Merge changes I976dffaf,I9ef234b6,I164c8fbb
* changes:
Add basic test for plot.py
Add python plotter using py_log_reader
Provide Python 3 matplotlib
diff --git a/WORKSPACE b/WORKSPACE
index d43693f..fb736ee 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -277,11 +277,14 @@
url = "http://www.frc971.org/Build-Dependencies/mingw_compiler.tar.gz",
)
+# Note that we should generally keep the matplotlib repo in a folder not
+# named matplotlib, because otherwise the repository itself tends to end up
+# on the PYTHONPATH, rather than the matplotlib folder within this repo.
http_archive(
- name = "matplotlib",
+ name = "matplotlib_repo",
build_file = "@//debian:matplotlib.BUILD",
- sha256 = "fa1ff9f3bb7fddba6d0b904af5ffdca97c6233a950840273c25145b8cad80483",
- url = "http://www.frc971.org/Build-Dependencies/matplotlib-3.tar.gz",
+ sha256 = "24f8b75754e465299ddf92bd895ab111d54945a45b0f410d7cfa16b15b162e2f",
+ url = "http://www.frc971.org/Build-Dependencies/matplotlib-4.tar.gz",
)
http_archive(
diff --git a/debian/BUILD b/debian/BUILD
index 0cb12e7..9b7ad4d 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -55,7 +55,7 @@
srcs = [
"matplotlib_init.patch",
],
- visibility = ["@matplotlib//:__pkg__"],
+ visibility = ["@matplotlib_repo//:__pkg__"],
)
filegroup(
@@ -182,6 +182,7 @@
"python-matplotlib",
"python-tk",
"python3-matplotlib",
+ "python3-tk",
],
)
diff --git a/debian/matplotlib.BUILD b/debian/matplotlib.BUILD
index 5f89ba9..af2c4b7 100644
--- a/debian/matplotlib.BUILD
+++ b/debian/matplotlib.BUILD
@@ -1,124 +1,8 @@
-genrule(
- name = "patch_init",
- srcs = [
- "usr/lib/python2.7/dist-packages/matplotlib/__init__.py",
- "@//debian:matplotlib_patches",
- ],
- outs = ["matplotlib/__init__.py"],
- cmd = " && ".join([
- "cp $(location usr/lib/python2.7/dist-packages/matplotlib/__init__.py) $@",
- "readonly PATCH=\"$$(readlink -f $(location @patch))\"",
- "readonly FILE=\"$$(readlink -f $(location @//debian:matplotlib_patches))\"",
- "(cd $(@D) && \"$${PATCH}\" -p1 < \"$${FILE}\") > /dev/null",
- ]),
- tools = [
- "@patch",
- ],
-)
+load("@//debian:matplotlib.bzl", "build_matplotlib")
-_src_files = glob(
- include = ["usr/lib/python2.7/dist-packages/**/*.py"],
- exclude = [
- "usr/lib/python2.7/dist-packages/matplotlib/__init__.py",
- ],
-)
+build_matplotlib("3", "3.5")
-_data_files = glob([
- "usr/share/matplotlib/mpl-data/**",
- "usr/share/tcltk/**",
-])
-
-_src_copied = ["/".join(f.split("/")[4:]) for f in _src_files]
-
-_builtin_so_files = glob([
- "usr/lib/python2.7/dist-packages/**/*.x86_64-linux-gnu.so",
- "usr/lib/python2.7/lib-dynload/*.so",
-])
-
-_system_so_files = glob([
- "usr/lib/**/*.so*",
- "lib/x86_64-linux-gnu/**/*.so*",
-])
-
-_builtin_so_copied = ["/".join(f.split("/")[4:]) for f in _builtin_so_files]
-
-_system_so_copied = ["rpathed/" + f for f in _system_so_files]
-
-_builtin_rpaths = [":".join([
- "\\$$ORIGIN/%s" % rel,
- "\\$$ORIGIN/%s/rpathed/usr/lib/x86_64-linux-gnu" % rel,
- "\\$$ORIGIN/%s/rpathed/usr/lib" % rel,
- "\\$$ORIGIN/%s/rpathed/lib/x86_64-linux-gnu" % rel,
-]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _builtin_so_copied]]
-
-_system_rpaths = [":".join([
- "\\$$ORIGIN/%s/rpathed/usr/lib/x86_64-linux-gnu" % rel,
- "\\$$ORIGIN/%s/rpathed/lib/x86_64-linux-gnu" % rel,
-]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _system_so_copied]]
-
-genrule(
- name = "run_patchelf_builtin",
- srcs = _builtin_so_files,
- outs = _builtin_so_copied,
- cmd = "\n".join(
- [
- "cp $(location %s) $(location %s)" % (src, dest)
- for src, dest in zip(_builtin_so_files, _builtin_so_copied)
- ] +
- ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_builtin_rpaths, _builtin_so_copied)],
- ),
- tools = [
- "@patchelf",
- ],
-)
-
-genrule(
- name = "run_patchelf_system",
- srcs = _system_so_files,
- outs = _system_so_copied,
- cmd = "\n".join(
- [
- "cp $(location %s) $(location %s)" % (src, dest)
- for src, dest in zip(_system_so_files, _system_so_copied)
- ] +
- ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_system_rpaths, _system_so_copied)],
- ),
- tools = [
- "@patchelf",
- ],
-)
-
-genrule(
- name = "copy_files",
- srcs = _src_files,
- outs = _src_copied,
- cmd = " && ".join(["cp $(location %s) $(location %s)" % (src, dest) for src, dest in zip(
- _src_files,
- _src_copied,
- )]),
-)
-
-genrule(
- name = "create_rc",
- outs = ["usr/share/matplotlib/mpl-data/matplotlibrc"],
- cmd = "\n".join([
- "cat > $@ << END",
- # This is necessary to make matplotlib actually plot things to the
- # screen by default.
- "backend : TkAgg",
- "END",
- ]),
-)
-
-py_library(
- name = "matplotlib",
- srcs = _src_copied + [
- "matplotlib/__init__.py",
- ],
- data = _data_files + _builtin_so_copied + _system_so_copied + [
- ":usr/share/matplotlib/mpl-data/matplotlibrc",
- ],
- imports = ["usr/lib/python2.7/dist-packages"],
- restricted_to = ["@//tools:k8"],
- visibility = ["//visibility:public"],
+build_matplotlib(
+ "2.7",
+ copy_shared_files = False,
)
diff --git a/debian/matplotlib.bzl b/debian/matplotlib.bzl
index b1687d6..a2c6683 100644
--- a/debian/matplotlib.bzl
+++ b/debian/matplotlib.bzl
@@ -90,6 +90,7 @@
"python3-matplotlib_2.0.0+dfsg1-2_amd64.deb": "8f5d3509d4f5451468c6de44fc8dfe391c3df4120079adc01ab5f13ff4194f5a",
"python3-pyparsing_2.1.10+dfsg1-1_all.deb": "ee8d7f04f841248127e81b3d356d37e623ed29da284b28c7d2b8a5b34f0eebba",
"python3-six_1.10.0-3_all.deb": "597005e64cf70e4be97170a47c33287f70a1c87a2979d47a434c10c9201af3ca",
+ "python3-tk_3.5.3-1_amd64.deb": "67489a1c86a9e501dbe2989cd72b5b2c70511fe3829af3567a009271b61fdbb5",
"python3-tz_2016.7-0.3_all.deb": "5f1c7db456aac5fe9b0ea66d7413c12660c7652ae382c640f71c517a05d39551",
"shared-mime-info_1.8-1+deb9u1_amd64.deb": "d6591f13ee1200c4f0b5581c2299eb7b8097a6b04742dc333e34a7bb7ba47532",
"tk8.6-blt2.5_2.5.3+dfsg-3_amd64.deb": "88587a928e2bd692650d98c1483b67f1dee1fed57730077c895e689462af1569",
@@ -97,3 +98,148 @@
"tzdata_2019c-0+deb9u1_all.deb": "80c9809dafc62ec741cbf3024130253de6047af31a10f0c86bb17f2d12ad10d5",
"ucf_3.0036_all.deb": "796a65e765d6045007175531d512c720f4eb04e7f3326b79b848bc6123947225",
}
+
+def build_matplotlib(version, tkinter_py_version = None, copy_shared_files = True):
+ """Creates a py_library rule for matplotlib for the given python version.
+
+ See debian/matplotlib.BUILD for the usage.
+
+ All the rules generated by this will be suffixed by version. Only one
+ instance of this macro should set copy_shared_files, which generate the
+ files that are shared between python versions.
+
+ tkinter_py_version is used because for the Python3 instance, some files
+ are in folders named python3 and some are in folders named python3.5...
+
+ version numbers should both be strings.
+ """
+ if tkinter_py_version == None:
+ tkinter_py_version = version
+
+ native.genrule(
+ name = "patch_init" + version,
+ srcs = [
+ "usr/lib/python" + version + "/dist-packages/matplotlib/__init__.py",
+ "@//debian:matplotlib_patches",
+ ],
+ outs = [version + "/matplotlib/__init__.py"],
+ cmd = " && ".join([
+ "cp $(location usr/lib/python" + version + "/dist-packages/matplotlib/__init__.py) $@",
+ "readonly PATCH=\"$$(readlink -f $(location @patch))\"",
+ "readonly FILE=\"$$(readlink -f $(location @//debian:matplotlib_patches))\"",
+ "(cd $(@D) && \"$${PATCH}\" -p1 < \"$${FILE}\") > /dev/null",
+ ]),
+ tools = [
+ "@patch",
+ ],
+ )
+
+ _src_files = native.glob(
+ include = ["usr/lib/python" + version + "/dist-packages/**/*.py"],
+ exclude = [
+ "usr/lib/python" + version + "/dist-packages/matplotlib/__init__.py",
+ ],
+ )
+
+ _data_files = native.glob([
+ "usr/share/matplotlib/mpl-data/**",
+ "usr/share/tcltk/**",
+ ])
+
+ _src_copied = ["/".join([version] + f.split("/")[4:]) for f in _src_files]
+
+ _builtin_so_files = native.glob([
+ "usr/lib/python" + version + "/dist-packages/**/*x86_64-linux-gnu.so",
+ "usr/lib/python" + tkinter_py_version + "/lib-dynload/*.so",
+ ])
+
+ _system_so_files = native.glob([
+ "usr/lib/**/*.so*",
+ "lib/x86_64-linux-gnu/**/*.so*",
+ ])
+
+ _builtin_so_copied = ["/".join([version] + f.split("/")[4:]) for f in _builtin_so_files]
+
+ rpath_prefix = "rpathed" + version + "/"
+
+ _system_so_copied = [rpath_prefix + f for f in _system_so_files]
+
+ _builtin_rpaths = [":".join([
+ "\\$$ORIGIN/%s" % rel,
+ "\\$$ORIGIN/%s/%s/usr/lib/x86_64-linux-gnu" % (rel, rpath_prefix),
+ "\\$$ORIGIN/%s/%s/usr/lib" % (rel, rpath_prefix),
+ "\\$$ORIGIN/%s/%s/lib/x86_64-linux-gnu" % (rel, rpath_prefix),
+ ]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _builtin_so_copied]]
+
+ _system_rpaths = [":".join([
+ "\\$$ORIGIN/%s/%s/usr/lib/x86_64-linux-gnu" % (rel, rpath_prefix),
+ "\\$$ORIGIN/%s/%s/lib/x86_64-linux-gnu" % (rel, rpath_prefix),
+ ]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _system_so_copied]]
+
+ native.genrule(
+ name = "run_patchelf_builtin" + version,
+ srcs = _builtin_so_files,
+ outs = _builtin_so_copied,
+ cmd = "\n".join(
+ [
+ "cp $(location %s) $(location %s)" % (src, dest)
+ for src, dest in zip(_builtin_so_files, _builtin_so_copied)
+ ] +
+ ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_builtin_rpaths, _builtin_so_copied)],
+ ),
+ tools = [
+ "@patchelf",
+ ],
+ )
+
+ native.genrule(
+ name = "run_patchelf_system" + version,
+ srcs = _system_so_files,
+ outs = _system_so_copied,
+ cmd = "\n".join(
+ [
+ "cp $(location %s) $(location %s)" % (src, dest)
+ for src, dest in zip(_system_so_files, _system_so_copied)
+ ] +
+ ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_system_rpaths, _system_so_copied)],
+ ),
+ tools = [
+ "@patchelf",
+ ],
+ )
+
+ native.genrule(
+ name = "copy_files" + version,
+ srcs = _src_files,
+ outs = _src_copied,
+ cmd = " && ".join(["cp $(location %s) $(location %s)" % (src, dest) for src, dest in zip(
+ _src_files,
+ _src_copied,
+ )]),
+ )
+
+ if copy_shared_files:
+ native.genrule(
+ name = "create_rc" + version,
+ outs = ["usr/share/matplotlib/mpl-data/matplotlibrc"],
+ cmd = "\n".join([
+ "cat > $@ << END",
+ # This is necessary to make matplotlib actually plot things to the
+ # screen by default.
+ "backend : TkAgg",
+ "END",
+ ]),
+ )
+
+ native.py_library(
+ name = "matplotlib" + version,
+ srcs = _src_copied + [
+ version + "/matplotlib/__init__.py",
+ ],
+ data = _data_files + _builtin_so_copied + _system_so_copied + [
+ ":usr/share/matplotlib/mpl-data/matplotlibrc",
+ ],
+ imports = ["usr/lib/python" + version + "/dist-packages", version, "."],
+ restricted_to = ["@//tools:k8"],
+ visibility = ["//visibility:public"],
+ )
diff --git a/debian/matplotlib_init.patch b/debian/matplotlib_init.patch
index 0106b64..e547108 100644
--- a/debian/matplotlib_init.patch
+++ b/debian/matplotlib_init.patch
@@ -18,7 +18,7 @@
+os.environ['MATPLOTLIBDATA'] = \
+ os.path.join( \
+ _matplotlib_base,
-+ "usr", "share", "matplotlib", "mpl-data")
++ "..", "usr", "share", "matplotlib", "mpl-data")
+# Avoid reading /etc/matplotlib in all cases. Matplotlib is pretty happy to
+# escape the sandbox by using absolute paths.
+os.environ['MATPLOTLIBRC'] = os.environ['MATPLOTLIBDATA']
@@ -29,7 +29,7 @@
+
+# Tell Tcl where to find the sandboxed version. Otherwise, it will try using
+# one from the host system, even if that's an incompatible version.
-+os.environ['TCL_LIBRARY'] = os.path.join(_matplotlib_base, 'usr', 'share',
++os.environ['TCL_LIBRARY'] = os.path.join(_matplotlib_base, '..', 'usr', 'share',
+ 'tcltk', 'tcl8.6')
+
try:
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index b526712..2686bcd 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -1,5 +1,7 @@
package(default_visibility = ["//visibility:public"])
+load("@com_google_protobuf//:protobuf.bzl", "py_proto_library")
+
py_binary(
name = "plot_action",
srcs = [
@@ -12,7 +14,7 @@
restricted_to = ["//tools:k8"],
deps = [
":python_init",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -48,3 +50,32 @@
restricted_to = ["//tools:k8"],
deps = ["//aos:configuration_fbs_python"],
)
+
+py_proto_library(
+ name = "plot_config_proto",
+ srcs = ["plot_config.proto"],
+)
+
+py_binary(
+ name = "plot",
+ srcs = ["plot.py"],
+ data = [
+ ":py_log_reader.so",
+ ] + glob(["plot_configs/**"]),
+ restricted_to = ["//tools:k8"],
+ deps = [
+ ":plot_config_proto",
+ ":python_init",
+ "@matplotlib_repo//:matplotlib3",
+ ],
+)
+
+py_test(
+ name = "plot_test",
+ srcs = ["plot_test.py"],
+ data = [
+ "@sample_logfile//file",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [":plot"],
+)
diff --git a/frc971/analysis/plot.py b/frc971/analysis/plot.py
new file mode 100644
index 0000000..4367c08
--- /dev/null
+++ b/frc971/analysis/plot.py
@@ -0,0 +1,128 @@
+#!/usr/bin/python3
+# Sample usage:
+# bazel run -c opt //frc971/analysis:plot -- --logfile /tmp/log.fbs --config gyro.pb
+import argparse
+import json
+import os.path
+from pathlib import Path
+import sys
+
+from frc971.analysis.py_log_reader import LogReader
+from frc971.analysis.plot_config_pb2 import PlotConfig, Signal
+from google.protobuf import text_format
+
+import matplotlib
+from matplotlib import pyplot as plt
+
+
+class Plotter:
+ def __init__(self, plot_config: PlotConfig, reader: LogReader):
+ self.config = plot_config
+ self.reader = reader
+ # Data streams, indexed by alias.
+ self.data = {}
+
+ def process_logfile(self):
+ aliases = set()
+ for channel in self.config.channel:
+ if channel.alias in aliases:
+ raise ValueError("Duplicate alias " + channel.alias)
+ aliases.add(channel.alias)
+ if not self.reader.subscribe(channel.name, channel.type):
+ raise ValueError("No such channel with name " + channel.name +
+ " and type " + channel.type)
+
+ self.reader.process()
+
+ for channel in self.config.channel:
+ self.data[channel.alias] = []
+ for message in self.reader.get_data_for_channel(
+ channel.name, channel.type):
+ valid_json = message[2].replace('nan', '"nan"')
+ parsed_json = json.loads(valid_json)
+ self.data[channel.alias].append((message[0], message[1],
+ parsed_json))
+
+ def plot_signal(self, axes: matplotlib.axes.Axes, signal: Signal):
+ if not signal.channel in self.data:
+ raise ValueError("No channel alias " + signal.channel)
+ field_path = signal.field.split('.')
+ monotonic_time = []
+ signal_data = []
+ for entry in self.data[signal.channel]:
+ monotonic_time.append(entry[0] * 1e-9)
+ value = entry[2]
+ for name in field_path:
+ value = value[name]
+ # Catch NaNs and convert them to floats.
+ value = float(value)
+ signal_data.append(value)
+ label_name = signal.channel + "." + signal.field
+ axes.plot(monotonic_time, signal_data, label=label_name)
+
+ def plot(self):
+ for figure_config in self.config.figure:
+ fig = plt.figure()
+ num_subplots = len(figure_config.axes)
+ for ii in range(num_subplots):
+ axes = fig.add_subplot(num_subplots, 1, ii + 1)
+ axes_config = figure_config.axes[ii]
+ for signal in axes_config.signal:
+ self.plot_signal(axes, signal)
+ axes.legend()
+ axes.set_xlabel("Monotonic Time (sec)")
+ if axes_config.HasField("ylabel"):
+ axes.set_ylabel(axes_config.ylabel)
+
+
+def main(argv):
+ parser = argparse.ArgumentParser(
+ description="Plot data from an aos logfile.")
+ parser.add_argument(
+ "--logfile",
+ type=str,
+ required=True,
+ help="Path to the logfile to parse.")
+ parser.add_argument(
+ "--config",
+ type=str,
+ required=True,
+ help="Name of the plot config to use.")
+ parser.add_argument(
+ "--config_dir",
+ type=str,
+ default="frc971/analysis/plot_configs",
+ help="Directory to look for plot configs in.")
+ args = parser.parse_args(argv[1:])
+
+ if not os.path.isdir(args.config_dir):
+ print(args.config_dir + " is not a directory.")
+ return 1
+ config_path = os.path.join(args.config_dir, args.config)
+ if not os.path.isfile(config_path):
+ print(config_path +
+ " does not exist or is not a file--available configs are")
+ for file_name in os.listdir(args.config_dir):
+ print(os.path.basename(file_name))
+ return 1
+
+ config = PlotConfig()
+ with open(config_path) as config_file:
+ text_format.Merge(config_file.read(), config)
+
+ if not os.path.isfile(args.logfile):
+ print(args.logfile + " is not a file.")
+ return 1
+
+ reader = LogReader(args.logfile)
+
+ plotter = Plotter(config, reader)
+ plotter.process_logfile()
+ plotter.plot()
+ plt.show()
+
+ return 0
+
+
+if __name__ == '__main__':
+ sys.exit(main(sys.argv))
diff --git a/frc971/analysis/plot_config.proto b/frc971/analysis/plot_config.proto
new file mode 100644
index 0000000..9aaea89
--- /dev/null
+++ b/frc971/analysis/plot_config.proto
@@ -0,0 +1,45 @@
+syntax = "proto2";
+
+package frc971.analysis;
+
+// Specification fo a Channel to pull from the logfile. The name and type will
+// be the full name/type of the channel to pull from the logfile. The alias is a
+// shorter, easier to type, name that the rest of the logfile will use to refer
+// to the channel.
+message Channel {
+ optional string name = 1;
+ optional string type = 2;
+ optional string alias = 3;
+}
+
+// A specification for a single signal within a Channel.
+message Signal {
+ // Alias for the channel to pull the signal from--this should match an alias
+ // specified in one of the Channels.
+ optional string channel = 1;
+ // Specification of the field to plot. Currently, this only supports simple
+ // submessages, using dots. To access, e.g., the "bar" member of the "foo"
+ // submessage, field would be "foo.bar". This does not currently support
+ // working with repeated fields.
+ optional string field = 2;
+}
+
+// Message representing a single pyplot Axes, with specifications for exactly
+// which signals to show in the supplied subplot.
+message Axes {
+ repeated Signal signal = 1;
+ optional string ylabel = 2;
+}
+
+// Message representing a single pyplot figure.
+message Figure {
+ repeated Axes axes = 1;
+}
+
+// This configuration specifies what to plot when reading from a logfile.
+message PlotConfig {
+ // List of channels and their aliases to use in the plot.
+ repeated Channel channel = 1;
+ // Figures to plot.
+ repeated Figure figure = 2;
+}
diff --git a/frc971/analysis/plot_configs/gyro.pb b/frc971/analysis/plot_configs/gyro.pb
new file mode 100644
index 0000000..e398a2e
--- /dev/null
+++ b/frc971/analysis/plot_configs/gyro.pb
@@ -0,0 +1,38 @@
+channel {
+ name: "/drivetrain"
+ type: "frc971.IMUValues"
+ alias: "IMU"
+}
+
+figure {
+ axes {
+ signal {
+ channel: "IMU"
+ field: "gyro_x"
+ }
+ signal {
+ channel: "IMU"
+ field: "gyro_y"
+ }
+ signal {
+ channel: "IMU"
+ field: "gyro_z"
+ }
+ ylabel: "rad / sec"
+ }
+ axes {
+ signal {
+ channel: "IMU"
+ field: "accelerometer_x"
+ }
+ signal {
+ channel: "IMU"
+ field: "accelerometer_y"
+ }
+ signal {
+ channel: "IMU"
+ field: "accelerometer_z"
+ }
+ ylabel: "g"
+ }
+}
diff --git a/frc971/analysis/plot_test.py b/frc971/analysis/plot_test.py
new file mode 100644
index 0000000..1c57ae2
--- /dev/null
+++ b/frc971/analysis/plot_test.py
@@ -0,0 +1,23 @@
+#!/usr/bin/python3
+import unittest
+
+import matplotlib
+# Use a non-interactive backend so that the test can actually run...
+matplotlib.use('Agg')
+
+import frc971.analysis.plot
+
+
+class PlotterTest(unittest.TestCase):
+ def test_plotter(self):
+ """Basic test that makes sure that we can run the test without crashing."""
+ self.assertEqual(0,
+ frc971.analysis.plot.main([
+ "binary", "--logfile",
+ "external/sample_logfile/file/log.fbs",
+ "--config", "gyro.pb"
+ ]))
+
+
+if __name__ == '__main__':
+ unittest.main()
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index b3aa2c0..50764c7 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -11,7 +11,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -59,7 +59,7 @@
deps = [
":controls",
":python_init",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -72,7 +72,7 @@
deps = [
":controls",
":python_init",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -133,7 +133,7 @@
"//external:python-glog",
"//frc971/control_loops/python:controls",
"//y2016/control_loops/python:polydrivetrain_lib",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -146,7 +146,7 @@
":controls",
"//aos/util:py_trapezoid_profile",
"//frc971/control_loops:python_init",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -159,7 +159,7 @@
":controls",
"//aos/util:py_trapezoid_profile",
"//frc971/control_loops:python_init",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
diff --git a/motors/python/BUILD b/motors/python/BUILD
index d5d74ae..5eafc3a 100644
--- a/motors/python/BUILD
+++ b/motors/python/BUILD
@@ -13,7 +13,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 5216eb9..cba8cea 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -60,7 +60,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -76,7 +76,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -92,7 +92,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
diff --git a/y2016/control_loops/python/BUILD b/y2016/control_loops/python/BUILD
index c49a250..65964fd 100644
--- a/y2016/control_loops/python/BUILD
+++ b/y2016/control_loops/python/BUILD
@@ -61,7 +61,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -94,7 +94,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -111,7 +111,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -140,7 +140,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -157,7 +157,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
diff --git a/y2017/control_loops/python/BUILD b/y2017/control_loops/python/BUILD
index 50f5584..6afb242 100644
--- a/y2017/control_loops/python/BUILD
+++ b/y2017/control_loops/python/BUILD
@@ -58,7 +58,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -106,7 +106,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -123,7 +123,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
@@ -168,7 +168,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index 5690b08..ba34d86 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -94,7 +94,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
- "@matplotlib",
+ "@matplotlib_repo//:matplotlib2.7",
],
)