}},
- -93.3026 / 180.0 * M_PI,
+ {{4.25679 * kInchesToMeters, -2.93066 * kInchesToMeters,
+ 11.3228 * kInchesToMeters}},
+ -93.219 / 180.0 * M_PI,
},
{
9,
@@ -133,12 +133,12 @@
CameraCalibration camera_10 = {
{
- -0.165199 / 180.0 * M_PI, 340.666, 0.596842 / 180.0 * M_PI,
+ -0.190556 / 180.0 * M_PI, 345.022, 0.468494 / 180.0 * M_PI,
},
{
- {{-5.23103 * kInchesToMeters, 2.96098 * kInchesToMeters,
- 33.2867 * kInchesToMeters}},
- 182.121 / 180.0 * M_PI,
+ {{-4.83005 * kInchesToMeters, 2.95565 * kInchesToMeters,
+ 33.3624 * kInchesToMeters}},
+ 182.204 / 180.0 * M_PI,
},
{
10,
@@ -151,12 +151,12 @@
CameraCalibration camera_14 = {
{
- -0.0729684 / 180.0 * M_PI, 343.569, 0.685893 / 180.0 * M_PI,
+ 0.108434 / 180.0 * M_PI, 338.756, 0.606249 / 180.0 * M_PI,
},
{
- {{5.53867 * kInchesToMeters, 2.08897 * kInchesToMeters,
- 33.1766 * kInchesToMeters}},
- -12.4121 / 180.0 * M_PI,
+ {{5.90372 * kInchesToMeters, 2.08009 * kInchesToMeters,
+ 33.1342 * kInchesToMeters}},
+ -12.4624 / 180.0 * M_PI,
},
{
14,
@@ -169,12 +169,12 @@
CameraCalibration camera_15 = {
{
- -0.715538 / 180.0 * M_PI, 336.509, 1.54169 / 180.0 * M_PI,
+ -0.855459 / 180.0 * M_PI, 348.799, 1.4559 / 180.0 * M_PI,
},
{
- {{4.57935 * kInchesToMeters, 4.16624 * kInchesToMeters,
- 33.433 * kInchesToMeters}},
- 20.9856 / 180.0 * M_PI,
+ {{3.15291 * kInchesToMeters, 4.16556 * kInchesToMeters,
+ 33.5924 * kInchesToMeters}},
+ 20.3884 / 180.0 * M_PI,
},
{
15,
@@ -205,12 +205,12 @@
CameraCalibration camera_17 = {
{
- 34.7631 / 180.0 * M_PI, 337.946, 2.48943 / 180.0 * M_PI,
+ 34.8231 / 180.0 * M_PI, 338.051, 2.43035 / 180.0 * M_PI,
},
{
- {{3.15808 * kInchesToMeters, -2.5734 * kInchesToMeters,
- 11.8507 * kInchesToMeters}},
- -92.1953 / 180.0 * M_PI,
+ {{3.17222 * kInchesToMeters, -2.49752 * kInchesToMeters,
+ 11.8333 * kInchesToMeters}},
+ -92.1018 / 180.0 * M_PI,
},
{
17,
@@ -223,12 +223,12 @@
CameraCalibration camera_18 = {
{
- 33.9292 / 180.0 * M_PI, 338.44, -1.71889 / 180.0 * M_PI,
+ 33.9761 / 180.0 * M_PI, 338.017, -2.32243 / 180.0 * M_PI,
},
{
- {{3.82945 * kInchesToMeters, 5.51444 * kInchesToMeters,
- 12.3803 * kInchesToMeters}},
- 96.0112 / 180.0 * M_PI,
+ {{3.95182 * kInchesToMeters, 5.50479 * kInchesToMeters,
+ 12.3506 * kInchesToMeters}},
+ 96.4141 / 180.0 * M_PI,
},
{
18,
diff --git a/y2019/vision/constants.h b/y2019/vision/constants.h
index faa16e1..b61bff7 100644
--- a/y2019/vision/constants.h
+++ b/y2019/vision/constants.h
@@ -82,6 +82,7 @@
// Serial number of the teensy for each robot.
constexpr uint32_t CodeBotTeensyId() { return 0xffff322e; }
constexpr uint32_t PracticeBotTeensyId() { return 0xffff3215; }
+constexpr uint32_t CompBotTeensyId() { return 0xffff3210; }
// Get the IDs of the cameras in each port for a particular teensy board.
// inlined so that we don't have to deal with including it in the autogenerated
@@ -92,6 +93,8 @@
return {{0, 0, 0, 16, 19}};
case PracticeBotTeensyId():
return {{14, 15, 18, 17, 1}};
+ case CompBotTeensyId():
+ return {{6, 7, 8, 9, 10}};
default:
return {{0, 0, 0, 0, 0}};
}
diff --git a/y2019/vision/debug_viewer.cc b/y2019/vision/debug_viewer.cc
index 14063c2..3c174b4 100644
--- a/y2019/vision/debug_viewer.cc
+++ b/y2019/vision/debug_viewer.cc
@@ -96,7 +96,7 @@
target_finder_.PreFilter(&imgs);
// Find polygons from blobs.
- std::vector<Polygon> raw_polys;
+ ::std::vector<Polygon> raw_polys;
for (const RangeImage &blob : imgs) {
// Convert blobs to contours in the corrected space.
ContourNode *contour = target_finder_.GetContour(blob);
@@ -142,9 +142,10 @@
std::vector<TargetComponent> target_component_list =
target_finder_.FillTargetComponentList(raw_polys, draw_components_);
if (draw_components_) {
- for (const TargetComponent &comp : target_component_list) {
- DrawComponent(comp, {0, 255, 255}, {0, 255, 255}, {255, 0, 0},
+ for (const TargetComponent &component : target_component_list) {
+ DrawComponent(component, {0, 255, 255}, {0, 255, 255}, {255, 0, 0},
{0, 0, 255});
+ overlay_.DrawCross(component.bottom_point, 4, {128, 0, 255});
}
}
@@ -162,11 +163,16 @@
for (const Target &target : target_list) {
results.emplace_back(
target_finder_.ProcessTargetToResult(target, draw_raw_IR_));
- if (draw_raw_IR_) DrawResult(results.back(), {255, 128, 0});
+ if (draw_raw_IR_) {
+ IntermediateResult updatable_result = results.back();
+ target_finder_.MaybePickAndUpdateResult(&updatable_result,
+ draw_raw_IR_);
+ DrawResult(updatable_result, {255, 128, 0});
+ }
}
// Check that our current results match possible solutions.
- results = target_finder_.FilterResults(results, 0);
+ results = target_finder_.FilterResults(results, 0, draw_results_);
if (draw_results_) {
for (const IntermediateResult &res : results) {
DrawTarget(res, {0, 255, 0});
@@ -326,8 +332,9 @@
} // namespace y2017
int main(int argc, char **argv) {
- y2019::vision::FilterHarness filter_harness;
::gflags::ParseCommandLineFlags(&argc, &argv, true);
+
+ y2019::vision::FilterHarness filter_harness;
aos::vision::DebugFrameworkMain(argc, argv, &filter_harness,
aos::vision::CameraParams());
}
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index 3d1e91f..304f4cb 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -153,7 +153,7 @@
const ::aos::vision::ImageFormat fmt{640, 480};
::aos::vision::BlobList imgs =
- ::aos::vision::FindBlobs(aos::vision::DoThresholdYUYV(
+ ::aos::vision::FindBlobs(aos::vision::SlowYuyvYThreshold(
fmt, frame.data.data(), TargetFinder::GetThresholdValue()));
target_finder.PreFilter(&imgs);
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
new file mode 100644
index 0000000..5da5762
--- /dev/null
+++ b/y2019/vision/server/BUILD
@@ -0,0 +1,45 @@
+load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
+load("//aos/downloader:downloader.bzl", "aos_downloader_dir")
+
+load("@build_bazel_rules_typescript//:defs.bzl", "ts_library")
+
+ts_library(
+ name = "demo5",
+ srcs = [
+ "demo.ts",
+ ],
+)
+
+gen_embedded(
+ name = "gen_embedded",
+ srcs = glob(
+ include = ["www_defaults/**/*"],
+ exclude = ["www/**/*"],
+ ),
+)
+
+aos_downloader_dir(
+ name = "www_files",
+ srcs = glob([
+ "www/**/*",
+ ]),
+ dir = "www",
+ visibility = ["//visibility:public"],
+)
+
+cc_binary(
+ name = "server",
+ srcs = [
+ "server.cc",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":gen_embedded",
+ "//aos:init",
+ "//aos/logging",
+ "//aos/time",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//third_party/seasocks",
+ "//y2019/control_loops/drivetrain:camera_queue",
+ ],
+)
diff --git a/y2019/vision/server/demo.ts b/y2019/vision/server/demo.ts
new file mode 100644
index 0000000..b310758
--- /dev/null
+++ b/y2019/vision/server/demo.ts
@@ -0,0 +1,5 @@
+declare var foo: number;
+
+foo = 5;
+
+console.log("Half the number of widgets is " + (foo / 2));
diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
new file mode 100644
index 0000000..c322322
--- /dev/null
+++ b/y2019/vision/server/server.cc
@@ -0,0 +1,190 @@
+#include <array>
+#include <memory>
+#include <set>
+#include <sstream>
+
+#include "aos/init.h"
+#include "aos/logging/logging.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "internal/Embedded.h"
+#include "seasocks/PrintfLogger.h"
+#include "seasocks/Server.h"
+#include "seasocks/StringUtil.h"
+#include "seasocks/WebSocket.h"
+#include "y2019/control_loops/drivetrain/camera.q.h"
+
+namespace y2019 {
+namespace vision {
+
+class WebsocketHandler : public seasocks::WebSocket::Handler {
+ public:
+ WebsocketHandler();
+ void onConnect(seasocks::WebSocket* connection) override;
+ void onData(seasocks::WebSocket* connection, const char* data) override;
+ void onDisconnect(seasocks::WebSocket* connection) override;
+
+ void SendData(const std::string &data);
+
+ private:
+ std::set<seasocks::WebSocket *> connections_;
+};
+
+WebsocketHandler::WebsocketHandler() {
+}
+
+void WebsocketHandler::onConnect(seasocks::WebSocket *connection) {
+ connections_.insert(connection);
+ LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void WebsocketHandler::onData(seasocks::WebSocket * /*connection*/,
+ const char *data) {
+ LOG(INFO, "Got data: %s\n", data);
+}
+
+void WebsocketHandler::onDisconnect(seasocks::WebSocket *connection) {
+ connections_.erase(connection);
+ LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
+ seasocks::formatAddress(connection->getRemoteAddress()).c_str());
+}
+
+void WebsocketHandler::SendData(const std::string &data) {
+ for (seasocks::WebSocket *websocket : connections_) {
+ websocket->send(reinterpret_cast<const uint8_t *>(data.data()),
+ data.size());
+ }
+}
+
+// TODO(Brian): Put this somewhere shared.
+class SeasocksLogger : public seasocks::PrintfLogger {
+ public:
+ SeasocksLogger(Level min_level_to_log) : PrintfLogger(min_level_to_log) {}
+ void log(Level level, const char* message) override;
+};
+
+void SeasocksLogger::log(Level level, const char *message) {
+ // Convert Seasocks error codes to AOS.
+ log_level aos_level;
+ switch (level) {
+ case seasocks::Logger::INFO:
+ aos_level = INFO;
+ break;
+ case seasocks::Logger::WARNING:
+ aos_level = WARNING;
+ break;
+ case seasocks::Logger::ERROR:
+ case seasocks::Logger::SEVERE:
+ aos_level = ERROR;
+ break;
+ case seasocks::Logger::DEBUG:
+ case seasocks::Logger::ACCESS:
+ default:
+ aos_level = DEBUG;
+ break;
+ }
+ LOG(aos_level, "Seasocks: %s\n", message);
+}
+
+struct LocalCameraTarget {
+ double x, y, theta;
+};
+
+struct LocalCameraFrame {
+ aos::monotonic_clock::time_point capture_time =
+ aos::monotonic_clock::min_time;
+ std::vector<LocalCameraTarget> targets;
+
+ bool IsValid(aos::monotonic_clock::time_point now) {
+ return capture_time + std::chrono::seconds(1) > now;
+ }
+};
+
+// Sends a new chunk of data to all the websocket clients.
+class UpdateData : public seasocks::Server::Runnable {
+ public:
+ UpdateData(WebsocketHandler *websocket_handler, std::string &&data)
+ : websocket_handler_(websocket_handler), data_(std::move(data)) {}
+ ~UpdateData() override = default;
+ UpdateData(const UpdateData &) = delete;
+ UpdateData &operator=(const UpdateData &) = delete;
+
+ void run() override { websocket_handler_->SendData(data_); }
+
+ private:
+ WebsocketHandler *const websocket_handler_;
+ const std::string data_;
+};
+
+void DataThread(seasocks::Server *server, WebsocketHandler *websocket_handler) {
+ auto &camera_frames = y2019::control_loops::drivetrain::camera_frames;
+ auto &drivetrain_status = frc971::control_loops::drivetrain_queue.status;
+
+ std::array<LocalCameraFrame, 5> latest_frames;
+ aos::monotonic_clock::time_point last_send_time = aos::monotonic_clock::now();
+
+ while (true) {
+ camera_frames.FetchNextBlocking();
+ drivetrain_status.FetchLatest();
+ if (!drivetrain_status.get()) {
+ // Try again if we don't have any drivetrain statuses.
+ continue;
+ }
+
+ {
+ const auto &new_frame = *camera_frames;
+ if (new_frame.camera < latest_frames.size()) {
+ latest_frames[new_frame.camera].capture_time =
+ aos::monotonic_clock::time_point(
+ std::chrono::nanoseconds(new_frame.timestamp));
+ latest_frames[new_frame.camera].targets.clear();
+ for (int target = 0; target < new_frame.num_targets; ++target) {
+ latest_frames[new_frame.camera].targets.emplace_back();
+ // TODO: Do something useful.
+ }
+ }
+ }
+
+ const auto now = aos::monotonic_clock::now();
+ if (now > last_send_time + std::chrono::milliseconds(100)) {
+ last_send_time = now;
+ std::ostringstream stream;
+ stream << "{\n";
+
+ stream << "'robot': {";
+ stream << "'x': " << drivetrain_status->x << ",";
+ stream << "'y': " << drivetrain_status->y << ",";
+ stream << "'theta': " << drivetrain_status->theta;
+ stream << "}\n";
+
+ stream << "}";
+ server->execute(
+ std::make_shared<UpdateData>(websocket_handler, stream.str()));
+ }
+ }
+}
+
+} // namespace vision
+} // namespace y2019
+
+int main(int, char *[]) {
+ // Make sure to reference this to force the linker to include it.
+ findEmbeddedContent("");
+
+ aos::InitNRT();
+
+ seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
+ new y2019::vision::SeasocksLogger(seasocks::Logger::INFO)));
+
+ auto websocket_handler = std::make_shared<y2019::vision::WebsocketHandler>();
+ server.addWebSocketHandler("/ws", websocket_handler);
+
+ std::thread data_thread{[&server, websocket_handler]() {
+ y2019::vision::DataThread(&server, websocket_handler.get());
+ }};
+
+ server.serve("/home/admin/robot_code/www", 1180);
+
+ return 0;
+}
diff --git a/y2019/vision/server/www/index.html b/y2019/vision/server/www/index.html
new file mode 100644
index 0000000..345a407
--- /dev/null
+++ b/y2019/vision/server/www/index.html
@@ -0,0 +1,8 @@
+<!doctype html>
+<html>
+ <head>
+ <title>Vision Debug Server</title>
+ </head>
+ <body>
+ </body>
+</html>
diff --git a/y2019/vision/server/www_defaults/_404.png b/y2019/vision/server/www_defaults/_404.png
new file mode 100644
index 0000000..8a43cb8
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_404.png
Binary files differ
diff --git a/y2019/vision/server/www_defaults/_error.css b/y2019/vision/server/www_defaults/_error.css
new file mode 100644
index 0000000..8238d6d
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_error.css
@@ -0,0 +1,33 @@
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ color: #ffffff;
+ background-color: #c21e29;
+ text-align: center;
+}
+
+a {
+ color: #ffff00;
+}
+
+.footer {
+ font-style: italic;
+}
+
+.message {
+ display: inline-block;
+ border: 1px solid white;
+ padding: 50px;
+ font-size: 20px;
+}
+
+.headline {
+ padding: 50px;
+ font-weight: bold;
+ font-size: 32px;
+}
+
+.footer {
+ padding-top: 50px;
+ font-size: 12px;
+}
+
diff --git a/y2019/vision/server/www_defaults/_error.html b/y2019/vision/server/www_defaults/_error.html
new file mode 100644
index 0000000..ecf5e32
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_error.html
@@ -0,0 +1,15 @@
+<html DOCTYPE=html>
+<head>
+ <title>%%ERRORCODE%% - %%MESSAGE%% - Keep Calm And Carry On!</title>
+ <link href="/_error.css" rel="stylesheet">
+</head>
+<body>
+ <div class="message">
+ <img src="/_404.png" height="200" width="107">
+ <div class="headline">%%ERRORCODE%% — %%MESSAGE%%</div>
+ <div class="info">%%BODY%%</div>
+ </div>
+
+ <div class="footer">Powered by <a href="https://github.com/mattgodbolt/seasocks">SeaSocks</a></div>
+</body>
+</html>
diff --git a/y2019/vision/server/www_defaults/_jquery.min.js b/y2019/vision/server/www_defaults/_jquery.min.js
new file mode 100644
index 0000000..f78f96a
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_jquery.min.js
@@ -0,0 +1,16 @@
+/*!
+ * jQuery JavaScript Library v1.5.2
+ * http://jquery.com/
+ *
+ * Copyright 2011, John Resig
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * Includes Sizzle.js
+ * http://sizzlejs.com/
+ * Copyright 2011, The Dojo Foundation
+ * Released under the MIT, BSD, and GPL Licenses.
+ *
+ * Date: Thu Mar 31 15:28:23 2011 -0400
+ */
+(function(a,b){function ci(a){return d.isWindow(a)?a:a.nodeType===9?a.defaultView||a.parentWindow:!1}function cf(a){if(!b_[a]){var b=d("<"+a+">").appendTo("body"),c=b.css("display");b.remove();if(c==="none"||c==="")c="block";b_[a]=c}return b_[a]}function ce(a,b){var c={};d.each(cd.concat.apply([],cd.slice(0,b)),function(){c[this]=a});return c}function b$(){try{return new a.ActiveXObject("Microsoft.XMLHTTP")}catch(b){}}function bZ(){try{return new a.XMLHttpRequest}catch(b){}}function bY(){d(a).unload(function(){for(var a in bW)bW[a](0,1)})}function bS(a,c){a.dataFilter&&(c=a.dataFilter(c,a.dataType));var e=a.dataTypes,f={},g,h,i=e.length,j,k=e[0],l,m,n,o,p;for(g=1;g<i;g++){if(g===1)for(h in a.converters)typeof h==="string"&&(f[h.toLowerCase()]=a.converters[h]);l=k,k=e[g];if(k==="*")k=l;else if(l!=="*"&&l!==k){m=l+" "+k,n=f[m]||f["* "+k];if(!n){p=b;for(o in f){j=o.split(" ");if(j[0]===l||j[0]==="*"){p=f[j[1]+" "+k];if(p){o=f[o],o===!0?n=p:p===!0&&(n=o);break}}}}!n&&!p&&d.error("No 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a=c.body,b=c.createElement("div"),e,f,g,h,i=parseFloat(d.css(a,"marginTop"))||0,j="<div style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;'><div></div></div><table style='position:absolute;top:0;left:0;margin:0;border:5px solid #000;padding:0;width:1px;height:1px;' cellpadding='0' 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diff --git a/y2019/vision/server/www_defaults/_seasocks.css b/y2019/vision/server/www_defaults/_seasocks.css
new file mode 100644
index 0000000..03a7287
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_seasocks.css
@@ -0,0 +1,22 @@
+body {
+ font-family: segoe ui, tahoma, arial, sans-serif;
+ font-size: 12px;
+ color: #ffffff;
+ background-color: #333333;
+ margin: 0;
+}
+
+a {
+ color: #ffff00;
+}
+
+table {
+ border-collapse: collapse;
+ width: 100%;
+ text-align: center;
+}
+
+.template {
+ display: none;
+}
+
diff --git a/y2019/vision/server/www_defaults/_stats.html b/y2019/vision/server/www_defaults/_stats.html
new file mode 100644
index 0000000..d34e932
--- /dev/null
+++ b/y2019/vision/server/www_defaults/_stats.html
@@ -0,0 +1,60 @@
+<html DOCTYPE=html>
+<head>
+ <title>SeaSocks Stats</title>
+ <link href="/_seasocks.css" rel="stylesheet">
+ <script src="/_jquery.min.js" type="text/javascript"></script>
+ <script>
+ function clear() {
+ $('#cx tbody tr:visible').remove();
+ }
+ function connection(stats) {
+ c = $('#cx .template').clone().removeClass('template').appendTo('#cx');
+ for (stat in stats) {
+ c.find('.' + stat).text(stats[stat]);
+ }
+ }
+ function refresh() {
+ var stats = new XMLHttpRequest();
+ stats.open("GET", "/_livestats.js", false);
+ stats.send(null);
+ eval(stats.responseText);
+ }
+ $(function() {
+ setInterval(refresh, 1000);
+ refresh();
+ });
+ </script>
+</head>
+<body><h1>SeaSocks Stats</h1></body>
+
+<h2>Connections</h2>
+<table id="cx">
+ <thead>
+ <tr>
+ <th>Connection time</th>
+ <th>Fd</th>
+ <th>Addr</th>
+ <th>URI</th>
+ <th>Username</th>
+ <th>Pending read</th>
+ <th>Bytes read</th>
+ <th>Pending send</th>
+ <th>Bytes sent</th>
+ </tr>
+ </thead>
+ <tbody>
+ <tr class="template">
+ <td class="since"></td>
+ <td class="fd"></td>
+ <td class="addr"></td>
+ <td class="uri"></td>
+ <td class="user"></td>
+ <td class="input"></td>
+ <td class="read"></td>
+ <td class="output"></td>
+ <td class="written"></td>
+ </tr>
+ </tbody>
+</table>
+
+</body></html>
diff --git a/y2019/vision/server/www_defaults/favicon.ico b/y2019/vision/server/www_defaults/favicon.ico
new file mode 100644
index 0000000..30a95b9
--- /dev/null
+++ b/y2019/vision/server/www_defaults/favicon.ico
Binary files differ
diff --git a/y2019/vision/target_finder.cc b/y2019/vision/target_finder.cc
index e340702..3a4c9b0 100644
--- a/y2019/vision/target_finder.cc
+++ b/y2019/vision/target_finder.cc
@@ -11,13 +11,14 @@
aos::vision::RangeImage TargetFinder::Threshold(aos::vision::ImagePtr image) {
const uint8_t threshold_value = GetThresholdValue();
- return aos::vision::DoThreshold(image, [&](aos::vision::PixelRef &px) {
- if (px.g > threshold_value && px.b > threshold_value &&
- px.r > threshold_value) {
- return true;
- }
- return false;
- });
+ return aos::vision::ThresholdImageWithFunction(
+ image, [&](aos::vision::PixelRef px) {
+ if (px.g > threshold_value && px.b > threshold_value &&
+ px.r > threshold_value) {
+ return true;
+ }
+ return false;
+ });
}
// Filter blobs on size.
@@ -33,7 +34,7 @@
imgs->end());
}
-ContourNode* TargetFinder::GetContour(const RangeImage &blob) {
+ContourNode *TargetFinder::GetContour(const RangeImage &blob) {
alloc_.reset();
return RangeImgToContour(blob, &alloc_);
}
@@ -41,6 +42,10 @@
// TODO(ben): These values will be moved into the constants.h file.
namespace {
+::Eigen::Vector2f AosVectorToEigenVector(Vector<2> in) {
+ return ::Eigen::Vector2f(in.x(), in.y());
+}
+
constexpr double f_x = 481.4957;
constexpr double c_x = 341.215;
constexpr double f_y = 484.314;
@@ -66,8 +71,7 @@
double y = y0;
for (int i = 0; i < iterations; i++) {
const double r_sqr = x * x + y * y;
- const double coeff =
- 1.0 + r_sqr * (k_1 + k_2 * r_sqr * (1.0 + k_3 * r_sqr));
+ const double coeff = 1.0 + r_sqr * (k_1 + r_sqr * (k_2 + r_sqr * (k_3)));
x = x0 / coeff;
y = y0 / coeff;
}
@@ -322,14 +326,15 @@
const ::std::vector<Polygon> &seg_list, bool verbose) {
::std::vector<TargetComponent> list;
TargetComponent new_target;
- for (const Polygon &poly : seg_list) {
+ for (const Polygon &polygon : seg_list) {
// Reject missized pollygons for now. Maybe rectify them here in the future;
- if (poly.segments.size() != 4) {
+ if (polygon.segments.size() != 4) {
continue;
}
::std::vector<Vector<2>> corners;
for (size_t i = 0; i < 4; ++i) {
- Vector<2> corner = poly.segments[i].Intersect(poly.segments[(i + 1) % 4]);
+ Vector<2> corner =
+ polygon.segments[i].Intersect(polygon.segments[(i + 1) % 4]);
if (::std::isnan(corner.x()) || ::std::isnan(corner.y())) {
break;
}
@@ -427,8 +432,33 @@
}
}
+ // Take the vector which points from the bottom to the top of the target
+ // along the outside edge.
+ const ::Eigen::Vector2f outer_edge_vector =
+ AosVectorToEigenVector(new_target.top - new_target.outside);
+ // Now, dot each point in the perimeter along this vector. The one with the
+ // smallest component will be the one closest to the bottom along this
+ // direction vector.
+ ::Eigen::Vector2f smallest_point = polygon.contour[0];
+ float smallest_value = outer_edge_vector.transpose() * smallest_point;
+ for (const ::Eigen::Vector2f point : polygon.contour) {
+ const float current_value = outer_edge_vector.transpose() * point;
+ if (current_value < smallest_value) {
+ smallest_value = current_value;
+ smallest_point = point;
+ }
+ }
+
+ // This piece of the target should be ready now.
+ new_target.bottom_point = smallest_point;
+ if (verbose) {
+ printf("Lowest point in the blob is (%f, %f)\n", smallest_point.x(),
+ smallest_point.y());
+ }
+
// This piece of the target should be ready now.
list.emplace_back(new_target);
+
if (verbose) printf("Happy with a target\n");
}
@@ -452,16 +482,6 @@
Target new_target;
const TargetComponent &b = component_list[j];
- // Reject targets that are too far off vertically.
- Vector<2> a_center = a.major_axis.Center();
- if (a_center.y() > b.bottom.y() || a_center.y() < b.top.y()) {
- continue;
- }
- Vector<2> b_center = b.major_axis.Center();
- if (b_center.y() > a.bottom.y() || b_center.y() < a.top.y()) {
- continue;
- }
-
if (a.is_right && !b.is_right) {
if (a.top.x() > b.top.x()) {
new_target.right = a;
@@ -474,6 +494,9 @@
new_target.left = a;
target_valid = true;
}
+ } else if (verbose) {
+ printf("Found same side components: %s.\n",
+ a.is_right ? "right" : "left");
}
if (target_valid) {
target_list.emplace_back(new_target);
@@ -484,12 +507,42 @@
return target_list;
}
+bool TargetFinder::MaybePickAndUpdateResult(IntermediateResult *result,
+ bool verbose) {
+ // Based on a linear regression between error and distance to target.
+ // Closer targets can have a higher error because they are bigger.
+ const double acceptable_error =
+ std::max(2 * (75 - 12 * result->extrinsics.z), 75.0);
+ if (result->solver_error < acceptable_error) {
+ if (verbose) {
+ printf("Using an 8 point solve: %f < %f \n", result->solver_error,
+ acceptable_error);
+ }
+ return true;
+ } else if (result->backup_solver_error < acceptable_error) {
+ if (verbose) {
+ printf("Using a 4 point solve: %f < %f \n", result->backup_solver_error,
+ acceptable_error);
+ }
+ IntermediateResult backup;
+ result->extrinsics = result->backup_extrinsics;
+ result->solver_error = result->backup_solver_error;
+ return true;
+ } else if (verbose) {
+ printf("Rejecting a target with errors: (%f, %f) > %f \n",
+ result->solver_error, result->backup_solver_error, acceptable_error);
+ }
+ return false;
+}
+
std::vector<IntermediateResult> TargetFinder::FilterResults(
- const std::vector<IntermediateResult> &results, uint64_t print_rate) {
+ const std::vector<IntermediateResult> &results, uint64_t print_rate,
+ bool verbose) {
std::vector<IntermediateResult> filtered;
for (const IntermediateResult &res : results) {
- if (res.solver_error < 75.0) {
- filtered.emplace_back(res);
+ IntermediateResult updatable_result = res;
+ if (MaybePickAndUpdateResult(&updatable_result, verbose)) {
+ filtered.emplace_back(updatable_result);
}
}
frame_count_++;
diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index ebae3b4..c7de67a 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -52,8 +52,13 @@
// Given a target solve for the transformation of the template target.
IntermediateResult ProcessTargetToResult(const Target &target, bool verbose);
+ // Returns true if a target is good, and false otherwise. Picks the 4 vs 8
+ // point solution depending on which one looks right.
+ bool MaybePickAndUpdateResult(IntermediateResult *result, bool verbose);
+
std::vector<IntermediateResult> FilterResults(
- const std::vector<IntermediateResult> &results, uint64_t print_rate);
+ const std::vector<IntermediateResult> &results, uint64_t print_rate,
+ bool verbose);
// Get the local overlay for debug if we are doing that.
aos::vision::PixelLinesOverlay *GetOverlay() { return &overlay_; }
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index d4b8a54..91c8848 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -4,6 +4,8 @@
#include <math.h>
+#include "aos/util/math.h"
+
using ceres::NumericDiffCostFunction;
using ceres::CENTRAL;
using ceres::CostFunction;
@@ -46,9 +48,11 @@
}
std::array<Vector<2>, 8> Target::ToPointList() const {
- return std::array<Vector<2>, 8>{{right.top, right.inside, right.bottom,
- right.outside, left.top, left.inside,
- left.bottom, left.outside}};
+ // Note, the even points are fit with the line solver in the 4 point solution
+ // while the odds are fit with the point matcher.
+ return std::array<Vector<2>, 8>{{right.top, right.outside, right.inside,
+ right.bottom, left.top, left.outside,
+ left.inside, left.bottom}};
}
Vector<2> Project(Vector<2> pt, const IntrinsicParams &intrinsics,
@@ -141,8 +145,8 @@
}
// Used at runtime on a single image given camera parameters.
-struct RuntimeCostFunctor {
- RuntimeCostFunctor(Vector<2> result, Vector<2> template_pt,
+struct PointCostFunctor {
+ PointCostFunctor(Vector<2> result, Vector<2> template_pt,
IntrinsicParams intrinsics)
: result(result), template_pt(template_pt), intrinsics(intrinsics) {}
@@ -159,13 +163,81 @@
IntrinsicParams intrinsics;
};
+// Find the distance from a lower target point to the 'vertical' line it should
+// be on.
+struct LineCostFunctor {
+ LineCostFunctor(Vector<2> result, Segment<2> template_seg,
+ IntrinsicParams intrinsics)
+ : result(result), template_seg(template_seg), intrinsics(intrinsics) {}
+
+ bool operator()(const double *const x, double *residual) const {
+ const auto extrinsics = ExtrinsicParams::get(x);
+ const Vector<2> p1 = Project(template_seg.A(), intrinsics, extrinsics);
+ const Vector<2> p2 = Project(template_seg.B(), intrinsics, extrinsics);
+ // distance from line (P1, P2) to point result
+ double dx = p2.x() - p1.x();
+ double dy = p2.y() - p1.y();
+ double denom = p2.DistanceTo(p1);
+ residual[0] = ::std::abs(dy * result.x() - dx * result.y() +
+ p2.x() * p1.y() - p2.y() * p1.x()) /
+ denom;
+ return true;
+ }
+
+ Vector<2> result;
+ Segment<2> template_seg;
+ IntrinsicParams intrinsics;
+};
+
+// Find the distance that the bottom point is outside the target and penalize
+// that linearly.
+class BottomPointCostFunctor {
+ public:
+ BottomPointCostFunctor(::Eigen::Vector2f bottom_point,
+ Segment<2> template_seg, IntrinsicParams intrinsics)
+ : bottom_point_(bottom_point.x(), bottom_point.y()),
+ template_seg_(template_seg),
+ intrinsics_(intrinsics) {}
+
+ bool operator()(const double *const x, double *residual) const {
+ const ExtrinsicParams extrinsics = ExtrinsicParams::get(x);
+ const Vector<2> p1 = Project(template_seg_.A(), intrinsics_, extrinsics);
+ const Vector<2> p2 = Project(template_seg_.B(), intrinsics_, extrinsics);
+
+ // Construct a vector pointed perpendicular to the line. This vector is
+ // pointed down out the bottom of the target.
+ ::Eigen::Vector2d down_axis(-(p1.y() - p2.y()), p1.x() - p2.x());
+ down_axis.normalize();
+
+ // Positive means out.
+ const double component =
+ down_axis.transpose() * (bottom_point_ - p1.GetData().transpose());
+
+ if (component > 0) {
+ residual[0] = component * 1.0;
+ } else {
+ residual[0] = 0.0;
+ }
+ return true;
+ }
+
+ private:
+ ::Eigen::Vector2d bottom_point_;
+ Segment<2> template_seg_;
+
+ IntrinsicParams intrinsics_;
+};
+
IntermediateResult TargetFinder::ProcessTargetToResult(const Target &target,
bool verbose) {
// Memory for the ceres solver.
- double params[ExtrinsicParams::kNumParams];
- default_extrinsics_.set(¶ms[0]);
+ double params_8point[ExtrinsicParams::kNumParams];
+ default_extrinsics_.set(¶ms_8point[0]);
+ double params_4point[ExtrinsicParams::kNumParams];
+ default_extrinsics_.set(¶ms_4point[0]);
- Problem problem;
+ Problem problem_8point;
+ Problem problem_4point;
::std::array<aos::vision::Vector<2>, 8> target_value = target.ToPointList();
::std::array<aos::vision::Vector<2>, 8> template_value =
@@ -175,30 +247,93 @@
aos::vision::Vector<2> a = template_value[i];
aos::vision::Vector<2> b = target_value[i];
- problem.AddResidualBlock(
- new NumericDiffCostFunction<RuntimeCostFunctor, CENTRAL, 2, 4>(
- new RuntimeCostFunctor(b, a, intrinsics_)),
- NULL, ¶ms[0]);
+ if (i % 2 == 1) {
+ aos::vision::Vector<2> a2 = template_value[i-1];
+ aos::vision::Segment<2> line = Segment<2>(a, a2);
+
+ problem_4point.AddResidualBlock(
+ new NumericDiffCostFunction<LineCostFunctor, CENTRAL, 1, 4>(
+ new LineCostFunctor(b, line, intrinsics_)),
+ NULL, ¶ms_4point[0]);
+ } else {
+ problem_4point.AddResidualBlock(
+ new NumericDiffCostFunction<PointCostFunctor, CENTRAL, 2, 4>(
+ new PointCostFunctor(b, a, intrinsics_)),
+ NULL, ¶ms_4point[0]);
+ }
+
+ problem_8point.AddResidualBlock(
+ new NumericDiffCostFunction<PointCostFunctor, CENTRAL, 2, 4>(
+ new PointCostFunctor(b, a, intrinsics_)),
+ NULL, ¶ms_8point[0]);
}
Solver::Options options;
options.minimizer_progress_to_stdout = false;
- Solver::Summary summary;
- Solve(options, &problem, &summary);
+ Solver::Summary summary_8point;
+ Solve(options, &problem_8point, &summary_8point);
+
+
+ // So, let's sneak up on it. Start by warm-starting it with where we got on the 8 point solution.
+ ExtrinsicParams::get(¶ms_8point[0]).set(¶ms_4point[0]);
+ // Then solve without the bottom constraint.
+ Solver::Summary summary_4point1;
+ Solve(options, &problem_4point, &summary_4point1);
+
+ // Now, add a large cost for the bottom point being below the bottom line.
+ problem_4point.AddResidualBlock(
+ new NumericDiffCostFunction<BottomPointCostFunctor, CENTRAL, 1, 4>(
+ new BottomPointCostFunctor(target.left.bottom_point,
+ Segment<2>(target_template_.left.outside,
+ target_template_.left.bottom),
+ intrinsics_)),
+ NULL, ¶ms_4point[0]);
+ // Make sure to point the segment the other way so when we do a -pi/2 rotation
+ // on the line, it points down in target space.
+ problem_4point.AddResidualBlock(
+ new NumericDiffCostFunction<BottomPointCostFunctor, CENTRAL, 1, 4>(
+ new BottomPointCostFunctor(target.right.bottom_point,
+ Segment<2>(target_template_.right.bottom,
+ target_template_.right.outside),
+ intrinsics_)),
+ NULL, ¶ms_4point[0]);
+
+ // And then re-solve.
+ Solver::Summary summary_4point2;
+ Solve(options, &problem_4point, &summary_4point2);
IntermediateResult IR;
- IR.extrinsics = ExtrinsicParams::get(¶ms[0]);
- IR.solver_error = summary.final_cost;
+ IR.extrinsics = ExtrinsicParams::get(¶ms_8point[0]);
+ IR.solver_error = summary_8point.final_cost;
+ IR.backup_extrinsics = ExtrinsicParams::get(¶ms_4point[0]);
+ IR.backup_solver_error = summary_4point2.final_cost;
+
+ // Normalize all angles to (-M_PI, M_PI]
+ IR.extrinsics.r1 = ::aos::math::NormalizeAngle(IR.extrinsics.r1);
+ IR.extrinsics.r2 = ::aos::math::NormalizeAngle(IR.extrinsics.r2);
+ IR.backup_extrinsics.r1 = ::aos::math::NormalizeAngle(IR.backup_extrinsics.r1);
+ IR.backup_extrinsics.r2 = ::aos::math::NormalizeAngle(IR.backup_extrinsics.r2);
if (verbose) {
- std::cout << summary.BriefReport() << "\n";
+ std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
+ std::cout << "fl = " << intrinsics_.focal_length << ";\n";
+ std::cout << "8 points:\n";
+ std::cout << summary_8point.BriefReport() << "\n";
+ std::cout << "error = " << summary_8point.final_cost << ";\n";
std::cout << "y = " << IR.extrinsics.y / kInchesToMeters << ";\n";
std::cout << "z = " << IR.extrinsics.z / kInchesToMeters << ";\n";
std::cout << "r1 = " << IR.extrinsics.r1 * 180 / M_PI << ";\n";
std::cout << "r2 = " << IR.extrinsics.r2 * 180 / M_PI << ";\n";
- std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
- std::cout << "fl = " << intrinsics_.focal_length << ";\n";
- std::cout << "error = " << summary.final_cost << ";\n";
+ std::cout << "4 points:\n";
+ std::cout << summary_4point1.BriefReport() << "\n";
+ std::cout << "error = " << summary_4point1.final_cost << ";\n\n";
+ std::cout << "4 points:\n";
+ std::cout << summary_4point2.BriefReport() << "\n";
+ std::cout << "error = " << summary_4point2.final_cost << ";\n\n";
+ std::cout << "y = " << IR.backup_extrinsics.y / kInchesToMeters << ";\n";
+ std::cout << "z = " << IR.backup_extrinsics.z / kInchesToMeters << ";\n";
+ std::cout << "r1 = " << IR.backup_extrinsics.r1 * 180 / M_PI << ";\n";
+ std::cout << "r2 = " << IR.backup_extrinsics.r2 * 180 / M_PI << ";\n";
}
return IR;
}
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 6dcf6c0..3a6fbfe 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -64,213 +64,6 @@
using aos::vision::RangeImage;
using aos::vision::ImageFormat;
-#define MASH(v0, v1, v2, v3, v4) \
- ((uint8_t(v0) << 4) | (uint8_t(v1) << 3) | (uint8_t(v2) << 2) | \
- (uint8_t(v3) << 1) | (uint8_t(v4)))
-
-// YUYV image types:
-inline RangeImage DoThresholdYUYV(ImageFormat fmt, const char *data,
- uint8_t value) {
- std::vector<std::vector<ImageRange>> ranges;
- ranges.reserve(fmt.h);
- for (int y = 0; y < fmt.h; ++y) {
- const char *row = fmt.w * y * 2 + data;
- bool p_score = false;
- int pstart = -1;
- std::vector<ImageRange> rngs;
- for (int x = 0; x < fmt.w / 4; ++x) {
- uint8_t v[8];
- memcpy(&v[0], row + x * 4 * 2, 8);
- uint8_t pattern =
- MASH(p_score, v[0] > value, v[2] > value, v[4] > value, v[6] > value);
- switch (pattern) {
- /*
-# Ruby code to generate the below code:
-32.times do |v|
- puts "case MASH(#{[v[4], v[3], v[2], v[1], v[0]].join(", ")}):"
- p_score = v[4]
- pstart = "pstart"
- 4.times do |i|
- if v[3 - i] != p_score
- if (p_score == 1)
- puts " rngs.emplace_back(ImageRange(#{pstart},
-x * 4 + #{i}));"
- else
- pstart = "x * 4 + #{i}"
- end
- p_score = v[3 - i]
- end
- end
- if (pstart != "pstart")
- puts " pstart = #{pstart};"
- end
- if (p_score != v[4])
- puts " p_score = #{["false", "true"][v[0]]};"
- end
- puts " break;"
-end
-*/
- case MASH(0, 0, 0, 0, 0):
- break;
- case MASH(0, 0, 0, 0, 1):
- pstart = x * 4 + 3;
- p_score = true;
- break;
- case MASH(0, 0, 0, 1, 0):
- rngs.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- pstart = x * 4 + 2;
- break;
- case MASH(0, 0, 0, 1, 1):
- pstart = x * 4 + 2;
- p_score = true;
- break;
- case MASH(0, 0, 1, 0, 0):
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- pstart = x * 4 + 1;
- break;
- case MASH(0, 0, 1, 0, 1):
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- pstart = x * 4 + 3;
- p_score = true;
- break;
- case MASH(0, 0, 1, 1, 0):
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
- pstart = x * 4 + 1;
- break;
- case MASH(0, 0, 1, 1, 1):
- pstart = x * 4 + 1;
- p_score = true;
- break;
- case MASH(0, 1, 0, 0, 0):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- pstart = x * 4 + 0;
- break;
- case MASH(0, 1, 0, 0, 1):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- pstart = x * 4 + 3;
- p_score = true;
- break;
- case MASH(0, 1, 0, 1, 0):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- rngs.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- pstart = x * 4 + 2;
- break;
- case MASH(0, 1, 0, 1, 1):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 1));
- pstart = x * 4 + 2;
- p_score = true;
- break;
- case MASH(0, 1, 1, 0, 0):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
- pstart = x * 4 + 0;
- break;
- case MASH(0, 1, 1, 0, 1):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 2));
- pstart = x * 4 + 3;
- p_score = true;
- break;
- case MASH(0, 1, 1, 1, 0):
- rngs.emplace_back(ImageRange(x * 4 + 0, x * 4 + 3));
- pstart = x * 4 + 0;
- break;
- case MASH(0, 1, 1, 1, 1):
- pstart = x * 4 + 0;
- p_score = true;
- break;
- case MASH(1, 0, 0, 0, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- p_score = false;
- break;
- case MASH(1, 0, 0, 0, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- pstart = x * 4 + 3;
- break;
- case MASH(1, 0, 0, 1, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- rngs.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- pstart = x * 4 + 2;
- p_score = false;
- break;
- case MASH(1, 0, 0, 1, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- pstart = x * 4 + 2;
- break;
- case MASH(1, 0, 1, 0, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- pstart = x * 4 + 1;
- p_score = false;
- break;
- case MASH(1, 0, 1, 0, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 2));
- pstart = x * 4 + 3;
- break;
- case MASH(1, 0, 1, 1, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- rngs.emplace_back(ImageRange(x * 4 + 1, x * 4 + 3));
- pstart = x * 4 + 1;
- p_score = false;
- break;
- case MASH(1, 0, 1, 1, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 0));
- pstart = x * 4 + 1;
- break;
- case MASH(1, 1, 0, 0, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 1));
- p_score = false;
- break;
- case MASH(1, 1, 0, 0, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 1));
- pstart = x * 4 + 3;
- break;
- case MASH(1, 1, 0, 1, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 1));
- rngs.emplace_back(ImageRange(x * 4 + 2, x * 4 + 3));
- pstart = x * 4 + 2;
- p_score = false;
- break;
- case MASH(1, 1, 0, 1, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 1));
- pstart = x * 4 + 2;
- break;
- case MASH(1, 1, 1, 0, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 2));
- p_score = false;
- break;
- case MASH(1, 1, 1, 0, 1):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 2));
- pstart = x * 4 + 3;
- break;
- case MASH(1, 1, 1, 1, 0):
- rngs.emplace_back(ImageRange(pstart, x * 4 + 3));
- p_score = false;
- break;
- case MASH(1, 1, 1, 1, 1):
- break;
- }
-
- for (int i = 0; i < 4; ++i) {
- if ((v[i * 2] > value) != p_score) {
- if (p_score) {
- rngs.emplace_back(ImageRange(pstart, x * 4 + i));
- } else {
- pstart = x * 4 + i;
- }
- p_score = !p_score;
- }
- }
- }
- if (p_score) {
- rngs.emplace_back(ImageRange(pstart, fmt.w));
- }
- ranges.push_back(rngs);
- }
- return RangeImage(0, std::move(ranges));
-}
-
-#undef MASH
-
int main(int argc, char **argv) {
(void)argc;
(void)argv;
@@ -301,9 +94,8 @@
camera0->set_on_frame([&](DataRef data,
monotonic_clock::time_point monotonic_now) {
aos::vision::ImageFormat fmt{640, 480};
- // Use threshold from aos::vision. This will run at 15 FPS.
- aos::vision::BlobList imgs =
- aos::vision::FindBlobs(aos::vision::DoThresholdYUYV(fmt, data.data(), 120));
+ aos::vision::BlobList imgs = aos::vision::FindBlobs(
+ aos::vision::SlowYuyvYThreshold(fmt, data.data(), 120));
finder_.PreFilter(&imgs);
LOG(INFO, "Blobs: (%zu).\n", imgs.size());
@@ -339,7 +131,7 @@
}
LOG(INFO, "Raw Results: (%zu).\n", results.size());
- results = finder_.FilterResults(results, 30);
+ results = finder_.FilterResults(results, 30, verbose);
LOG(INFO, "Results: (%zu).\n", results.size());
// TODO: Select top 3 (randomly?)
diff --git a/y2019/vision/target_types.h b/y2019/vision/target_types.h
index 3174b90..8ee1f4c 100644
--- a/y2019/vision/target_types.h
+++ b/y2019/vision/target_types.h
@@ -25,12 +25,20 @@
}
}
bool is_right;
- aos::vision::Vector<2> top;
- aos::vision::Vector<2> inside;
- aos::vision::Vector<2> outside;
- aos::vision::Vector<2> bottom;
+ // The point which is the upper outside point on this side of the target pair.
+ ::aos::vision::Vector<2> top;
+ // The point which is the upper inside point on this side of the target pair.
+ ::aos::vision::Vector<2> inside;
+ // The point which is the outer bottom point on this side of the target pair.
+ ::aos::vision::Vector<2> outside;
+ // The point which is the inner bottom point on this side of the target pair.
+ ::aos::vision::Vector<2> bottom;
aos::vision::Segment<2> major_axis;
+
+ // The point with is the "lowest" along the outer edge. This point is useful
+ // for making sure clipped targets are "big enough" to cover all the pixels.
+ ::Eigen::Vector2f bottom_point;
};
// Convert back to screen space for final result.
@@ -92,6 +100,11 @@
// Error from solver calulations.
double solver_error;
+
+ // extrinsics and error from a more relaxed problem.
+ ExtrinsicParams backup_extrinsics;
+
+ double backup_solver_error;
};
// Final foramtting ready for output on the wire.
diff --git a/y2019/vision/tools/deploy.sh b/y2019/vision/tools/deploy.sh
index 3c16b03..a57866d 100755
--- a/y2019/vision/tools/deploy.sh
+++ b/y2019/vision/tools/deploy.sh
@@ -1,6 +1,19 @@
-#!/bin/sh
+#!/bin/bash
set -e
+BRANCH=$(git rev-parse --symbolic-full-name --abbrev-ref HEAD)
+if [[ "$BRANCH" != "master" ]]; then
+ read -p "Not on master, deploy anyway (y/n) " ANSWER
+ if [[ $ANSWER =~ ^[Yy]$ ]]; then
+ echo "Master check overridden, deploying anyway"
+ else
+ echo "Cancelling deploy"
+ exit 1
+ fi
+else
+ echo "On master, deploying"
+fi
+
echo "Building executables"
readonly BAZEL_OPTIONS="-c opt --cpu=armhf-debian"
readonly BAZEL_BIN="$(bazel info ${BAZEL_OPTIONS} bazel-bin)"
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 2a21274..fd9df73 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -563,20 +563,20 @@
time_since_last_send = 0;
}
if (status_light.green != last_green_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.green,
- ::ctre::phoenix::CANifier::LEDChannelB);
+ canifier_.SetLEDOutput(status_light.green,
+ ::ctre::phoenix::CANifier::LEDChannelA);
last_green_ = status_light.green;
}
if (status_light.blue != last_blue_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.blue,
- ::ctre::phoenix::CANifier::LEDChannelA);
+ canifier_.SetLEDOutput(status_light.blue,
+ ::ctre::phoenix::CANifier::LEDChannelC);
last_blue_ = status_light.blue;
}
if (status_light.red != last_red_ || time_since_last_send == 0) {
- canifier_.SetLEDOutput(1.0 - status_light.red,
- ::ctre::phoenix::CANifier::LEDChannelC);
+ canifier_.SetLEDOutput(status_light.red,
+ ::ctre::phoenix::CANifier::LEDChannelB);
last_red_ = status_light.red;
}
}
diff --git a/yarn.lock b/yarn.lock
new file mode 100644
index 0000000..5fb2c43
--- /dev/null
+++ b/yarn.lock
@@ -0,0 +1,246 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+# yarn lockfile v1
+
+
+"@bazel/bazel-darwin_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-darwin_x64/-/bazel-darwin_x64-0.19.1.tgz#58d779c8938bd1c136cab55e2f6473121f83741b"
+
+"@bazel/bazel-linux_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-linux_x64/-/bazel-linux_x64-0.19.1.tgz#aef363e0932d29d1bb48980da139d74bfb4b1ffb"
+
+"@bazel/bazel-win32_x64@0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel-win32_x64/-/bazel-win32_x64-0.19.1.tgz#273c43b0febc11675614c402ec82ae44b519f9ee"
+
+"@bazel/bazel@^0.19.1":
+ version "0.19.1"
+ resolved "https://registry.yarnpkg.com/@bazel/bazel/-/bazel-0.19.1.tgz#22ce225b5172a4ad2a94496be66b14b7c7facca2"
+ optionalDependencies:
+ "@bazel/bazel-darwin_x64" "0.19.1"
+ "@bazel/bazel-linux_x64" "0.19.1"
+ "@bazel/bazel-win32_x64" "0.19.1"
+
+"@bazel/typescript@0.21.0":
+ version "0.21.0"
+ resolved "https://registry.yarnpkg.com/@bazel/typescript/-/typescript-0.21.0.tgz#41c304f77a42c6a016280d0f4c20e0749c3f4b2a"
+ dependencies:
+ protobufjs "5.0.3"
+ source-map-support "0.5.9"
+ tsutils "2.27.2"
+
+ansi-regex@^2.0.0:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-2.1.1.tgz#c3b33ab5ee360d86e0e628f0468ae7ef27d654df"
+
+ascli@~1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/ascli/-/ascli-1.0.1.tgz#bcfa5974a62f18e81cabaeb49732ab4a88f906bc"
+ dependencies:
+ colour "~0.7.1"
+ optjs "~3.2.2"
+
+balanced-match@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/balanced-match/-/balanced-match-1.0.0.tgz#89b4d199ab2bee49de164ea02b89ce462d71b767"
+
+brace-expansion@^1.1.7:
+ version "1.1.11"
+ resolved "https://registry.yarnpkg.com/brace-expansion/-/brace-expansion-1.1.11.tgz#3c7fcbf529d87226f3d2f52b966ff5271eb441dd"
+ dependencies:
+ balanced-match "^1.0.0"
+ concat-map "0.0.1"
+
+buffer-from@^1.0.0:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/buffer-from/-/buffer-from-1.1.1.tgz#32713bc028f75c02fdb710d7c7bcec1f2c6070ef"
+
+bytebuffer@~5:
+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/bytebuffer/-/bytebuffer-5.0.1.tgz#582eea4b1a873b6d020a48d58df85f0bba6cfddd"
+ dependencies:
+ long "~3"
+
+camelcase@^2.0.1:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-2.1.1.tgz#7c1d16d679a1bbe59ca02cacecfb011e201f5a1f"
+
+cliui@^3.0.3:
+ version "3.2.0"
+ resolved "https://registry.yarnpkg.com/cliui/-/cliui-3.2.0.tgz#120601537a916d29940f934da3b48d585a39213d"
+ dependencies:
+ string-width "^1.0.1"
+ strip-ansi "^3.0.1"
+ wrap-ansi "^2.0.0"
+
+code-point-at@^1.0.0:
+ version "1.1.0"
+ resolved "https://registry.yarnpkg.com/code-point-at/-/code-point-at-1.1.0.tgz#0d070b4d043a5bea33a2f1a40e2edb3d9a4ccf77"
+
+colour@~0.7.1:
+ version "0.7.1"
+ resolved "https://registry.yarnpkg.com/colour/-/colour-0.7.1.tgz#9cb169917ec5d12c0736d3e8685746df1cadf778"
+
+concat-map@0.0.1:
+ version "0.0.1"
+ resolved "https://registry.yarnpkg.com/concat-map/-/concat-map-0.0.1.tgz#d8a96bd77fd68df7793a73036a3ba0d5405d477b"
+
+decamelize@^1.1.1:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/decamelize/-/decamelize-1.2.0.tgz#f6534d15148269b20352e7bee26f501f9a191290"
+
+fs.realpath@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/fs.realpath/-/fs.realpath-1.0.0.tgz#1504ad2523158caa40db4a2787cb01411994ea4f"
+
+glob@^7.0.5:
+ version "7.1.3"
+ resolved "https://registry.yarnpkg.com/glob/-/glob-7.1.3.tgz#3960832d3f1574108342dafd3a67b332c0969df1"
+ dependencies:
+ fs.realpath "^1.0.0"
+ inflight "^1.0.4"
+ inherits "2"
+ minimatch "^3.0.4"
+ once "^1.3.0"
+ path-is-absolute "^1.0.0"
+
+inflight@^1.0.4:
+ version "1.0.6"
+ resolved "https://registry.yarnpkg.com/inflight/-/inflight-1.0.6.tgz#49bd6331d7d02d0c09bc910a1075ba8165b56df9"
+ dependencies:
+ once "^1.3.0"
+ wrappy "1"
+
+inherits@2:
+ version "2.0.3"
+ resolved "https://registry.yarnpkg.com/inherits/-/inherits-2.0.3.tgz#633c2c83e3da42a502f52466022480f4208261de"
+
+invert-kv@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/invert-kv/-/invert-kv-1.0.0.tgz#104a8e4aaca6d3d8cd157a8ef8bfab2d7a3ffdb6"
+
+is-fullwidth-code-point@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-fullwidth-code-point/-/is-fullwidth-code-point-1.0.0.tgz#ef9e31386f031a7f0d643af82fde50c457ef00cb"
+ dependencies:
+ number-is-nan "^1.0.0"
+
+lcid@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/lcid/-/lcid-1.0.0.tgz#308accafa0bc483a3867b4b6f2b9506251d1b835"
+ dependencies:
+ invert-kv "^1.0.0"
+
+long@~3:
+ version "3.2.0"
+ resolved "https://registry.yarnpkg.com/long/-/long-3.2.0.tgz#d821b7138ca1cb581c172990ef14db200b5c474b"
+
+minimatch@^3.0.4:
+ version "3.0.4"
+ resolved "https://registry.yarnpkg.com/minimatch/-/minimatch-3.0.4.tgz#5166e286457f03306064be5497e8dbb0c3d32083"
+ dependencies:
+ brace-expansion "^1.1.7"
+
+number-is-nan@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/number-is-nan/-/number-is-nan-1.0.1.tgz#097b602b53422a522c1afb8790318336941a011d"
+
+once@^1.3.0:
+ version "1.4.0"
+ resolved "https://registry.yarnpkg.com/once/-/once-1.4.0.tgz#583b1aa775961d4b113ac17d9c50baef9dd76bd1"
+ dependencies:
+ wrappy "1"
+
+optjs@~3.2.2:
+ version "3.2.2"
+ resolved "https://registry.yarnpkg.com/optjs/-/optjs-3.2.2.tgz#69a6ce89c442a44403141ad2f9b370bd5bb6f4ee"
+
+os-locale@^1.4.0:
+ version "1.4.0"
+ resolved "http://registry.npmjs.org/os-locale/-/os-locale-1.4.0.tgz#20f9f17ae29ed345e8bde583b13d2009803c14d9"
+ dependencies:
+ lcid "^1.0.0"
+
+path-is-absolute@^1.0.0:
+ version "1.0.1"
+ resolved "http://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz#174b9268735534ffbc7ace6bf53a5a9e1b5c5f5f"
+
+protobufjs@5.0.3:
+ version "5.0.3"
+ resolved "https://registry.yarnpkg.com/protobufjs/-/protobufjs-5.0.3.tgz#e4dfe9fb67c90b2630d15868249bcc4961467a17"
+ dependencies:
+ ascli "~1"
+ bytebuffer "~5"
+ glob "^7.0.5"
+ yargs "^3.10.0"
+
+source-map-support@0.5.9:
+ version "0.5.9"
+ resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.9.tgz#41bc953b2534267ea2d605bccfa7bfa3111ced5f"
+ dependencies:
+ buffer-from "^1.0.0"
+ source-map "^0.6.0"
+
+source-map@^0.6.0:
+ version "0.6.1"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.6.1.tgz#74722af32e9614e9c287a8d0bbde48b5e2f1a263"
+
+string-width@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/string-width/-/string-width-1.0.2.tgz#118bdf5b8cdc51a2a7e70d211e07e2b0b9b107d3"
+ dependencies:
+ code-point-at "^1.0.0"
+ is-fullwidth-code-point "^1.0.0"
+ strip-ansi "^3.0.0"
+
+strip-ansi@^3.0.0, strip-ansi@^3.0.1:
+ version "3.0.1"
+ resolved "http://registry.npmjs.org/strip-ansi/-/strip-ansi-3.0.1.tgz#6a385fb8853d952d5ff05d0e8aaf94278dc63dcf"
+ dependencies:
+ ansi-regex "^2.0.0"
+
+tslib@^1.8.1:
+ version "1.9.3"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
+
+tsutils@2.27.2:
+ version "2.27.2"
+ resolved "https://registry.yarnpkg.com/tsutils/-/tsutils-2.27.2.tgz#60ba88a23d6f785ec4b89c6e8179cac9b431f1c7"
+ dependencies:
+ tslib "^1.8.1"
+
+typescript@^3.1.6:
+ version "3.1.6"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-3.1.6.tgz#b6543a83cfc8c2befb3f4c8fba6896f5b0c9be68"
+
+window-size@^0.1.4:
+ version "0.1.4"
+ resolved "https://registry.yarnpkg.com/window-size/-/window-size-0.1.4.tgz#f8e1aa1ee5a53ec5bf151ffa09742a6ad7697876"
+
+wrap-ansi@^2.0.0:
+ version "2.1.0"
+ resolved "http://registry.npmjs.org/wrap-ansi/-/wrap-ansi-2.1.0.tgz#d8fc3d284dd05794fe84973caecdd1cf824fdd85"
+ dependencies:
+ string-width "^1.0.1"
+ strip-ansi "^3.0.1"
+
+wrappy@1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
+
+y18n@^3.2.0:
+ version "3.2.1"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-3.2.1.tgz#6d15fba884c08679c0d77e88e7759e811e07fa41"
+
+yargs@^3.10.0:
+ version "3.32.0"
+ resolved "http://registry.npmjs.org/yargs/-/yargs-3.32.0.tgz#03088e9ebf9e756b69751611d2a5ef591482c995"
+ dependencies:
+ camelcase "^2.0.1"
+ cliui "^3.0.3"
+ decamelize "^1.1.1"
+ os-locale "^1.4.0"
+ string-width "^1.0.1"
+ window-size "^0.1.4"
+ y18n "^3.2.0"
