Fold y2019 localizer into drivetrain
Change-Id: Icc192ae9f910741b54f114ec9a27559cc289b29b
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 310b853..677726e 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -76,12 +76,20 @@
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
+ ":event_loop_localizer",
"//aos:init",
"//aos/events:shm-event-loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
],
)
+queue_library(
+ name = "camera_queue",
+ srcs = [
+ "camera.q",
+ ],
+)
+
cc_library(
name = "camera",
srcs = ["camera.h"],
@@ -111,6 +119,18 @@
],
)
+cc_library(
+ name = "event_loop_localizer",
+ srcs = ["event_loop_localizer.cc"],
+ hdrs = ["event_loop_localizer.h"],
+ deps = [
+ ":camera_queue",
+ ":localizer",
+ "//frc971/control_loops/drivetrain:localizer",
+ "//y2019:constants",
+ ],
+)
+
cc_test(
name = "localizer_test",
srcs = ["localizer_test.cc"],
@@ -139,3 +159,19 @@
"arm": [],
}),
)
+
+cc_test(
+ name = "localized_drivetrain_test",
+ srcs = ["localized_drivetrain_test.cc"],
+ deps = [
+ ":camera_queue",
+ ":drivetrain_base",
+ ":event_loop_localizer",
+ ":localizer",
+ "//aos/controls:control_loop_test",
+ "//aos/network:team_number",
+ "//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ ],
+)