Populate a JSON file with all the possible scoring locations.
Note: I have not double-checked these actual locations. Needs further
checking.
Change-Id: I8338f9389dad7f4e81fcf7cbb7d55faa3c8c064e
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/localizer/BUILD b/y2023/localizer/BUILD
index 8f1237c..2345900 100644
--- a/y2023/localizer/BUILD
+++ b/y2023/localizer/BUILD
@@ -31,7 +31,6 @@
"visualization.fbs",
],
gen_reflections = True,
- target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":status_fbs",
@@ -47,12 +46,87 @@
],
)
+flatbuffer_cc_library(
+ name = "scoring_map_fbs",
+ srcs = [
+ "scoring_map.fbs",
+ ],
+ gen_reflections = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/vision:target_map_fbs",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "relative_scoring_map_fbs",
+ srcs = [
+ "relative_scoring_map.fbs",
+ ],
+ gen_reflections = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ ":scoring_map_fbs",
+ ],
+)
+
+cc_library(
+ name = "utils",
+ srcs = ["utils.cc"],
+ hdrs = ["utils.h"],
+ deps = [
+ "//frc971/vision:target_map_fbs",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "map_expander_lib",
+ srcs = ["map_expander_lib.cc"],
+ hdrs = ["map_expander_lib.h"],
+ deps = [
+ ":relative_scoring_map_fbs",
+ ":scoring_map_fbs",
+ ":utils",
+ "//aos:flatbuffers",
+ "//aos:json_to_flatbuffer",
+ ],
+)
+
+cc_binary(
+ name = "map_expander",
+ srcs = ["map_expander.cc"],
+ data = [
+ "//y2023/constants:scoring_map",
+ "//y2023/vision/maps",
+ ],
+ deps = [
+ ":map_expander_lib",
+ "//aos:init",
+ ],
+)
+
+cc_test(
+ name = "map_expander_lib_test",
+ srcs = ["map_expander_lib_test.cc"],
+ data = [
+ "//y2023/constants:scoring_map",
+ "//y2023/vision/maps",
+ ],
+ deps = [
+ ":map_expander_lib",
+ "//aos/testing:flatbuffer_eq",
+ "//aos/testing:googletest",
+ ],
+)
+
cc_library(
name = "localizer",
srcs = ["localizer.cc"],
hdrs = ["localizer.h"],
deps = [
":status_fbs",
+ ":utils",
":visualization_fbs",
"//aos/containers:sized_array",
"//aos/events:event_loop",
@@ -77,6 +151,7 @@
deps = [
":localizer",
":status_fbs",
+ ":utils",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_writer",
"//aos/testing:googletest",