Merge "Add newer DriverStation methods to ahal"
diff --git a/.gitignore b/.gitignore
index 8eeac66..f881856 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,6 +9,7 @@
# The scraping library uses looks for this config file by default,
# you don't want to get that checked in
/scouting_config.json
+/scouting.db
# Hide vagrant's files that unfortunately make it into the source tree when you
# run "vagrant up".
diff --git a/BUILD b/BUILD
index da7cb6e..0d79e19 100644
--- a/BUILD
+++ b/BUILD
@@ -15,6 +15,14 @@
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response //scouting/webserver/requests/messages:error_response_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting //scouting/webserver/requests/messages:submit_data_scouting_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response //scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response //scouting/webserver/requests/messages:request_data_scouting_response_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting //scouting/webserver/requests/messages:request_data_scouting_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response //scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team //scouting/webserver/requests/messages:request_matches_for_team_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response //scouting/webserver/requests/messages:request_all_matches_response_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches //scouting/webserver/requests/messages:request_all_matches_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list //scouting/webserver/requests/messages:refresh_match_list_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response //scouting/webserver/requests/messages:refresh_match_list_response_go_fbs
gazelle(
name = "gazelle",
diff --git a/WORKSPACE b/WORKSPACE
index acda914..398202c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -752,7 +752,7 @@
# I'm sure there is a better path, but that works...
yarn_install(
name = "npm",
- frozen_lockfile = False,
+ frozen_lockfile = True,
package_json = "//:package.json",
symlink_node_modules = False,
yarn_lock = "//:yarn.lock",
diff --git a/aos/BUILD b/aos/BUILD
index 8a8a19a..025e78c 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -159,35 +159,6 @@
)
cc_library(
- name = "complex_thread_local",
- srcs = [
- "complex_thread_local.cc",
- ],
- hdrs = [
- "complex_thread_local.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//aos:die",
- "@com_google_absl//absl/base",
- ],
-)
-
-cc_test(
- name = "complex_thread_local_test",
- srcs = [
- "complex_thread_local_test.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":complex_thread_local",
- "//aos/logging",
- "//aos/testing:googletest",
- ],
-)
-
-cc_library(
name = "init",
srcs = [
"init.cc",
diff --git a/aos/actions/BUILD b/aos/actions/BUILD
index 1905e9c..a76dc3f 100644
--- a/aos/actions/BUILD
+++ b/aos/actions/BUILD
@@ -54,7 +54,7 @@
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//aos/events:config",
+ "//aos/events:aos_config",
],
)
diff --git a/aos/aos_cli_utils.cc b/aos/aos_cli_utils.cc
index 84ba1e4..f71ed2a 100644
--- a/aos/aos_cli_utils.cc
+++ b/aos/aos_cli_utils.cc
@@ -6,7 +6,7 @@
#include <iostream>
-DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_string(config, "./aos_config.json", "File path of aos configuration");
DEFINE_bool(
_bash_autocomplete, false,
diff --git a/aos/aos_graph_nodes.cc b/aos/aos_graph_nodes.cc
index 90778d1..cf7bc11 100644
--- a/aos/aos_graph_nodes.cc
+++ b/aos/aos_graph_nodes.cc
@@ -10,7 +10,7 @@
DEFINE_bool(all, false,
"If true, print out the channels for all nodes in the config file, "
"not just the channels which are visible on this node.");
-DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_string(config, "./aos_config.json", "File path of aos configuration");
DEFINE_bool(short_types, true,
"Whether to show a shortened version of the type name");
diff --git a/aos/complex_thread_local.cc b/aos/complex_thread_local.cc
deleted file mode 100644
index 70f3e82..0000000
--- a/aos/complex_thread_local.cc
+++ /dev/null
@@ -1,74 +0,0 @@
-#include "aos/complex_thread_local.h"
-
-#include <pthread.h>
-
-#include "aos/die.h"
-#include "absl/base/call_once.h"
-
-#define SIMPLE_CHECK(call) \
- do { \
- const int value = call; \
- if (value != 0) { \
- PRDie(value, "%s failed", #call); \
- } \
- } while (false)
-
-namespace aos {
-namespace {
-
-void ExecuteDestructorList(void *v) {
- for (const ComplexThreadLocalDestructor *c =
- static_cast<ComplexThreadLocalDestructor *>(v);
- c != nullptr; c = c->next) {
- c->function(c->param);
- }
-}
-
-void CreateKey(pthread_key_t **r) {
- static pthread_key_t hr;
- SIMPLE_CHECK(pthread_key_create(&hr, ExecuteDestructorList));
- *r = &hr;
-}
-
-absl::once_flag key_once;
-
-pthread_key_t *GetKey() {
- static pthread_key_t *key = nullptr;
- absl::call_once(key_once, CreateKey, &key);
- return key;
-}
-} // namespace
-
-void ComplexThreadLocalDestructor::Add() {
- static_assert(
- ::std::is_pod<ComplexThreadLocalDestructor>::value,
- "ComplexThreadLocalDestructor might not be safe to pass through void*");
- pthread_key_t *key = GetKey();
-
- next = static_cast<ComplexThreadLocalDestructor *>(pthread_getspecific(*key));
- SIMPLE_CHECK(pthread_setspecific(*key, this));
-}
-
-void ComplexThreadLocalDestructor::Remove() {
- pthread_key_t *key = GetKey();
-
- ComplexThreadLocalDestructor *previous = nullptr;
- for (ComplexThreadLocalDestructor *c =
- static_cast<ComplexThreadLocalDestructor *>(
- pthread_getspecific(*key));
- c != nullptr; c = c->next) {
- if (c == this) {
- // If it's the first one.
- if (previous == nullptr) {
- SIMPLE_CHECK(pthread_setspecific(*key, next));
- } else {
- previous->next = next;
- }
- return;
- }
- previous = c;
- }
- ::aos::Die("%p is not in the destructor list\n", this);
-}
-
-} // namespace aos
diff --git a/aos/complex_thread_local.h b/aos/complex_thread_local.h
deleted file mode 100644
index 5397f2f..0000000
--- a/aos/complex_thread_local.h
+++ /dev/null
@@ -1,128 +0,0 @@
-#ifndef AOS_COMPLEX_THREAD_LOCAL_H_
-#define AOS_COMPLEX_THREAD_LOCAL_H_
-
-#include <cassert>
-#include <type_traits>
-#include <utility>
-
-namespace aos {
-
-// Instances form a (per-thread) list of destructor functions to call when the
-// thread exits.
-// Only ComplexThreadLocal should use this.
-struct ComplexThreadLocalDestructor {
- // Adds this to the list of destructors in this thread.
- void Add();
- // Removes this from the list of destructors in this thread. ::aos::Dies if it
- // is not there.
- void Remove();
-
- void (*function)(void *);
- void *param;
-
- ComplexThreadLocalDestructor *next;
-};
-
-// Handles creating a thread-local (per type) object with non-trivial
-// constructor and/or destructor. It will be correctly destroyed on thread exit.
-//
-// Each thread using an instantiation of this class has its own independent slot
-// for storing a T. An instance of T is not actually constructed until a thread
-// calls Create, after which a pointer to it will be returned from get() etc
-// until after Clear is called.
-//
-// Example usage:
-// class Something {
-// private:
-// class Data {
-// public:
-// Data(const ::std::string &value) : value_(value) {}
-//
-// int DoSomething() {
-// if (cached_result_ == 0) {
-// // Do something expensive with value_ and store it in
-// // cached_result_.
-// }
-// return cached_result_;
-// }
-//
-// private:
-// const ::std::string value_;
-// int cached_result_ = 0;
-// };
-// ComplexThreadLocal<Data> thread_local_;
-// ::std::string a_string_;
-//
-// int DoSomething() {
-// thread_local_.Create(a_string_);
-// return thread_local_->DoSomething();
-// }
-// };
-//
-// The current implementation is based on
-// <http://stackoverflow.com/questions/12049684/gcc-4-7-on-linux-pthreads-nontrivial-thread-local-workaround-using-thread-n>.
-// TODO(brians): Change this to just simple standard C++ thread_local once all
-// of our compilers have support.
-template <typename T>
-class ComplexThreadLocal {
- public:
- // Actually creates the object in this thread if there is not one there
- // already.
- // args are all perfectly forwarded to the constructor.
- template <typename... Args>
- void Create(Args &&...args) {
- if (initialized) return;
- new (&storage) T(::std::forward<Args>(args)...);
- destructor.function = PlacementDelete;
- destructor.param = &storage;
- destructor.Add();
- initialized = true;
- }
-
- // Removes the object in this thread (if any), including calling its
- // destructor.
- void Clear() {
- if (!initialized) return;
- destructor.Remove();
- PlacementDelete(&storage);
- initialized = false;
- }
-
- // Returns true if there is already an object in this thread.
- bool created() const { return initialized; }
-
- // Returns the object currently created in this thread or nullptr.
- T *operator->() const { return get(); }
- T *get() const {
- if (initialized) {
- return static_cast<T *>(static_cast<void *>(&storage));
- } else {
- return nullptr;
- }
- }
-
- private:
- typedef typename ::std::aligned_storage<
- sizeof(T), ::std::alignment_of<T>::value>::type Storage;
-
- // Convenient helper for calling a destructor.
- static void PlacementDelete(void *t) { static_cast<T *>(t)->~T(); }
-
- // True iff this storage has been initialized.
- static __thread bool initialized;
- // Where we actually store the object for this thread (if any).
- static __thread Storage storage;
- // The linked list element representing this storage.
- static __thread ComplexThreadLocalDestructor destructor;
-};
-
-template <typename T>
-__thread bool ComplexThreadLocal<T>::initialized;
-template <typename T>
-__thread typename ComplexThreadLocal<T>::Storage ComplexThreadLocal<T>::storage;
-template <typename T>
-__thread ComplexThreadLocalDestructor ComplexThreadLocal<T>::destructor;
-
-} // namespace aos
-
-#endif // AOS_COMPLEX_THREAD_LOCAL_H_
diff --git a/aos/complex_thread_local_test.cc b/aos/complex_thread_local_test.cc
deleted file mode 100644
index 5323dea..0000000
--- a/aos/complex_thread_local_test.cc
+++ /dev/null
@@ -1,100 +0,0 @@
-#include "aos/complex_thread_local.h"
-
-#include <atomic>
-#include <thread>
-
-#include "gtest/gtest.h"
-
-namespace aos {
-namespace testing {
-
-class ComplexThreadLocalTest : public ::testing::Test {
- protected:
- struct TraceableObject {
- TraceableObject(int data = 0) : data(data) { ++constructions; }
- ~TraceableObject() { ++destructions; }
-
- static ::std::atomic<int> constructions, destructions;
-
- int data;
- };
- ComplexThreadLocal<TraceableObject> local;
-
- private:
- void SetUp() override {
- local.Clear();
- EXPECT_EQ(TraceableObject::constructions, TraceableObject::destructions)
- << "There should be no way to create and destroy different numbers.";
- TraceableObject::constructions = TraceableObject::destructions = 0;
- }
-};
-::std::atomic<int> ComplexThreadLocalTest::TraceableObject::constructions;
-::std::atomic<int> ComplexThreadLocalTest::TraceableObject::destructions;
-
-TEST_F(ComplexThreadLocalTest, Basic) {
- EXPECT_EQ(0, TraceableObject::constructions);
- EXPECT_EQ(0, TraceableObject::destructions);
- EXPECT_FALSE(local.created());
- EXPECT_EQ(nullptr, local.get());
-
- local.Create(971);
- EXPECT_EQ(1, TraceableObject::constructions);
- EXPECT_EQ(0, TraceableObject::destructions);
- EXPECT_TRUE(local.created());
- EXPECT_EQ(971, local->data);
-
- local.Create(254);
- EXPECT_EQ(1, TraceableObject::constructions);
- EXPECT_EQ(0, TraceableObject::destructions);
- EXPECT_TRUE(local.created());
- EXPECT_EQ(971, local->data);
-
- local.Clear();
- EXPECT_EQ(1, TraceableObject::constructions);
- EXPECT_EQ(1, TraceableObject::destructions);
- EXPECT_FALSE(local.created());
- EXPECT_EQ(nullptr, local.get());
-
- local.Create(973);
- EXPECT_EQ(2, TraceableObject::constructions);
- EXPECT_EQ(1, TraceableObject::destructions);
- EXPECT_TRUE(local.created());
- EXPECT_EQ(973, local->data);
-}
-
-TEST_F(ComplexThreadLocalTest, AnotherThread) {
- EXPECT_FALSE(local.created());
- std::thread t1([this]() {
- EXPECT_FALSE(local.created());
- local.Create(971);
- EXPECT_TRUE(local.created());
- EXPECT_EQ(971, local->data);
- EXPECT_EQ(1, TraceableObject::constructions);
- EXPECT_EQ(0, TraceableObject::destructions);
- });
- t1.join();
- EXPECT_EQ(1, TraceableObject::constructions);
- EXPECT_EQ(1, TraceableObject::destructions);
- EXPECT_FALSE(local.created());
-}
-
-TEST_F(ComplexThreadLocalTest, TwoThreads) {
- std::thread thread([this]() {
- local.Create(971);
- EXPECT_EQ(971, local->data);
- EXPECT_EQ(0, TraceableObject::destructions);
- });
- local.Create(973);
- EXPECT_EQ(973, local->data);
- thread.join();
- EXPECT_TRUE(local.created());
- EXPECT_EQ(2, TraceableObject::constructions);
- EXPECT_EQ(1, TraceableObject::destructions);
- local.Clear();
- EXPECT_EQ(2, TraceableObject::constructions);
- EXPECT_EQ(2, TraceableObject::destructions);
- EXPECT_FALSE(local.created());
-}
-
-} // namespace testing
-} // namespace aos
diff --git a/aos/configuration.cc b/aos/configuration.cc
index 580c2e0..bc50d30 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -704,10 +704,30 @@
FlatbufferDetachedBuffer<Configuration> ReadConfig(
const std::string_view path,
const std::vector<std::string_view> &extra_import_paths) {
+ // Add the executable directory to the search path. That makes it so that
+ // tools can be run from any directory without hard-coding an absolute path to
+ // the config into all binaries.
+ std::vector<std::string_view> extra_import_paths_with_exe =
+ extra_import_paths;
+ char proc_self_exec_buffer[PATH_MAX + 1];
+ std::memset(proc_self_exec_buffer, 0, sizeof(proc_self_exec_buffer));
+ ssize_t s = readlink("/proc/self/exe", proc_self_exec_buffer, PATH_MAX);
+ if (s > 0) {
+ // If the readlink call fails, the worst thing that happens is that we don't
+ // automatically find the config next to the binary. VLOG to make it easier
+ // to debug.
+ std::string_view proc_self_exec(proc_self_exec_buffer);
+
+ extra_import_paths_with_exe.emplace_back(
+ proc_self_exec.substr(0, proc_self_exec.rfind("/")));
+ } else {
+ VLOG(1) << "Failed to read /proc/self/exe";
+ }
+
// We only want to read a file once. So track the visited files in a set.
absl::btree_set<std::string> visited_paths;
FlatbufferDetachedBuffer<Configuration> read_config =
- ReadConfig(path, &visited_paths, extra_import_paths);
+ ReadConfig(path, &visited_paths, extra_import_paths_with_exe);
// If we only read one file, and it had a .bfbs extension, it has to be a
// fully formatted config. Do a quick verification and return it.
diff --git a/aos/configuration.h b/aos/configuration.h
index 9cb1132..c0e2715 100644
--- a/aos/configuration.h
+++ b/aos/configuration.h
@@ -40,8 +40,8 @@
FlatbufferDetachedBuffer<Configuration> MergeWithConfig(
const Configuration *config, const Flatbuffer<Configuration> &addition);
-// Adds the list of schemas to the provide config json. This should mostly be
-// used for testing and in conjunction with MergeWithConfig.
+// Adds the list of schemas to the provide aos_config.json. This should mostly
+// be used for testing and in conjunction with MergeWithConfig.
FlatbufferDetachedBuffer<aos::Configuration> AddSchema(
std::string_view json,
const std::vector<FlatbufferVector<reflection::Schema>> &schemas);
diff --git a/aos/containers/BUILD b/aos/containers/BUILD
index e9f8262..9fdc93f 100644
--- a/aos/containers/BUILD
+++ b/aos/containers/BUILD
@@ -46,6 +46,9 @@
hdrs = [
"sized_array.h",
],
+ deps = [
+ "@com_google_absl//absl/container:inlined_vector",
+ ],
)
cc_test(
diff --git a/aos/containers/sized_array.h b/aos/containers/sized_array.h
index 4264cf6..8a8d2de 100644
--- a/aos/containers/sized_array.h
+++ b/aos/containers/sized_array.h
@@ -1,134 +1,28 @@
#ifndef AOS_CONTAINERS_SIZED_ARRAY_H_
#define AOS_CONTAINERS_SIZED_ARRAY_H_
-#include <array>
-#include <cstddef>
+#include "absl/container/inlined_vector.h"
namespace aos {
-// An array along with a variable size. This is a simple variable-size container
-// with a fixed maximum size.
-//
-// Note that it default-constructs N T instances at construction time. This
-// simplifies the internal bookkeeping a lot (I believe this can be
-// all-constexpr in C++17), but makes it a poor choice for complex T.
-template <typename T, size_t N>
-class SizedArray {
- private:
- using array = std::array<T, N>;
-
+// Minimal compliant allocator whose allocating operations are all fatal.
+template <typename T>
+class FatalAllocator {
public:
- using value_type = typename array::value_type;
- using size_type = typename array::size_type;
- using difference_type = typename array::difference_type;
- using reference = typename array::reference;
- using const_reference = typename array::const_reference;
- using pointer = typename array::pointer;
- using const_pointer = typename array::const_pointer;
- using iterator = typename array::iterator;
- using const_iterator = typename array::const_iterator;
- using reverse_iterator = typename array::reverse_iterator;
- using const_reverse_iterator = typename array::const_reverse_iterator;
+ using value_type = T;
- constexpr SizedArray() = default;
- SizedArray(const SizedArray &) = default;
- SizedArray(SizedArray &&) = default;
- SizedArray &operator=(const SizedArray &) = default;
- SizedArray &operator=(SizedArray &&) = default;
+ [[nodiscard, noreturn]] T *allocate(std::size_t) { __builtin_trap(); }
- bool operator==(const SizedArray &other) const {
- if (other.size() != size()) {
- return false;
- }
- for (size_t i = 0; i < size(); ++i) {
- if (other[i] != (*this)[i]) {
- return false;
- }
- }
- return true;
- }
- bool operator!=(const SizedArray &other) const {
- return !(*this == other);
- }
-
- reference at(size_t i) {
- check_index(i);
- return array_.at(i);
- }
- const_reference at(size_t i) const {
- check_index(i);
- return array_.at(i);
- }
-
- reference operator[](size_t i) { return array_[i]; }
- const_reference operator[](size_t i) const { return array_[i]; }
-
- reference front() { return array_.front(); }
- const_reference front() const { return array_.front(); }
-
- reference back() { return array_[size_ - 1]; }
- const_reference back() const { return array_[size_ - 1]; }
-
- T *data() { return array_.data(); }
- const T *data() const { return array_.data(); }
-
- iterator begin() { return array_.begin(); }
- const_iterator begin() const { return array_.begin(); }
- const_iterator cbegin() const { return array_.cbegin(); }
-
- iterator end() { return array_.begin() + size_; }
- const_iterator end() const { return array_.begin() + size_; }
- const_iterator cend() const { return array_.cbegin() + size_; }
-
- reverse_iterator rbegin() { return array_.rend() - size_; }
- const_reverse_iterator rbegin() const { return array_.rend() - size_; }
- const_reverse_iterator crbegin() const { return array_.crend() - size_; }
-
- reverse_iterator rend() { return array_.rend(); }
- const_reverse_iterator rend() const { return array_.rend(); }
- const_reverse_iterator crend() const { return array_.crend(); }
-
- bool empty() const { return size_ == 0; }
- bool full() const { return size() == max_size(); }
-
- size_t size() const { return size_; }
- constexpr size_t max_size() const { return array_.max_size(); }
-
- void push_back(const T &t) {
- array_.at(size_) = t;
- ++size_;
- }
- void push_back(T &&t) {
- array_.at(size_) = std::move(t);
- ++size_;
- }
-
- void pop_back() {
- if (empty()) {
- __builtin_trap();
- }
- --size_;
- }
-
- void clear() { size_ = 0; }
-
- // These allow access to the underlying storage. The data here may be outside
- // the current logical extents of the container.
- const array &backing_array() const { return array_; }
- array *mutable_backing_array() { return &array_; }
- void set_size(size_t size) { size_ = size; }
-
- private:
- void check_index(size_t i) const {
- if (i >= size_) {
- __builtin_trap();
- }
- }
-
- array array_;
- size_t size_ = 0;
+ [[noreturn]] void deallocate(T *, std::size_t) { __builtin_trap(); }
};
+// Reuse the logic from absl::InlinedVector for a statically allocated,
+// dynamically sized list of values. InlinedVector's default behavior is to
+// allocate from the heap when growing beyond the static capacity, make this
+// fatal instead to enforce RT guarantees.
+template <typename T, size_t N>
+using SizedArray = absl::InlinedVector<T, N, FatalAllocator<T>>;
+
} // namespace aos
#endif // AOS_CONTAINERS_SIZED_ARRAY_H_
diff --git a/aos/containers/sized_array_test.cc b/aos/containers/sized_array_test.cc
index bfaba06..d182ad2 100644
--- a/aos/containers/sized_array_test.cc
+++ b/aos/containers/sized_array_test.cc
@@ -32,39 +32,39 @@
TEST(SizedArrayTest, Accessors) {
SizedArray<int, 5> a;
EXPECT_TRUE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
EXPECT_EQ(0u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
EXPECT_EQ(1u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
EXPECT_EQ(2u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
EXPECT_EQ(3u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
EXPECT_EQ(4u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_TRUE(a.full());
+ EXPECT_EQ(a.size(), a.capacity());
EXPECT_EQ(5u, a.size());
- EXPECT_EQ(5u, a.max_size());
+ EXPECT_EQ(5u, a.capacity());
}
// Tests the various kinds of iterator.
@@ -139,20 +139,35 @@
TEST(SizedArrayTest, FillEmpty) {
SizedArray<int, 2> a;
EXPECT_TRUE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
a.push_back(9);
EXPECT_FALSE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
a.push_back(7);
EXPECT_FALSE(a.empty());
- EXPECT_TRUE(a.full());
+ EXPECT_EQ(a.size(), a.capacity());
a.clear();
EXPECT_TRUE(a.empty());
- EXPECT_FALSE(a.full());
+ EXPECT_NE(a.size(), a.capacity());
a.push_back(1);
EXPECT_EQ(1, a.back());
}
+TEST(SizedArrayTest, OverflowTest) {
+ SizedArray<int, 4> a;
+ EXPECT_EQ(a.capacity(), 4u);
+ EXPECT_TRUE(a.empty());
+
+ const int* const pre_front = a.data();
+ a.assign({1, 2, 3, 4});
+
+ EXPECT_EQ(a.capacity(), 4u);
+ // Verify that we didn't reallocate
+ EXPECT_EQ(pre_front, a.data());
+
+ EXPECT_DEATH(a.emplace_back(5), "SIGILL");
+}
+
} // namespace testing
} // namespace aos
diff --git a/aos/events/BUILD b/aos/events/BUILD
index f36da1e..e53be2f 100644
--- a/aos/events/BUILD
+++ b/aos/events/BUILD
@@ -142,7 +142,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "aos.json",
flatbuffers = [
":event_loop_fbs",
@@ -161,7 +161,7 @@
":pong_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = [":config"],
+ deps = [":aos_config"],
)
[
@@ -177,7 +177,7 @@
"//aos/network:message_bridge_server_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = [":config"],
+ deps = [":aos_config"],
)
for config in [
"multinode_pingpong_test_split",
@@ -448,7 +448,7 @@
"glib_main_loop_test.cc",
],
data = [
- ":config",
+ ":aos_config",
],
deps = [
":glib_main_loop",
diff --git a/aos/events/glib_main_loop_test.cc b/aos/events/glib_main_loop_test.cc
index b857b0b..9f72e54 100644
--- a/aos/events/glib_main_loop_test.cc
+++ b/aos/events/glib_main_loop_test.cc
@@ -15,7 +15,7 @@
const FlatbufferDetachedBuffer<Configuration> &Config() {
static const FlatbufferDetachedBuffer<Configuration> result =
- configuration::ReadConfig(ArtifactPath("aos/events/config.json"));
+ configuration::ReadConfig(ArtifactPath("aos/events/aos_config.json"));
return result;
}
diff --git a/aos/events/logging/BUILD b/aos/events/logging/BUILD
index ec13f92..272bee4 100644
--- a/aos/events/logging/BUILD
+++ b/aos/events/logging/BUILD
@@ -383,7 +383,7 @@
"//aos/network:timestamp_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
aos_config(
@@ -398,7 +398,7 @@
"//aos/network:timestamp_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
aos_config(
@@ -413,7 +413,7 @@
"//aos/network:timestamp_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
cc_test(
diff --git a/aos/events/logging/logfile_sorting.cc b/aos/events/logging/logfile_sorting.cc
index 1e7c817..a506850 100644
--- a/aos/events/logging/logfile_sorting.cc
+++ b/aos/events/logging/logfile_sorting.cc
@@ -1037,6 +1037,13 @@
next_boot_time.oldest_local_unreliable_monotonic_timestamp;
}
}
+
+ // Skip anything without a time in it.
+ if (boot_time.oldest_remote_unreliable_monotonic_timestamp ==
+ aos::monotonic_clock::max_time) {
+ continue;
+ }
+
source_boot_times.emplace_back(
std::make_tuple(boot_time_list.first, boot_time, max_boot_time));
@@ -1214,6 +1221,9 @@
std::vector<std::pair<std::string, BootPairTimes>>
destination_boot_times;
for (const auto &source_boot_uuid : source_node.second) {
+ CHECK_NE(source_boot_uuid.second
+ .oldest_remote_unreliable_monotonic_timestamp,
+ monotonic_clock::max_time);
destination_boot_times.emplace_back(source_boot_uuid);
}
diff --git a/aos/events/logging/logger_main.cc b/aos/events/logging/logger_main.cc
index 4874c77..aa6f25b 100644
--- a/aos/events/logging/logger_main.cc
+++ b/aos/events/logging/logger_main.cc
@@ -10,7 +10,7 @@
#include "gflags/gflags.h"
#include "glog/logging.h"
-DEFINE_string(config, "config.json", "Config file to use.");
+DEFINE_string(config, "aos_config.json", "Config file to use.");
DEFINE_bool(skip_renicing, false,
"If true, skip renicing the logger. This leaves it lower priority "
diff --git a/aos/logging/BUILD b/aos/logging/BUILD
index 30fd0d1..10d41a3 100644
--- a/aos/logging/BUILD
+++ b/aos/logging/BUILD
@@ -20,7 +20,6 @@
deps = [
":printf_formats",
":sizes",
- "//aos:complex_thread_local",
"//aos:die",
"//aos:macros",
"//aos:thread_local",
diff --git a/aos/logging/context.cc b/aos/logging/context.cc
index 30d275b..9eaac50 100644
--- a/aos/logging/context.cc
+++ b/aos/logging/context.cc
@@ -18,7 +18,6 @@
extern char *program_invocation_name;
extern char *program_invocation_short_name;
-#include "aos/complex_thread_local.h"
#include "aos/die.h"
#include "aos/logging/implementations.h"
#include "aos/thread_local.h"
@@ -63,7 +62,7 @@
return process_name + '.' + thread_name;
}
-::aos::ComplexThreadLocal<Context> my_context;
+thread_local std::optional<Context> my_context;
// True if we're going to delete the current Context object ASAP. The
// reason for doing this instead of just deleting them is that tsan (at least)
@@ -77,7 +76,7 @@
// Used in aos/linux_code/init.cc when a thread's name is changed.
void ReloadThreadName() {
- if (my_context.created()) {
+ if (my_context.has_value()) {
my_context->ClearName();
}
}
@@ -99,21 +98,21 @@
Context *Context::Get() {
if (__builtin_expect(delete_current_context, false)) {
- my_context.Clear();
+ my_context.reset();
delete_current_context = false;
}
- if (__builtin_expect(!my_context.created(), false)) {
- my_context.Create();
+ if (__builtin_expect(!my_context.has_value(), false)) {
+ my_context.emplace();
my_context->ClearName();
my_context->source = getpid();
}
- return my_context.get();
+ return &*my_context;
}
void Context::Delete() { delete_current_context = true; }
void Context::DeleteNow() {
- my_context.Clear();
+ my_context.reset();
delete_current_context = false;
}
diff --git a/aos/network/BUILD b/aos/network/BUILD
index 323a334..bc68c90 100644
--- a/aos/network/BUILD
+++ b/aos/network/BUILD
@@ -354,7 +354,7 @@
"//aos/network:timestamp_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
aos_config(
@@ -369,7 +369,7 @@
"//aos/network:timestamp_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
cc_test(
diff --git a/aos/network/message_bridge_client.cc b/aos/network/message_bridge_client.cc
index 61a7271..301dfd9 100644
--- a/aos/network/message_bridge_client.cc
+++ b/aos/network/message_bridge_client.cc
@@ -3,7 +3,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-DEFINE_string(config, "config.json", "Path to the config.");
+DEFINE_string(config, "aos_config.json", "Path to the config.");
DEFINE_int32(rt_priority, -1, "If > 0, run as this RT priority");
namespace aos {
diff --git a/aos/network/message_bridge_server.cc b/aos/network/message_bridge_server.cc
index 9f336c0..fc1425d 100644
--- a/aos/network/message_bridge_server.cc
+++ b/aos/network/message_bridge_server.cc
@@ -4,7 +4,7 @@
#include "gflags/gflags.h"
#include "glog/logging.h"
-DEFINE_string(config, "config.json", "Path to the config.");
+DEFINE_string(config, "aos_config.json", "Path to the config.");
DEFINE_int32(rt_priority, -1, "If > 0, run as this RT priority");
namespace aos {
diff --git a/aos/network/web_proxy_main.cc b/aos/network/web_proxy_main.cc
index f3ad926..4482ad0 100644
--- a/aos/network/web_proxy_main.cc
+++ b/aos/network/web_proxy_main.cc
@@ -4,7 +4,7 @@
#include "aos/network/web_proxy.h"
#include "gflags/gflags.h"
-DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_string(config, "./aos_config.json", "File path of aos configuration");
DEFINE_string(data_dir, "www", "Directory to serve data files from");
DEFINE_int32(buffer_size, 1000000,
"-1 if infinite, in bytes / channel. If there are no active "
diff --git a/aos/network/www/BUILD b/aos/network/www/BUILD
index f62ed67..1b00af7 100644
--- a/aos/network/www/BUILD
+++ b/aos/network/www/BUILD
@@ -158,7 +158,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
+ "//aos/events:aos_config",
],
)
@@ -179,7 +179,7 @@
":reflection_test_bundle.min.js",
":test_config",
"//aos/network:web_proxy_main",
- "//y2020:config",
+ "//y2020:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
)
diff --git a/aos/starter/BUILD b/aos/starter/BUILD
index e6dad81..280a1c2 100644
--- a/aos/starter/BUILD
+++ b/aos/starter/BUILD
@@ -33,6 +33,7 @@
"//aos/events:event_loop",
"//aos/events:shm_event_loop",
"//aos/util:scoped_pipe",
+ "@boringssl//:crypto",
"@com_github_google_glog//:glog",
],
)
@@ -77,6 +78,7 @@
data = [
"//aos/events:pingpong_config",
],
+ flaky = True,
# The roborio compiler doesn't support <filesystem>.
target_compatible_with =
["@platforms//os:linux"],
diff --git a/aos/starter/starter.fbs b/aos/starter/starter.fbs
index 4b66833..1fd990e 100644
--- a/aos/starter/starter.fbs
+++ b/aos/starter/starter.fbs
@@ -45,7 +45,10 @@
EXECV_ERR,
// Failed to change to the requested group
- SET_GRP_ERR
+ SET_GRP_ERR,
+
+ // Failed to either find the binary or open it for reading.
+ RESOLVE_ERR,
}
table Status {
@@ -73,6 +76,12 @@
// Indicates the reason the application is not running. Only valid if
// application is STOPPED.
last_stop_reason: LastStopReason (id: 6);
+
+ binary_sha256: string (id: 7);
+
+ // Resolved path to the binary executed. May be absolute or relative to the
+ // working directory of starter.
+ full_path: string (id: 8);
}
root_type Status;
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index d5812c2..9bc7605 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -1,62 +1,22 @@
#!/bin/bash
+set -x
+
if [[ "$(hostname)" == "roboRIO"* ]]; then
/usr/local/natinst/etc/init.d/systemWebServer stop
- ROBOT_CODE="/home/admin/robot_code"
-
- # Get the CTRE libraries in the shared library search path
- for f in $(ls *.so);
- do
- ln -f -s /home/admin/robot_code/$f /usr/local/frc/third-party/lib/$f
- done
+ ROBOT_CODE="/home/admin/bin"
+ cd "${ROBOT_CODE}"
ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
elif [[ "$(hostname)" == "pi-"* ]]; then
- function chrtirq() {
- ps -ef | grep "\\[$1\\]" | awk '{print $2}' | xargs chrt $2 -p $3
- }
-
- chrtirq "irq/20-fe00b880" -f 50
- chrtirq "irq/66-xhci_hcd" -f 1
- chrtirq "irq/50-VCHIQ do" -o 0
- chrtirq "irq/27-DMA IRQ" -f 50
- chrtirq "irq/51-mmc1" -o 0
- chrtirq "irq/51-mmc0" -o 0
- chrtirq "irq/51-s-mmc0" -o 0
- chrtirq "irq/64-v3d" -o 0
- chrtirq "irq/24-vc4 hvs" -o 0
- chrtirq "irq/42-vc4 hdmi" -o 0
- chrtirq "irq/43-vc4 hdmi" -o 0
- chrtirq "irq/39-vc4 hdmi" -o 0
- chrtirq "irq/39-s-vc4 hd" -o 0
- chrtirq "irq/38-vc4 hdmi" -o 0
- chrtirq "irq/38-s-vc4 hd" -o 0
- chrtirq "irq/29-DMA IRQ" -f 50
- chrtirq "irq/48-vc4 hdmi" -o 0
- chrtirq "irq/49-vc4 hdmi" -o 0
- chrtirq "irq/45-vc4 hdmi" -o 0
- chrtirq "irq/45-s-vc4 hd" -o 0
- chrtirq "irq/44-vc4 hdmi" -o 0
- chrtirq "irq/44-s-vc4 hd" -o 0
- chrtirq "irq/30-DMA IRQ" -f 50
- chrtirq "irq/19-fe004000" -f 50
- chrtirq "irq/34-vc4 crtc" -o 0
- chrtirq "irq/35-vc4 crtc" -o 0
- chrtirq "irq/36-vc4 crtc" -o 0
- chrtirq "irq/35-vc4 crtc" -o 0
- chrtirq "irq/37-vc4 crtc" -o 0
- chrtirq "irq/23-uart-pl0" -o 0
- chrtirq "irq/57-eth0" -f 10
- chrtirq "irq/58-eth0" -f 10
-
# We have systemd configured to handle restarting, so just exec.
- export PATH="${PATH}:/home/pi/robot_code"
+ export PATH="${PATH}:/home/pi/bin"
rm -rf /dev/shm/aos
exec starterd
else
- ROBOT_CODE="${HOME}/robot_code"
+ ROBOT_CODE="${HOME}/bin"
fi
cd "${ROBOT_CODE}"
diff --git a/aos/starter/starter_cmd.cc b/aos/starter/starter_cmd.cc
index 65861e1..b4d80d8 100644
--- a/aos/starter/starter_cmd.cc
+++ b/aos/starter/starter_cmd.cc
@@ -13,7 +13,7 @@
#include "gflags/gflags.h"
#include "starter_rpc_lib.h"
-DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_string(config, "./aos_config.json", "File path of aos configuration");
// TODO(james): Bash autocompletion for node names.
DEFINE_string(
node, "",
diff --git a/aos/starter/starter_demo.py b/aos/starter/starter_demo.py
index 571e848..f8fa520 100755
--- a/aos/starter/starter_demo.py
+++ b/aos/starter/starter_demo.py
@@ -50,6 +50,6 @@
destination = f"{tmpdir}/aos/events/{basename}"
os.makedirs(os.path.dirname(destination), exist_ok=True)
shutil.copy(config, destination)
- shutil.copy(config, f"{tmpdir}/config.{suffix}")
+ shutil.copy(config, f"{tmpdir}/aos_config.{suffix}")
args = [tmpdir + "/starterd"]
subprocess.run(args, check=True, cwd=tmpdir)
diff --git a/aos/starter/starterd.cc b/aos/starter/starterd.cc
index a5a340a..941f5df 100644
--- a/aos/starter/starterd.cc
+++ b/aos/starter/starterd.cc
@@ -5,7 +5,7 @@
#include "gflags/gflags.h"
#include "starterd_lib.h"
-DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_string(config, "./aos_config.json", "File path of aos configuration");
DEFINE_string(user, "",
"Starter runs as though this user ran a SUID binary if set.");
diff --git a/aos/starter/subprocess.cc b/aos/starter/subprocess.cc
index c1eb618..76a22f2 100644
--- a/aos/starter/subprocess.cc
+++ b/aos/starter/subprocess.cc
@@ -6,7 +6,9 @@
#include <sys/types.h>
#include <sys/wait.h>
+#include "absl/strings/str_split.h"
#include "glog/logging.h"
+#include "openssl/sha.h"
namespace aos::starter {
@@ -92,6 +94,12 @@
start_timer_->Disable();
restart_timer_->Disable();
+ if (!UpdatePathAndChecksum()) {
+ stop_reason_ = aos::starter::LastStopReason::RESOLVE_ERR;
+ MaybeQueueRestart();
+ return;
+ }
+
status_pipes_ = util::ScopedPipe::MakePipe();
if (capture_stdout_) {
@@ -198,15 +206,15 @@
}
// argv[0] should be the program name
- args_.insert(args_.begin(), path_);
+ args_.insert(args_.begin(), full_path_);
std::vector<char *> cargs = CArgs();
- execvp(path_.c_str(), cargs.data());
+ execv(full_path_.c_str(), cargs.data());
// If we got here, something went wrong
status_pipes_.write->Write(
static_cast<uint32_t>(aos::starter::LastStopReason::EXECV_ERR));
- PLOG(WARNING) << "Could not execute " << name_ << " (" << path_ << ')';
+ PLOG(WARNING) << "Could not execute " << name_ << " (" << full_path_ << ')';
_exit(EXIT_FAILURE);
}
@@ -296,6 +304,15 @@
on_change_();
}
+void Application::MaybeQueueRestart() {
+ if (autorestart()) {
+ QueueStart();
+ } else {
+ status_ = aos::starter::State::STOPPED;
+ on_change_();
+ }
+}
+
std::vector<char *> Application::CArgs() {
std::vector<char *> cargs;
std::transform(args_.begin(), args_.end(), std::back_inserter(cargs),
@@ -345,10 +362,70 @@
}
}
+bool Application::UpdatePathAndChecksum() {
+ int fin = -1;
+ std::string test_path;
+ if (path_.find('/') != std::string::npos) {
+ test_path = path_;
+ fin = open(path_.c_str(), O_RDONLY);
+ } else {
+ char *path = secure_getenv("PATH");
+ for (std::string_view path_cmp : absl::StrSplit(path, ':')) {
+ test_path = absl::StrCat(path_cmp, "/", path_);
+ fin = open(test_path.c_str(), O_RDONLY);
+ if (fin != -1) break;
+ }
+ }
+ if (fin == -1) {
+ PLOG(WARNING) << "Failed to open binary '" << path_ << "' as file";
+ return false;
+ }
+
+ full_path_ = std::move(test_path);
+
+ // Hash iteratively to avoid reading the entire binary into memory
+ constexpr std::size_t kReadSize = 1024 * 16;
+
+ SHA256_CTX ctx;
+ CHECK_EQ(SHA256_Init(&ctx), 1);
+
+ std::array<uint8_t, kReadSize> buf;
+
+ while (true) {
+ const ssize_t result = read(fin, buf.data(), kReadSize);
+ PCHECK(result != -1);
+ if (result == 0) {
+ break;
+ } else {
+ CHECK_EQ(SHA256_Update(&ctx, buf.data(), result), 1);
+ }
+ }
+ PCHECK(close(fin) == 0);
+
+ std::array<uint8_t, SHA256_DIGEST_LENGTH> hash_buf;
+ CHECK_EQ(SHA256_Final(hash_buf.data(), &ctx), 1);
+
+ static constexpr std::string_view kHexTable = "0123456789abcdef";
+
+ static_assert(hash_buf.size() * 2 == kSha256HexStrSize);
+ for (std::size_t i = 0; i < hash_buf.size(); ++i) {
+ checksum_[i * 2] = kHexTable[(hash_buf[i] & 0xF0U) >> 4U];
+ checksum_[i * 2 + 1] = kHexTable[hash_buf[i] & 0x0FU];
+ }
+
+ return true;
+}
+
flatbuffers::Offset<aos::starter::ApplicationStatus>
Application::PopulateStatus(flatbuffers::FlatBufferBuilder *builder) {
CHECK_NOTNULL(builder);
auto name_fbs = builder->CreateString(name_);
+ auto full_path_fbs = builder->CreateString(full_path_);
+ flatbuffers::Offset<flatbuffers::String> binary_sha256_fbs;
+ if (pid_ != -1) {
+ binary_sha256_fbs =
+ builder->CreateString(checksum_.data(), checksum_.size());
+ }
aos::starter::ApplicationStatus::Builder status_builder(*builder);
status_builder.add_name(name_fbs);
@@ -360,6 +437,8 @@
if (pid_ != -1) {
status_builder.add_pid(pid_);
status_builder.add_id(id_);
+ status_builder.add_binary_sha256(binary_sha256_fbs);
+ status_builder.add_full_path(full_path_fbs);
}
status_builder.add_last_start_time(start_time_.time_since_epoch().count());
return status_builder.Finish();
@@ -441,12 +520,7 @@
LOG(WARNING) << "Failed to start '" << name_ << "' on pid " << pid_
<< " : Exited with status " << exit_code_.value();
}
- if (autorestart()) {
- QueueStart();
- } else {
- status_ = aos::starter::State::STOPPED;
- on_change_();
- }
+ MaybeQueueRestart();
break;
}
case aos::starter::State::RUNNING: {
@@ -458,12 +532,7 @@
<< " exited unexpectedly with status "
<< exit_code_.value();
}
- if (autorestart()) {
- QueueStart();
- } else {
- status_ = aos::starter::State::STOPPED;
- on_change_();
- }
+ MaybeQueueRestart();
break;
}
case aos::starter::State::STOPPING: {
diff --git a/aos/starter/subprocess.h b/aos/starter/subprocess.h
index 9ee9e31..ed4d0dd 100644
--- a/aos/starter/subprocess.h
+++ b/aos/starter/subprocess.h
@@ -75,6 +75,8 @@
bool autorestart() const { return autorestart_; }
+ std::string_view full_path() const { return full_path_; }
+
const std::string &GetStdout();
const std::string &GetStderr();
std::optional<int> exit_code() const { return exit_code_; }
@@ -91,6 +93,9 @@
void QueueStart();
+ // Queues start if autorestart set, otherwise moves state to stopped.
+ void MaybeQueueRestart();
+
// Copy flatbuffer vector of strings to vector of std::string.
static std::vector<std::string> FbsVectorToVector(
const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>> &v);
@@ -106,11 +111,21 @@
// call).
std::vector<char *> CArgs();
+ // Resolves the path to the binary from the PATH environment variable. On
+ // success, updates full_path_ to the absolute path to the binary and the
+ // checksum_ to the hex-encoded sha256 hash of the file; returns true. On
+ // failure, returns false.
+ bool UpdatePathAndChecksum();
+
// Next unique id for all applications
static inline uint64_t next_id_ = 0;
+ static constexpr size_t kSha256HexStrSize = 256 / CHAR_BIT * 2;
+
std::string name_;
std::string path_;
+ std::string full_path_;
+ std::array<char, kSha256HexStrSize> checksum_{"DEADBEEF"};
std::vector<std::string> args_;
std::string user_name_;
std::optional<uid_t> user_;
diff --git a/aos/starter/subprocess_test.cc b/aos/starter/subprocess_test.cc
index 93fbf6a..ede39f8 100644
--- a/aos/starter/subprocess_test.cc
+++ b/aos/starter/subprocess_test.cc
@@ -49,6 +49,9 @@
event_loop.Run();
+ EXPECT_TRUE(echo_stdout.full_path() == "/bin/echo" ||
+ echo_stdout.full_path() == "/usr/bin/echo")
+ << echo_stdout.full_path();
ASSERT_EQ("abcdef\n", echo_stdout.GetStdout());
ASSERT_TRUE(echo_stdout.GetStderr().empty());
EXPECT_TRUE(observed_stopped);
diff --git a/debian/python_gi_init.patch b/debian/python_gi_init.patch
index 76e5c40..50cb6ac 100644
--- a/debian/python_gi_init.patch
+++ b/debian/python_gi_init.patch
@@ -1,6 +1,6 @@
--- a/__init__.py 1969-12-31 16:00:00.000000000 -0800
+++ b/__init__.py 2018-10-17 21:45:04.908201161 -0700
-@@ -29,6 +29,19 @@ import os
+@@ -29,6 +29,22 @@ import os
import importlib
import types
@@ -12,7 +12,10 @@
+# Tell fontconfig where to find the sandboxed font files.
+os.environ["FONTCONFIG_PATH"] = os.path.join(_base, "etc/fonts/")
+os.environ["FONTCONFIG_FILE"] = os.path.join(_base, "etc/fonts/fonts.conf")
-+os.environ["FONTCONFIG_SYSROOT"] = _base
++# The sysroot here needs to be "/". If it were _base, then the font caches
++# would contain _base-relative paths in them. Unfortunately pango interprets
++# those as absolute paths and ends up failing to find all fonts.
++os.environ["FONTCONFIG_SYSROOT"] = "/"
+os.environ["GDK_PIXBUF_MODULEDIR"] = os.path.join(_base, "rpathed", "usr", "lib", "x86_64-linux-gnu", "gdk-pixbuf-2.0", "2.10.0", "loaders")
+os.environ["GDK_PIXBUF_MODULE_FILE"] = os.path.join(os.environ["GDK_PIXBUF_MODULEDIR"], "loaders.cache")
+os.system(os.path.join(_base, "usr/lib/x86_64-linux-gnu/gdk-pixbuf-2.0/gdk-pixbuf-query-loaders") + " --update-cache")
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index 0c87ef4..cd6f729 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -52,8 +52,12 @@
"//y2020/control_loops/superstructure:hood_plotter",
"//y2020/control_loops/superstructure:turret_plotter",
"//y2021_bot3/control_loops/superstructure:superstructure_plotter",
- "//y2022/control_loops/localizer:localizer_plotter",
"//y2022/control_loops/superstructure:catapult_plotter",
+ "//y2022/control_loops/superstructure:climber_plotter",
+ "//y2022/control_loops/superstructure:intake_plotter",
+ "//y2022/control_loops/superstructure:turret_plotter",
+ "//y2022/localizer:localizer_plotter",
+ "//y2022/vision:vision_plotter",
],
)
@@ -131,7 +135,7 @@
src = "plotter_config.json",
flatbuffers = [":plot_data_fbs"],
target_compatible_with = ["@platforms//os:linux"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
cc_library(
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 4235ba9..b2a3efa 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -28,22 +28,30 @@
import {plotDownEstimator} from 'org_frc971/frc971/control_loops/drivetrain/down_estimator_plotter';
import {plotRobotState} from
'org_frc971/frc971/control_loops/drivetrain/robot_state_plotter'
-import {plotFinisher} from
+import {plotFinisher as plot2020Finisher} from
'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
-import {plotTurret} from
+import {plotTurret as plot2020Turret} from
'org_frc971/y2020/control_loops/superstructure/turret_plotter'
import {plotLocalizer as plot2020Localizer} from
'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+import {plotAccelerator as plot2020Accelerator} from
+ 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
+import {plotHood as plot2020Hood} from
+ 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+import {plotSuperstructure as plot2021Superstructure} from
+ 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+import {plotTurret as plot2022Turret} from
+ 'org_frc971/y2022/control_loops/superstructure/turret_plotter'
import {plotCatapult as plot2022Catapult} from
'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
+import {plotIntakeFront as plot2022IntakeFront, plotIntakeBack as plot2022IntakeBack} from
+ 'org_frc971/y2022/control_loops/superstructure/intake_plotter'
+import {plotClimber as plot2022Climber} from
+ 'org_frc971/y2022/control_loops/superstructure/climber_plotter'
import {plotLocalizer as plot2022Localizer} from
- 'org_frc971/y2022/control_loops/localizer/localizer_plotter'
-import {plotAccelerator} from
- 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
-import {plotHood} from
- 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
-import {plotSuperstructure} from
- 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+ 'org_frc971/y2022/localizer/localizer_plotter'
+import {plotVision as plot2022Vision} from
+ 'org_frc971/y2022/vision/vision_plotter'
import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
@@ -104,15 +112,20 @@
['Spline Debug', new PlotState(plotDiv, plotSpline)],
['Down Estimator', new PlotState(plotDiv, plotDownEstimator)],
['Robot State', new PlotState(plotDiv, plotRobotState)],
- ['Finisher', new PlotState(plotDiv, plotFinisher)],
- ['Accelerator', new PlotState(plotDiv, plotAccelerator)],
- ['Hood', new PlotState(plotDiv, plotHood)],
- ['Turret', new PlotState(plotDiv, plotTurret)],
- ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
+ ['2020 Finisher', new PlotState(plotDiv, plot2020Finisher)],
+ ['2020 Accelerator', new PlotState(plotDiv, plot2020Accelerator)],
+ ['2020 Hood', new PlotState(plotDiv, plot2020Hood)],
+ ['2020 Turret', new PlotState(plotDiv, plot2020Turret)],
['2020 Localizer', new PlotState(plotDiv, plot2020Localizer)],
+ ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
+ ['2022 Vision', new PlotState(plotDiv, plot2022Vision)],
['2022 Catapult', new PlotState(plotDiv, plot2022Catapult)],
+ ['2022 Intake Front', new PlotState(plotDiv, plot2022IntakeFront)],
+ ['2022 Intake Back', new PlotState(plotDiv, plot2022IntakeBack)],
+ ['2022 Climber', new PlotState(plotDiv, plot2022Climber)],
+ ['2022 Turret', new PlotState(plotDiv, plot2022Turret)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
- ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plotSuperstructure)],
+ ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plot2021Superstructure)],
]);
const invalidSelectValue = 'null';
diff --git a/frc971/autonomous/BUILD b/frc971/autonomous/BUILD
index 9698ed6..58dce60 100644
--- a/frc971/autonomous/BUILD
+++ b/frc971/autonomous/BUILD
@@ -46,7 +46,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "autonomous_config.json",
flatbuffers = [
"//aos/actions:actions_fbs",
diff --git a/frc971/codelab/BUILD b/frc971/codelab/BUILD
index 673e0b2..4e1da3d 100644
--- a/frc971/codelab/BUILD
+++ b/frc971/codelab/BUILD
@@ -7,7 +7,7 @@
name = "basic_test",
testonly = 1,
srcs = ["basic_test.cc"],
- data = [":config"],
+ data = [":aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":basic",
@@ -74,7 +74,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "codelab.json",
flatbuffers = [
":basic_goal_fbs",
@@ -84,6 +84,6 @@
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//frc971/input:config",
+ "//frc971/input:aos_config",
],
)
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index dc80988..6f8e6cc 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -93,7 +93,7 @@
public:
BasicControlLoopTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("frc971/codelab/config.json"),
+ aos::configuration::ReadConfig("frc971/codelab/aos_config.json"),
chrono::microseconds(5050)),
test_event_loop_(MakeEventLoop("test")),
goal_sender_(test_event_loop_->MakeSender<Goal>("/codelab")),
diff --git a/frc971/config/robotCommand b/frc971/config/robotCommand
index 7b726a7..cb1d6f1 100755
--- a/frc971/config/robotCommand
+++ b/frc971/config/robotCommand
@@ -1 +1 @@
-/home/admin/robot_code/starter.sh
+/home/admin/bin/starter.sh
diff --git a/frc971/config/setup_roborio.sh b/frc971/config/setup_roborio.sh
index f00212f..3434482 100755
--- a/frc971/config/setup_roborio.sh
+++ b/frc971/config/setup_roborio.sh
@@ -30,11 +30,11 @@
ssh "admin@${ROBOT_HOSTNAME}" 'echo "alias l=\"ls -la\"" >> /etc/profile'
echo "Adding symbolic link to loging directory"
ssh "admin@${ROBOT_HOSTNAME}" ln -s /media/sda1 logs
- ssh "admin@${ROBOT_HOSTNAME}" mkdir robot_code
- ssh "admin@${ROBOT_HOSTNAME}" ln -s /media/sda1/aos_log-current robot_code/aos_log-current
+ ssh "admin@${ROBOT_HOSTNAME}" mkdir bin
+ ssh "admin@${ROBOT_HOSTNAME}" ln -s /media/sda1/aos_log-current bin/aos_log-current
echo "Adding aos_dump autocomplete to profile"
- ssh "admin@${ROBOT_HOSTNAME}" 'echo "if [ -f /home/admin/robot_code/aos_dump_autocomplete.sh ]; then source /home/admin/robot_code/aos_dump_autocomplete.sh; fi;" >> /etc/profile'
- ssh "admin@${ROBOT_HOSTNAME}" 'echo "export PATH=\"\${PATH}:/home/admin/robot_code:/home/admin/bin\"" >> /etc/profile'
+ ssh "admin@${ROBOT_HOSTNAME}" 'echo "if [ -f /home/admin/bin/aos_dump_autocomplete.sh ]; then source /home/admin/bin/aos_dump_autocomplete.sh; fi;" >> /etc/profile'
+ ssh "admin@${ROBOT_HOSTNAME}" 'echo "export PATH=\"\${PATH}:/home/admin/bin\"" >> /etc/profile'
fi
ssh "admin@${ROBOT_HOSTNAME}" "sed -i 's/vm\.overcommit_memory=2/vm\.overcommit_memory=0/' /etc/sysctl.conf"
diff --git a/frc971/control_loops/aiming/BUILD b/frc971/control_loops/aiming/BUILD
new file mode 100644
index 0000000..f779b8e
--- /dev/null
+++ b/frc971/control_loops/aiming/BUILD
@@ -0,0 +1,22 @@
+cc_library(
+ name = "aiming",
+ srcs = ["aiming.cc"],
+ hdrs = ["aiming.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/logging",
+ "//frc971:constants",
+ "//frc971/control_loops:pose",
+ ],
+)
+
+cc_test(
+ name = "aiming_test",
+ srcs = ["aiming_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":aiming",
+ "//aos/testing:googletest",
+ ],
+)
diff --git a/frc971/control_loops/aiming/aiming.cc b/frc971/control_loops/aiming/aiming.cc
new file mode 100644
index 0000000..8229e13
--- /dev/null
+++ b/frc971/control_loops/aiming/aiming.cc
@@ -0,0 +1,132 @@
+#include "frc971/control_loops/aiming/aiming.h"
+
+#include "glog/logging.h"
+
+namespace frc971::control_loops::aiming {
+
+// Shooting-on-the-fly concept:
+// The current way that we manage shooting-on-the fly endeavors to be reasonably
+// simple, until we get a chance to see how the actual dynamics play out.
+// Essentially, we assume that the robot's velocity will represent a constant
+// offset to the ball's velocity over the entire trajectory to the goal and
+// then offset the target that we are pointing at based on that.
+// Let us assume that, if the robot shoots while not moving, regardless of shot
+// distance, the ball's average speed-over-ground to the target will be a
+// constant s_shot (this implies that if the robot is driving straight towards
+// the target, the actual ball speed-over-ground will be greater than s_shot).
+// We will define things in the robot's coordinate frame. We will be shooting
+// at a target that is at position (target_x, target_y) in the robot frame. The
+// robot is travelling at (v_robot_x, v_robot_y). In order to shoot the ball,
+// we need to generate some virtual target (virtual_x, virtual_y) that we will
+// shoot at as if we were standing still. The total time-of-flight to that
+// target will be t_shot = norm2(virtual_x, virtual_y) / s_shot.
+// we will have virtual_x + v_robot_x * t_shot = target_x, and the same
+// for y. This gives us three equations and three unknowns (virtual_x,
+// virtual_y, and t_shot), and given appropriate assumptions, can be solved
+// analytically. However, doing so is obnoxious and given appropriate functions
+// for t_shot may not be feasible. As such, instead of actually solving the
+// equation analytically, we will use an iterative solution where we maintain
+// a current virtual target estimate. We start with this estimate as if the
+// robot is stationary. We then use this estimate to calculate t_shot, and
+// calculate the next value for the virtual target.
+
+namespace {
+// This implements the iteration in the described shooting-on-the-fly algorithm.
+// robot_pose: Current robot pose.
+// robot_velocity: Current robot velocity, in the absolute field frame.
+// target_pose: Absolute goal Pose.
+// current_virtual_pose: Current estimate of where we want to shoot at.
+// ball_speed_over_ground: Approximate ground speed of the ball that we are
+// shooting.
+Pose IterateVirtualGoal(const Pose &robot_pose,
+ const Eigen::Vector3d &robot_velocity,
+ const Pose &target_pose,
+ const Pose ¤t_virtual_pose,
+ double ball_speed_over_ground) {
+ const double air_time = current_virtual_pose.Rebase(&robot_pose).xy_norm() /
+ ball_speed_over_ground;
+ const Eigen::Vector3d virtual_target =
+ target_pose.abs_pos() - air_time * robot_velocity;
+ return Pose(virtual_target, target_pose.abs_theta());
+}
+} // namespace
+
+TurretGoal AimerGoal(const ShotConfig &config, const RobotState &state) {
+ TurretGoal result;
+ // This code manages compensating the goal turret heading for the robot's
+ // current velocity, to allow for shooting on-the-fly.
+ // This works by solving for the correct turret angle numerically, since while
+ // we technically could do it analytically, doing so would both make it hard
+ // to make small changes (since it would force us to redo the math) and be
+ // error-prone since it'd be easy to make typos or other minor math errors.
+ Pose virtual_goal;
+ {
+ result.target_distance = config.goal.Rebase(&state.pose).xy_norm();
+ virtual_goal = config.goal;
+ if (config.mode == ShotMode::kShootOnTheFly) {
+ for (int ii = 0; ii < 3; ++ii) {
+ virtual_goal = IterateVirtualGoal(
+ state.pose, {state.velocity(0), state.velocity(1), 0}, config.goal,
+ virtual_goal, config.ball_speed_over_ground);
+ }
+ VLOG(1) << "Shooting-on-the-fly target position: "
+ << virtual_goal.abs_pos().transpose();
+ }
+ virtual_goal = virtual_goal.Rebase(&state.pose);
+ }
+
+ const double heading_to_goal = virtual_goal.heading();
+ result.virtual_shot_distance = virtual_goal.xy_norm();
+
+ // The following code all works to calculate what the rate of turn of the
+ // turret should be. The code only accounts for the rate of turn if we are
+ // aiming at a static target, which should be close enough to correct that it
+ // doesn't matter that it fails to account for the
+ // shooting-on-the-fly compensation.
+ const double rel_x = virtual_goal.rel_pos().x();
+ const double rel_y = virtual_goal.rel_pos().y();
+ const double squared_norm = rel_x * rel_x + rel_y * rel_y;
+ // rel_xdot and rel_ydot are the derivatives (with respect to time) of rel_x
+ // and rel_y. Since these are in the robot's coordinate frame, and since we
+ // are ignoring lateral velocity for this exercise, rel_ydot is zero, and
+ // rel_xdot is just the inverse of the robot's velocity.
+ // Note that rel_x and rel_y are in the robot frame.
+ const double rel_xdot = -Eigen::Vector2d(std::cos(state.pose.rel_theta()),
+ std::sin(state.pose.rel_theta()))
+ .dot(state.velocity);
+ const double rel_ydot = 0.0;
+
+ // If squared_norm gets to be too close to zero, just zero out the relevant
+ // term to prevent NaNs. Note that this doesn't address the chattering that
+ // would likely occur if we were to get excessively close to the target.
+ // Note that x and y terms are swapped relative to what you would normally see
+ // in the derivative of atan because xdot and ydot are the derivatives of
+ // robot_pos and we are working with the atan of (target_pos - robot_pos).
+ const double atan_diff =
+ (squared_norm < 1e-3) ? 0.0 : (rel_x * rel_ydot - rel_y * rel_xdot) /
+ squared_norm;
+ // heading = atan2(relative_y, relative_x) - robot_theta
+ // dheading / dt =
+ // (rel_x * rel_y' - rel_y * rel_x') / (rel_x^2 + rel_y^2) - dtheta / dt
+ const double dheading_dt = atan_diff - state.yaw_rate;
+
+ const double range =
+ config.turret_range.range() - config.anti_wrap_buffer * 2.0;
+ // Calculate a goal turret heading such that it is within +/- pi of the
+ // current position (i.e., a goal that would minimize the amount the turret
+ // would have to travel).
+ // We then check if this goal would bring us out of range of the valid angles,
+ // and if it would, we reset to be within +/- pi of zero.
+ double turret_heading =
+ state.last_turret_goal +
+ aos::math::NormalizeAngle(heading_to_goal - config.turret_zero_offset -
+ state.last_turret_goal);
+ if (std::abs(turret_heading - config.turret_range.middle()) > range / 2.0) {
+ turret_heading = aos::math::NormalizeAngle(turret_heading);
+ }
+ result.position = turret_heading;
+ result.velocity = dheading_dt;
+ return result;
+}
+
+} // namespace frc971::control_loops::aiming
diff --git a/frc971/control_loops/aiming/aiming.h b/frc971/control_loops/aiming/aiming.h
new file mode 100644
index 0000000..47fd06a
--- /dev/null
+++ b/frc971/control_loops/aiming/aiming.h
@@ -0,0 +1,62 @@
+#ifndef FRC971_CONTROL_LOOPS_AIMING_AIMING_H_
+#define FRC971_CONTROL_LOOPS_AIMING_AIMING_H_
+#include "frc971/constants.h"
+#include "frc971/control_loops/pose.h"
+
+// This library provides utilities associated with attempting to aim balls into
+// a goal.
+
+namespace frc971::control_loops::aiming {
+
+// Control modes for managing how we manage shooting on the fly.
+enum class ShotMode {
+ // Don't do any shooting-on-the-fly compensation--just point straight at the
+ // target. Primarily used in tests.
+ kStatic,
+ // Do do shooting-on-the-fly compensation.
+ kShootOnTheFly,
+};
+
+struct TurretGoal {
+ // Goal position (in radians) for the turret.
+ double position = 0.0;
+ // Goal velocity (in radians / sec) for the turret.
+ double velocity = 0.0;
+ // Physical distance from the robot's origin to the target we are shooting at,
+ // in meters.
+ double target_distance = 0.0;
+ // Shot distance to use when shooting on the fly (e.g., if driving towards the
+ // target, we will aim for a shorter shot than the actual physical distance),
+ // in meters.
+ double virtual_shot_distance = 0.0;
+};
+
+struct RobotState {
+ // Pose of the robot, in the field frame.
+ Pose pose;
+ // X/Y components of the robot velocity, in m/s.
+ Eigen::Vector2d velocity;
+ // Yaw rate of the robot, in rad / sec.
+ double yaw_rate;
+ // Last turret goal that we produced.
+ double last_turret_goal;
+};
+
+struct ShotConfig {
+ // Pose of the goal, in the field frame.
+ Pose goal;
+ ShotMode mode;
+ const constants::Range turret_range;
+ // We assume that the ball being shot has an ~constant speed over the ground,
+ // to allow us to estimate shooting-on-the fly values.
+ double ball_speed_over_ground;
+ // Amount of buffer to add on each side of the range to prevent wrapping/to
+ // prevent getting too close to the hard stops.
+ double anti_wrap_buffer;
+ // Offset from zero in the robot frame to zero for the turret.
+ double turret_zero_offset;
+};
+
+TurretGoal AimerGoal(const ShotConfig &config, const RobotState &state);
+}
+#endif // FRC971_CONTROL_LOOPS_AIMING_AIMING_H_
diff --git a/frc971/control_loops/aiming/aiming_test.cc b/frc971/control_loops/aiming/aiming_test.cc
new file mode 100644
index 0000000..c1f7367
--- /dev/null
+++ b/frc971/control_loops/aiming/aiming_test.cc
@@ -0,0 +1,160 @@
+#include "frc971/control_loops/aiming/aiming.h"
+
+#include "frc971/control_loops/pose.h"
+#include "gtest/gtest.h"
+#include "frc971/constants.h"
+
+namespace frc971::control_loops::aiming::testing {
+
+TEST(AimerTest, StandingStill) {
+ const Pose target({0.0, 0.0, 0.0}, 0.0);
+ Pose robot_pose({1.0, 0.0, 0.0}, 0.0);
+ const constants::Range range{-4.5, 4.5, -4.0, 4.0};
+ const double kBallSpeed = 10.0;
+ // Robot is ahead of target, should have to turret to 180 deg to shoot.
+ TurretGoal goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(M_PI, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+ EXPECT_FLOAT_EQ(1.0, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+
+ // If there is a turret offset, it should get compensated out.
+ goal = AimerGoal(ShotConfig{target, ShotMode::kShootOnTheFly, range,
+ kBallSpeed, 0.0, M_PI},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+
+ robot_pose = Pose({-1.0, 0.0, 0.0}, 1.0);
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(-1.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+ EXPECT_FLOAT_EQ(1.0, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+
+ // Test that we handle the case that where we are right on top of the target.
+ robot_pose = Pose({0.0, 0.0, 0.0}, 0.0);
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+ EXPECT_FLOAT_EQ(0.0, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(0.0, goal.target_distance);
+}
+
+// Test that spinning in place results in correct velocity goals.
+TEST(AimerTest, SpinningRobot) {
+ const Pose target({0.0, 0.0, 0.0}, 0.0);
+ Pose robot_pose({-1.0, 0.0, 0.0}, 0.0);
+ const constants::Range range{-4.5, 4.5, -4.0, 4.0};
+ const double kBallSpeed = 10.0;
+ TurretGoal goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 971.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(-971.0, goal.velocity);
+}
+
+// Tests that when we drive straight away from the target we don't have to spin
+// the turret.
+TEST(AimerTest, DrivingAwayFromTarget) {
+ const Pose target({0.0, 0.0, 0.0}, 0.0);
+ Pose robot_pose({-1.0, 0.0, 0.0}, 0.0);
+ const constants::Range range{-4.5, 4.5, -4.0, 4.0};
+ const double kBallSpeed = 10.0;
+ TurretGoal goal = AimerGoal(
+ ShotConfig{target, ShotMode::kStatic, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {-1.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+ EXPECT_FLOAT_EQ(1.0, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+ // Next, try with shooting-on-the-fly enabled--because we are driving straight
+ // away from the target, only the goal distance should be impacted.
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {-1.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+ EXPECT_FLOAT_EQ(1.111, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+}
+
+// Tests that when we drive perpendicular to the target, we do have to spin.
+TEST(AimerTest, DrivingLateralToTarget) {
+ const Pose target({0.0, 0.0, 0.0}, 0.0);
+ Pose robot_pose({0.0, -1.0, 0.0}, 0.0);
+ const constants::Range range{-4.5, 4.5, -4.0, 4.0};
+ const double kBallSpeed = 10.0;
+ TurretGoal goal = AimerGoal(
+ ShotConfig{target, ShotMode::kStatic, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {1.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(M_PI_2, goal.position);
+ EXPECT_FLOAT_EQ(1.0, goal.velocity);
+ EXPECT_FLOAT_EQ(1.0, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+ // Next, test with shooting-on-the-fly enabled, The goal numbers should all be
+ // slightly offset due to the robot velocity.
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {1.0, 0.0}, 0.0, 0.0});
+ // Confirm that the turret heading goal is a bit more than pi / 2, but not by
+ // too much.
+ EXPECT_LT(M_PI_2 + 0.01, goal.position);
+ EXPECT_GT(M_PI_2 + 0.5, goal.position);
+ // Similarly, the turret velocity goal should be a bit less than 1.0,
+ // since the turret is no longer at exactly a right angle.
+ EXPECT_LT(0.9, goal.velocity);
+ EXPECT_GT(0.999, goal.velocity);
+ // And the distance to the goal should be a bit greater than 1.0.
+ EXPECT_LT(1.00001, goal.virtual_shot_distance);
+ EXPECT_GT(1.1, goal.virtual_shot_distance);
+ EXPECT_FLOAT_EQ(1.0, goal.target_distance);
+}
+
+// Confirms that when we move the turret heading so that it would be entirely
+// out of the normal range of motion that we send a valid (in-range) goal.
+// I.e., test that we have some hysteresis, but that it doesn't take us
+// out-of-range.
+TEST(AimerTest, WrapWhenOutOfRange) {
+ // Start ourselves needing a turret angle of 0.0.
+ const Pose target({0.0, 0.0, 0.0}, 0.0);
+ Pose robot_pose({-1.0, 0.0, 0.0}, 0.0);
+ const constants::Range range{-5.5, 5.5, -5.0, 5.0};
+ const double kBallSpeed = 10.0;
+ TurretGoal goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, 0.0});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+
+ // Rotate a bit...
+ robot_pose = Pose({-1.0, 0.0, 0.0}, 2.0);
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, goal.position});
+ EXPECT_FLOAT_EQ(-2.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+
+ // Rotate to the soft stop.
+ robot_pose = Pose({-1.0, 0.0, 0.0}, 4.0);
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, goal.position});
+ EXPECT_FLOAT_EQ(-4.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+
+ // Rotate past the hard stop.
+ robot_pose = Pose({-1.0, 0.0, 0.0}, 0.0);
+ goal = AimerGoal(
+ ShotConfig{target, ShotMode::kShootOnTheFly, range, kBallSpeed, 0.0, 0.0},
+ RobotState{robot_pose, {0.0, 0.0}, 0.0, goal.position});
+ EXPECT_FLOAT_EQ(0.0, goal.position);
+ EXPECT_FLOAT_EQ(0.0, goal.velocity);
+}
+
+} // namespace frc971::control_loops::aiming::testing
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 6d48192..9eb13ef 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -136,13 +136,13 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- ":config",
+ ":aos_config",
":simulation_channels",
],
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "drivetrain_config.json",
flatbuffers = [
":drivetrain_goal_fbs",
@@ -160,7 +160,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/input:config",
+ "//frc971/input:aos_config",
],
)
diff --git a/frc971/control_loops/drivetrain/down_estimator_plotter.ts b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
index 7f5bd58..178ab0b 100644
--- a/frc971/control_loops/drivetrain/down_estimator_plotter.ts
+++ b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
@@ -12,10 +12,10 @@
const aosPlotter = new AosPlotter(conn);
const status = aosPlotter.addMessageSource(
- '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+ '/localizer', 'frc971.controls.LocalizerStatus');
const imu = aosPlotter.addRawMessageSource(
- '/drivetrain', 'frc971.IMUValuesBatch',
+ '/localizer', 'frc971.IMUValuesBatch',
new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
const accelPlot = aosPlotter.addPlot(element, [width, height]);
@@ -24,11 +24,11 @@
accelPlot.plot.getAxisLabels().setYLabel('Acceleration (m/s/s)');
accelPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
- const accelX = accelPlot.addMessageLine(status, ['down_estimator', 'accel_x']);
+ const accelX = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_x']);
accelX.setColor(RED);
- const accelY = accelPlot.addMessageLine(status, ['down_estimator', 'accel_y']);
+ const accelY = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_y']);
accelY.setColor(GREEN);
- const accelZ = accelPlot.addMessageLine(status, ['down_estimator', 'accel_z']);
+ const accelZ = accelPlot.addMessageLine(status, ['model_based', 'down_estimator', 'accel_z']);
accelZ.setColor(BLUE);
const velPlot = aosPlotter.addPlot(element, [width, height]);
@@ -36,11 +36,11 @@
velPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
velPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
- const velX = velPlot.addMessageLine(status, ['down_estimator', 'velocity_x']);
+ const velX = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_x']);
velX.setColor(RED);
- const velY = velPlot.addMessageLine(status, ['down_estimator', 'velocity_y']);
+ const velY = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_y']);
velY.setColor(GREEN);
- const velZ = velPlot.addMessageLine(status, ['down_estimator', 'velocity_z']);
+ const velZ = velPlot.addMessageLine(status, ['model_based', 'down_estimator', 'velocity_z']);
velZ.setColor(BLUE);
const gravityPlot = aosPlotter.addPlot(element, [width, height]);
@@ -48,7 +48,7 @@
gravityPlot.plot.getAxisLabels().setXLabel('Monotonic Sent Time (sec)');
gravityPlot.plot.setDefaultYRange([0.95, 1.05]);
const gravityLine =
- gravityPlot.addMessageLine(status, ['down_estimator', 'gravity_magnitude']);
+ gravityPlot.addMessageLine(status, ['model_based', 'down_estimator', 'gravity_magnitude']);
gravityLine.setColor(RED);
gravityLine.setDrawLine(false);
const accelMagnitudeLine =
@@ -63,15 +63,15 @@
orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
const roll = orientationPlot.addMessageLine(
- status, ['down_estimator', 'lateral_pitch']);
+ status, ['model_based', 'down_estimator', 'lateral_pitch']);
roll.setColor(RED);
roll.setLabel('roll');
const pitch = orientationPlot.addMessageLine(
- status, ['down_estimator', 'longitudinal_pitch']);
+ status, ['model_based', 'down_estimator', 'longitudinal_pitch']);
pitch.setColor(GREEN);
pitch.setLabel('pitch');
const yaw = orientationPlot.addMessageLine(
- status, ['down_estimator', 'yaw']);
+ status, ['model_based', 'down_estimator', 'yaw']);
yaw.setColor(BLUE);
yaw.setLabel('yaw');
@@ -101,15 +101,15 @@
imuAccelZFiltered.setPointSize(0);
const expectedAccelX = imuAccelPlot.addMessageLine(
- status, ['down_estimator', 'expected_accel_x']);
+ status, ['model_based', 'down_estimator', 'expected_accel_x']);
expectedAccelX.setColor(RED);
expectedAccelX.setPointSize(0);
const expectedAccelY = imuAccelPlot.addMessageLine(
- status, ['down_estimator', 'expected_accel_y']);
+ status, ['model_based', 'down_estimator', 'expected_accel_y']);
expectedAccelY.setColor(GREEN);
expectedAccelY.setPointSize(0);
const expectedAccelZ = imuAccelPlot.addMessageLine(
- status, ['down_estimator', 'expected_accel_z']);
+ status, ['model_based', 'down_estimator', 'expected_accel_z']);
expectedAccelZ.setColor(BLUE);
expectedAccelZ.setPointSize(0);
@@ -150,7 +150,7 @@
zeroedLine.setColor(RED);
zeroedLine.setDrawLine(false);
const consecutiveStill =
- statePlot.addMessageLine(status, ['down_estimator', 'consecutive_still']);
+ statePlot.addMessageLine(status, ['model_based', 'down_estimator', 'consecutive_still']);
consecutiveStill.setColor(BLUE);
consecutiveStill.setPointSize(0);
const faultedLine =
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index b5990c3..9150e8a 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -40,6 +40,15 @@
IMU_Z = 3, // Use the z-axis of the IMU.
};
+struct DownEstimatorConfig {
+ // Threshold, in g's, to use for detecting whether we are stopped in the down
+ // estimator.
+ double gravity_threshold = 0.025;
+ // Number of cycles of being still to require before taking accelerometer
+ // corrections.
+ int do_accel_corrections = 50;
+};
+
template <typename Scalar = double>
struct DrivetrainConfig {
// Shifting method we are using.
@@ -107,6 +116,8 @@
// True if we are running a simulated drivetrain.
bool is_simulated = false;
+ DownEstimatorConfig down_estimator_config{};
+
// Converts the robot state to a linear distance position, velocity.
static Eigen::Matrix<Scalar, 2, 1> LeftRightToLinear(
const Eigen::Matrix<Scalar, 7, 1> &left_right) {
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.cc b/frc971/control_loops/drivetrain/improved_down_estimator.cc
index 2c129f7..449c70d 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.cc
@@ -88,7 +88,8 @@
// If the only obvious acceleration is that due to gravity, then accept the
// measurement.
- const double kUseAccelThreshold = assume_perfect_gravity_ ? 1e-10 : 0.025;
+ const double kUseAccelThreshold =
+ assume_perfect_gravity_ ? 1e-10 : config_.gravity_threshold;
const double accel_norm = measurement.norm();
if (std::abs(accel_norm - 1.0) > kUseAccelThreshold) {
P_ = P_prior;
@@ -99,12 +100,12 @@
// velocity. Because we just use this for debugging, only set it once per time
// duration when we are paused--this lets us observe how far things drift
// while sitting still.
- if (consecutive_still_ == 1000) {
+ if (consecutive_still_ == 2000) {
pos_vel_.block<3, 1>(3, 0).setZero();
}
// Don't do accelerometer updates unless we have been roughly still for a
// decent number of iterations.
- if (++consecutive_still_ < 50) {
+ if (++consecutive_still_ < config_.do_accel_corrections) {
return;
}
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator.h b/frc971/control_loops/drivetrain/improved_down_estimator.h
index ddbf0bb..b4b0b76 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator.h
+++ b/frc971/control_loops/drivetrain/improved_down_estimator.h
@@ -57,9 +57,9 @@
// Measurements to use for correcting the estimated system state. These
// correspond to (x, y, z) measurements from the accelerometer.
constexpr static int kNumMeasurements = 3;
- QuaternionUkf(const Eigen::Matrix<double, 3, 3> &imu_transform =
- Eigen::Matrix<double, 3, 3>::Identity())
- : imu_transform_(imu_transform) {
+ QuaternionUkf(const DrivetrainConfig<double> &dt_config)
+ : imu_transform_(dt_config.imu_transform),
+ config_(dt_config.down_estimator_config) {
Reset();
}
@@ -193,6 +193,8 @@
// The transformation from the IMU's frame to the robot frame.
Eigen::Matrix<double, 3, 3> imu_transform_;
+ const DownEstimatorConfig config_;
+
bool assume_perfect_gravity_ = false;
};
@@ -204,7 +206,7 @@
class DrivetrainUkf : public QuaternionUkf {
public:
DrivetrainUkf(const DrivetrainConfig<double> &dt_config)
- : QuaternionUkf(dt_config.imu_transform) {}
+ : QuaternionUkf(dt_config) {}
// UKF for http://kodlab.seas.upenn.edu/uploads/Arun/UKFpaper.pdf
// Reference in case the link is dead:
// Kraft, Edgar. "A quaternion-based unscented Kalman filter for orientation
diff --git a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
index 3312030..af2f3b2 100644
--- a/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
+++ b/frc971/control_loops/drivetrain/improved_down_estimator_test.cc
@@ -119,7 +119,7 @@
EXPECT_EQ(0.0,
(Eigen::Vector3d(0.0, 0.0, 1.0) - dtukf.H(dtukf.X_hat().coeffs()))
.norm());
- for (int ii = 0; ii < 200; ++ii) {
+ for (int ii = 0; ii < 2000; ++ii) {
dtukf.Predict({0.0, 0.0, 0.0}, measurement,
frc971::controls::kLoopFrequency);
}
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index b515626..0a3ad18 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -33,6 +33,7 @@
Robot2019 = RobotType(width=0.65, length=0.8)
Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
Robot2021 = Robot2020
+Robot2022 = Robot2021
FIELDS = {
"2019 Field":
@@ -116,14 +117,25 @@
length=4.572,
robot=Robot2021,
field_id="autonav_bounce"),
+ "2022 Field":
+ FieldType(
+ "2022 Field",
+ tags=[],
+ year=2022,
+ width=16.4592,
+ length=8.2296,
+ robot=Robot2022,
+ field_id="2022"),
}
-FIELD = FIELDS["2020 Field"]
+FIELD = FIELDS["2022 Field"]
def get_json_folder(field):
if field.year == 2020 or field.year == 2021:
return "y2020/actors/splines"
+ elif field.year == 2022:
+ return "y2022/actors/splines"
else:
return "frc971/control_loops/python/spline_jsons"
diff --git a/frc971/control_loops/python/field_images/2022.png b/frc971/control_loops/python/field_images/2022.png
new file mode 100644
index 0000000..68087bd
--- /dev/null
+++ b/frc971/control_loops/python/field_images/2022.png
Binary files differ
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index df460d3..35a670c 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -7,7 +7,6 @@
import gi
import numpy as np
gi.require_version('Gtk', '3.0')
-gi.require_version('Gdk', '3.0')
from gi.repository import Gdk, Gtk, GLib
import cairo
from libspline import Spline
@@ -57,7 +56,7 @@
self.held_x = 0
self.spline_edit = -1
- self.transform = cairo.Matrix()
+ self.zoom_transform = cairo.Matrix()
self.set_events(Gdk.EventMask.BUTTON_PRESS_MASK
| Gdk.EventMask.BUTTON_PRESS_MASK
@@ -73,16 +72,28 @@
self.field.field_id + ".png")
except cairo.Error:
self.field_png = None
+
self.queue_draw()
+ def invert(self, transform):
+ xx, yx, xy, yy, x0, y0 = transform
+ matrix = cairo.Matrix(xx, yx, xy, yy, x0, y0)
+ matrix.invert()
+ return matrix
+
# returns the transform from widget space to field space
@property
def input_transform(self):
- xx, yx, xy, yy, x0, y0 = self.transform
- matrix = cairo.Matrix(xx, yx, xy, yy, x0, y0)
# the transform for input needs to be the opposite of the transform for drawing
- matrix.invert()
- return matrix
+ return self.invert(self.field_transform.multiply(self.zoom_transform))
+
+ @property
+ def field_transform(self):
+ field_transform = cairo.Matrix()
+ field_transform.scale(1, -1) # flipped y-axis
+ field_transform.scale(1 / self.pxToM_scale(), 1 / self.pxToM_scale())
+ field_transform.translate(self.field.width / 2, -1 * self.field.length / 2)
+ return field_transform
# returns the scale from pixels in field space to meters in field space
def pxToM_scale(self):
@@ -97,19 +108,19 @@
return m / self.pxToM_scale()
def draw_robot_at_point(self, cr, i, p, spline):
- p1 = [self.mToPx(spline.Point(i)[0]), self.mToPx(spline.Point(i)[1])]
+ p1 = [spline.Point(i)[0], spline.Point(i)[1]]
p2 = [
- self.mToPx(spline.Point(i + p)[0]),
- self.mToPx(spline.Point(i + p)[1])
+ spline.Point(i + p)[0],
+ spline.Point(i + p)[1]
]
#Calculate Robot
distance = np.sqrt((p2[1] - p1[1])**2 + (p2[0] - p1[0])**2)
x_difference_o = p2[0] - p1[0]
y_difference_o = p2[1] - p1[1]
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2) / distance
front_middle = []
@@ -123,9 +134,9 @@
slope = [-(1 / x_difference_o) / (1 / y_difference_o)]
angle = np.arctan(slope)
- x_difference = np.sin(angle[0]) * self.mToPx(
+ x_difference = np.sin(angle[0]) * (
self.field.robot.width / 2)
- y_difference = np.cos(angle[0]) * self.mToPx(
+ y_difference = np.cos(angle[0]) * (
self.field.robot.width / 2)
front_1 = []
@@ -144,9 +155,9 @@
back_2.append(back_middle[0] + x_difference)
back_2.append(back_middle[1] + y_difference)
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
#Calculate Ball
@@ -154,9 +165,9 @@
ball_center.append(p1[0] + x_difference)
ball_center.append(p1[1] + y_difference)
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
#Calculate Panel
@@ -164,8 +175,8 @@
panel_center.append(p1[0] + x_difference)
panel_center.append(p1[1] + y_difference)
- x_difference = np.sin(angle[0]) * self.mToPx(HATCH_PANEL_WIDTH / 2)
- y_difference = np.cos(angle[0]) * self.mToPx(HATCH_PANEL_WIDTH / 2)
+ x_difference = np.sin(angle[0]) * (HATCH_PANEL_WIDTH / 2)
+ y_difference = np.cos(angle[0]) * (HATCH_PANEL_WIDTH / 2)
panel_1 = []
panel_1.append(panel_center[0] + x_difference)
@@ -188,7 +199,7 @@
set_color(cr, palette["ORANGE"], 0.5)
cr.move_to(back_middle[0], back_middle[1])
cr.line_to(ball_center[0], ball_center[1])
- cr.arc(ball_center[0], ball_center[1], self.mToPx(BALL_RADIUS), 0,
+ cr.arc(ball_center[0], ball_center[1], BALL_RADIUS, 0,
2 * np.pi)
cr.stroke()
@@ -201,23 +212,24 @@
cr.set_source_rgba(0, 0, 0, 1)
def do_draw(self, cr): # main
- cr.set_matrix(self.transform.multiply(cr.get_matrix()))
+ cr.set_matrix(self.field_transform.multiply(self.zoom_transform).multiply(cr.get_matrix()))
cr.save()
set_color(cr, palette["BLACK"])
- cr.set_line_width(1.0)
- cr.rectangle(0, 0, self.mToPx(self.field.width),
- self.mToPx(self.field.length))
+ cr.set_line_width(self.pxToM(2))
+ cr.rectangle(-0.5 * self.field.width, -0.5 * self.field.length, self.field.width,
+ self.field.length)
cr.set_line_join(cairo.LINE_JOIN_ROUND)
cr.stroke()
if self.field_png:
cr.save()
+ cr.translate(-0.5 * self.field.width, 0.5 * self.field.length)
cr.scale(
- self.mToPx(self.field.width) / self.field_png.get_width(),
- self.mToPx(self.field.length) / self.field_png.get_height(),
+ self.field.width / self.field_png.get_width(),
+ -self.field.length / self.field_png.get_height(),
)
cr.set_source_surface(self.field_png)
cr.paint()
@@ -225,11 +237,11 @@
# update everything
- cr.set_line_width(2.0)
+ cr.set_line_width(self.pxToM(2))
if self.mode == Mode.kPlacing or self.mode == Mode.kViewing:
set_color(cr, palette["BLACK"])
for i, point in enumerate(self.points.getPoints()):
- draw_px_x(cr, self.mToPx(point[0]), self.mToPx(point[1]), 10)
+ draw_px_x(cr, point[0], point[1], self.pxToM(5))
set_color(cr, palette["WHITE"])
elif self.mode == Mode.kEditing:
set_color(cr, palette["BLACK"])
@@ -237,17 +249,17 @@
self.draw_splines(cr)
for i, points in enumerate(self.points.getSplines()):
points = [
- np.array([self.mToPx(x), self.mToPx(y)])
+ np.array([x, y])
for (x, y) in points
]
- draw_control_points(cr, points)
+ draw_control_points(cr, points, width=self.pxToM(10), radius=self.pxToM(4))
p0, p1, p2, p3, p4, p5 = points
first_tangent = p0 + 2.0 * (p1 - p0)
second_tangent = p5 + 2.0 * (p4 - p5)
cr.set_source_rgb(0, 0.5, 0)
cr.move_to(p0[0], p0[1])
- cr.set_line_width(1.0)
+ cr.set_line_width(self.pxToM(1.0))
cr.line_to(first_tangent[0], first_tangent[1])
cr.move_to(first_tangent[0], first_tangent[1])
cr.line_to(p2[0], p2[1])
@@ -259,27 +271,27 @@
cr.line_to(p3[0], p3[1])
cr.stroke()
- cr.set_line_width(2.0)
+ cr.set_line_width(self.pxToM(2))
set_color(cr, palette["WHITE"])
cr.paint_with_alpha(0.2)
- draw_px_cross(cr, self.mousex, self.mousey, 10)
+ draw_px_cross(cr, self.mousex, self.mousey, self.pxToM(8))
cr.restore()
def draw_splines(self, cr):
for i, spline in enumerate(self.points.getLibsplines()):
- for k in np.linspace(0.01, 1, 100):
+ for k in np.linspace(0.02, 1, 200):
cr.move_to(
- self.mToPx(spline.Point(k - 0.01)[0]),
- self.mToPx(spline.Point(k - 0.01)[1]))
+ spline.Point(k - 0.008)[0],
+ spline.Point(k - 0.008)[1])
cr.line_to(
- self.mToPx(spline.Point(k)[0]),
- self.mToPx(spline.Point(k)[1]))
+ spline.Point(k)[0],
+ spline.Point(k)[1])
cr.stroke()
if i == 0:
- self.draw_robot_at_point(cr, 0.00, 0.01, spline)
- self.draw_robot_at_point(cr, 1, 0.01, spline)
+ self.draw_robot_at_point(cr, 0, 0.008, spline)
+ self.draw_robot_at_point(cr, 1, 0.008, spline)
def export_json(self, file_name):
self.path_to_export = os.path.join(
@@ -394,8 +406,8 @@
if self.mode == Mode.kEditing:
if self.index_of_edit > -1 and self.held_x != self.mousex:
self.points.setSplines(self.spline_edit, self.index_of_edit,
- self.pxToM(self.mousex),
- self.pxToM(self.mousey))
+ self.mousex,
+ self.mousey)
self.points.splineExtrapolate(self.spline_edit)
@@ -411,7 +423,7 @@
if self.mode == Mode.kPlacing:
if self.points.add_point(
- self.pxToM(self.mousex), self.pxToM(self.mousey)):
+ self.mousex, self.mousey):
self.mode = Mode.kEditing
self.graph.schedule_recalculate(self.points)
elif self.mode == Mode.kEditing:
@@ -421,7 +433,7 @@
# Get clicked point
# Find nearest
# Move nearest to clicked
- cur_p = [self.pxToM(self.mousex), self.pxToM(self.mousey)]
+ cur_p = [self.mousex, self.mousey]
# Get the distance between each for x and y
# Save the index of the point closest
nearest = 1 # Max distance away a the selected point can be in meters
@@ -448,23 +460,24 @@
event.x, event.y)
dif_x = self.mousex - old_x
dif_y = self.mousey - old_y
- difs = np.array([self.pxToM(dif_x), self.pxToM(dif_y)])
+ difs = np.array([dif_x, dif_y])
if self.mode == Mode.kEditing and self.spline_edit != -1:
self.points.updates_for_mouse_move(self.index_of_edit,
self.spline_edit,
- self.pxToM(self.mousex),
- self.pxToM(self.mousey), difs)
+ self.mousex,
+ self.mousey, difs)
self.points.update_lib_spline()
self.graph.schedule_recalculate(self.points)
self.queue_draw()
def do_scroll_event(self, event):
+
self.mousex, self.mousey = self.input_transform.transform_point(
event.x, event.y)
- step_size = 20 # px
+ step_size = self.pxToM(20) # px
if event.direction == Gdk.ScrollDirection.UP:
# zoom out
@@ -475,32 +488,27 @@
else:
return
- apparent_width, apparent_height = self.transform.transform_distance(
- self.mToPx(FIELD.width), self.mToPx(FIELD.length))
- scale = (apparent_width + scale_by) / apparent_width
-
- # scale from point in field coordinates
- point = self.mousex, self.mousey
+ scale = (self.field.width + scale_by) / self.field.width
# This restricts the amount it can be scaled.
- if self.transform.xx <= 0.75:
+ if self.zoom_transform.xx <= 0.5:
scale = max(scale, 1)
- elif self.transform.xx >= 16:
+ elif self.zoom_transform.xx >= 16:
scale = min(scale, 1)
# move the origin to point
- self.transform.translate(point[0], point[1])
+ self.zoom_transform.translate(event.x, event.y)
# scale from new origin
- self.transform.scale(scale, scale)
+ self.zoom_transform.scale(scale, scale)
# move back
- self.transform.translate(-point[0], -point[1])
+ self.zoom_transform.translate(-event.x, -event.y)
# snap to the edge when near 1x scaling
- if 0.99 < self.transform.xx < 1.01 and -50 < self.transform.x0 < 50:
- self.transform.x0 = 0
- self.transform.y0 = 0
+ if 0.99 < self.zoom_transform.xx < 1.01 and -50 < self.zoom_transform.x0 < 50:
+ self.zoom_transform.x0 = 0
+ self.zoom_transform.y0 = 0
print("snap")
self.queue_draw()
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 04d93c4..d6e8f15 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -126,6 +126,8 @@
void TriggerEstimatorError() { profiled_subsystem_.TriggerEstimatorError(); }
+ void Estop() { state_ = State::ESTOP; }
+
void set_controller_index(int index) {
profiled_subsystem_.set_controller_index(index);
}
diff --git a/frc971/downloader.bzl b/frc971/downloader.bzl
index aebcb87..ec93f5b 100644
--- a/frc971/downloader.bzl
+++ b/frc971/downloader.bzl
@@ -25,7 +25,7 @@
] if target_type == "roborio" else []) + start_binaries,
srcs = [
"//aos:prime_binaries",
- ] + binaries + data,
+ ] + binaries + data + ["//frc971/raspi/rootfs:chrt.sh"],
dirs = dirs,
target_type = target_type,
default_target = default_target,
@@ -40,7 +40,7 @@
[expand_label(binary) + ".stripped" for binary in start_binaries],
srcs = [
"//aos:prime_binaries_stripped",
- ] + [expand_label(binary) + ".stripped" for binary in binaries] + data,
+ ] + [expand_label(binary) + ".stripped" for binary in binaries] + data + ["//frc971/raspi/rootfs:chrt.sh"],
dirs = dirs,
target_type = target_type,
default_target = default_target,
diff --git a/frc971/downloader/downloader.py b/frc971/downloader/downloader.py
index dc14df1..4314845 100644
--- a/frc971/downloader/downloader.py
+++ b/frc971/downloader/downloader.py
@@ -69,7 +69,7 @@
user = "pi"
elif args.type == "roborio":
user = "admin"
- target_dir = "/home/" + user + "/robot_code"
+ target_dir = "/home/" + user + "/bin"
ssh_target = "%s@%s" % (user, hostname)
diff --git a/frc971/imu/ADIS16505.cc b/frc971/imu/ADIS16505.cc
index 9ed77a9..d3fbf76 100644
--- a/frc971/imu/ADIS16505.cc
+++ b/frc971/imu/ADIS16505.cc
@@ -373,9 +373,7 @@
yaw += yaw_rate * dt;
// 50% is 0; -2000 deg/sec to 2000 deg/sec
- uint16_t rate_level =
- (std::clamp(yaw_rate, -2000.0, 2000.0) / 4000.0 + 0.5) * PWM_TOP;
- pwm_set_gpio_level(RATE_PWM, rate_level);
+ double scaled_rate = (std::clamp(yaw_rate, -2000.0, 2000.0) / 4000.0 + 0.5);
// 0 to 360
double wrapped_heading = fmod(yaw, 360);
@@ -383,8 +381,20 @@
wrapped_heading = wrapped_heading + 360;
}
- uint16_t heading_level = (int16_t)(wrapped_heading / 360.0 * PWM_TOP);
+ double scaled_heading = wrapped_heading / 360.0;
+
+ constexpr double kScaledRangeLow = 0.1;
+ constexpr double kScaledRangeHigh = 0.9;
+
+ uint16_t heading_level =
+ (scaled_heading * (kScaledRangeHigh - kScaledRangeLow) +
+ kScaledRangeLow) *
+ PWM_TOP;
+ uint16_t rate_level =
+ (scaled_rate * (kScaledRangeHigh - kScaledRangeLow) + kScaledRangeLow) *
+ PWM_TOP;
pwm_set_gpio_level(HEADING_PWM, heading_level);
+ pwm_set_gpio_level(RATE_PWM, rate_level);
}
// if 5 or more consecutive checksums are zero, then something weird is going
diff --git a/frc971/input/BUILD b/frc971/input/BUILD
index 90e5ce6..ddb1f43 100644
--- a/frc971/input/BUILD
+++ b/frc971/input/BUILD
@@ -89,7 +89,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "robot_state_config.json",
flatbuffers = [
":joystick_state_fbs",
@@ -97,5 +97,5 @@
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
- deps = ["//aos/events:config"],
+ deps = ["//aos/events:aos_config"],
)
diff --git a/frc971/raspi/rootfs/BUILD b/frc971/raspi/rootfs/BUILD
new file mode 100644
index 0000000..ee5984a
--- /dev/null
+++ b/frc971/raspi/rootfs/BUILD
@@ -0,0 +1 @@
+exports_files(["chrt.sh"])
diff --git a/frc971/raspi/rootfs/README.md b/frc971/raspi/rootfs/README.md
index b972038..a349eb5 100644
--- a/frc971/raspi/rootfs/README.md
+++ b/frc971/raspi/rootfs/README.md
@@ -10,7 +10,7 @@
## Build the real-time kernel using `build_kernel.sh`
- Checkout the real-time kernel source code, e.g.,
- `cd CODE_DIR`
+ `cd CODE_DIR`, where CODE_DIR is the directory containing the FRC971 code
`git clone git@github.com:frc971/linux.git`
`git checkout frc971-5.10-pi4-rt branch`
@@ -18,6 +18,13 @@
`cd ROOTFS_DIR` (where ROOTFS_DIR -> //frc971/raspi/rootfs)
`./build_kernel.sh CODE_DIR/linux kernel_5.10.tar.gz`
+## Build the ADIS16505 overlay file (adis16505.ko)
+
+- Make sure the linux kernel source code is checked out at CODE_DIR/linux
+- cd //y2022/localizer/kernel
+- `make`
+- copy that file to this directory (//frc971/raspi/rootfs)
+
## Download the Raspberry Pi OS
Download the appropriate Raspberry Pi OS image, e.g.,
diff --git a/frc971/raspi/rootfs/change_hostname.sh b/frc971/raspi/rootfs/change_hostname.sh
index c9b0b35..20ff635 100755
--- a/frc971/raspi/rootfs/change_hostname.sh
+++ b/frc971/raspi/rootfs/change_hostname.sh
@@ -1,9 +1,10 @@
#!/bin/bash
-set -euo pipefail
+set -xeuo pipefail
HOSTNAME="$1"
+# TODO<Jim>: Should probably add handling for imu hostname, too
if [[ ! "${HOSTNAME}" =~ ^pi-[0-9]*-[0-9]$ ]]; then
echo "Invalid hostname ${HOSTNAME}, needs to be pi-[team#]-[pi#]"
exit 1
@@ -22,6 +23,7 @@
echo "${HOSTNAME}" > /etc/hostname
+# Put corret team number in pi's IP addresses, or add them if needed
if grep '^10\.[0-9]*\.[0-9]*\.[0-9]*\s*pi-[0-9]*-[0-9] pi[0-9]$' /etc/hosts >/dev/null ;
then
sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi[0-9]\)$/${IP_BASE}\1${TEAM_NUMBER}\2/" /etc/hosts
@@ -31,6 +33,7 @@
done
fi
+# Put corret team number in roborio's address, or add it if missing
if grep '^10\.[0-9]*\.[0-9]*\.2\s*roborio$' /etc/hosts >/dev/null;
then
sed -i "s/^10\.[0-9]*\.[0-9]*\(\.2\s*roborio\)$/${IP_BASE}\1/" /etc/hosts
@@ -38,9 +41,23 @@
echo -e "${IP_BASE}.2\troborio" >> /etc/hosts
fi
+# Put corret team number in logger's address, or add it if missing
if grep '^10\.[0-9]*\.[0-9]*\.13\s*logger$' /etc/hosts >/dev/null;
then
sed -i "s/^10\.[0-9]*\.[0-9]*\(\.13\s*logger\)$/${IP_BASE}\1/" /etc/hosts
else
echo -e "${IP_BASE}.13\tlogger" >> /etc/hosts
fi
+
+# Put corret team number in imu's address, or add it if missing
+if grep '^10\.[0-9]*\.[0-9]*\.105\s.*\s*imu$' /etc/hosts >/dev/null;
+then
+ sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi5 imu\)$/${IP_BASE}\1${TEAM_NUMBER}\2/" /etc/hosts
+else
+ if grep '^10\.[0-9]*\.[0-9]*\.105\s*pi-[0-9]*-[0-9]*\s*pi5$' /etc/hosts
+ then
+ sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi5\)$/${IP_BASE}\1${TEAM_NUMBER}\2 imu/" /etc/hosts
+ else
+ echo -e "${IP_BASE}.105\tpi-${TEAM_NUMBER}-5 pi5 imu" >> /etc/hosts
+ fi
+fi
diff --git a/frc971/raspi/rootfs/chrt.sh b/frc971/raspi/rootfs/chrt.sh
new file mode 100755
index 0000000..535f4c6
--- /dev/null
+++ b/frc971/raspi/rootfs/chrt.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+set -e
+
+function chrtirq() {
+ PIDS="$(ps -ef | grep "\\[$1\\]" | awk '{print $2}')"
+
+ for PID in $PIDS; do
+ chrt $2 -p $3 "${PID}"
+
+ ps -q "${PID}" -o comm= | tr -d '[:space:]'
+ echo -n " "
+ chrt -p "${PID}"
+ done
+
+ if [ -z "${PID}" ]; then
+ echo "No such IRQ ${1}"
+ fi
+}
+
+chrtirq "irq/[0-9]*-fe00b880" -f 50
+chrtirq "irq/[0-9]*-fe204000" -f 60
+chrtirq "irq/[0-9]*-adis1650" -f 61
+chrtirq "irq/[0-9]*-xhci_hcd" -f 1
+chrtirq "irq/[0-9]*-VCHIQ do" -o 0
+chrtirq "irq/[0-9]*-DMA IRQ" -f 50
+chrtirq "irq/[0-9]*-mmc1" -o 0
+chrtirq "irq/[0-9]*-mmc0" -o 0
+chrtirq "irq/[0-9]*-s-mmc0" -o 0
+chrtirq "irq/[0-9]*-v3d" -o 0
+chrtirq "irq/24-vc4 hvs" -o 0
+chrtirq "irq/[0-9]*-vc4 hdmi" -o 0
+chrtirq "irq/[0-9]*-s-vc4 hd" -o 0
+chrtirq "irq/19-fe004000" -f 50
+chrtirq "irq/[0-9]*-vc4 crtc" -o 0
+chrtirq "irq/23-uart-pl0" -o 0
+chrtirq "irq/[0-9]*-eth0" -f 10
diff --git a/frc971/raspi/rootfs/enable_imu.sh b/frc971/raspi/rootfs/enable_imu.sh
new file mode 100755
index 0000000..3725207
--- /dev/null
+++ b/frc971/raspi/rootfs/enable_imu.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+CONFIG=/boot/config.txt
+
+if grep -q adis16505 "${CONFIG}"; then
+ echo "Already enabled"
+ exit 0;
+fi
+
+sed -i '1h;1!H;$!d;x;s/.*dtparam=spi[^\n]*/&\n\n# Enable the IMU\ndtoverlay=adis16505/' "${CONFIG}"
+
+echo "Enabled 16505"
diff --git a/frc971/raspi/rootfs/frc971.service b/frc971/raspi/rootfs/frc971.service
index cdfb347..be6b37f 100644
--- a/frc971/raspi/rootfs/frc971.service
+++ b/frc971/raspi/rootfs/frc971.service
@@ -7,8 +7,8 @@
User=pi
Group=pi
Type=simple
-WorkingDirectory=/home/pi/robot_code
-ExecStart=/home/pi/robot_code/starter.sh
+WorkingDirectory=/home/pi/bin
+ExecStart=/home/pi/bin/starter.sh
KillMode=mixed
TimeoutStopSec=10
LimitRTPRIO=60
diff --git a/frc971/raspi/rootfs/frc971chrt.service b/frc971/raspi/rootfs/frc971chrt.service
index cc68934..6086fa0 100644
--- a/frc971/raspi/rootfs/frc971chrt.service
+++ b/frc971/raspi/rootfs/frc971chrt.service
@@ -3,7 +3,7 @@
[Service]
Type=oneshot
-ExecStart=/home/pi/robot_code/chrt.sh
+ExecStart=/home/pi/bin/chrt.sh
[Install]
WantedBy=multi-user.target
diff --git a/frc971/raspi/rootfs/modify_rootfs.sh b/frc971/raspi/rootfs/modify_rootfs.sh
index fd9bec9..c3582ea 100755
--- a/frc971/raspi/rootfs/modify_rootfs.sh
+++ b/frc971/raspi/rootfs/modify_rootfs.sh
@@ -4,6 +4,19 @@
# Full path to Raspberry Pi Bullseye disk image
IMAGE="2022-01-28-raspios-bullseye-arm64-lite.img"
+MOD_IMAGE_NAME=`echo ${IMAGE} | sed s/.img/-frc-mods.img/`
+
+if [ ! -f "$IMAGE" ]; then
+ echo "Attempting to use already modified image"
+ if [ ! -f "$MOD_IMAGE_NAME" ]; then
+ echo "Must provide image filename."
+ echo "Couldn't find $IMAGE or $MOD_IMAGE_NAME"
+ exit 1
+ fi
+ echo "Using already modified image: ${MOD_IMAGE_NAME}"
+ IMAGE=$MOD_IMAGE_NAME
+fi
+
# Kernel built with build_kernel.sh
KERNEL="kernel_5.10.tar.gz"
BOOT_PARTITION="${IMAGE}.boot_partition"
@@ -36,8 +49,13 @@
if ! grep "gpu_mem=128" "${BOOT_PARTITION}/config.txt"; then
echo "gpu_mem=128" | sudo tee -a "${BOOT_PARTITION}/config.txt"
fi
+if ! grep "enable_uart=1" "${BOOT_PARTITION}/config.txt"; then
+ echo "enable_uart=1" | sudo tee -a "${BOOT_PARTITION}/config.txt"
+fi
# For now, disable the new libcamera driver in favor of legacy ones
sudo sed -i s/^camera_auto_detect=1/#camera_auto_detect=1/ "${BOOT_PARTITION}/config.txt"
+# Enable SPI.
+sudo sed -i s/^.*dtparam=spi=on/dtparam=spi=on/ "${BOOT_PARTITION}/config.txt"
sudo tar -zxvf "${KERNEL}" --strip-components 2 -C ${BOOT_PARTITION}/ ./fat32
@@ -80,11 +98,17 @@
sudo mount -o loop,offset=${OFFSET} "${IMAGE}" "${PARTITION}"
fi
+if [[ ! -e wiringpi-2.70-1.deb ]]; then
+ wget --continue https://software.frc971.org/Build-Dependencies/wiringpi-2.70-1.deb
+fi
+
sudo cp target_configure.sh "${PARTITION}/tmp/"
+sudo cp wiringpi-2.70-1.deb "${PARTITION}/tmp/"
sudo cp dhcpcd.conf "${PARTITION}/tmp/dhcpcd.conf"
sudo cp sctp.conf "${PARTITION}/etc/sysctl.d/sctp.conf"
sudo cp logind.conf "${PARTITION}/etc/systemd/logind.conf"
sudo cp change_hostname.sh "${PARTITION}/tmp/change_hostname.sh"
+sudo cp enable_imu.sh "${PARTITION}/tmp/"
sudo cp frc971.service "${PARTITION}/etc/systemd/system/frc971.service"
sudo cp frc971chrt.service "${PARTITION}/etc/systemd/system/frc971chrt.service"
sudo cp rt.conf "${PARTITION}/etc/security/limits.d/rt.conf"
@@ -96,6 +120,8 @@
sudo rm -rf "${PARTITION}/lib/modules/"*
sudo tar -zxvf "${KERNEL}" --strip-components 4 -C "${PARTITION}/lib/modules/" ./ext4/lib/modules/
+sudo cp adis16505.ko "${PARTITION}/lib/modules/5.10.78-rt55-v8+/kernel/"
+target /usr/sbin/depmod 5.10.78-rt55-v8+
# Downloads and installs our target libraries
target /bin/bash /tmp/target_configure.sh
@@ -103,6 +129,7 @@
# Add a file to show when this image was last modified and by whom
TIMESTAMP_FILE="${PARTITION}/home/pi/.ImageModifiedDate.txt"
echo "Date modified:"`date` > "${TIMESTAMP_FILE}"
+echo "Image file: ${IMAGE}" >> "${TIMESTAMP_FILE}"
echo "Git tag: "`git rev-parse HEAD` >> "${TIMESTAMP_FILE}"
echo "User: "`whoami` >> "${TIMESTAMP_FILE}"
@@ -112,6 +139,7 @@
sudo umount -l "${PARTITION}"
rmdir "${PARTITION}"
-# Move the image to a different name, to indicated we've modified it
-MOD_IMAGE_NAME=`echo ${IMAGE} | sed s/.img/-frc-mods.img/`
-mv ${IMAGE} ${MOD_IMAGE_NAME}
+# Move the image to a different name, to indicate we've modified it
+if [ ${IMAGE} != ${MOD_IMAGE_NAME} ]; then
+ mv ${IMAGE} ${MOD_IMAGE_NAME}
+fi
diff --git a/frc971/raspi/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
index 6d9171e..06f481b 100755
--- a/frc971/raspi/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -3,15 +3,19 @@
set -ex
mkdir -p /root/bin
+mkdir -p /home/pi/bin
# Give it a static IP
cp /tmp/dhcpcd.conf /etc/
# And provide a script to change it.
cp /tmp/change_hostname.sh /root/bin/
+cp /tmp/enable_imu.sh /root/bin/
chmod a+x /root/bin/change_hostname.sh
+chmod a+x /root/bin/enable_imu.sh
chown -R pi.pi /home/pi/.ssh
+chown -R pi.pi /home/pi/bin
apt-get update
@@ -41,13 +45,7 @@
libnice-dev \
feh
-# Install WiringPi gpio for PWM control
-if [[ ! -e "/usr/bin/gpio" ]]; then
- cd /tmp
- git clone https://github.com/WiringPi/WiringPi.git
- cd WiringPi
- ./build
-fi
+dpkg -i /tmp/wiringpi-2.70-1.deb
echo 'GOVERNOR="performance"' > /etc/default/cpufrequtils
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 1e3ed58..ca35f7c 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -33,3 +33,56 @@
"@com_google_absl//absl/base",
],
)
+
+cc_library(
+ name = "charuco_lib",
+ srcs = [
+ "charuco_lib.cc",
+ ],
+ hdrs = [
+ "charuco_lib.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos:flatbuffers",
+ "//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:team_number",
+ "//frc971/control_loops:quaternion_utils",
+ "//frc971/vision:vision_fbs",
+ "//third_party:opencv",
+ "//y2020/vision/sift:sift_fbs",
+ "//y2020/vision/sift:sift_training_fbs",
+ "//y2020/vision/tools/python_code:sift_training_data",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/strings:str_format",
+ "@com_google_absl//absl/types:span",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "extrinsics_calibration",
+ srcs = [
+ "calibration_accumulator.cc",
+ "calibration_accumulator.h",
+ "extrinsics_calibration.cc",
+ "extrinsics_calibration.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":charuco_lib",
+ "//aos:init",
+ "//aos/events/logging:log_reader",
+ "//frc971/analysis:in_process_plotter",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//third_party:opencv",
+ "@com_google_absl//absl/strings:str_format",
+ "@com_google_ceres_solver//:ceres",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
diff --git a/y2020/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
similarity index 90%
rename from y2020/vision/calibration_accumulator.cc
rename to frc971/vision/calibration_accumulator.cc
index 9f550c5..ac1946c 100644
--- a/y2020/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -1,4 +1,4 @@
-#include "y2020/vision/calibration_accumulator.h"
+#include "frc971/vision/calibration_accumulator.h"
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/calib3d.hpp>
@@ -11,7 +11,7 @@
#include "aos/time/time.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/wpilib/imu_batch_generated.h"
-#include "y2020/vision/charuco_lib.h"
+#include "frc971/vision/charuco_lib.h"
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
@@ -38,7 +38,19 @@
imu_points_.emplace_back(distributed_now, std::make_pair(gyro, accel));
}
-void CalibrationData::ReviewData(CalibrationDataObserver *observer) {
+void CalibrationData::AddTurret(
+ aos::distributed_clock::time_point distributed_now, Eigen::Vector2d state) {
+ // We want the turret to be known too when solving. But, we don't know if we
+ // are going to have a turret until we get the first reading. In that case,
+ // blow away any camera readings from before.
+ while (!rot_trans_points_.empty() &&
+ rot_trans_points_[0].first < distributed_now) {
+ rot_trans_points_.erase(rot_trans_points_.begin());
+ }
+ turret_points_.emplace_back(distributed_now, state);
+}
+
+void CalibrationData::ReviewData(CalibrationDataObserver *observer) const {
size_t next_imu_point = 0;
size_t next_camera_point = 0;
while (true) {
@@ -116,13 +128,6 @@
data_->AddCameraPose(image_factory_->ToDistributedClock(eof), rvec_eigen,
tvec_eigen);
- // TODO(austin): Need a gravity vector input.
- //
- // TODO(austin): Need a state, covariance, and model.
- //
- // TODO(austin): Need to record all the values out of a log and run it
- // as a batch run so we can feed it into ceres.
-
// Z -> up
// Y -> away from cameras 2 and 3
// X -> left
diff --git a/y2020/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
similarity index 82%
rename from y2020/vision/calibration_accumulator.h
rename to frc971/vision/calibration_accumulator.h
index 7bff9f0..e4f9c8a 100644
--- a/y2020/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -7,8 +7,8 @@
#include "aos/events/simulated_event_loop.h"
#include "aos/time/time.h"
#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/charuco_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
-#include "y2020/vision/charuco_lib.h"
namespace frc971 {
namespace vision {
@@ -26,6 +26,11 @@
// corresponding angular velocity and linear acceleration vectors wa.
virtual void UpdateIMU(aos::distributed_clock::time_point t,
std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) = 0;
+
+ // Observes a turret sample at the corresponding time t, and with the
+ // corresponding state.
+ virtual void UpdateTurret(aos::distributed_clock::time_point t,
+ Eigen::Vector2d state) = 0;
};
// Class to both accumulate and replay camera and IMU data in time order.
@@ -40,12 +45,19 @@
void AddImu(aos::distributed_clock::time_point distributed_now,
Eigen::Vector3d gyro, Eigen::Vector3d accel);
+ // Adds a turret reading (position; velocity) to the list at the provided
+ // time.
+ void AddTurret(aos::distributed_clock::time_point distributed_now,
+ Eigen::Vector2d state);
+
// Processes the data points by calling UpdateCamera and UpdateIMU in time
// order.
- void ReviewData(CalibrationDataObserver *observer);
+ void ReviewData(CalibrationDataObserver *observer) const;
size_t camera_samples_size() const { return rot_trans_points_.size(); }
+ size_t turret_samples() const { return turret_points_.size(); }
+
private:
std::vector<std::pair<aos::distributed_clock::time_point,
std::pair<Eigen::Vector3d, Eigen::Vector3d>>>
@@ -56,6 +68,10 @@
std::vector<std::pair<aos::distributed_clock::time_point,
std::pair<Eigen::Vector3d, Eigen::Vector3d>>>
rot_trans_points_;
+
+ // Turret state as a timestamp and [x, v].
+ std::vector<std::pair<aos::distributed_clock::time_point, Eigen::Vector2d>>
+ turret_points_;
};
// Class to register image and IMU callbacks in AOS and route them to the
diff --git a/y2020/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
similarity index 99%
rename from y2020/vision/charuco_lib.cc
rename to frc971/vision/charuco_lib.cc
index 8677cbb..f14c9fd 100644
--- a/y2020/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -1,12 +1,12 @@
-#include "y2020/vision/charuco_lib.h"
+#include "frc971/vision/charuco_lib.h"
#include <chrono>
#include <functional>
-#include <string_view>
-
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include <string_view>
+
#include "aos/events/event_loop.h"
#include "aos/flatbuffers.h"
#include "aos/network/team_number.h"
diff --git a/y2020/vision/charuco_lib.h b/frc971/vision/charuco_lib.h
similarity index 100%
rename from y2020/vision/charuco_lib.h
rename to frc971/vision/charuco_lib.h
diff --git a/frc971/vision/extrinsics_calibration.cc b/frc971/vision/extrinsics_calibration.cc
new file mode 100644
index 0000000..a71f14d
--- /dev/null
+++ b/frc971/vision/extrinsics_calibration.cc
@@ -0,0 +1,734 @@
+#include "frc971/vision/extrinsics_calibration.h"
+
+#include "aos/time/time.h"
+#include "ceres/ceres.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/runge_kutta.h"
+#include "frc971/vision/calibration_accumulator.h"
+#include "frc971/vision/charuco_lib.h"
+
+namespace frc971 {
+namespace vision {
+
+namespace chrono = std::chrono;
+using aos::distributed_clock;
+using aos::monotonic_clock;
+
+constexpr double kGravity = 9.8;
+
+// The basic ideas here are taken from Kalibr.
+// (https://github.com/ethz-asl/kalibr), but adapted to work with AOS, and to be
+// simpler.
+//
+// Camera readings and IMU readings come in at different times, on different
+// time scales. Our first problem is to align them in time so we can actually
+// compute an error. This is done in the calibration accumulator code. The
+// kalibr paper uses splines, while this uses kalman filters to solve the same
+// interpolation problem so we can get the expected vs actual pose at the time
+// each image arrives.
+//
+// The cost function is then fed the computed angular and positional error for
+// each camera sample before the kalman filter update. Intuitively, the smaller
+// the corrections to the kalman filter each step, the better the estimate
+// should be.
+//
+// We don't actually implement the angular kalman filter because the IMU is so
+// good. We give the solver an initial position and bias, and let it solve from
+// there. This lets us represent drift that is linear in time, which should be
+// good enough for ~1 minute calibration.
+//
+// TODO(austin): Kalman smoother ala
+// https://stanford.edu/~boyd/papers/pdf/auto_ks.pdf should allow for better
+// parallelism, and since we aren't causal, will take that into account a lot
+// better.
+
+// This class takes the initial parameters and biases, and computes the error
+// between the measured and expected camera readings. When optimized, this
+// gives us a cost function to minimize.
+template <typename Scalar>
+class CeresPoseFilter : public CalibrationDataObserver {
+ public:
+ typedef Eigen::Transform<Scalar, 3, Eigen::Affine> Affine3s;
+
+ CeresPoseFilter(Eigen::Quaternion<Scalar> initial_orientation,
+ Eigen::Quaternion<Scalar> pivot_to_camera,
+ Eigen::Quaternion<Scalar> pivot_to_imu,
+ Eigen::Matrix<Scalar, 3, 1> gyro_bias,
+ Eigen::Matrix<Scalar, 6, 1> initial_state,
+ Eigen::Quaternion<Scalar> board_to_world,
+ Eigen::Matrix<Scalar, 3, 1> pivot_to_camera_translation,
+ Eigen::Matrix<Scalar, 3, 1> pivot_to_imu_translation,
+ Scalar gravity_scalar,
+ Eigen::Matrix<Scalar, 3, 1> accelerometer_bias)
+ : accel_(Eigen::Matrix<double, 3, 1>::Zero()),
+ omega_(Eigen::Matrix<double, 3, 1>::Zero()),
+ imu_bias_(gyro_bias),
+ orientation_(initial_orientation),
+ x_hat_(initial_state),
+ p_(Eigen::Matrix<Scalar, 6, 6>::Zero()),
+ pivot_to_camera_rotation_(pivot_to_camera),
+ pivot_to_camera_translation_(pivot_to_camera_translation),
+ pivot_to_imu_rotation_(pivot_to_imu),
+ pivot_to_imu_translation_(pivot_to_imu_translation),
+ board_to_world_(board_to_world),
+ gravity_scalar_(gravity_scalar),
+ accelerometer_bias_(accelerometer_bias) {}
+
+ Scalar gravity_scalar() { return gravity_scalar_; }
+
+ virtual void ObserveCameraUpdate(
+ distributed_clock::time_point /*t*/,
+ Eigen::Vector3d /*board_to_camera_rotation*/,
+ Eigen::Quaternion<Scalar> /*imu_to_world_rotation*/,
+ Affine3s /*imu_to_world*/) {}
+
+ void UpdateTurret(distributed_clock::time_point t,
+ Eigen::Vector2d state) override {
+ state_ = state;
+ state_time_ = t;
+ }
+
+ Eigen::Vector2d state_ = Eigen::Vector2d::Zero();
+ distributed_clock::time_point state_time_ = distributed_clock::min_time;
+
+ // Observes a camera measurement by applying a kalman filter correction and
+ // accumulating up the error associated with the step.
+ void UpdateCamera(distributed_clock::time_point t,
+ std::pair<Eigen::Vector3d, Eigen::Vector3d> rt) override {
+ Integrate(t);
+
+ const double pivot_angle =
+ state_time_ == distributed_clock::min_time
+ ? 0.0
+ : state_(0) +
+ state_(1) * chrono::duration<double>(t - state_time_).count();
+
+ const Eigen::Quaternion<Scalar> board_to_camera_rotation(
+ frc971::controls::ToQuaternionFromRotationVector(rt.first)
+ .cast<Scalar>());
+ const Affine3s board_to_camera =
+ Eigen::Translation3d(rt.second).cast<Scalar>() *
+ board_to_camera_rotation;
+
+ const Affine3s pivot_to_camera =
+ pivot_to_camera_translation_ * pivot_to_camera_rotation_;
+ const Affine3s pivot_to_imu =
+ pivot_to_imu_translation_ * pivot_to_imu_rotation_;
+
+ // This converts us from (facing the board),
+ // x right, y up, z towards us -> x right, y away, z up.
+ // Confirmed to be right.
+
+ // Want world -> imu rotation.
+ // world <- board <- camera <- imu.
+ const Eigen::Quaternion<Scalar> imu_to_world_rotation =
+ board_to_world_ * board_to_camera_rotation.inverse() *
+ pivot_to_camera_rotation_ *
+ Eigen::AngleAxis<Scalar>(static_cast<Scalar>(-pivot_angle),
+ Eigen::Vector3d::UnitZ().cast<Scalar>()) *
+ pivot_to_imu_rotation_.inverse();
+
+ const Affine3s imu_to_world =
+ board_to_world_ * board_to_camera.inverse() * pivot_to_camera *
+ Eigen::AngleAxis<Scalar>(static_cast<Scalar>(-pivot_angle),
+ Eigen::Vector3d::UnitZ().cast<Scalar>()) *
+ pivot_to_imu.inverse();
+
+ const Eigen::Matrix<Scalar, 3, 1> z =
+ imu_to_world * Eigen::Matrix<Scalar, 3, 1>::Zero();
+
+ Eigen::Matrix<Scalar, 3, 6> H = Eigen::Matrix<Scalar, 3, 6>::Zero();
+ H(0, 0) = static_cast<Scalar>(1.0);
+ H(1, 1) = static_cast<Scalar>(1.0);
+ H(2, 2) = static_cast<Scalar>(1.0);
+ const Eigen::Matrix<Scalar, 3, 1> y = z - H * x_hat_;
+
+ const Eigen::Matrix<double, 3, 3> R =
+ (::Eigen::DiagonalMatrix<double, 3>().diagonal() << ::std::pow(0.01, 2),
+ ::std::pow(0.01, 2), ::std::pow(0.01, 2))
+ .finished()
+ .asDiagonal();
+
+ const Eigen::Matrix<Scalar, 3, 3> S =
+ H * p_ * H.transpose() + R.cast<Scalar>();
+ const Eigen::Matrix<Scalar, 6, 3> K = p_ * H.transpose() * S.inverse();
+
+ x_hat_ += K * y;
+ p_ = (Eigen::Matrix<Scalar, 6, 6>::Identity() - K * H) * p_;
+
+ const Eigen::Quaternion<Scalar> error(imu_to_world_rotation.inverse() *
+ orientation());
+
+ errors_.emplace_back(
+ Eigen::Matrix<Scalar, 3, 1>(error.x(), error.y(), error.z()));
+ position_errors_.emplace_back(y);
+
+ ObserveCameraUpdate(t, rt.first, imu_to_world_rotation, imu_to_world);
+ }
+
+ virtual void ObserveIMUUpdate(
+ distributed_clock::time_point /*t*/,
+ std::pair<Eigen::Vector3d, Eigen::Vector3d> /*wa*/) {}
+
+ void UpdateIMU(distributed_clock::time_point t,
+ std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) override {
+ Integrate(t);
+ omega_ = wa.first;
+ accel_ = wa.second;
+
+ ObserveIMUUpdate(t, wa);
+ }
+
+ const Eigen::Quaternion<Scalar> &orientation() const { return orientation_; }
+
+ size_t num_errors() const { return errors_.size(); }
+ Scalar errorx(size_t i) const { return errors_[i].x(); }
+ Scalar errory(size_t i) const { return errors_[i].y(); }
+ Scalar errorz(size_t i) const { return errors_[i].z(); }
+
+ size_t num_perrors() const { return position_errors_.size(); }
+ Scalar errorpx(size_t i) const { return position_errors_[i].x(); }
+ Scalar errorpy(size_t i) const { return position_errors_[i].y(); }
+ Scalar errorpz(size_t i) const { return position_errors_[i].z(); }
+
+ private:
+ Eigen::Matrix<Scalar, 46, 1> Pack(Eigen::Quaternion<Scalar> q,
+ Eigen::Matrix<Scalar, 6, 1> x_hat,
+ Eigen::Matrix<Scalar, 6, 6> p) {
+ Eigen::Matrix<Scalar, 46, 1> result = Eigen::Matrix<Scalar, 46, 1>::Zero();
+ result.template block<4, 1>(0, 0) = q.coeffs();
+ result.template block<6, 1>(4, 0) = x_hat;
+ result.template block<36, 1>(10, 0) =
+ Eigen::Map<Eigen::Matrix<Scalar, 36, 1>>(p.data(), p.size());
+
+ return result;
+ }
+
+ std::tuple<Eigen::Quaternion<Scalar>, Eigen::Matrix<Scalar, 6, 1>,
+ Eigen::Matrix<Scalar, 6, 6>>
+ UnPack(Eigen::Matrix<Scalar, 46, 1> input) {
+ Eigen::Quaternion<Scalar> q(input.template block<4, 1>(0, 0));
+ Eigen::Matrix<Scalar, 6, 1> x_hat(input.template block<6, 1>(4, 0));
+ Eigen::Matrix<Scalar, 6, 6> p =
+ Eigen::Map<Eigen::Matrix<Scalar, 6, 6>>(input.data() + 10, 6, 6);
+ return std::make_tuple(q, x_hat, p);
+ }
+
+ Eigen::Matrix<Scalar, 46, 1> Derivative(
+ const Eigen::Matrix<Scalar, 46, 1> &input) {
+ auto [q, x_hat, p] = UnPack(input);
+
+ Eigen::Quaternion<Scalar> omega_q;
+ omega_q.w() = Scalar(0.0);
+ omega_q.vec() = 0.5 * (omega_.cast<Scalar>() - imu_bias_);
+ Eigen::Matrix<Scalar, 4, 1> q_dot = (q * omega_q).coeffs();
+
+ Eigen::Matrix<double, 6, 6> A = Eigen::Matrix<double, 6, 6>::Zero();
+ A(0, 3) = 1.0;
+ A(1, 4) = 1.0;
+ A(2, 5) = 1.0;
+
+ Eigen::Matrix<Scalar, 6, 1> x_hat_dot = A * x_hat;
+ x_hat_dot.template block<3, 1>(3, 0) =
+ orientation() * (accel_.cast<Scalar>() - accelerometer_bias_) -
+ Eigen::Vector3d(0, 0, kGravity).cast<Scalar>() * gravity_scalar_;
+
+ // Initialize the position noise to 0. If the solver is going to back-solve
+ // for the most likely starting position, let's just say that the noise is
+ // small.
+ constexpr double kPositionNoise = 0.0;
+ constexpr double kAccelerometerNoise = 2.3e-6 * 9.8;
+ constexpr double kIMUdt = 5.0e-4;
+ Eigen::Matrix<double, 6, 6> Q_dot(
+ (::Eigen::DiagonalMatrix<double, 6>().diagonal()
+ << ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt)
+ .finished()
+ .asDiagonal());
+ Eigen::Matrix<Scalar, 6, 6> p_dot = A.cast<Scalar>() * p +
+ p * A.transpose().cast<Scalar>() +
+ Q_dot.cast<Scalar>();
+
+ return Pack(Eigen::Quaternion<Scalar>(q_dot), x_hat_dot, p_dot);
+ }
+
+ virtual void ObserveIntegrated(distributed_clock::time_point /*t*/,
+ Eigen::Matrix<Scalar, 6, 1> /*x_hat*/,
+ Eigen::Quaternion<Scalar> /*orientation*/,
+ Eigen::Matrix<Scalar, 6, 6> /*p*/) {}
+
+ void Integrate(distributed_clock::time_point t) {
+ if (last_time_ != distributed_clock::min_time) {
+ Eigen::Matrix<Scalar, 46, 1> next = control_loops::RungeKutta(
+ [this](auto r) { return Derivative(r); },
+ Pack(orientation_, x_hat_, p_),
+ aos::time::DurationInSeconds(t - last_time_));
+
+ std::tie(orientation_, x_hat_, p_) = UnPack(next);
+
+ // Normalize q so it doesn't drift.
+ orientation_.normalize();
+ }
+
+ last_time_ = t;
+ ObserveIntegrated(t, x_hat_, orientation_, p_);
+ }
+
+ Eigen::Matrix<double, 3, 1> accel_;
+ Eigen::Matrix<double, 3, 1> omega_;
+ Eigen::Matrix<Scalar, 3, 1> imu_bias_;
+
+ // IMU -> world quaternion
+ Eigen::Quaternion<Scalar> orientation_;
+ Eigen::Matrix<Scalar, 6, 1> x_hat_;
+ Eigen::Matrix<Scalar, 6, 6> p_;
+ distributed_clock::time_point last_time_ = distributed_clock::min_time;
+
+ Eigen::Quaternion<Scalar> pivot_to_camera_rotation_;
+ Eigen::Translation<Scalar, 3> pivot_to_camera_translation_ =
+ Eigen::Translation3d(0, 0, 0).cast<Scalar>();
+
+ Eigen::Quaternion<Scalar> pivot_to_imu_rotation_;
+ Eigen::Translation<Scalar, 3> pivot_to_imu_translation_ =
+ Eigen::Translation3d(0, 0, 0).cast<Scalar>();
+
+ Eigen::Quaternion<Scalar> board_to_world_;
+ Scalar gravity_scalar_;
+ Eigen::Matrix<Scalar, 3, 1> accelerometer_bias_;
+ // States:
+ // xyz position
+ // xyz velocity
+ //
+ // Inputs
+ // xyz accel
+ //
+ // Measurement:
+ // xyz position from camera.
+ //
+ // Since the gyro is so good, we can just solve for the bias and initial
+ // position with the solver and see what it learns.
+
+ // Returns the angular errors for each camera sample.
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> position_errors_;
+};
+
+// Drives the Z coordinate of the quaternion to 0.
+struct PenalizeQuaternionZ {
+ template <typename S>
+ bool operator()(const S *const pivot_to_imu_ptr, S *residual) const {
+ Eigen::Quaternion<S> pivot_to_imu(pivot_to_imu_ptr[3], pivot_to_imu_ptr[0],
+ pivot_to_imu_ptr[1], pivot_to_imu_ptr[2]);
+ residual[0] = pivot_to_imu.z();
+ return true;
+ }
+};
+
+// Subclass of the filter above which has plotting. This keeps debug code and
+// actual code separate.
+class PoseFilter : public CeresPoseFilter<double> {
+ public:
+ PoseFilter(Eigen::Quaternion<double> initial_orientation,
+ Eigen::Quaternion<double> pivot_to_camera,
+ Eigen::Quaternion<double> pivot_to_imu,
+ Eigen::Matrix<double, 3, 1> gyro_bias,
+ Eigen::Matrix<double, 6, 1> initial_state,
+ Eigen::Quaternion<double> board_to_world,
+ Eigen::Matrix<double, 3, 1> pivot_to_camera_translation,
+ Eigen::Matrix<double, 3, 1> pivot_to_imu_translation,
+ double gravity_scalar,
+ Eigen::Matrix<double, 3, 1> accelerometer_bias)
+ : CeresPoseFilter<double>(
+ initial_orientation, pivot_to_camera, pivot_to_imu, gyro_bias,
+ initial_state, board_to_world, pivot_to_camera_translation,
+ pivot_to_imu_translation, gravity_scalar, accelerometer_bias) {}
+
+ void Plot() {
+ std::vector<double> rx;
+ std::vector<double> ry;
+ std::vector<double> rz;
+ std::vector<double> x;
+ std::vector<double> y;
+ std::vector<double> z;
+ std::vector<double> vx;
+ std::vector<double> vy;
+ std::vector<double> vz;
+ for (const Eigen::Quaternion<double> &q : orientations_) {
+ Eigen::Matrix<double, 3, 1> rotation_vector =
+ frc971::controls::ToRotationVectorFromQuaternion(q);
+ rx.emplace_back(rotation_vector(0, 0));
+ ry.emplace_back(rotation_vector(1, 0));
+ rz.emplace_back(rotation_vector(2, 0));
+ }
+ for (const Eigen::Matrix<double, 6, 1> &x_hat : x_hats_) {
+ x.emplace_back(x_hat(0));
+ y.emplace_back(x_hat(1));
+ z.emplace_back(x_hat(2));
+ vx.emplace_back(x_hat(3));
+ vy.emplace_back(x_hat(4));
+ vz.emplace_back(x_hat(5));
+ }
+
+ frc971::analysis::Plotter plotter;
+ plotter.AddFigure("position");
+ plotter.AddLine(times_, rx, "x_hat(0)");
+ plotter.AddLine(times_, ry, "x_hat(1)");
+ plotter.AddLine(times_, rz, "x_hat(2)");
+ plotter.AddLine(camera_times_, camera_x_, "Camera x");
+ plotter.AddLine(camera_times_, camera_y_, "Camera y");
+ plotter.AddLine(camera_times_, camera_z_, "Camera z");
+ plotter.AddLine(camera_times_, camera_error_x_, "Camera error x");
+ plotter.AddLine(camera_times_, camera_error_y_, "Camera error y");
+ plotter.AddLine(camera_times_, camera_error_z_, "Camera error z");
+ plotter.Publish();
+
+ plotter.AddFigure("error");
+ plotter.AddLine(times_, rx, "x_hat(0)");
+ plotter.AddLine(times_, ry, "x_hat(1)");
+ plotter.AddLine(times_, rz, "x_hat(2)");
+ plotter.AddLine(camera_times_, camera_error_x_, "Camera error x");
+ plotter.AddLine(camera_times_, camera_error_y_, "Camera error y");
+ plotter.AddLine(camera_times_, camera_error_z_, "Camera error z");
+ plotter.Publish();
+
+ plotter.AddFigure("imu");
+ plotter.AddLine(camera_times_, world_gravity_x_, "world_gravity(0)");
+ plotter.AddLine(camera_times_, world_gravity_y_, "world_gravity(1)");
+ plotter.AddLine(camera_times_, world_gravity_z_, "world_gravity(2)");
+ plotter.AddLine(imu_times_, imu_x_, "imu x");
+ plotter.AddLine(imu_times_, imu_y_, "imu y");
+ plotter.AddLine(imu_times_, imu_z_, "imu z");
+ plotter.AddLine(times_, rx, "rotation x");
+ plotter.AddLine(times_, ry, "rotation y");
+ plotter.AddLine(times_, rz, "rotation z");
+ plotter.Publish();
+
+ plotter.AddFigure("raw");
+ plotter.AddLine(imu_times_, imu_x_, "imu x");
+ plotter.AddLine(imu_times_, imu_y_, "imu y");
+ plotter.AddLine(imu_times_, imu_z_, "imu z");
+ plotter.AddLine(imu_times_, imu_ratex_, "omega x");
+ plotter.AddLine(imu_times_, imu_ratey_, "omega y");
+ plotter.AddLine(imu_times_, imu_ratez_, "omega z");
+ plotter.AddLine(camera_times_, raw_camera_x_, "Camera x");
+ plotter.AddLine(camera_times_, raw_camera_y_, "Camera y");
+ plotter.AddLine(camera_times_, raw_camera_z_, "Camera z");
+ plotter.Publish();
+
+ plotter.AddFigure("xyz vel");
+ plotter.AddLine(times_, x, "x");
+ plotter.AddLine(times_, y, "y");
+ plotter.AddLine(times_, z, "z");
+ plotter.AddLine(times_, vx, "vx");
+ plotter.AddLine(times_, vy, "vy");
+ plotter.AddLine(times_, vz, "vz");
+ plotter.AddLine(camera_times_, camera_position_x_, "Camera x");
+ plotter.AddLine(camera_times_, camera_position_y_, "Camera y");
+ plotter.AddLine(camera_times_, camera_position_z_, "Camera z");
+ plotter.Publish();
+
+ plotter.Spin();
+ }
+
+ void ObserveIntegrated(distributed_clock::time_point t,
+ Eigen::Matrix<double, 6, 1> x_hat,
+ Eigen::Quaternion<double> orientation,
+ Eigen::Matrix<double, 6, 6> p) override {
+ VLOG(1) << t << " -> " << p;
+ VLOG(1) << t << " xhat -> " << x_hat.transpose();
+ times_.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
+ x_hats_.emplace_back(x_hat);
+ orientations_.emplace_back(orientation);
+ }
+
+ void ObserveIMUUpdate(
+ distributed_clock::time_point t,
+ std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) override {
+ imu_times_.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
+ imu_ratex_.emplace_back(wa.first.x());
+ imu_ratey_.emplace_back(wa.first.y());
+ imu_ratez_.emplace_back(wa.first.z());
+ imu_x_.emplace_back(wa.second.x());
+ imu_y_.emplace_back(wa.second.y());
+ imu_z_.emplace_back(wa.second.z());
+
+ last_accel_ = wa.second;
+ }
+
+ void ObserveCameraUpdate(distributed_clock::time_point t,
+ Eigen::Vector3d board_to_camera_rotation,
+ Eigen::Quaternion<double> imu_to_world_rotation,
+ Eigen::Affine3d imu_to_world) override {
+ raw_camera_x_.emplace_back(board_to_camera_rotation(0, 0));
+ raw_camera_y_.emplace_back(board_to_camera_rotation(1, 0));
+ raw_camera_z_.emplace_back(board_to_camera_rotation(2, 0));
+
+ Eigen::Matrix<double, 3, 1> rotation_vector =
+ frc971::controls::ToRotationVectorFromQuaternion(imu_to_world_rotation);
+ camera_times_.emplace_back(
+ chrono::duration<double>(t.time_since_epoch()).count());
+
+ Eigen::Matrix<double, 3, 1> camera_error =
+ frc971::controls::ToRotationVectorFromQuaternion(
+ imu_to_world_rotation.inverse() * orientation());
+
+ camera_x_.emplace_back(rotation_vector(0, 0));
+ camera_y_.emplace_back(rotation_vector(1, 0));
+ camera_z_.emplace_back(rotation_vector(2, 0));
+
+ camera_error_x_.emplace_back(camera_error(0, 0));
+ camera_error_y_.emplace_back(camera_error(1, 0));
+ camera_error_z_.emplace_back(camera_error(2, 0));
+
+ const Eigen::Vector3d world_gravity =
+ imu_to_world_rotation * last_accel_ -
+ Eigen::Vector3d(0, 0, kGravity) * gravity_scalar();
+
+ const Eigen::Vector3d camera_position =
+ imu_to_world * Eigen::Vector3d::Zero();
+
+ world_gravity_x_.emplace_back(world_gravity.x());
+ world_gravity_y_.emplace_back(world_gravity.y());
+ world_gravity_z_.emplace_back(world_gravity.z());
+
+ camera_position_x_.emplace_back(camera_position.x());
+ camera_position_y_.emplace_back(camera_position.y());
+ camera_position_z_.emplace_back(camera_position.z());
+ }
+
+ std::vector<double> camera_times_;
+ std::vector<double> camera_x_;
+ std::vector<double> camera_y_;
+ std::vector<double> camera_z_;
+ std::vector<double> raw_camera_x_;
+ std::vector<double> raw_camera_y_;
+ std::vector<double> raw_camera_z_;
+ std::vector<double> camera_error_x_;
+ std::vector<double> camera_error_y_;
+ std::vector<double> camera_error_z_;
+
+ std::vector<double> world_gravity_x_;
+ std::vector<double> world_gravity_y_;
+ std::vector<double> world_gravity_z_;
+ std::vector<double> imu_x_;
+ std::vector<double> imu_y_;
+ std::vector<double> imu_z_;
+ std::vector<double> camera_position_x_;
+ std::vector<double> camera_position_y_;
+ std::vector<double> camera_position_z_;
+
+ std::vector<double> imu_times_;
+ std::vector<double> imu_ratex_;
+ std::vector<double> imu_ratey_;
+ std::vector<double> imu_ratez_;
+
+ std::vector<double> times_;
+ std::vector<Eigen::Matrix<double, 6, 1>> x_hats_;
+ std::vector<Eigen::Quaternion<double>> orientations_;
+
+ Eigen::Matrix<double, 3, 1> last_accel_ = Eigen::Matrix<double, 3, 1>::Zero();
+};
+
+// Adapter class from the KF above to a Ceres cost function.
+struct CostFunctor {
+ CostFunctor(const CalibrationData *d) : data(d) {}
+
+ const CalibrationData *data;
+
+ template <typename S>
+ bool operator()(const S *const initial_orientation_ptr,
+ const S *const pivot_to_camera_ptr,
+ const S *const pivot_to_imu_ptr, const S *const gyro_bias_ptr,
+ const S *const initial_state_ptr,
+ const S *const board_to_world_ptr,
+ const S *const pivot_to_camera_translation_ptr,
+ const S *const pivot_to_imu_translation_ptr,
+ const S *const gravity_scalar_ptr,
+ const S *const accelerometer_bias_ptr, S *residual) const {
+ Eigen::Quaternion<S> initial_orientation(
+ initial_orientation_ptr[3], initial_orientation_ptr[0],
+ initial_orientation_ptr[1], initial_orientation_ptr[2]);
+ Eigen::Quaternion<S> pivot_to_camera(
+ pivot_to_camera_ptr[3], pivot_to_camera_ptr[0], pivot_to_camera_ptr[1],
+ pivot_to_camera_ptr[2]);
+ Eigen::Quaternion<S> pivot_to_imu(pivot_to_imu_ptr[3], pivot_to_imu_ptr[0],
+ pivot_to_imu_ptr[1], pivot_to_imu_ptr[2]);
+ Eigen::Quaternion<S> board_to_world(
+ board_to_world_ptr[3], board_to_world_ptr[0], board_to_world_ptr[1],
+ board_to_world_ptr[2]);
+ Eigen::Matrix<S, 3, 1> gyro_bias(gyro_bias_ptr[0], gyro_bias_ptr[1],
+ gyro_bias_ptr[2]);
+ Eigen::Matrix<S, 6, 1> initial_state;
+ initial_state(0) = initial_state_ptr[0];
+ initial_state(1) = initial_state_ptr[1];
+ initial_state(2) = initial_state_ptr[2];
+ initial_state(3) = initial_state_ptr[3];
+ initial_state(4) = initial_state_ptr[4];
+ initial_state(5) = initial_state_ptr[5];
+ Eigen::Matrix<S, 3, 1> pivot_to_camera_translation(
+ pivot_to_camera_translation_ptr[0], pivot_to_camera_translation_ptr[1],
+ pivot_to_camera_translation_ptr[2]);
+ Eigen::Matrix<S, 3, 1> pivot_to_imu_translation(
+ pivot_to_imu_translation_ptr[0], pivot_to_imu_translation_ptr[1],
+ pivot_to_imu_translation_ptr[2]);
+ Eigen::Matrix<S, 3, 1> accelerometer_bias(accelerometer_bias_ptr[0],
+ accelerometer_bias_ptr[1],
+ accelerometer_bias_ptr[2]);
+
+ CeresPoseFilter<S> filter(
+ initial_orientation, pivot_to_camera, pivot_to_imu, gyro_bias,
+ initial_state, board_to_world, pivot_to_camera_translation,
+ pivot_to_imu_translation, *gravity_scalar_ptr, accelerometer_bias);
+ data->ReviewData(&filter);
+
+ for (size_t i = 0; i < filter.num_errors(); ++i) {
+ residual[3 * i + 0] = filter.errorx(i);
+ residual[3 * i + 1] = filter.errory(i);
+ residual[3 * i + 2] = filter.errorz(i);
+ }
+
+ for (size_t i = 0; i < filter.num_perrors(); ++i) {
+ residual[3 * filter.num_errors() + 3 * i + 0] = filter.errorpx(i);
+ residual[3 * filter.num_errors() + 3 * i + 1] = filter.errorpy(i);
+ residual[3 * filter.num_errors() + 3 * i + 2] = filter.errorpz(i);
+ }
+
+ return true;
+ }
+};
+
+void Solve(const CalibrationData &data,
+ CalibrationParameters *calibration_parameters) {
+ ceres::Problem problem;
+
+ ceres::EigenQuaternionParameterization *quaternion_local_parameterization =
+ new ceres::EigenQuaternionParameterization();
+ // Set up the only cost function (also known as residual). This uses
+ // auto-differentiation to obtain the derivative (jacobian).
+
+ {
+ ceres::CostFunction *cost_function =
+ new ceres::AutoDiffCostFunction<CostFunctor, ceres::DYNAMIC, 4, 4, 4, 3,
+ 6, 4, 3, 3, 1, 3>(
+ new CostFunctor(&data), data.camera_samples_size() * 6);
+ problem.AddResidualBlock(
+ cost_function, new ceres::HuberLoss(1.0),
+ calibration_parameters->initial_orientation.coeffs().data(),
+ calibration_parameters->pivot_to_camera.coeffs().data(),
+ calibration_parameters->pivot_to_imu.coeffs().data(),
+ calibration_parameters->gyro_bias.data(),
+ calibration_parameters->initial_state.data(),
+ calibration_parameters->board_to_world.coeffs().data(),
+ calibration_parameters->pivot_to_camera_translation.data(),
+ calibration_parameters->pivot_to_imu_translation.data(),
+ &calibration_parameters->gravity_scalar,
+ calibration_parameters->accelerometer_bias.data());
+ }
+
+ {
+ ceres::CostFunction *turret_z_cost_function =
+ new ceres::AutoDiffCostFunction<PenalizeQuaternionZ, 1, 4>(
+ new PenalizeQuaternionZ());
+ problem.AddResidualBlock(
+ turret_z_cost_function, nullptr,
+ calibration_parameters->pivot_to_imu.coeffs().data());
+ }
+
+ if (calibration_parameters->has_pivot) {
+ // Constrain Z.
+ problem.SetParameterization(
+ calibration_parameters->pivot_to_imu_translation.data(),
+ new ceres::SubsetParameterization(3, {2}));
+ } else {
+ problem.SetParameterBlockConstant(
+ calibration_parameters->pivot_to_imu.coeffs().data());
+ problem.SetParameterBlockConstant(
+ calibration_parameters->pivot_to_imu_translation.data());
+ }
+
+ problem.SetParameterization(
+ calibration_parameters->initial_orientation.coeffs().data(),
+ quaternion_local_parameterization);
+ problem.SetParameterization(
+ calibration_parameters->pivot_to_camera.coeffs().data(),
+ quaternion_local_parameterization);
+ problem.SetParameterization(
+ calibration_parameters->board_to_world.coeffs().data(),
+ quaternion_local_parameterization);
+ for (int i = 0; i < 3; ++i) {
+ problem.SetParameterLowerBound(calibration_parameters->gyro_bias.data(), i,
+ -0.05);
+ problem.SetParameterUpperBound(calibration_parameters->gyro_bias.data(), i,
+ 0.05);
+ problem.SetParameterLowerBound(
+ calibration_parameters->accelerometer_bias.data(), i, -0.05);
+ problem.SetParameterUpperBound(
+ calibration_parameters->accelerometer_bias.data(), i, 0.05);
+ }
+ problem.SetParameterLowerBound(&calibration_parameters->gravity_scalar, 0,
+ 0.95);
+ problem.SetParameterUpperBound(&calibration_parameters->gravity_scalar, 0,
+ 1.05);
+
+ // Run the solver!
+ ceres::Solver::Options options;
+ options.minimizer_progress_to_stdout = true;
+ options.gradient_tolerance = 1e-12;
+ options.function_tolerance = 1e-16;
+ options.parameter_tolerance = 1e-12;
+ ceres::Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ LOG(INFO) << summary.FullReport();
+
+ LOG(INFO) << "initial_orientation "
+ << calibration_parameters->initial_orientation.coeffs().transpose();
+ LOG(INFO) << "pivot_to_imu "
+ << calibration_parameters->pivot_to_imu.coeffs().transpose();
+ LOG(INFO) << "pivot_to_imu(rotation) "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters->pivot_to_imu)
+ .transpose();
+ LOG(INFO) << "pivot_to_camera "
+ << calibration_parameters->pivot_to_camera.coeffs().transpose();
+ LOG(INFO) << "pivot_to_camera(rotation) "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters->pivot_to_camera)
+ .transpose();
+ LOG(INFO) << "gyro_bias " << calibration_parameters->gyro_bias.transpose();
+ LOG(INFO) << "board_to_world "
+ << calibration_parameters->board_to_world.coeffs().transpose();
+ LOG(INFO) << "board_to_world(rotation) "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters->board_to_world)
+ .transpose();
+ LOG(INFO) << "pivot_to_imu_translation "
+ << calibration_parameters->pivot_to_imu_translation.transpose();
+ LOG(INFO) << "pivot_to_camera_translation "
+ << calibration_parameters->pivot_to_camera_translation.transpose();
+ LOG(INFO) << "gravity " << kGravity * calibration_parameters->gravity_scalar;
+ LOG(INFO) << "accelerometer bias "
+ << calibration_parameters->accelerometer_bias.transpose();
+}
+
+void Plot(const CalibrationData &data,
+ const CalibrationParameters &calibration_parameters) {
+ PoseFilter filter(calibration_parameters.initial_orientation,
+ calibration_parameters.pivot_to_camera,
+ calibration_parameters.pivot_to_imu,
+ calibration_parameters.gyro_bias,
+ calibration_parameters.initial_state,
+ calibration_parameters.board_to_world,
+ calibration_parameters.pivot_to_camera_translation,
+ calibration_parameters.pivot_to_imu_translation,
+ calibration_parameters.gravity_scalar,
+ calibration_parameters.accelerometer_bias);
+ data.ReviewData(&filter);
+ filter.Plot();
+}
+
+} // namespace vision
+} // namespace frc971
diff --git a/frc971/vision/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
new file mode 100644
index 0000000..b24f13f
--- /dev/null
+++ b/frc971/vision/extrinsics_calibration.h
@@ -0,0 +1,48 @@
+#ifndef FRC971_VISION_EXTRINSICS_CALIBRATION_H_
+#define FRC971_VISION_EXTRINSICS_CALIBRATION_H_
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "frc971/vision/calibration_accumulator.h"
+
+namespace frc971 {
+namespace vision {
+
+struct CalibrationParameters {
+ Eigen::Quaternion<double> initial_orientation =
+ Eigen::Quaternion<double>::Identity();
+ Eigen::Quaternion<double> pivot_to_camera =
+ Eigen::Quaternion<double>::Identity();
+ Eigen::Quaternion<double> pivot_to_imu =
+ Eigen::Quaternion<double>::Identity();
+ Eigen::Quaternion<double> board_to_world =
+ Eigen::Quaternion<double>::Identity();
+
+ Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();
+ Eigen::Matrix<double, 6, 1> initial_state =
+ Eigen::Matrix<double, 6, 1>::Zero();
+ Eigen::Matrix<double, 3, 1> pivot_to_camera_translation =
+ Eigen::Matrix<double, 3, 1>::Zero();
+ Eigen::Matrix<double, 3, 1> pivot_to_imu_translation =
+ Eigen::Matrix<double, 3, 1>::Zero();
+
+ double gravity_scalar = 1.0;
+ Eigen::Matrix<double, 3, 1> accelerometer_bias =
+ Eigen::Matrix<double, 3, 1>::Zero();
+
+ bool has_pivot = false;
+};
+
+// Solves the mounting problem given the calibration data and parameters. The
+// parameters are used as the seed to the solver.
+void Solve(const CalibrationData &data,
+ CalibrationParameters *calibration_parameters);
+
+// Plots the calibrated results to help visualize the fit.
+void Plot(const CalibrationData &data,
+ const CalibrationParameters &calibration_parameters);
+
+} // namespace vision
+} // namespace frc971
+
+#endif // FRC971_VISION_EXTRINSICS_CALIBRATION_H_
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index b6e30d8..1d8f1c1 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -135,7 +135,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "wpilib_config.json",
flatbuffers = [
":pdp_values_fbs",
@@ -152,7 +152,7 @@
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//aos/events:config",
+ "//aos/events:aos_config",
],
)
diff --git a/frc971/wpilib/ahal/AnalogInput.cc b/frc971/wpilib/ahal/AnalogInput.cc
index 8d814ad..7482476 100644
--- a/frc971/wpilib/ahal/AnalogInput.cc
+++ b/frc971/wpilib/ahal/AnalogInput.cc
@@ -41,6 +41,8 @@
HAL_GetErrorMessage(status));
m_channel = std::numeric_limits<int>::max();
m_port = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status)
+ << ": Failed to make AnalogInput channel " << channel;
return;
}
@@ -69,6 +71,7 @@
int32_t status = 0;
int value = HAL_GetAnalogValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -91,6 +94,7 @@
int32_t status = 0;
int value = HAL_GetAnalogAverageValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -107,6 +111,7 @@
int32_t status = 0;
double voltage = HAL_GetAnalogVoltage(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return voltage;
}
@@ -129,6 +134,7 @@
int32_t status = 0;
double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return voltage;
}
@@ -144,6 +150,7 @@
int32_t status = 0;
int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return lsbWeight;
}
@@ -159,6 +166,7 @@
int32_t status = 0;
int offset = HAL_GetAnalogOffset(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return offset;
}
@@ -188,6 +196,7 @@
int32_t status = 0;
HAL_SetAnalogAverageBits(m_port, bits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -202,6 +211,7 @@
int32_t status = 0;
int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return averageBits;
}
@@ -220,6 +230,7 @@
int32_t status = 0;
HAL_SetAnalogOversampleBits(m_port, bits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -236,6 +247,7 @@
int32_t status = 0;
int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return oversampleBits;
}
@@ -251,6 +263,7 @@
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -262,5 +275,6 @@
int32_t status = 0;
double sampleRate = HAL_GetAnalogSampleRate(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return sampleRate;
}
diff --git a/frc971/wpilib/ahal/AnalogTrigger.cc b/frc971/wpilib/ahal/AnalogTrigger.cc
index 825a655..bd63189 100644
--- a/frc971/wpilib/ahal/AnalogTrigger.cc
+++ b/frc971/wpilib/ahal/AnalogTrigger.cc
@@ -32,6 +32,7 @@
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status);
return;
}
int index = GetIndex();
@@ -46,6 +47,7 @@
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status);
return;
}
int index = GetIndex();
@@ -56,6 +58,7 @@
AnalogTrigger::~AnalogTrigger() {
int32_t status = 0;
HAL_CleanAnalogTrigger(m_trigger, &status);
+ HAL_CHECK_STATUS(status);
if (m_ownsAnalog) {
delete m_analogInput;
@@ -83,6 +86,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
@@ -90,6 +94,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
@@ -97,6 +102,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetAveraged(bool useAveragedValue) {
@@ -104,6 +110,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetFiltered(bool useFilteredValue) {
@@ -111,6 +118,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
int AnalogTrigger::GetIndex() const {
@@ -118,6 +126,7 @@
int32_t status = 0;
auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return ret;
}
@@ -126,6 +135,7 @@
int32_t status = 0;
bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return result;
}
@@ -134,6 +144,7 @@
int32_t status = 0;
bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return result;
}
diff --git a/frc971/wpilib/ahal/Counter.cc b/frc971/wpilib/ahal/Counter.cc
index 81e2c61..8e91c82 100644
--- a/frc971/wpilib/ahal/Counter.cc
+++ b/frc971/wpilib/ahal/Counter.cc
@@ -19,6 +19,7 @@
int32_t status = 0;
m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
SetMaxPeriod(0.5);
@@ -77,6 +78,7 @@
}
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
SetDownSourceEdge(inverted, true);
}
@@ -86,6 +88,7 @@
int32_t status = 0;
HAL_FreeCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpSource(int channel) {
@@ -119,6 +122,7 @@
m_counter, source->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpSource(DigitalSource& source) {
@@ -136,6 +140,7 @@
int32_t status = 0;
HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::ClearUpSource() {
@@ -144,6 +149,7 @@
int32_t status = 0;
HAL_ClearCounterUpSource(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetDownSource(int channel) {
@@ -182,6 +188,7 @@
m_counter, source->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
@@ -194,6 +201,7 @@
int32_t status = 0;
HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::ClearDownSource() {
@@ -202,6 +210,7 @@
int32_t status = 0;
HAL_ClearCounterDownSource(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpDownCounterMode() {
@@ -209,6 +218,7 @@
int32_t status = 0;
HAL_SetCounterUpDownMode(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetExternalDirectionMode() {
@@ -216,6 +226,7 @@
int32_t status = 0;
HAL_SetCounterExternalDirectionMode(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
@@ -223,6 +234,7 @@
int32_t status = 0;
HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetPulseLengthMode(double threshold) {
@@ -230,6 +242,7 @@
int32_t status = 0;
HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetReverseDirection(bool reverseDirection) {
@@ -237,6 +250,7 @@
int32_t status = 0;
HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetSamplesToAverage(int samplesToAverage) {
@@ -248,12 +262,14 @@
int32_t status = 0;
HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
int Counter::GetSamplesToAverage() const {
int32_t status = 0;
int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return samples;
}
@@ -264,6 +280,7 @@
int32_t status = 0;
int value = HAL_GetCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -272,6 +289,7 @@
int32_t status = 0;
HAL_ResetCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
double Counter::GetPeriod() const {
@@ -279,6 +297,7 @@
int32_t status = 0;
double value = HAL_GetCounterPeriod(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -287,6 +306,7 @@
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpdateWhenEmpty(bool enabled) {
@@ -294,6 +314,7 @@
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
bool Counter::GetStopped() const {
@@ -301,6 +322,7 @@
int32_t status = 0;
bool value = HAL_GetCounterStopped(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -309,5 +331,6 @@
int32_t status = 0;
bool value = HAL_GetCounterDirection(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
diff --git a/frc971/wpilib/ahal/DigitalInput.cc b/frc971/wpilib/ahal/DigitalInput.cc
index 3e07208..d922cae 100644
--- a/frc971/wpilib/ahal/DigitalInput.cc
+++ b/frc971/wpilib/ahal/DigitalInput.cc
@@ -43,6 +43,7 @@
channel, HAL_GetErrorMessage(status));
m_handle = HAL_kInvalidHandle;
m_channel = std::numeric_limits<int>::max();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
return;
}
@@ -72,6 +73,7 @@
int32_t status = 0;
bool value = HAL_GetDIO(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
diff --git a/frc971/wpilib/ahal/DigitalOutput.cc b/frc971/wpilib/ahal/DigitalOutput.cc
index cc1f3d2..ac00df3 100644
--- a/frc971/wpilib/ahal/DigitalOutput.cc
+++ b/frc971/wpilib/ahal/DigitalOutput.cc
@@ -43,6 +43,7 @@
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
channel, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
@@ -75,6 +76,7 @@
int32_t status = 0;
HAL_SetDIO(m_handle, value, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -88,6 +90,7 @@
int32_t status = 0;
bool val = HAL_GetDIO(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return val;
}
@@ -110,6 +113,7 @@
int32_t status = 0;
HAL_Pulse(m_handle, length, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -123,6 +127,7 @@
int32_t status = 0;
bool value = HAL_IsPulsing(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -142,6 +147,7 @@
int32_t status = 0;
HAL_SetDigitalPWMRate(rate, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -173,6 +179,8 @@
if (StatusIsFatal()) return;
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_CHECK_STATUS(status);
}
/**
@@ -194,6 +202,8 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_pwmGenerator = HAL_kInvalidHandle;
+
+ HAL_CHECK_STATUS(status);
}
/**
@@ -210,6 +220,8 @@
int32_t status = 0;
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_CHECK_STATUS(status);
}
/**
diff --git a/frc971/wpilib/ahal/Encoder.cc b/frc971/wpilib/ahal/Encoder.cc
index b452720..417792d 100644
--- a/frc971/wpilib/ahal/Encoder.cc
+++ b/frc971/wpilib/ahal/Encoder.cc
@@ -9,11 +9,10 @@
#include "hal/HAL.h"
#include "frc971/wpilib/ahal/DigitalInput.h"
+#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
-#define HAL_FATAL_WITH_STATUS(status)
-
/**
* Common initialization code for Encoders.
*
@@ -40,7 +39,7 @@
m_bSource->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(),
reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
@@ -84,7 +83,7 @@
Encoder::~Encoder() {
int32_t status = 0;
HAL_FreeEncoder(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
}
/**
@@ -110,7 +109,7 @@
int Encoder::GetRaw() const {
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -129,7 +128,7 @@
double Encoder::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return value;
}
/**
@@ -151,12 +150,12 @@
void Encoder::SetMaxPeriod(double maxPeriod) {
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
}
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return val;
}
diff --git a/frc971/wpilib/ahal/PWM.cc b/frc971/wpilib/ahal/PWM.cc
index 31b9863..7184643 100644
--- a/frc971/wpilib/ahal/PWM.cc
+++ b/frc971/wpilib/ahal/PWM.cc
@@ -17,8 +17,6 @@
using namespace frc;
-#define HAL_FATAL_ERROR()
-
/**
* Allocate a PWM given a channel number.
*
@@ -42,7 +40,7 @@
// wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(),
// channel,
// HAL_GetErrorMessage(status));
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
@@ -51,10 +49,10 @@
m_channel = channel;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
status = 0;
HAL_SetPWMEliminateDeadband(m_handle, false, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
}
@@ -68,10 +66,10 @@
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
HAL_FreePWMPort(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -85,7 +83,7 @@
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
int32_t status = 0;
HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -106,7 +104,7 @@
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -127,7 +125,7 @@
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -148,7 +146,7 @@
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -164,7 +162,7 @@
void PWM::SetPosition(double pos) {
int32_t status = 0;
HAL_SetPWMPosition(m_handle, pos, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -180,7 +178,7 @@
double PWM::GetPosition() const {
int32_t status = 0;
double position = HAL_GetPWMPosition(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return position;
}
@@ -200,7 +198,7 @@
void PWM::SetSpeed(double speed) {
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -218,7 +216,7 @@
double PWM::GetSpeed() const {
int32_t status = 0;
double speed = HAL_GetPWMSpeed(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return speed;
}
@@ -232,7 +230,7 @@
void PWM::SetRaw(uint16_t value) {
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -245,7 +243,7 @@
uint16_t PWM::GetRaw() const {
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -274,7 +272,7 @@
LOG(FATAL) << "Invalid multiplier " << mult;
}
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -285,12 +283,12 @@
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
void PWM::SetZeroLatch() {
int32_t status = 0;
HAL_LatchPWMZero(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
diff --git a/frc971/wpilib/ahal/WPIErrors.h b/frc971/wpilib/ahal/WPIErrors.h
index 482240c..601e65a 100644
--- a/frc971/wpilib/ahal/WPIErrors.h
+++ b/frc971/wpilib/ahal/WPIErrors.h
@@ -9,6 +9,8 @@
#include <cstdint>
+#include "glog/logging.h"
+
#ifdef WPI_ERRORS_DEFINE_STRINGS
#define S(label, offset, message) \
const char *wpi_error_s_##label = message; \
@@ -19,6 +21,9 @@
const int wpi_error_value_##label = offset
#endif
+#define HAL_CHECK_STATUS(status) \
+ CHECK(status == 0) << HAL_GetLastError(&(status))
+
/*
* Fatal errors
*/
diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index 0c735eb..6768e1c 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -19,7 +19,7 @@
'/drivetrain', 'frc971.control_loops.drivetrain.Status');
const imu = aosPlotter.addRawMessageSource(
- '/drivetrain', 'frc971.IMUValuesBatch',
+ '/localizer', 'frc971.IMUValuesBatch',
new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
const accelX = accelPlot.addMessageLine(imu, ['accelerometer_x']);
diff --git a/motors/peripheral/uart.cc b/motors/peripheral/uart.cc
index 6e48320..0617e3f 100644
--- a/motors/peripheral/uart.cc
+++ b/motors/peripheral/uart.cc
@@ -70,7 +70,7 @@
// otherwise reading S1) before the final one. In practice, the FIFOs are so
// short on this part it probably won't help anything.
aos::SizedArray<char, 4> result;
- while (DataAvailable() && !result.full()) {
+ while (DataAvailable() && result.size() != result.capacity()) {
result.push_back(ReadCharacter());
}
return result;
diff --git a/motors/print/usb.h b/motors/print/usb.h
index 1ed1bee..c2224d2 100644
--- a/motors/print/usb.h
+++ b/motors/print/usb.h
@@ -30,7 +30,7 @@
aos::SizedArray<char, 4> ReadStdin() override {
aos::SizedArray<char, 4> result;
- result.set_size(stdout_tty_->Read(result.data(), result.max_size()));
+ result.resize(stdout_tty_->Read(result.data(), result.capacity()));
return result;
}
@@ -58,7 +58,7 @@
aos::SizedArray<char, 4> ReadStdin() override {
aos::SizedArray<char, 4> result;
- result.set_size(stdout_tty_.Read(result.data(), result.max_size()));
+ result.resize(stdout_tty_.Read(result.data(), result.capacity()));
return result;
}
diff --git a/package.json b/package.json
index 7e6885b..d16aed7 100644
--- a/package.json
+++ b/package.json
@@ -2,34 +2,37 @@
"name": "971-Robot-Code",
"license": "MIT",
"devDependencies": {
- "@types/jasmine": "latest",
- "@types/node": "latest",
- "jasmine": "latest",
- "karma-requirejs": "latest",
- "karma-sourcemap-loader": "latest",
- "karma-chrome-launcher": "latest",
- "karma-firefox-launcher": "latest",
- "karma": "latest",
- "karma-jasmine": "latest",
- "requirejs": "latest",
- "@bazel/concatjs": "latest",
- "@angular/animations": "latest",
- "@angular/core": "latest",
- "@angular/common": "latest",
- "@angular/platform-browser": "latest",
- "@angular/compiler": "latest",
- "@angular/compiler-cli": "latest",
- "@angular/cli": "latest",
- "@types/flatbuffers": "latest",
- "@bazel/typescript": "4.4.6",
- "@bazel/rollup": "latest",
- "@bazel/terser": "latest",
- "@rollup/plugin-node-resolve": "latest",
- "typescript": "latest",
- "rollup": "latest",
- "terser": "latest",
+ "@angular/animations": "13.2.0",
+ "@angular/common": "13.2.0",
+ "@angular/compiler": "13.2.0",
+ "@angular/compiler-cli": "13.2.0",
+ "@angular/core": "13.2.0",
+ "@angular/forms": "13.2.0",
+ "@angular/platform-browser": "13.2.0",
+ "@angular/cli": "13.2.0",
"@babel/cli": "^7.6.0",
"@babel/core": "^7.6.0",
+ "@bazel/concatjs": "4.4.6",
+ "@bazel/protractor": "4.4.6",
+ "@bazel/rollup": "4.4.6",
+ "@bazel/typescript": "4.4.6",
+ "@bazel/terser": "4.4.6",
+ "@types/jasmine": "3.10.3",
+ "jasmine": "3.10.0",
+ "karma": "6.3.12",
+ "karma-chrome-launcher": "3.1.0",
+ "karma-firefox-launcher": "2.1.2",
+ "karma-jasmine": "4.0.1",
+ "karma-requirejs": "1.1.0",
+ "karma-sourcemap-loader": "0.3.8",
+ "protractor": "7.0.0",
+ "requirejs": "2.3.6",
+ "rollup": "2.66.1",
+ "@rollup/plugin-node-resolve": "13.1.3",
+ "@types/flatbuffers": "1.10.0",
+ "@types/node": "17.0.21",
+ "typescript": "4.5.5",
+ "terser": "5.10.0",
"zone.js": "^0.11.4"
}
}
diff --git a/scouting/BUILD b/scouting/BUILD
index 836e5c3..0ed540b 100644
--- a/scouting/BUILD
+++ b/scouting/BUILD
@@ -1,4 +1,5 @@
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+load("//tools/build_rules:js.bzl", "protractor_ts_test", "turn_files_into_runfiles")
go_binary(
name = "sql_demo",
@@ -15,3 +16,30 @@
visibility = ["//visibility:private"],
deps = ["@com_github_mattn_go_sqlite3//:go-sqlite3"],
)
+
+turn_files_into_runfiles(
+ name = "main_bundle_compiled_runfiles",
+ files = "//scouting/www:main_bundle_compiled",
+)
+
+sh_binary(
+ name = "scouting",
+ srcs = [
+ "scouting.sh",
+ ],
+ data = [
+ ":main_bundle_compiled_runfiles",
+ "//scouting/webserver",
+ "//scouting/www:index.html",
+ "//scouting/www:zonejs_copy",
+ ],
+)
+
+protractor_ts_test(
+ name = "scouting_test",
+ srcs = [
+ ":scouting_test.ts",
+ ],
+ on_prepare = ":scouting_test.protractor.on-prepare.js",
+ server = ":scouting",
+)
diff --git a/scouting/README.md b/scouting/README.md
new file mode 100644
index 0000000..4c43a2a
--- /dev/null
+++ b/scouting/README.md
@@ -0,0 +1,15 @@
+Scouting web server
+================================================================================
+
+The `//scouting` target runs the webserver and hosts all the web pages. Run it
+like so:
+
+ $ bazel run //scouting
+
+You can customize the port like so:
+
+ $ bazel run //scouting -- --port 1234
+
+See all options like this:
+
+ $ bazel run //scouting -- --help
diff --git a/scouting/db/db.go b/scouting/db/db.go
index 86d332e..788e6e3 100644
--- a/scouting/db/db.go
+++ b/scouting/db/db.go
@@ -2,6 +2,7 @@
import (
"database/sql"
+ "errors"
"fmt"
_ "github.com/mattn/go-sqlite3"
@@ -12,32 +13,34 @@
}
type Match struct {
- matchNumber, round int
- compLevel string
- r1, r2, r3, b1, b2, b3 int
+ MatchNumber, Round int32
+ CompLevel string
+ R1, R2, R3, B1, B2, B3 int32
// Each of these variables holds the matchID of the corresponding Stats row
r1ID, r2ID, r3ID, b1ID, b2ID, b3ID int
}
type Stats struct {
- teamNumber, matchNumber int
- shotsMissed, upperGoalShots, lowerGoalShots int
- shotsMissedAuto, upperGoalAuto, lowerGoalAuto, playedDefense int
- climbing int
+ TeamNumber, MatchNumber int32
+ ShotsMissed, UpperGoalShots, LowerGoalShots int32
+ ShotsMissedAuto, UpperGoalAuto, LowerGoalAuto, PlayedDefense int32
+ Climbing int32
}
-func NewDatabase() (*Database, error) {
+// Opens a database at the specified path. If the path refers to a non-existent
+// file, the database will be created and initialized with empty tables.
+func NewDatabase(path string) (*Database, error) {
database := new(Database)
- database.DB, _ = sql.Open("sqlite3", "./scouting.db")
+ database.DB, _ = sql.Open("sqlite3", path)
statement, error_ := database.Prepare("CREATE TABLE IF NOT EXISTS matches " +
- "(id INTEGER PRIMARY KEY, matchNumber INTEGER, round INTEGER, compLevel INTEGER, r1 INTEGER, r2 INTEGER, r3 INTEGER, b1 INTEGER, b2 INTEGER, b3 INTEGER, r1ID INTEGER, r2ID INTEGER, r3ID INTEGER, b1ID INTEGER, b2ID INTEGER, b3ID INTEGER)")
+ "(id INTEGER PRIMARY KEY, MatchNumber INTEGER, Round INTEGER, CompLevel INTEGER, R1 INTEGER, R2 INTEGER, R3 INTEGER, B1 INTEGER, B2 INTEGER, B3 INTEGER, r1ID INTEGER, r2ID INTEGER, r3ID INTEGER, b1ID INTEGER, b2ID INTEGER, b3ID INTEGER)")
defer statement.Close()
if error_ != nil {
fmt.Println(error_)
return nil, error_
}
_, error_ = statement.Exec()
- statement, error_ = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (id INTEGER PRIMARY KEY, teamNumber INTEGER, matchNumber DOUBLE, shotsMissed INTEGER, upperGoalShots INTEGER, lowerGoalShots INTEGER, shotsMissedAuto INTEGER, upperGoalAuto INTEGER, lowerGoalAuto INTEGER, playedDefense INTEGER, climbing INTEGER)")
+ statement, error_ = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (id INTEGER PRIMARY KEY, TeamNumber INTEGER, MatchNumber DOUBLE, ShotsMissed INTEGER, UpperGoalShots INTEGER, LowerGoalShots INTEGER, ShotsMissedAuto INTEGER, UpperGoalAuto INTEGER, LowerGoalAuto INTEGER, PlayedDefense INTEGER, Climbing INTEGER)")
defer statement.Close()
if error_ != nil {
fmt.Println(error_)
@@ -65,28 +68,28 @@
// This function will also populate the Stats table with six empty rows every time a match is added
func (database *Database) AddToMatch(m Match) error {
- statement, error_ := database.Prepare("INSERT INTO team_match_stats(teamNumber, matchNumber, shotsMissed, upperGoalShots, lowerGoalShots, shotsMissedAuto, upperGoalAuto, lowerGoalAuto, playedDefense, climbing) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
+ statement, error_ := database.Prepare("INSERT INTO team_match_stats(TeamNumber, MatchNumber, ShotsMissed, UpperGoalShots, LowerGoalShots, ShotsMissedAuto, UpperGoalAuto, LowerGoalAuto, PlayedDefense, Climbing) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
defer statement.Close()
if error_ != nil {
fmt.Println("failed to prepare stats database:", error_)
return (error_)
}
var rowIds [6]int64
- for i, teamNumber := range []int{m.r1, m.r2, m.r3, m.b1, m.b2, m.b3} {
- result, error_ := statement.Exec(teamNumber, m.matchNumber, 0, 0, 0, 0, 0, 0, 0, 0)
+ for i, TeamNumber := range []int32{m.R1, m.R2, m.R3, m.B1, m.B2, m.B3} {
+ result, error_ := statement.Exec(TeamNumber, m.MatchNumber, 0, 0, 0, 0, 0, 0, 0, 0)
if error_ != nil {
fmt.Println("failed to execute statement 2:", error_)
return (error_)
}
rowIds[i], error_ = result.LastInsertId()
}
- statement, error_ = database.Prepare("INSERT INTO matches(matchNumber, round, compLevel, r1, r2, r3, b1, b2, b3, r1ID, r2ID, r3ID, b1ID, b2ID, b3ID) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
+ statement, error_ = database.Prepare("INSERT INTO matches(MatchNumber, Round, CompLevel, R1, R2, R3, B1, B2, B3, r1ID, r2ID, r3ID, b1ID, b2ID, b3ID) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
defer statement.Close()
if error_ != nil {
fmt.Println("failed to prepare match database:", error_)
return (error_)
}
- _, error_ = statement.Exec(m.matchNumber, m.round, m.compLevel, m.r1, m.r2, m.r3, m.b1, m.b2, m.b3, rowIds[0], rowIds[1], rowIds[2], rowIds[3], rowIds[4], rowIds[5])
+ _, error_ = statement.Exec(m.MatchNumber, m.Round, m.CompLevel, m.R1, m.R2, m.R3, m.B1, m.B2, m.B3, rowIds[0], rowIds[1], rowIds[2], rowIds[3], rowIds[4], rowIds[5])
if error_ != nil {
fmt.Println(error_)
return (error_)
@@ -95,16 +98,25 @@
}
func (database *Database) AddToStats(s Stats) error {
- statement, error_ := database.Prepare("UPDATE team_match_stats SET teamNumber = ?, matchNumber = ?, shotsMissed = ?, upperGoalShots = ?, lowerGoalShots = ?, shotsMissedAuto = ?, upperGoalAuto = ?, lowerGoalAuto = ?, playedDefense = ?, climbing = ? WHERE matchNumber = ? AND teamNumber = ?")
+ statement, error_ := database.Prepare("UPDATE team_match_stats SET TeamNumber = ?, MatchNumber = ?, ShotsMissed = ?, UpperGoalShots = ?, LowerGoalShots = ?, ShotsMissedAuto = ?, UpperGoalAuto = ?, LowerGoalAuto = ?, PlayedDefense = ?, Climbing = ? WHERE MatchNumber = ? AND TeamNumber = ?")
if error_ != nil {
fmt.Println(error_)
return (error_)
}
- _, error_ = statement.Exec(s.teamNumber, s.matchNumber, s.shotsMissed, s.upperGoalShots, s.lowerGoalShots, s.shotsMissedAuto, s.upperGoalAuto, s.lowerGoalAuto, s.playedDefense, s.climbing, s.matchNumber, s.teamNumber)
+ result, error_ := statement.Exec(s.TeamNumber, s.MatchNumber, s.ShotsMissed, s.UpperGoalShots, s.LowerGoalShots, s.ShotsMissedAuto, s.UpperGoalAuto, s.LowerGoalAuto, s.PlayedDefense, s.Climbing, s.MatchNumber, s.TeamNumber)
if error_ != nil {
fmt.Println(error_)
return (error_)
}
+ numRowsAffected, error_ := result.RowsAffected()
+ if error_ != nil {
+ return errors.New(fmt.Sprint("Failed to query rows affected: ", error_))
+ }
+ if numRowsAffected == 0 {
+ return errors.New(fmt.Sprint(
+ "Failed to find team ", s.TeamNumber,
+ " in match ", s.MatchNumber, " in the schedule."))
+ }
return nil
}
@@ -115,7 +127,7 @@
for rows.Next() {
var match Match
var id int
- error_ := rows.Scan(&id, &match.matchNumber, &match.round, &match.compLevel, &match.r1, &match.r2, &match.r3, &match.b1, &match.b2, &match.b3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ error_ := rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel, &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
if error_ != nil {
fmt.Println(nil, error_)
return nil, error_
@@ -126,13 +138,16 @@
}
func (database *Database) ReturnStats() ([]Stats, error) {
- rows, _ := database.Query("SELECT * FROM team_match_stats")
+ rows, error_ := database.Query("SELECT * FROM team_match_stats")
+ if error_ != nil {
+ return nil, errors.New(fmt.Sprint("Failed to SELECT * FROM team_match_stats: ", error_))
+ }
defer rows.Close()
teams := make([]Stats, 0)
var id int
for rows.Next() {
var team Stats
- error_ := rows.Scan(&id, &team.teamNumber, &team.matchNumber, &team.shotsMissed, &team.upperGoalShots, &team.lowerGoalShots, &team.shotsMissedAuto, &team.upperGoalAuto, &team.lowerGoalAuto, &team.playedDefense, &team.climbing)
+ error_ := rows.Scan(&id, &team.TeamNumber, &team.MatchNumber, &team.ShotsMissed, &team.UpperGoalShots, &team.LowerGoalShots, &team.ShotsMissedAuto, &team.UpperGoalAuto, &team.LowerGoalAuto, &team.PlayedDefense, &team.Climbing)
if error_ != nil {
fmt.Println(error_)
return nil, error_
@@ -142,8 +157,8 @@
return teams, nil
}
-func (database *Database) QueryMatches(teamNumber_ int) ([]Match, error) {
- rows, error_ := database.Query("SELECT * FROM matches WHERE r1 = ? OR r2 = ? OR r3 = ? OR b1 = ? OR b2 = ? OR b3 = ?", teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_)
+func (database *Database) QueryMatches(teamNumber_ int32) ([]Match, error) {
+ rows, error_ := database.Query("SELECT * FROM matches WHERE R1 = ? OR R2 = ? OR R3 = ? OR B1 = ? OR B2 = ? OR B3 = ?", teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_)
if error_ != nil {
fmt.Println("failed to execute statement 1:", error_)
return nil, error_
@@ -153,14 +168,14 @@
var id int
for rows.Next() {
var match Match
- rows.Scan(&id, &match.matchNumber, &match.round, &match.compLevel, &match.r1, &match.r2, &match.r3, &match.b1, &match.b2, &match.b3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel, &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
matches = append(matches, match)
}
return matches, nil
}
func (database *Database) QueryStats(teamNumber_ int) ([]Stats, error) {
- rows, error_ := database.Query("SELECT * FROM team_match_stats WHERE teamNumber = ?", teamNumber_)
+ rows, error_ := database.Query("SELECT * FROM team_match_stats WHERE TeamNumber = ?", teamNumber_)
if error_ != nil {
fmt.Println("failed to execute statement 3:", error_)
return nil, error_
@@ -170,9 +185,9 @@
for rows.Next() {
var team Stats
var id int
- error_ = rows.Scan(&id, &team.teamNumber, &team.matchNumber, &team.shotsMissed,
- &team.upperGoalShots, &team.lowerGoalShots, &team.shotsMissedAuto, &team.upperGoalAuto,
- &team.lowerGoalAuto, &team.playedDefense, &team.climbing)
+ error_ = rows.Scan(&id, &team.TeamNumber, &team.MatchNumber, &team.ShotsMissed,
+ &team.UpperGoalShots, &team.LowerGoalShots, &team.ShotsMissedAuto, &team.UpperGoalAuto,
+ &team.LowerGoalAuto, &team.PlayedDefense, &team.Climbing)
teams = append(teams, team)
}
if error_ != nil {
diff --git a/scouting/db/db_test.go b/scouting/db/db_test.go
index 3c6d9c5..6e3e8c3 100644
--- a/scouting/db/db_test.go
+++ b/scouting/db/db_test.go
@@ -1,17 +1,29 @@
package db
import (
- "fmt"
+ "os"
+ "path/filepath"
"reflect"
"testing"
)
-func TestAddToMatchDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
+// Creates a database in TEST_TMPDIR so that we don't accidentally write it
+// into the runfiles directory.
+func createDatabase(t *testing.T) *Database {
+ // Get the path to our temporary writable directory.
+ testTmpdir := os.Getenv("TEST_TMPDIR")
+ db, err := NewDatabase(filepath.Join(testTmpdir, "scouting.db"))
+ if err != nil {
+ t.Fatal("Failed to create a new database: ", err)
}
- correct := []Match{Match{matchNumber: 7, round: 1, compLevel: "quals", r1: 9999, r2: 1000, r3: 777, b1: 0000, b2: 4321, b3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6}}
+ return db
+}
+
+func TestAddToMatchDB(t *testing.T) {
+ db := createDatabase(t)
+ defer db.Delete()
+
+ correct := []Match{Match{MatchNumber: 7, Round: 1, CompLevel: "quals", R1: 9999, R2: 1000, R3: 777, B1: 0000, B2: 4321, B3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6}}
db.AddToMatch(correct[0])
got, error_ := db.ReturnMatches()
if error_ != nil {
@@ -20,25 +32,28 @@
if !reflect.DeepEqual(correct, got) {
t.Fatalf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
func TestAddToStatsDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
- }
+ db := createDatabase(t)
+ defer db.Delete()
+
correct := []Stats{
- Stats{teamNumber: 1236, matchNumber: 7, shotsMissed: 9, upperGoalShots: 5, lowerGoalShots: 4, shotsMissedAuto: 3, upperGoalAuto: 2, lowerGoalAuto: 1, playedDefense: 2, climbing: 3},
- Stats{teamNumber: 1001, matchNumber: 7, shotsMissed: 6, upperGoalShots: 9, lowerGoalShots: 9, shotsMissedAuto: 0, upperGoalAuto: 0, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 777, matchNumber: 7, shotsMissed: 5, upperGoalShots: 7, lowerGoalShots: 12, shotsMissedAuto: 0, upperGoalAuto: 4, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 1000, matchNumber: 7, shotsMissed: 12, upperGoalShots: 6, lowerGoalShots: 10, shotsMissedAuto: 0, upperGoalAuto: 7, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 4321, matchNumber: 7, shotsMissed: 14, upperGoalShots: 12, lowerGoalShots: 3, shotsMissedAuto: 0, upperGoalAuto: 7, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 1234, matchNumber: 7, shotsMissed: 3, upperGoalShots: 4, lowerGoalShots: 0, shotsMissedAuto: 0, upperGoalAuto: 9, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
+ Stats{TeamNumber: 1236, MatchNumber: 7, ShotsMissed: 9, UpperGoalShots: 5, LowerGoalShots: 4, ShotsMissedAuto: 3, UpperGoalAuto: 2, LowerGoalAuto: 1, PlayedDefense: 2, Climbing: 3},
+ Stats{TeamNumber: 1001, MatchNumber: 7, ShotsMissed: 6, UpperGoalShots: 9, LowerGoalShots: 9, ShotsMissedAuto: 0, UpperGoalAuto: 0, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 777, MatchNumber: 7, ShotsMissed: 5, UpperGoalShots: 7, LowerGoalShots: 12, ShotsMissedAuto: 0, UpperGoalAuto: 4, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 1000, MatchNumber: 7, ShotsMissed: 12, UpperGoalShots: 6, LowerGoalShots: 10, ShotsMissedAuto: 0, UpperGoalAuto: 7, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 4321, MatchNumber: 7, ShotsMissed: 14, UpperGoalShots: 12, LowerGoalShots: 3, ShotsMissedAuto: 0, UpperGoalAuto: 7, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 1234, MatchNumber: 7, ShotsMissed: 3, UpperGoalShots: 4, LowerGoalShots: 0, ShotsMissedAuto: 0, UpperGoalAuto: 9, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
}
- db.AddToMatch(Match{matchNumber: 7, round: 1, compLevel: "quals", r1: 1236, r2: 1001, r3: 777, b1: 1000, b2: 4321, b3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6})
+ err := db.AddToMatch(Match{MatchNumber: 7, Round: 1, CompLevel: "quals", R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6})
+ if err != nil {
+ t.Fatal("Failed to add match: ", err)
+ }
for i := 0; i < len(correct); i++ {
- db.AddToStats(correct[i])
+ if err := db.AddToStats(correct[i]); err != nil {
+ t.Fatal("Failed to add stats to DB: ", err)
+ }
}
got, error_ := db.ReturnStats()
if error_ != nil {
@@ -47,21 +62,17 @@
if !reflect.DeepEqual(correct, got) {
t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
func TestQueryMatchDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
- fmt.Println("Error creating new database")
- }
+ db := createDatabase(t)
+ defer db.Delete()
testDatabase := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149},
- Match{matchNumber: 4, round: 1, compLevel: "quals", r1: 198, r2: 135, r3: 777, b1: 999, b2: 434, b3: 698},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262},
- Match{matchNumber: 6, round: 1, compLevel: "quals", r1: 191, r2: 132, r3: 773, b1: 994, b2: 435, b3: 696},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149},
+ Match{MatchNumber: 4, Round: 1, CompLevel: "quals", R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262},
+ Match{MatchNumber: 6, Round: 1, CompLevel: "quals", R1: 191, R2: 132, R3: 773, B1: 994, B2: 435, B3: 696},
}
for i := 0; i < len(testDatabase); i++ {
@@ -69,36 +80,37 @@
}
correct := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
}
got, error_ := db.QueryMatches(538)
+ if error_ != nil {
+ t.Fatal("Failed to query matches for 538: ", error_)
+ }
if !reflect.DeepEqual(correct, got) {
t.Fatalf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
func TestQueryStatsDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
- }
+ db := createDatabase(t)
+ defer db.Delete()
+
testDatabase := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
- Stats{teamNumber: 1234, matchNumber: 94, shotsMissed: 4, upperGoalShots: 4, lowerGoalShots: 4, shotsMissedAuto: 4, upperGoalAuto: 4, lowerGoalAuto: 4, playedDefense: 7, climbing: 2},
- Stats{teamNumber: 1233, matchNumber: 94, shotsMissed: 3, upperGoalShots: 3, lowerGoalShots: 3, shotsMissedAuto: 3, upperGoalAuto: 3, lowerGoalAuto: 3, playedDefense: 3, climbing: 3},
- Stats{teamNumber: 1232, matchNumber: 94, shotsMissed: 5, upperGoalShots: 5, lowerGoalShots: 5, shotsMissedAuto: 5, upperGoalAuto: 5, lowerGoalAuto: 5, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1231, matchNumber: 94, shotsMissed: 6, upperGoalShots: 6, lowerGoalShots: 6, shotsMissedAuto: 6, upperGoalAuto: 6, lowerGoalAuto: 6, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1239, matchNumber: 94, shotsMissed: 7, upperGoalShots: 7, lowerGoalShots: 7, shotsMissedAuto: 7, upperGoalAuto: 7, lowerGoalAuto: 3, playedDefense: 7, climbing: 1},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
+ Stats{TeamNumber: 1234, MatchNumber: 94, ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4, ShotsMissedAuto: 4, UpperGoalAuto: 4, LowerGoalAuto: 4, PlayedDefense: 7, Climbing: 2},
+ Stats{TeamNumber: 1233, MatchNumber: 94, ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3, ShotsMissedAuto: 3, UpperGoalAuto: 3, LowerGoalAuto: 3, PlayedDefense: 3, Climbing: 3},
+ Stats{TeamNumber: 1232, MatchNumber: 94, ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5, ShotsMissedAuto: 5, UpperGoalAuto: 5, LowerGoalAuto: 5, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1231, MatchNumber: 94, ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6, ShotsMissedAuto: 6, UpperGoalAuto: 6, LowerGoalAuto: 6, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1239, MatchNumber: 94, ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7, ShotsMissedAuto: 7, UpperGoalAuto: 7, LowerGoalAuto: 3, PlayedDefense: 7, Climbing: 1},
}
- db.AddToMatch(Match{matchNumber: 94, round: 1, compLevel: "quals", r1: 1235, r2: 1234, r3: 1233, b1: 1232, b2: 1231, b3: 1239})
+ db.AddToMatch(Match{MatchNumber: 94, Round: 1, CompLevel: "quals", R1: 1235, R2: 1234, R3: 1233, B1: 1232, B2: 1231, B3: 1239})
for i := 0; i < len(testDatabase); i++ {
db.AddToStats(testDatabase[i])
}
correct := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
}
got, error_ := db.QueryStats(1235)
if error_ != nil {
@@ -107,20 +119,18 @@
if !reflect.DeepEqual(correct, got) {
t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
func TestReturnMatchDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
- }
+ db := createDatabase(t)
+ defer db.Delete()
+
correct := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262, r1ID: 7, r2ID: 8, r3ID: 9, b1ID: 10, b2ID: 11, b3ID: 12},
- Match{matchNumber: 4, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 653, b2: 538, b3: 149, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
- Match{matchNumber: 5, round: 1, compLevel: "quals", r1: 198, r2: 1421, r3: 538, b1: 26, b2: 448, b3: 262, r1ID: 19, r2ID: 20, r3ID: 21, b1ID: 22, b2ID: 23, b3ID: 24},
- Match{matchNumber: 6, round: 1, compLevel: "quals", r1: 251, r2: 188, r3: 286, b1: 555, b2: 538, b3: 149, r1ID: 25, r2ID: 26, r3ID: 27, b1ID: 28, b2ID: 29, b3ID: 30},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262, r1ID: 7, r2ID: 8, r3ID: 9, b1ID: 10, b2ID: 11, b3ID: 12},
+ Match{MatchNumber: 4, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 653, B2: 538, B3: 149, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
+ Match{MatchNumber: 5, Round: 1, CompLevel: "quals", R1: 198, R2: 1421, R3: 538, B1: 26, B2: 448, B3: 262, r1ID: 19, r2ID: 20, r3ID: 21, b1ID: 22, b2ID: 23, b3ID: 24},
+ Match{MatchNumber: 6, Round: 1, CompLevel: "quals", R1: 251, R2: 188, R3: 286, B1: 555, B2: 538, B3: 149, r1ID: 25, r2ID: 26, r3ID: 27, b1ID: 28, b2ID: 29, b3ID: 30},
}
for i := 0; i < len(correct); i++ {
db.AddToMatch(correct[i])
@@ -132,23 +142,21 @@
if !reflect.DeepEqual(correct, got) {
t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
func TestReturnStatsDB(t *testing.T) {
- db, error_ := NewDatabase()
- if error_ != nil {
- t.Fatalf(error_.Error())
- }
+ db := createDatabase(t)
+ defer db.Delete()
+
correct := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
- Stats{teamNumber: 1236, matchNumber: 94, shotsMissed: 4, upperGoalShots: 4, lowerGoalShots: 4, shotsMissedAuto: 4, upperGoalAuto: 4, lowerGoalAuto: 4, playedDefense: 7, climbing: 2},
- Stats{teamNumber: 1237, matchNumber: 94, shotsMissed: 3, upperGoalShots: 3, lowerGoalShots: 3, shotsMissedAuto: 3, upperGoalAuto: 3, lowerGoalAuto: 3, playedDefense: 3, climbing: 3},
- Stats{teamNumber: 1238, matchNumber: 94, shotsMissed: 5, upperGoalShots: 5, lowerGoalShots: 5, shotsMissedAuto: 5, upperGoalAuto: 5, lowerGoalAuto: 5, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1239, matchNumber: 94, shotsMissed: 6, upperGoalShots: 6, lowerGoalShots: 6, shotsMissedAuto: 6, upperGoalAuto: 6, lowerGoalAuto: 6, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1233, matchNumber: 94, shotsMissed: 7, upperGoalShots: 7, lowerGoalShots: 7, shotsMissedAuto: 7, upperGoalAuto: 7, lowerGoalAuto: 3, playedDefense: 7, climbing: 1},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
+ Stats{TeamNumber: 1236, MatchNumber: 94, ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4, ShotsMissedAuto: 4, UpperGoalAuto: 4, LowerGoalAuto: 4, PlayedDefense: 7, Climbing: 2},
+ Stats{TeamNumber: 1237, MatchNumber: 94, ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3, ShotsMissedAuto: 3, UpperGoalAuto: 3, LowerGoalAuto: 3, PlayedDefense: 3, Climbing: 3},
+ Stats{TeamNumber: 1238, MatchNumber: 94, ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5, ShotsMissedAuto: 5, UpperGoalAuto: 5, LowerGoalAuto: 5, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1239, MatchNumber: 94, ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6, ShotsMissedAuto: 6, UpperGoalAuto: 6, LowerGoalAuto: 6, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1233, MatchNumber: 94, ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7, ShotsMissedAuto: 7, UpperGoalAuto: 7, LowerGoalAuto: 3, PlayedDefense: 7, Climbing: 1},
}
- db.AddToMatch(Match{matchNumber: 94, round: 1, compLevel: "quals", r1: 1235, r2: 1236, r3: 1237, b1: 1238, b2: 1239, b3: 1233})
+ db.AddToMatch(Match{MatchNumber: 94, Round: 1, CompLevel: "quals", R1: 1235, R2: 1236, R3: 1237, B1: 1238, B2: 1239, B3: 1233})
for i := 0; i < len(correct); i++ {
db.AddToStats(correct[i])
}
@@ -159,5 +167,4 @@
if !reflect.DeepEqual(correct, got) {
t.Errorf("Got %#v,\nbut expected %#v.", got, correct)
}
- db.Delete()
}
diff --git a/scouting/scouting.sh b/scouting/scouting.sh
new file mode 100755
index 0000000..669cf22
--- /dev/null
+++ b/scouting/scouting.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+# This script runs the webserver and asks it to host all the web pages.
+
+exec \
+ scouting/webserver/webserver_/webserver \
+ -directory scouting/www/ \
+ "$@"
diff --git a/scouting/scouting_test.protractor.on-prepare.js b/scouting/scouting_test.protractor.on-prepare.js
new file mode 100644
index 0000000..7919fe7
--- /dev/null
+++ b/scouting/scouting_test.protractor.on-prepare.js
@@ -0,0 +1,22 @@
+// The function exported from this file is used by the protractor_web_test_suite.
+// It is passed to the `onPrepare` configuration setting in protractor and executed
+// before running tests.
+//
+// If the function returns a promise, as it does here, protractor will wait
+// for the promise to resolve before running tests.
+
+const protractorUtils = require('@bazel/protractor/protractor-utils');
+const protractor = require('protractor');
+
+module.exports = function(config) {
+ // In this example, `@bazel/protractor/protractor-utils` is used to run
+ // the server. protractorUtils.runServer() runs the server on a randomly
+ // selected port (given a port flag to pass to the server as an argument).
+ // The port used is returned in serverSpec and the protractor serverUrl
+ // is the configured.
+ return protractorUtils
+ .runServer(config.workspace, config.server, '--port', [])
+ .then(serverSpec => {
+ protractor.browser.baseUrl = `http://localhost:${serverSpec.port}`;
+ });
+};
diff --git a/scouting/scouting_test.ts b/scouting/scouting_test.ts
new file mode 100644
index 0000000..c3a1c6e
--- /dev/null
+++ b/scouting/scouting_test.ts
@@ -0,0 +1,81 @@
+import {browser, by, element, protractor} from 'protractor';
+
+// Returns the contents of the header that displays the "Auto", "TeleOp", and
+// "Climb" labels etc.
+function getHeadingText() {
+ return element(by.css('.header')).getText();
+}
+
+// Returns the currently displayed error message on the screen. This only
+// exists on screens where the web page interacts with the web server.
+function getErrorMessage() {
+ return element(by.css('.error_message')).getText();
+}
+
+// Asserts that the field on the "Submit and Review" screen has a specific
+// value.
+function expectReviewFieldToBe(fieldName: string, expectedValue: string) {
+ return expectNthReviewFieldToBe(fieldName, 0, expectedValue);
+}
+
+// Asserts that the n'th instance of a field on the "Submit and Review"
+// screen has a specific value.
+async function expectNthReviewFieldToBe(fieldName: string, n: number, expectedValue: string) {
+ expect(await element.all(by.cssContainingText('li', `${fieldName}:`)).get(n).getText())
+ .toEqual(`${fieldName}: ${expectedValue}`);
+}
+
+describe('The scouting web page', () => {
+ it('should: review and submit correct data.', async () => {
+ await browser.get(browser.baseUrl);
+
+ expect(await getHeadingText()).toEqual('Team Selection');
+ // Just sending "971" to the input fields is insufficient. We need to
+ // overwrite the text that is there. If we didn't hit CTRL-A to select all
+ // the text, we'd be appending to whatever is there already.
+ await element(by.id('team_number')).sendKeys(
+ protractor.Key.CONTROL, 'a', protractor.Key.NULL,
+ '971');
+ await element(by.buttonText('Next')).click();
+
+ expect(await getHeadingText()).toEqual('Auto');
+ await element(by.buttonText('Next')).click();
+
+ expect(await getHeadingText()).toEqual('TeleOp');
+ await element(by.buttonText('Next')).click();
+
+ expect(await getHeadingText()).toEqual('Climb');
+ await element(by.buttonText('Next')).click();
+
+ expect(await getHeadingText()).toEqual('Defense');
+ await element(by.buttonText('Next')).click();
+
+ expect(await getHeadingText()).toEqual('Review and Submit');
+ expect(await getErrorMessage()).toEqual('');
+
+ // Validate Team Selection.
+ await expectReviewFieldToBe('Match number', '1');
+ await expectReviewFieldToBe('Team number', '971');
+
+ // Validate Auto.
+ await expectNthReviewFieldToBe('Upper Shots Made', 0, '0');
+ await expectNthReviewFieldToBe('Lower Shots Made', 0, '0');
+ await expectNthReviewFieldToBe('Missed Shots', 0, '0');
+
+ // Validate TeleOp.
+ await expectNthReviewFieldToBe('Upper Shots Made', 1, '0');
+ await expectNthReviewFieldToBe('Lower Shots Made', 1, '0');
+ await expectNthReviewFieldToBe('Missed Shots', 1, '0');
+
+ // Validate Climb.
+ await expectReviewFieldToBe('Attempted to Climb', 'No');
+
+ // Validate Defense.
+ await expectReviewFieldToBe('Defense Played On Rating', '3');
+ await expectReviewFieldToBe('Defense Played Rating', '3');
+
+ // TODO(phil): Submit data and make sure it made its way to the database
+ // correctly. Right now the /requests/submit/data_scouting endpoint is not
+ // implemented.
+ });
+});
diff --git a/scouting/scraping/BUILD b/scouting/scraping/BUILD
index d9248f8..c643192 100644
--- a/scouting/scraping/BUILD
+++ b/scouting/scraping/BUILD
@@ -1,5 +1,15 @@
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+filegroup(
+ name = "test_data",
+ srcs = [
+ # Generated with: bazel run //scouting/scraping:scraping_demo -- --json
+ "test_data/2016_nytr.json",
+ "test_data/2020_fake.json",
+ ],
+ visibility = ["//visibility:public"],
+)
+
go_library(
name = "scraping",
srcs = [
diff --git a/scouting/scraping/scrape.go b/scouting/scraping/scrape.go
index fa20f7b..170fe50 100644
--- a/scouting/scraping/scrape.go
+++ b/scouting/scraping/scrape.go
@@ -4,15 +4,17 @@
import (
"encoding/json"
"errors"
+ "fmt"
"io/ioutil"
- "log"
"net/http"
"os"
+ "strconv"
)
// Stores the TBA API key to access the API.
-type params struct {
- ApiKey string `json:"api_key"`
+type scrapingConfig struct {
+ ApiKey string `json:"api_key"`
+ BaseUrl string `json:"base_url"`
}
// Takes in year and FIRST event code and returns all matches in that event according to TBA.
@@ -22,64 +24,64 @@
//{
// api_key:"myTBAapiKey"
//}
-func AllMatches(year, eventCode, filePath string) ([]Match, error) {
- if filePath == "" {
- filePath = os.Getenv("BUILD_WORKSPACE_DIRECTORY") + "/scouting_config.json"
+func AllMatches(year int32, eventCode, configPath string) ([]Match, error) {
+ if configPath == "" {
+ configPath = os.Getenv("BUILD_WORKSPACE_DIRECTORY") + "/scouting_config.json"
}
+
// Takes the filepath and grabs the api key from the json.
- content, err := ioutil.ReadFile(filePath)
+ content, err := ioutil.ReadFile(configPath)
if err != nil {
- log.Fatal(err)
+ return nil, errors.New(fmt.Sprint("Failed to open config at ", configPath, ": ", err))
}
// Parses the JSON parameters into a struct.
- var passed_params params
- error := json.Unmarshal([]byte(content), &passed_params)
- if error != nil {
- log.Fatalf("You forgot to add the api_key parameter in the json file")
- log.Fatalf("%s", err)
+ var config scrapingConfig
+ if err := json.Unmarshal([]byte(content), &config); err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to parse config file as JSON: ", err))
+ }
+
+ // Perform some basic validation on the data.
+ if config.ApiKey == "" {
+ return nil, errors.New("Missing 'api_key' in config JSON.")
+ }
+ if config.BaseUrl == "" {
+ config.BaseUrl = "https://www.thebluealliance.com"
}
// Create the TBA event key for the year and event code.
- eventKey := year + eventCode
-
- // Create the client for HTTP requests.
- client := &http.Client{}
+ eventKey := strconv.Itoa(int(year)) + eventCode
// Create a get request for the match info.
- req, err := http.NewRequest("GET", "https://www.thebluealliance.com/api/v3/event/"+eventKey+"/matches", nil)
-
+ req, err := http.NewRequest("GET", config.BaseUrl+"/api/v3/event/"+eventKey+"/matches", nil)
if err != nil {
- return nil, errors.New("failed to build http request")
+ return nil, errors.New(fmt.Sprint("Failed to build http request: ", err))
}
// Add the auth key header to the request.
- req.Header.Add("X-TBA-Auth-Key", passed_params.ApiKey)
+ req.Header.Add("X-TBA-Auth-Key", config.ApiKey)
- // Make the API request
+ // Make the API request.
+ client := &http.Client{}
resp, err := client.Do(req)
-
if err != nil {
- return nil, err
+ return nil, errors.New(fmt.Sprint("Failed to make TBA API request: ", err))
}
- if resp.Status != "200 OK" {
- return nil, errors.New("Recieved a status of " + resp.Status + " expected : 200 OK")
- }
-
- // Wait until the response is done.
defer resp.Body.Close()
+ if resp.StatusCode != 200 {
+ return nil, errors.New(fmt.Sprint("Got unexpected status code from TBA API request: ", resp.Status))
+ }
// Get all bytes from response body.
bodyBytes, err := ioutil.ReadAll(resp.Body)
if err != nil {
- return nil, errors.New("failed to read response body with error :" + err.Error())
+ return nil, errors.New(fmt.Sprint("Failed to read TBA API response: ", err))
}
var matches []Match
// Unmarshal json into go usable format.
- jsonError := json.Unmarshal([]byte(bodyBytes), &matches)
- if jsonError != nil {
- return nil, errors.New("failed to unmarshal json recieved from TBA")
+ if err := json.Unmarshal([]byte(bodyBytes), &matches); err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to parse JSON received from TBA: ", err))
}
return matches, nil
diff --git a/scouting/scraping/scraping_demo.go b/scouting/scraping/scraping_demo.go
index 1d727f3..0ea3e53 100644
--- a/scouting/scraping/scraping_demo.go
+++ b/scouting/scraping/scraping_demo.go
@@ -2,6 +2,9 @@
// To run the demo, ensure that you have a file named scouting_config.json at the workspace root with your TBA api key in it.
import (
+ "encoding/json"
+ "flag"
+ "fmt"
"log"
"github.com/davecgh/go-spew/spew"
@@ -9,12 +12,23 @@
)
func main() {
+ jsonPtr := flag.Bool("json", false, "If set, dump as JSON, rather than Go debug output.")
+ flag.Parse()
+
// Get all the matches.
- matches, err := scraping.AllMatches("2016", "nytr", "")
- // Fail on error.
+ matches, err := scraping.AllMatches(2016, "nytr", "")
if err != nil {
- log.Fatal("Error:", err.Error)
+ log.Fatal("Failed to scrape match list: ", err)
}
+
// Dump the matches.
- spew.Dump(matches)
+ if *jsonPtr {
+ jsonData, err := json.MarshalIndent(matches, "", " ")
+ if err != nil {
+ log.Fatal("Failed to turn match list into JSON: ", err)
+ }
+ fmt.Println(string(jsonData))
+ } else {
+ spew.Dump(matches)
+ }
}
diff --git a/scouting/scraping/test_data/2016_nytr.json b/scouting/scraping/test_data/2016_nytr.json
new file mode 100644
index 0000000..120d6d3
--- /dev/null
+++ b/scouting/scraping/test_data/2016_nytr.json
@@ -0,0 +1,10812 @@
+[
+ {
+ "Key": "2016nytr_f1m1",
+ "comp_level": "f",
+ "set_number": 1,
+ "match_number": 1,
+ "alliances": {
+ "red": {
+ "score": 168,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 115,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458418140,
+ "predicted_time": 0,
+ "actual_time": 1458417643,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
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+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf1m1",
+ "comp_level": "sf",
+ "set_number": 1,
+ "match_number": 1,
+ "alliances": {
+ "red": {
+ "score": 164,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 147,
+ "team_keys": [
+ "frc5240",
+ "frc3419",
+ "frc663"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458414720,
+ "predicted_time": 0,
+ "actual_time": 1458414299,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf1m2",
+ "comp_level": "sf",
+ "set_number": 1,
+ "match_number": 2,
+ "alliances": {
+ "red": {
+ "score": 179,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 153,
+ "team_keys": [
+ "frc5240",
+ "frc3419",
+ "frc663"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458415560,
+ "predicted_time": 0,
+ "actual_time": 1458415297,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m1",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 1,
+ "alliances": {
+ "red": {
+ "score": 107,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc229"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 111,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "blue",
+ "event_key": "2016nytr",
+ "time": 1458415140,
+ "predicted_time": 0,
+ "actual_time": 1458414793,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m2",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 2,
+ "alliances": {
+ "red": {
+ "score": 149,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 106,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458415980,
+ "predicted_time": 0,
+ "actual_time": 1458415857,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m3",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 3,
+ "alliances": {
+ "red": {
+ "score": 149,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 90,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458417180,
+ "predicted_time": 0,
+ "actual_time": 1458416630,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ }
+]
diff --git a/scouting/scraping/test_data/2020_fake.json b/scouting/scraping/test_data/2020_fake.json
new file mode 100644
index 0000000..6aa01fa
--- /dev/null
+++ b/scouting/scraping/test_data/2020_fake.json
@@ -0,0 +1,22 @@
+[
+ {
+ "match_number": 1,
+ "comp_level": "qm",
+ "alliances": {
+ "red": {
+ "team_keys": [
+ "frc100",
+ "frc101",
+ "frc102"
+ ]
+ },
+ "blue": {
+ "team_keys": [
+ "frc103",
+ "frc104",
+ "frc105"
+ ]
+ }
+ }
+ }
+]
diff --git a/scouting/webserver/BUILD b/scouting/webserver/BUILD
index 66db8e8..745852a 100644
--- a/scouting/webserver/BUILD
+++ b/scouting/webserver/BUILD
@@ -8,6 +8,7 @@
visibility = ["//visibility:private"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
"//scouting/webserver/requests",
"//scouting/webserver/server",
"//scouting/webserver/static",
diff --git a/scouting/webserver/README.md b/scouting/webserver/README.md
index 1c2383b..ebf6ec0 100644
--- a/scouting/webserver/README.md
+++ b/scouting/webserver/README.md
@@ -24,3 +24,15 @@
paths used by the other libraries that enhance the server's functionality. E.g.
if POST requests for match data are serviced at `/requests/xyz`, then don't
serve any files in a `requests` directory.
+
+`requests/`
+--------------------------------------------------------------------------------
+This directory contains the code that services requests from the web page. The
+web page sends serialized flatbuffers (see the
+`scouting/webserver/requests/messages` directory) and receives serialized
+flatbuffers in response.
+
+### `requests/debug/cli`
+This directory contains a debug application that lets you interact with the
+webserver. It allows you to make call calls that the web page would normally
+make.
diff --git a/scouting/webserver/main.go b/scouting/webserver/main.go
index 668104b..282e248 100644
--- a/scouting/webserver/main.go
+++ b/scouting/webserver/main.go
@@ -1,32 +1,68 @@
package main
import (
+ "errors"
"flag"
"fmt"
+ "io/ioutil"
"log"
"os"
"os/signal"
+ "path/filepath"
"syscall"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
"github.com/frc971/971-Robot-Code/scouting/webserver/static"
)
+func getDefaultDatabasePath() string {
+ // If using `bazel run`, let's create the database in the root of the
+ // workspace.
+ workspaceDir := os.Getenv("BUILD_WORKSPACE_DIRECTORY")
+ if workspaceDir != "" {
+ return filepath.Join(workspaceDir, "scouting.db")
+ }
+ // If we're inside a `bazel test`, then we will create the database in
+ // a temporary directory.
+ testTempDir := os.Getenv("TEST_TMPDIR")
+ if testTempDir != "" {
+ tempDir, err := ioutil.TempDir(testTempDir, "db")
+ if err != nil {
+ log.Fatal("Failed to create temporary directory in TEST_TMPDIR: ", err)
+ }
+ return filepath.Join(tempDir, "scouting.db")
+ }
+ return filepath.Join(".", "scouting.db")
+}
+
func main() {
portPtr := flag.Int("port", 8080, "The port number to bind to.")
dirPtr := flag.String("directory", ".", "The directory to serve at /.")
+ dbPathPtr := flag.String("database", getDefaultDatabasePath(), "The path to the database.")
+ blueAllianceConfigPtr := flag.String("tba_config", "",
+ "The path to your The Blue Alliance JSON config. "+
+ "It needs an \"api_key\" field with your TBA API key. "+
+ "Optionally, it can have a \"base_url\" field with the TBA API base URL.")
flag.Parse()
- database, err := db.NewDatabase()
+ database, err := db.NewDatabase(*dbPathPtr)
if err != nil {
log.Fatal("Failed to connect to database: ", err)
}
+ scrapeMatchList := func(year int32, eventCode string) ([]scraping.Match, error) {
+ if *blueAllianceConfigPtr == "" {
+ return nil, errors.New("Cannot scrape TBA's match list without a config file.")
+ }
+ return scraping.AllMatches(year, eventCode, *blueAllianceConfigPtr)
+ }
+
scoutingServer := server.NewScoutingServer()
static.ServePages(scoutingServer, *dirPtr)
- requests.HandleRequests(database, scoutingServer)
+ requests.HandleRequests(database, scrapeMatchList, scoutingServer)
scoutingServer.Start(*portPtr)
fmt.Println("Serving", *dirPtr, "on port", *portPtr)
diff --git a/scouting/webserver/requests/BUILD b/scouting/webserver/requests/BUILD
index 15e4c05..df487f2 100644
--- a/scouting/webserver/requests/BUILD
+++ b/scouting/webserver/requests/BUILD
@@ -8,7 +8,16 @@
visibility = ["//visibility:public"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
"//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
"//scouting/webserver/server",
@@ -23,7 +32,17 @@
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
+ "//scouting/webserver/requests/debug",
"//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
"//scouting/webserver/server",
diff --git a/scouting/webserver/requests/debug/BUILD b/scouting/webserver/requests/debug/BUILD
new file mode 100644
index 0000000..402503f
--- /dev/null
+++ b/scouting/webserver/requests/debug/BUILD
@@ -0,0 +1,17 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library")
+
+go_library(
+ name = "debug",
+ srcs = ["debug.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
+ "//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
+ ],
+)
diff --git a/scouting/webserver/requests/debug/cli/BUILD b/scouting/webserver/requests/debug/cli/BUILD
new file mode 100644
index 0000000..903f8c8
--- /dev/null
+++ b/scouting/webserver/requests/debug/cli/BUILD
@@ -0,0 +1,36 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+
+go_library(
+ name = "cli_lib",
+ srcs = ["main.go"],
+ data = [
+ "//scouting/webserver/requests/messages:fbs_files",
+ "@com_github_google_flatbuffers//:flatc",
+ ],
+ importpath = "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug/cli",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:private"],
+ deps = [
+ "//scouting/webserver/requests/debug",
+ "@com_github_davecgh_go_spew//spew",
+ ],
+)
+
+go_binary(
+ name = "cli",
+ embed = [":cli_lib"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
+py_test(
+ name = "cli_test",
+ srcs = [
+ "cli_test.py",
+ ],
+ data = [
+ ":cli",
+ "//scouting/scraping:test_data",
+ "//scouting/webserver",
+ ],
+)
diff --git a/scouting/webserver/requests/debug/cli/cli_test.py b/scouting/webserver/requests/debug/cli/cli_test.py
new file mode 100644
index 0000000..64d79a6
--- /dev/null
+++ b/scouting/webserver/requests/debug/cli/cli_test.py
@@ -0,0 +1,176 @@
+# TODO(phil): Rewrite this in Go.
+
+import json
+import os
+import re
+from pathlib import Path
+import shutil
+import socket
+import subprocess
+import textwrap
+import time
+from typing import Any, Dict, List
+import unittest
+
+def write_json_request(content: Dict[str, Any]):
+ """Writes a JSON file with the specified dict content."""
+ json_path = Path(os.environ["TEST_TMPDIR"]) / "test.json"
+ json_path.write_text(json.dumps(content))
+ return json_path
+
+def run_debug_cli(args: List[str]):
+ run_result = subprocess.run(
+ ["scouting/webserver/requests/debug/cli/cli_/cli"] + args,
+ check=False,
+ stdout=subprocess.PIPE,
+ stderr=subprocess.PIPE,
+ )
+ return (
+ run_result.returncode,
+ run_result.stdout.decode("utf-8"),
+ run_result.stderr.decode("utf-8"),
+ )
+
+def wait_for_server(port: int):
+ """Waits for the server at the specified port to respond to TCP connections."""
+ while True:
+ try:
+ connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ connection.connect(("localhost", port))
+ connection.close()
+ break
+ except ConnectionRefusedError:
+ connection.close()
+ time.sleep(0.01)
+
+
+class TestDebugCli(unittest.TestCase):
+
+ def setUp(self):
+ tmpdir = Path(os.environ["TEST_TMPDIR"]) / "temp"
+ try:
+ shutil.rmtree(tmpdir)
+ except FileNotFoundError:
+ pass
+ os.mkdir(tmpdir)
+
+ # Copy the test data into place so that the final API call can be
+ # emulated.
+ self.set_up_tba_api_dir(tmpdir, year=2016, event_code="nytr")
+ self.set_up_tba_api_dir(tmpdir, year=2020, event_code="fake")
+
+ # Create a fake TBA server to serve the static match list.
+ self.fake_tba_api = subprocess.Popen(
+ ["python3", "-m", "http.server", "7000"],
+ cwd=tmpdir,
+ )
+
+ # Configure the scouting webserver to scrape data from our fake TBA
+ # server.
+ scouting_config = tmpdir / "scouting_config.json"
+ scouting_config.write_text(json.dumps({
+ "api_key": "dummy_key_that_is_not_actually_used_in_this_test",
+ "base_url": "http://localhost:7000",
+ }))
+
+ # Run the scouting webserver.
+ self.webserver = subprocess.Popen([
+ "scouting/webserver/webserver_/webserver",
+ "-port=8080",
+ "-database=%s/database.db" % tmpdir,
+ "-tba_config=%s/scouting_config.json" % tmpdir,
+ ])
+
+ # Wait for the servers to be reachable.
+ wait_for_server(7000)
+ wait_for_server(8080)
+
+ def tearDown(self):
+ self.fake_tba_api.terminate()
+ self.webserver.terminate()
+ self.fake_tba_api.wait()
+ self.webserver.wait()
+
+ def set_up_tba_api_dir(self, tmpdir, year, event_code):
+ tba_api_dir = tmpdir / "api" / "v3" / "event" / f"{year}{event_code}"
+ os.makedirs(tba_api_dir)
+ (tba_api_dir / "matches").write_text(
+ Path(f"scouting/scraping/test_data/{year}_{event_code}.json").read_text()
+ )
+
+ def refresh_match_list(self, year=2016, event_code="nytr"):
+ """Triggers the webserver to fetch the match list."""
+ json_path = write_json_request({
+ "year": year,
+ "event_code": event_code,
+ })
+ exit_code, stdout, stderr = run_debug_cli(["-refreshMatchList", json_path])
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("(refresh_match_list_response.RefreshMatchListResponseT)", stdout)
+
+ def test_submit_and_request_data_scouting(self):
+ self.refresh_match_list(year=2020, event_code="fake")
+
+ # First submit some data to be added to the database.
+ json_path = write_json_request({
+ "team": 100,
+ "match": 1,
+ "missed_shots_auto": 10,
+ "upper_goal_auto": 11,
+ "lower_goal_auto": 12,
+ "missed_shots_tele": 13,
+ "upper_goal_tele": 14,
+ "lower_goal_tele": 15,
+ "defense_rating": 3,
+ "climbing": 1,
+ })
+ exit_code, _, stderr = run_debug_cli(["-submitDataScouting", json_path])
+ self.assertEqual(exit_code, 0, stderr)
+
+ # Now request the data back with zero indentation. That let's us
+ # validate the data easily.
+ json_path = write_json_request({})
+ exit_code, stdout, stderr = run_debug_cli(["-requestDataScouting", json_path, "-indent="])
+
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn(textwrap.dedent("""\
+ {
+ Team: (int32) 100,
+ Match: (int32) 1,
+ MissedShotsAuto: (int32) 10,
+ UpperGoalAuto: (int32) 11,
+ LowerGoalAuto: (int32) 12,
+ MissedShotsTele: (int32) 13,
+ UpperGoalTele: (int32) 14,
+ LowerGoalTele: (int32) 15,
+ DefenseRating: (int32) 3,
+ Climbing: (int32) 1
+ }"""), stdout)
+
+ def test_request_all_matches(self):
+ self.refresh_match_list()
+
+ # RequestAllMatches has no fields.
+ json_path = write_json_request({})
+ exit_code, stdout, stderr = run_debug_cli(["-requestAllMatches", json_path])
+
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("MatchList: ([]*request_all_matches_response.MatchT) (len=90 cap=90) {", stdout)
+ self.assertEqual(stdout.count("MatchNumber:"), 90)
+
+ def test_request_matches_for_team(self):
+ self.refresh_match_list()
+
+ json_path = write_json_request({
+ "team": 4856,
+ })
+ exit_code, stdout, stderr = run_debug_cli(["-requestMatchesForTeam", json_path])
+
+ # Team 4856 has 12 matches.
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("MatchList: ([]*request_matches_for_team_response.MatchT) (len=12 cap=12) {", stdout)
+ self.assertEqual(stdout.count("MatchNumber:"), 12)
+ self.assertEqual(len(re.findall(r": \(int32\) 4856[,\n]", stdout)), 12)
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/scouting/webserver/requests/debug/cli/main.go b/scouting/webserver/requests/debug/cli/main.go
new file mode 100644
index 0000000..6f2de1d
--- /dev/null
+++ b/scouting/webserver/requests/debug/cli/main.go
@@ -0,0 +1,144 @@
+// This binary lets users interact with the scouting web server in order to
+// debug it. Run with `--help` to see all the options.
+
+package main
+
+import (
+ "flag"
+ "io/ioutil"
+ "log"
+ "os"
+ "os/exec"
+ "path/filepath"
+
+ "github.com/davecgh/go-spew/spew"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug"
+)
+
+// Returns the absolute path of the specified path. This is an unwrapped
+// version of `filepath.Abs`.
+func absPath(path string) string {
+ result, err := filepath.Abs(path)
+ if err != nil {
+ log.Fatal("Failed to determine absolute path for ", path, ": ", err)
+ }
+ return result
+}
+
+// Parses the specified JSON file into a binary version (i.e. serialized
+// flatbuffer). This uses the `flatc` binary and the JSON's corresponding
+// `.fbs` file.
+func parseJson(fbsPath string, jsonPath string) []byte {
+ // Work inside a temporary directory since `flatc` doesn't allow us to
+ // customize the name of the output file.
+ dir, err := ioutil.TempDir("", "webserver_debug_cli")
+ if err != nil {
+ log.Fatal("Failed to create temporary directory: ", err)
+ }
+ defer os.RemoveAll(dir)
+
+ // Turn these paths absolute so that it everything still works from
+ // inside the temporary directory.
+ absFlatcPath := absPath("external/com_github_google_flatbuffers/flatc")
+ absFbsPath := absPath(fbsPath)
+
+ // Create a symlink to the .fbs file so that the output filename that
+ // `flatc` generates is predictable. I.e. `fb.json` gets serialized
+ // into `fb.bin`.
+ jsonSymlink := filepath.Join(dir, "fb.json")
+ os.Symlink(jsonPath, jsonSymlink)
+
+ // Execute the `flatc` command.
+ flatcCommand := exec.Command(absFlatcPath, "--binary", absFbsPath, jsonSymlink)
+ flatcCommand.Dir = dir
+ output, err := flatcCommand.CombinedOutput()
+ if err != nil {
+ log.Fatal("Failed to execute flatc: ", err, ": ", string(output))
+ }
+
+ // Read the serialized flatbuffer and return it.
+ binaryPath := filepath.Join(dir, "fb.bin")
+ binaryFb, err := os.ReadFile(binaryPath)
+ if err != nil {
+ log.Fatal("Failed to read flatc output ", binaryPath, ": ", err)
+ }
+ return binaryFb
+}
+
+func main() {
+ // Parse command line arguments.
+ indentPtr := flag.String("indent", " ",
+ "The indentation to use for the result dumping. Default is a space.")
+ addressPtr := flag.String("address", "http://localhost:8080",
+ "The end point where the server is listening.")
+ submitDataScoutingPtr := flag.String("submitDataScouting", "",
+ "If specified, parse the file as a SubmitDataScouting JSON request.")
+ requestAllMatchesPtr := flag.String("requestAllMatches", "",
+ "If specified, parse the file as a RequestAllMatches JSON request.")
+ requestMatchesForTeamPtr := flag.String("requestMatchesForTeam", "",
+ "If specified, parse the file as a RequestMatchesForTeam JSON request.")
+ requestDataScoutingPtr := flag.String("requestDataScouting", "",
+ "If specified, parse the file as a RequestDataScouting JSON request.")
+ refreshMatchListPtr := flag.String("refreshMatchList", "",
+ "If specified, parse the file as a RefreshMatchList JSON request.")
+ flag.Parse()
+
+ spew.Config.Indent = *indentPtr
+
+ // Handle the actual arguments.
+ if *submitDataScoutingPtr != "" {
+ log.Printf("Sending SubmitDataScouting to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/submit_data_scouting.fbs",
+ *submitDataScoutingPtr)
+ response, err := debug.SubmitDataScouting(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed SubmitDataScouting: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *requestAllMatchesPtr != "" {
+ log.Printf("Sending RequestAllMatches to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_all_matches.fbs",
+ *requestAllMatchesPtr)
+ response, err := debug.RequestAllMatches(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestAllMatches: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *requestMatchesForTeamPtr != "" {
+ log.Printf("Sending RequestMatchesForTeam to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_matches_for_team.fbs",
+ *requestMatchesForTeamPtr)
+ response, err := debug.RequestMatchesForTeam(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestMatchesForTeam: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *requestDataScoutingPtr != "" {
+ log.Printf("Sending RequestDataScouting to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_data_scouting.fbs",
+ *requestDataScoutingPtr)
+ response, err := debug.RequestDataScouting(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestDataScouting: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *refreshMatchListPtr != "" {
+ log.Printf("Sending RefreshMatchList to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/refresh_match_list.fbs",
+ *refreshMatchListPtr)
+ response, err := debug.RefreshMatchList(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RefreshMatchList: ", err)
+ }
+ spew.Dump(*response)
+ }
+}
diff --git a/scouting/webserver/requests/debug/debug.go b/scouting/webserver/requests/debug/debug.go
new file mode 100644
index 0000000..81be3d1
--- /dev/null
+++ b/scouting/webserver/requests/debug/debug.go
@@ -0,0 +1,143 @@
+package debug
+
+import (
+ "bytes"
+ "errors"
+ "fmt"
+ "io"
+ "log"
+ "net/http"
+
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
+)
+
+// Use aliases to make the rest of the code more readable.
+type SubmitDataScoutingResponseT = submit_data_scouting_response.SubmitDataScoutingResponseT
+type RequestAllMatchesResponseT = request_all_matches_response.RequestAllMatchesResponseT
+type RequestMatchesForTeamResponseT = request_matches_for_team_response.RequestMatchesForTeamResponseT
+type RequestDataScoutingResponseT = request_data_scouting_response.RequestDataScoutingResponseT
+type RefreshMatchListResponseT = refresh_match_list_response.RefreshMatchListResponseT
+
+// A struct that can be used as an `error`. It contains information about the
+// why the server was unhappy and what the corresponding request was.
+type ResponseError struct {
+ Url string
+ StatusCode int
+ ErrorResponse *error_response.ErrorResponse
+}
+
+// Required to implement the `error` interface.
+func (err *ResponseError) Error() string {
+ return fmt.Sprintf(
+ "%s returned %d %s: %s", err.Url, err.StatusCode,
+ http.StatusText(err.StatusCode), err.ErrorResponse.ErrorMessage())
+}
+
+// Parse an `ErrorResponse` message that the server sent back. This happens
+// whenever the status code is something other than 200. If the message is
+// successfully parsed, it's turned into a `ResponseError` which implements the
+// `error` interface.
+func parseErrorResponse(url string, statusCode int, responseBytes []byte) error {
+ getRootErrMessage := ""
+ defer func() {
+ if r := recover(); r != nil {
+ getRootErrMessage = fmt.Sprintf("%v", r)
+ }
+ }()
+ errorMessage := error_response.GetRootAsErrorResponse(responseBytes, 0)
+ if getRootErrMessage != "" {
+ return errors.New(fmt.Sprintf(
+ "Failed to parse response from %s with status %d %s (bytes %v) as ErrorResponse: %s",
+ url, statusCode, http.StatusText(statusCode), responseBytes, getRootErrMessage))
+ }
+
+ return &ResponseError{
+ Url: url,
+ StatusCode: statusCode,
+ ErrorResponse: errorMessage,
+ }
+}
+
+// Performs a POST request with the specified payload. The bytes that the
+// server responds with are returned.
+func performPost(url string, requestBytes []byte) ([]byte, error) {
+ resp, err := http.Post(url, "application/octet-stream", bytes.NewReader(requestBytes))
+ if err != nil {
+ log.Printf("Failed to send POST request to %s: %v", url, err)
+ return nil, err
+ }
+ responseBytes, err := io.ReadAll(resp.Body)
+ if err != nil {
+ log.Printf("Failed to parse response bytes from POST to %s: %v", url, err)
+ return nil, err
+ }
+ if resp.StatusCode != http.StatusOK {
+ return nil, parseErrorResponse(url, resp.StatusCode, responseBytes)
+ }
+ return responseBytes, nil
+}
+
+// Sends a `SubmitDataScouting` message to the server and returns the
+// deserialized response.
+func SubmitDataScouting(server string, requestBytes []byte) (*SubmitDataScoutingResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/submit/data_scouting", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing SubmitDataScoutingResponse")
+ response := submit_data_scouting_response.GetRootAsSubmitDataScoutingResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RequestAllMatches` message to the server and returns the
+// deserialized response.
+func RequestAllMatches(server string, requestBytes []byte) (*RequestAllMatchesResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/all_matches", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestAllMatchesResponse")
+ response := request_all_matches_response.GetRootAsRequestAllMatchesResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RequestMatchesForTeam` message to the server and returns the
+// deserialized response.
+func RequestMatchesForTeam(server string, requestBytes []byte) (*RequestMatchesForTeamResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/matches_for_team", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestMatchesForTeamResponse")
+ response := request_matches_for_team_response.GetRootAsRequestMatchesForTeamResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RequestDataScouting` message to the server and returns the
+// deserialized response.
+func RequestDataScouting(server string, requestBytes []byte) (*RequestDataScoutingResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/data_scouting", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestDataScoutingResponse")
+ response := request_data_scouting_response.GetRootAsRequestDataScoutingResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RefreshMatchList` message to the server and returns the
+// deserialized response.
+func RefreshMatchList(server string, requestBytes []byte) (*RefreshMatchListResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/refresh_match_list", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RefreshMatchListResponse")
+ response := refresh_match_list_response.GetRootAsRefreshMatchListResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
diff --git a/scouting/webserver/requests/messages/BUILD b/scouting/webserver/requests/messages/BUILD
index a32ca57..c27f730 100644
--- a/scouting/webserver/requests/messages/BUILD
+++ b/scouting/webserver/requests/messages/BUILD
@@ -1,5 +1,25 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_go_library", "flatbuffer_ts_library")
+FILE_NAMES = (
+ "error_response",
+ "submit_data_scouting",
+ "submit_data_scouting_response",
+ "request_all_matches",
+ "request_all_matches_response",
+ "request_matches_for_team",
+ "request_matches_for_team_response",
+ "request_data_scouting",
+ "request_data_scouting_response",
+ "refresh_match_list",
+ "refresh_match_list_response",
+)
+
+filegroup(
+ name = "fbs_files",
+ srcs = ["%s.fbs" % name for name in FILE_NAMES],
+ visibility = ["//visibility:public"],
+)
+
[(
flatbuffer_go_library(
name = name + "_go_fbs",
@@ -14,8 +34,4 @@
target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:public"],
),
-) for name in (
- "error_response",
- "submit_data_scouting",
- "submit_data_scouting_response",
-)]
+) for name in FILE_NAMES]
diff --git a/scouting/webserver/requests/messages/refresh_match_list.fbs b/scouting/webserver/requests/messages/refresh_match_list.fbs
new file mode 100644
index 0000000..c4384c7
--- /dev/null
+++ b/scouting/webserver/requests/messages/refresh_match_list.fbs
@@ -0,0 +1,8 @@
+namespace scouting.webserver.requests;
+
+table RefreshMatchList {
+ year: int (id: 0);
+ event_code: string (id: 1);
+}
+
+root_type RefreshMatchList;
diff --git a/scouting/webserver/requests/messages/refresh_match_list_response.fbs b/scouting/webserver/requests/messages/refresh_match_list_response.fbs
new file mode 100644
index 0000000..ba80272
--- /dev/null
+++ b/scouting/webserver/requests/messages/refresh_match_list_response.fbs
@@ -0,0 +1,6 @@
+namespace scouting.webserver.requests;
+
+table RefreshMatchListResponse {
+}
+
+root_type RefreshMatchListResponse;
diff --git a/scouting/webserver/requests/messages/request_all_matches.fbs b/scouting/webserver/requests/messages/request_all_matches.fbs
new file mode 100644
index 0000000..2ec9aa1
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_all_matches.fbs
@@ -0,0 +1,6 @@
+namespace scouting.webserver.requests;
+
+table RequestAllMatches {
+}
+
+root_type RequestAllMatches;
diff --git a/scouting/webserver/requests/messages/request_all_matches_response.fbs b/scouting/webserver/requests/messages/request_all_matches_response.fbs
new file mode 100644
index 0000000..90401e3
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_all_matches_response.fbs
@@ -0,0 +1,19 @@
+namespace scouting.webserver.requests;
+
+table Match {
+ match_number:int (id: 0);
+ round:int (id: 1);
+ comp_level:string (id: 2);
+ r1:int (id: 3);
+ r2:int (id: 4);
+ r3:int (id: 5);
+ b1:int (id: 6);
+ b2:int (id: 7);
+ b3:int (id: 8);
+}
+
+table RequestAllMatchesResponse {
+ match_list:[Match] (id:0);
+}
+
+root_type RequestAllMatchesResponse;
diff --git a/scouting/webserver/requests/messages/request_data_scouting.fbs b/scouting/webserver/requests/messages/request_data_scouting.fbs
new file mode 100644
index 0000000..884c1a6
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_data_scouting.fbs
@@ -0,0 +1,7 @@
+namespace scouting.webserver.requests;
+
+table RequestDataScouting {
+ // TODO: Implement this.
+}
+
+root_type RequestDataScouting;
diff --git a/scouting/webserver/requests/messages/request_data_scouting_response.fbs b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
new file mode 100644
index 0000000..e30ab42
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
@@ -0,0 +1,20 @@
+namespace scouting.webserver.requests;
+
+table Stats {
+ team:int (id: 0);
+ match:int (id: 1);
+ missed_shots_auto:int (id: 2);
+ upper_goal_auto:int (id:3);
+ lower_goal_auto:int (id:4);
+ missed_shots_tele:int (id: 5);
+ upper_goal_tele:int (id:6);
+ lower_goal_tele:int (id:7);
+ defense_rating:int (id:8);
+ climbing:int (id:9);
+}
+
+table RequestDataScoutingResponse {
+ stats_list:[Stats] (id:0);
+}
+
+root_type RequestDataScoutingResponse;
diff --git a/scouting/webserver/requests/messages/request_matches_for_team.fbs b/scouting/webserver/requests/messages/request_matches_for_team.fbs
new file mode 100644
index 0000000..dd1b217
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_matches_for_team.fbs
@@ -0,0 +1,7 @@
+namespace scouting.webserver.requests;
+
+table RequestMatchesForTeam {
+ team:int (id: 0);
+}
+
+root_type RequestMatchesForTeam;
diff --git a/scouting/webserver/requests/messages/request_matches_for_team_response.fbs b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
new file mode 100644
index 0000000..cbb1895
--- /dev/null
+++ b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
@@ -0,0 +1,20 @@
+namespace scouting.webserver.requests;
+
+table Match {
+ match_number:int (id: 0);
+ round:int (id: 1);
+ comp_level:string (id: 2);
+ r1:int (id: 3);
+ r2:int (id: 4);
+ r3:int (id: 5);
+ b1:int (id: 6);
+ b2:int (id: 7);
+ b3:int (id: 8);
+}
+//TODO(Sabina): de-duplicate the Match struct in request_all_matches
+
+table RequestMatchesForTeamResponse {
+ match_list:[Match] (id:0);
+}
+
+root_type RequestMatchesForTeamResponse;
diff --git a/scouting/webserver/requests/messages/submit_data_scouting.fbs b/scouting/webserver/requests/messages/submit_data_scouting.fbs
index 63bba7a..755e70b 100644
--- a/scouting/webserver/requests/messages/submit_data_scouting.fbs
+++ b/scouting/webserver/requests/messages/submit_data_scouting.fbs
@@ -3,9 +3,24 @@
table SubmitDataScouting {
team:int (id: 0);
match:int (id: 1);
-
- upper_goal_hits:int (id: 2);
- // TODO: Implement the rest of this.
+ missed_shots_auto:int (id: 2);
+ upper_goal_auto:int (id:3);
+ lower_goal_auto:int (id:4);
+ missed_shots_tele:int (id: 5);
+ upper_goal_tele:int (id:6);
+ lower_goal_tele:int (id:7);
+ // The rating that is used to rate the defense that this robot played on
+ // other robots.
+ // TODO: Document what the different values mean. E.g. 0 means no defense
+ // played?
+ defense_rating:int (id:8);
+ // The amount of defense that other robots played on this robot.
+ // TODO: Document what the different values mean. E.g. 0 means no defense
+ // played against this robot?
+ defense_received_rating:int (id:10);
+ // The rating that this robot gets for its climbing.
+ // TODO: Change into an enum to make the different values self-documenting.
+ climbing:int (id:9);
}
root_type SubmitDataScouting;
diff --git a/scouting/webserver/requests/requests.go b/scouting/webserver/requests/requests.go
index 2462ccb..6c4bdd1 100644
--- a/scouting/webserver/requests/requests.go
+++ b/scouting/webserver/requests/requests.go
@@ -1,18 +1,41 @@
package requests
import (
+ "errors"
"fmt"
"io"
"net/http"
+ "strconv"
+ "strings"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting"
- _ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
flatbuffers "github.com/google/flatbuffers/go"
)
+type SubmitDataScouting = submit_data_scouting.SubmitDataScouting
+type SubmitDataScoutingResponseT = submit_data_scouting_response.SubmitDataScoutingResponseT
+type RequestAllMatches = request_all_matches.RequestAllMatches
+type RequestAllMatchesResponseT = request_all_matches_response.RequestAllMatchesResponseT
+type RequestMatchesForTeam = request_matches_for_team.RequestMatchesForTeam
+type RequestMatchesForTeamResponseT = request_matches_for_team_response.RequestMatchesForTeamResponseT
+type RequestDataScouting = request_data_scouting.RequestDataScouting
+type RequestDataScoutingResponseT = request_data_scouting_response.RequestDataScoutingResponseT
+type RefreshMatchList = refresh_match_list.RefreshMatchList
+type RefreshMatchListResponseT = refresh_match_list_response.RefreshMatchListResponseT
+
// The interface we expect the database abstraction to conform to.
// We use an interface here because it makes unit testing easier.
type Database interface {
@@ -20,10 +43,12 @@
AddToStats(db.Stats) error
ReturnMatches() ([]db.Match, error)
ReturnStats() ([]db.Stats, error)
- QueryMatches(int) ([]db.Match, error)
+ QueryMatches(int32) ([]db.Match, error)
QueryStats(int) ([]db.Stats, error)
}
+type ScrapeMatchList func(int32, string) ([]scraping.Match, error)
+
// Handles unknown requests. Just returns a 404.
func unknown(w http.ResponseWriter, req *http.Request) {
w.WriteHeader(http.StatusNotFound)
@@ -43,7 +68,7 @@
}
// TODO(phil): Can we turn this into a generic?
-func parseSubmitDataScouting(w http.ResponseWriter, buf []byte) (*submit_data_scouting.SubmitDataScouting, bool) {
+func parseSubmitDataScouting(w http.ResponseWriter, buf []byte) (*SubmitDataScouting, bool) {
success := true
defer func() {
if r := recover(); r != nil {
@@ -67,19 +92,311 @@
return
}
- _, success := parseSubmitDataScouting(w, requestBytes)
+ request, success := parseSubmitDataScouting(w, requestBytes)
if !success {
return
}
- // TODO(phil): Actually handle the request.
- // We have access to the database via "handler.db" here. For example:
- // stats := handler.db.ReturnStats()
+ stats := db.Stats{
+ TeamNumber: request.Team(),
+ MatchNumber: request.Match(),
+ ShotsMissedAuto: request.MissedShotsAuto(),
+ UpperGoalAuto: request.UpperGoalAuto(),
+ LowerGoalAuto: request.LowerGoalAuto(),
+ ShotsMissed: request.MissedShotsTele(),
+ UpperGoalShots: request.UpperGoalTele(),
+ LowerGoalShots: request.LowerGoalTele(),
+ PlayedDefense: request.DefenseRating(),
+ Climbing: request.Climbing(),
+ }
- respondNotImplemented(w)
+ err = handler.db.AddToStats(stats)
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Failed to submit datascouting data: ", err))
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&SubmitDataScoutingResponseT{}).Pack(builder))
+ w.Write(builder.FinishedBytes())
}
-func HandleRequests(db Database, scoutingServer server.ScoutingServer) {
+// TODO(phil): Can we turn this into a generic?
+func parseRequestAllMatches(w http.ResponseWriter, buf []byte) (*RequestAllMatches, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_all_matches.GetRootAsRequestAllMatches(buf, 0)
+ return result, success
+}
+
+// Handles a RequestAllMaches request.
+type requestAllMatchesHandler struct {
+ db Database
+}
+
+func (handler requestAllMatchesHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ _, success := parseRequestAllMatches(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.db.ReturnMatches()
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestAllMatchesResponseT
+ for _, match := range matches {
+ response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
+ MatchNumber: match.MatchNumber,
+ Round: match.Round,
+ CompLevel: match.CompLevel,
+ R1: match.R1,
+ R2: match.R2,
+ R3: match.R3,
+ B1: match.B1,
+ B2: match.B2,
+ B3: match.B3,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRequestMatchesForTeam(w http.ResponseWriter, buf []byte) (*RequestMatchesForTeam, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_matches_for_team.GetRootAsRequestMatchesForTeam(buf, 0)
+ return result, success
+}
+
+// Handles a RequestMatchesForTeam request.
+type requestMatchesForTeamHandler struct {
+ db Database
+}
+
+func (handler requestMatchesForTeamHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ request, success := parseRequestMatchesForTeam(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.db.QueryMatches(request.Team())
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestAllMatchesResponseT
+ for _, match := range matches {
+ response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
+ MatchNumber: match.MatchNumber,
+ Round: match.Round,
+ CompLevel: match.CompLevel,
+ R1: match.R1,
+ R2: match.R2,
+ R3: match.R3,
+ B1: match.B1,
+ B2: match.B2,
+ B3: match.B3,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRequestDataScouting(w http.ResponseWriter, buf []byte) (*RequestDataScouting, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_data_scouting.GetRootAsRequestDataScouting(buf, 0)
+ return result, success
+}
+
+// Handles a RequestDataScouting request.
+type requestDataScoutingHandler struct {
+ db Database
+}
+
+func (handler requestDataScoutingHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ _, success := parseRequestDataScouting(w, requestBytes)
+ if !success {
+ return
+ }
+
+ stats, err := handler.db.ReturnStats()
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestDataScoutingResponseT
+ for _, stat := range stats {
+ response.StatsList = append(response.StatsList, &request_data_scouting_response.StatsT{
+ Team: stat.TeamNumber,
+ Match: stat.MatchNumber,
+ MissedShotsAuto: stat.ShotsMissedAuto,
+ UpperGoalAuto: stat.UpperGoalAuto,
+ LowerGoalAuto: stat.LowerGoalAuto,
+ MissedShotsTele: stat.ShotsMissed,
+ UpperGoalTele: stat.UpperGoalShots,
+ LowerGoalTele: stat.LowerGoalShots,
+ DefenseRating: stat.PlayedDefense,
+ Climbing: stat.Climbing,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRefreshMatchList(w http.ResponseWriter, buf []byte) (*RefreshMatchList, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse RefreshMatchList: %v", r))
+ success = false
+ }
+ }()
+ result := refresh_match_list.GetRootAsRefreshMatchList(buf, 0)
+ return result, success
+}
+
+func parseTeamKey(teamKey string) (int, error) {
+ // TBA prefixes teams with "frc". Not sure why. Get rid of that.
+ teamKey = strings.TrimPrefix(teamKey, "frc")
+ return strconv.Atoi(teamKey)
+}
+
+// Parses the alliance data from the specified match and returns the three red
+// teams and the three blue teams.
+func parseTeamKeys(match *scraping.Match) ([3]int32, [3]int32, error) {
+ redKeys := match.Alliances.Red.TeamKeys
+ blueKeys := match.Alliances.Blue.TeamKeys
+
+ if len(redKeys) != 3 || len(blueKeys) != 3 {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Found %d red teams and %d blue teams.", len(redKeys), len(blueKeys)))
+ }
+
+ var red [3]int32
+ for i, key := range redKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse red %d team '%s' as integer: %v", i+1, key, err))
+ }
+ red[i] = int32(team)
+ }
+ var blue [3]int32
+ for i, key := range blueKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse blue %d team '%s' as integer: %v", i+1, key, err))
+ }
+ blue[i] = int32(team)
+ }
+ return red, blue, nil
+}
+
+type refreshMatchListHandler struct {
+ db Database
+ scrape ScrapeMatchList
+}
+
+func (handler refreshMatchListHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ request, success := parseRefreshMatchList(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.scrape(request.Year(), string(request.EventCode()))
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to scrape match list: ", err))
+ return
+ }
+
+ for _, match := range matches {
+ // Make sure the data is valid.
+ red, blue, err := parseTeamKeys(&match)
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
+ "TheBlueAlliance data for match %d is malformed: %v", match.MatchNumber, err))
+ return
+ }
+ // Add the match to the database.
+ handler.db.AddToMatch(db.Match{
+ MatchNumber: int32(match.MatchNumber),
+ // TODO(phil): What does Round mean?
+ Round: 1,
+ CompLevel: match.CompLevel,
+ R1: red[0],
+ R2: red[1],
+ R3: red[2],
+ B1: blue[0],
+ B2: blue[1],
+ B3: blue[2],
+ })
+ }
+
+ var response RefreshMatchListResponseT
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+func HandleRequests(db Database, scrape ScrapeMatchList, scoutingServer server.ScoutingServer) {
scoutingServer.HandleFunc("/requests", unknown)
scoutingServer.Handle("/requests/submit/data_scouting", submitDataScoutingHandler{db})
+ scoutingServer.Handle("/requests/request/all_matches", requestAllMatchesHandler{db})
+ scoutingServer.Handle("/requests/request/matches_for_team", requestMatchesForTeamHandler{db})
+ scoutingServer.Handle("/requests/request/data_scouting", requestDataScoutingHandler{db})
+ scoutingServer.Handle("/requests/refresh_match_list", refreshMatchListHandler{db, scrape})
}
diff --git a/scouting/webserver/requests/requests_test.go b/scouting/webserver/requests/requests_test.go
index 6f62ce3..60bee0e 100644
--- a/scouting/webserver/requests/requests_test.go
+++ b/scouting/webserver/requests/requests_test.go
@@ -4,12 +4,23 @@
"bytes"
"io"
"net/http"
+ "reflect"
"testing"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting"
- _ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
flatbuffers "github.com/google/flatbuffers/go"
)
@@ -18,7 +29,7 @@
func Test404(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -35,7 +46,7 @@
func TestSubmitDataScoutingError(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -63,52 +74,323 @@
func TestSubmitDataScouting(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
builder := flatbuffers.NewBuilder(1024)
builder.Finish((&submit_data_scouting.SubmitDataScoutingT{
- Team: 971,
- Match: 1,
- UpperGoalHits: 9971,
+ Team: 971,
+ Match: 1,
+ MissedShotsAuto: 9971,
+ UpperGoalAuto: 9971,
+ LowerGoalAuto: 9971,
+ MissedShotsTele: 9971,
+ UpperGoalTele: 9971,
+ LowerGoalTele: 9971,
+ DefenseRating: 9971,
+ Climbing: 9971,
}).Pack(builder))
- resp, err := http.Post("http://localhost:8080/requests/submit/data_scouting", "application/octet-stream", bytes.NewReader(builder.FinishedBytes()))
+ response, err := debug.SubmitDataScouting("http://localhost:8080", builder.FinishedBytes())
if err != nil {
- t.Fatalf("Failed to send request: %v", err)
+ t.Fatal("Failed to submit data scouting: ", err)
}
- if resp.StatusCode != http.StatusNotImplemented {
- t.Fatal("Unexpected status code. Got", resp.Status)
+
+ // We get an empty response back. Validate that.
+ expected := submit_data_scouting_response.SubmitDataScoutingResponseT{}
+ if !reflect.DeepEqual(expected, *response) {
+ t.Fatal("Expected ", expected, ", but got:", *response)
}
- // TODO(phil): We have nothing to validate yet. Fix that.
+}
+
+// Validates that we can request the full match list.
+func TestRequestAllMatches(t *testing.T) {
+ db := MockDatabase{
+ matches: []db.Match{
+ {
+ MatchNumber: 1, Round: 1, CompLevel: "qual",
+ R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
+ },
+ {
+ MatchNumber: 2, Round: 1, CompLevel: "qual",
+ R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
+ },
+ {
+ MatchNumber: 3, Round: 1, CompLevel: "qual",
+ R1: 7, R2: 44, R3: 602, B1: 973, B2: 402, B3: 202,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_all_matches.RequestAllMatchesT{}).Pack(builder))
+
+ response, err := debug.RequestAllMatches("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_all_matches_response.RequestAllMatchesResponseT{
+ MatchList: []*request_all_matches_response.MatchT{
+ // MatchNumber, Round, CompLevel
+ // R1, R2, R3, B1, B2, B3
+ {
+ 1, 1, "qual",
+ 5, 42, 600, 971, 400, 200,
+ },
+ {
+ 2, 1, "qual",
+ 6, 43, 601, 972, 401, 201,
+ },
+ {
+ 3, 1, "qual",
+ 7, 44, 602, 973, 402, 202,
+ },
+ },
+ }
+ if len(expected.MatchList) != len(response.MatchList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.MatchList {
+ if !reflect.DeepEqual(*match, *response.MatchList[i]) {
+ t.Fatal("Expected for match", i, ":", *match, ", but got:", *response.MatchList[i])
+ }
+ }
+
+}
+
+// Validates that we can request the full match list.
+func TestRequestMatchesForTeam(t *testing.T) {
+ db := MockDatabase{
+ matches: []db.Match{
+ {
+ MatchNumber: 1, Round: 1, CompLevel: "qual",
+ R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
+ },
+ {
+ MatchNumber: 2, Round: 1, CompLevel: "qual",
+ R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_matches_for_team.RequestMatchesForTeamT{
+ Team: 971,
+ }).Pack(builder))
+
+ response, err := debug.RequestMatchesForTeam("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_matches_for_team_response.RequestMatchesForTeamResponseT{
+ MatchList: []*request_matches_for_team_response.MatchT{
+ // MatchNumber, Round, CompLevel
+ // R1, R2, R3, B1, B2, B3
+ {
+ 1, 1, "qual",
+ 5, 42, 600, 971, 400, 200,
+ },
+ },
+ }
+ if len(expected.MatchList) != len(response.MatchList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.MatchList {
+ if !reflect.DeepEqual(*match, *response.MatchList[i]) {
+ t.Fatal("Expected for match", i, ":", *match, ", but got:", *response.MatchList[i])
+ }
+ }
+}
+
+// Validates that we can request the stats.
+func TestRequestDataScouting(t *testing.T) {
+ db := MockDatabase{
+ stats: []db.Stats{
+ {
+ TeamNumber: 971, MatchNumber: 1,
+ ShotsMissed: 1, UpperGoalShots: 2, LowerGoalShots: 3,
+ ShotsMissedAuto: 4, UpperGoalAuto: 5, LowerGoalAuto: 6,
+ PlayedDefense: 7, Climbing: 8,
+ },
+ {
+ TeamNumber: 972, MatchNumber: 1,
+ ShotsMissed: 2, UpperGoalShots: 3, LowerGoalShots: 4,
+ ShotsMissedAuto: 5, UpperGoalAuto: 6, LowerGoalAuto: 7,
+ PlayedDefense: 8, Climbing: 9,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_data_scouting.RequestDataScoutingT{}).Pack(builder))
+
+ response, err := debug.RequestDataScouting("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_data_scouting_response.RequestDataScoutingResponseT{
+ StatsList: []*request_data_scouting_response.StatsT{
+ // Team, Match,
+ // MissedShotsAuto, UpperGoalAuto, LowerGoalAuto,
+ // MissedShotsTele, UpperGoalTele, LowerGoalTele,
+ // DefenseRating, Climbing,
+ {
+ 971, 1,
+ 4, 5, 6,
+ 1, 2, 3,
+ 7, 8,
+ },
+ {
+ 972, 1,
+ 5, 6, 7,
+ 2, 3, 4,
+ 8, 9,
+ },
+ },
+ }
+ if len(expected.StatsList) != len(response.StatsList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.StatsList {
+ if !reflect.DeepEqual(*match, *response.StatsList[i]) {
+ t.Fatal("Expected for stats", i, ":", *match, ", but got:", *response.StatsList[i])
+ }
+ }
+}
+
+// Validates that we can download the schedule from The Blue Alliance.
+func TestRefreshMatchList(t *testing.T) {
+ scrapeMockSchedule := func(int32, string) ([]scraping.Match, error) {
+ return []scraping.Match{
+ {
+ CompLevel: "qual",
+ MatchNumber: 1,
+ Alliances: scraping.Alliances{
+ Red: scraping.Alliance{
+ TeamKeys: []string{
+ "100",
+ "200",
+ "300",
+ },
+ },
+ Blue: scraping.Alliance{
+ TeamKeys: []string{
+ "101",
+ "201",
+ "301",
+ },
+ },
+ },
+ WinningAlliance: "",
+ EventKey: "",
+ Time: 0,
+ PredictedTime: 0,
+ ActualTime: 0,
+ PostResultTime: 0,
+ ScoreBreakdowns: scraping.ScoreBreakdowns{},
+ },
+ }, nil
+ }
+
+ database := MockDatabase{}
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&database, scrapeMockSchedule, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&refresh_match_list.RefreshMatchListT{}).Pack(builder))
+
+ response, err := debug.RefreshMatchList("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ // Validate the response.
+ expected := refresh_match_list_response.RefreshMatchListResponseT{}
+ if !reflect.DeepEqual(expected, *response) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+
+ // Make sure that the data made it into the database.
+ expectedMatches := []db.Match{
+ {
+ MatchNumber: 1,
+ Round: 1,
+ CompLevel: "qual",
+ R1: 100,
+ R2: 200,
+ R3: 300,
+ B1: 101,
+ B2: 201,
+ B3: 301,
+ },
+ }
+ if !reflect.DeepEqual(expectedMatches, database.matches) {
+ t.Fatal("Expected ", expectedMatches, ", but got ", database.matches)
+ }
}
// A mocked database we can use for testing. Add functionality to this as
// needed for your tests.
-type MockDatabase struct{}
+type MockDatabase struct {
+ matches []db.Match
+ stats []db.Stats
+}
-func (database *MockDatabase) AddToMatch(db.Match) error {
+func (database *MockDatabase) AddToMatch(match db.Match) error {
+ database.matches = append(database.matches, match)
return nil
}
-func (database *MockDatabase) AddToStats(db.Stats) error {
+func (database *MockDatabase) AddToStats(stats db.Stats) error {
+ database.stats = append(database.stats, stats)
return nil
}
func (database *MockDatabase) ReturnMatches() ([]db.Match, error) {
- return []db.Match{}, nil
+ return database.matches, nil
}
func (database *MockDatabase) ReturnStats() ([]db.Stats, error) {
- return []db.Stats{}, nil
+ return database.stats, nil
}
-func (database *MockDatabase) QueryMatches(int) ([]db.Match, error) {
- return []db.Match{}, nil
+func (database *MockDatabase) QueryMatches(requestedTeam int32) ([]db.Match, error) {
+ var matches []db.Match
+ for _, match := range database.matches {
+ for _, team := range []int32{match.R1, match.R2, match.R3, match.B1, match.B2, match.B3} {
+ if team == requestedTeam {
+ matches = append(matches, match)
+ break
+ }
+ }
+ }
+ return matches, nil
}
func (database *MockDatabase) QueryStats(int) ([]db.Stats, error) {
return []db.Stats{}, nil
}
+
+// Returns an empty match list from the fake The Blue Alliance scraping.
+func scrapeEmtpyMatchList(int32, string) ([]scraping.Match, error) {
+ return nil, nil
+}
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
index c22ea38..8a32f89 100644
--- a/scouting/www/BUILD
+++ b/scouting/www/BUILD
@@ -3,6 +3,10 @@
load("@npm//@bazel/concatjs:index.bzl", "concatjs_devserver")
load("@npm//@babel/cli:index.bzl", "babel")
+exports_files([
+ "index.html",
+])
+
ts_library(
name = "app",
srcs = glob([
@@ -10,12 +14,15 @@
]),
angular_assets = glob([
"*.ng.html",
+ "*.css",
]),
compiler = "//tools:tsc_wrapped_with_angular",
target_compatible_with = ["@platforms//cpu:x86_64"],
use_angular_plugin = True,
visibility = ["//visibility:public"],
deps = [
+ "//scouting/www/entry",
+ "//scouting/www/import_match_list",
"@npm//@angular/animations",
"@npm//@angular/common",
"@npm//@angular/core",
@@ -46,14 +53,35 @@
"@npm//@angular/compiler-cli",
],
output_dir = True,
+ visibility = ["//visibility:public"],
+)
+
+# Create a copy of zone.js here so that we can have a predictable path to
+# source it from on the webserver.
+genrule(
+ name = "zonejs_copy",
+ srcs = [
+ "@npm//:node_modules/zone.js/dist/zone.min.js",
+ ],
+ outs = [
+ "npm/node_modules/zone.js/dist/zone.min.js",
+ ],
+ cmd = "cp $(SRCS) $(OUTS)",
+ visibility = ["//visibility:public"],
)
concatjs_devserver(
name = "devserver",
serving_path = "/main_bundle.js",
static_files = [
- ":index.html",
- "@npm//:node_modules/zone.js/dist/zone.min.js",
+ "index.html",
+ ":zonejs_copy",
],
deps = [":main_bundle_compiled"],
)
+
+filegroup(
+ name = "common_css",
+ srcs = ["common.css"],
+ visibility = ["//scouting/www:__subpackages__"],
+)
diff --git a/scouting/www/app.ng.html b/scouting/www/app.ng.html
index fb9ba26..2fafceb 100644
--- a/scouting/www/app.ng.html
+++ b/scouting/www/app.ng.html
@@ -1,3 +1,13 @@
-<h1>
- This is an app.
-</h1>
+<ul class="nav nav-tabs">
+ <li class="nav-item">
+ <a class="nav-link" [class.active]="tabIs('Entry')" (click)="switchTabTo('Entry')">Data Entry</a>
+ </li>
+ <li class="nav-item">
+ <a class="nav-link" [class.active]="tabIs('ImportMatchList')" (click)="switchTabTo('ImportMatchList')">Import Match List</a>
+ </li>
+</ul>
+
+<ng-container [ngSwitch]="tab">
+ <app-entry *ngSwitchCase="'Entry'"></app-entry>
+ <app-import-match-list *ngSwitchCase="'ImportMatchList'"></app-import-match-list>
+</ng-container>
diff --git a/scouting/www/app.ts b/scouting/www/app.ts
index f6247d3..285d306 100644
--- a/scouting/www/app.ts
+++ b/scouting/www/app.ts
@@ -1,8 +1,20 @@
import {Component} from '@angular/core';
+type Tab = 'Entry'|'ImportMatchList';
+
@Component({
selector: 'my-app',
templateUrl: './app.ng.html',
+ styleUrls: ['./common.css']
})
export class App {
+ tab: Tab = 'Entry';
+
+ tabIs(tab: Tab) {
+ return this.tab == tab;
+ }
+
+ switchTabTo(tab: Tab) {
+ this.tab = tab;
+ }
}
diff --git a/scouting/www/app_module.ts b/scouting/www/app_module.ts
index 3e34a17..2a514f2 100644
--- a/scouting/www/app_module.ts
+++ b/scouting/www/app_module.ts
@@ -1,6 +1,8 @@
import {NgModule} from '@angular/core';
import {BrowserModule} from '@angular/platform-browser';
import {BrowserAnimationsModule} from '@angular/platform-browser/animations';
+import {EntryModule} from './entry/entry.module';
+import {ImportMatchListModule} from './import_match_list/import_match_list.module';
import {App} from './app';
@@ -9,6 +11,8 @@
imports: [
BrowserModule,
BrowserAnimationsModule,
+ EntryModule,
+ ImportMatchListModule,
],
exports: [App],
bootstrap: [App],
diff --git a/scouting/www/common.css b/scouting/www/common.css
new file mode 100644
index 0000000..35e943f
--- /dev/null
+++ b/scouting/www/common.css
@@ -0,0 +1,10 @@
+/* This CSS is shared between all scouting app tabs. */
+
+.error_message {
+ color: red;
+}
+.error_message:empty, .progress_message:empty {
+ /* TODO(phil): Figure out a way to make these take up no horizontal space.
+ * I.e. It would be nice to keep the error message and the progress message
+ * aligned when they are non-empty. */
+}
diff --git a/scouting/www/entry/BUILD b/scouting/www/entry/BUILD
new file mode 100644
index 0000000..2c394de
--- /dev/null
+++ b/scouting/www/entry/BUILD
@@ -0,0 +1,27 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "entry",
+ srcs = [
+ "entry.component.ts",
+ "entry.module.ts",
+ ],
+ angular_assets = [
+ "entry.component.css",
+ "entry.ng.html",
+ "//scouting/www:common_css",
+ ],
+ compiler = "//tools:tsc_wrapped_with_angular",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ use_angular_plugin = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/webserver/requests/messages:error_response_ts_fbs",
+ "//scouting/webserver/requests/messages:submit_data_scouting_response_ts_fbs",
+ "//scouting/webserver/requests/messages:submit_data_scouting_ts_fbs",
+ "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+ "@npm//@angular/common",
+ "@npm//@angular/core",
+ "@npm//@angular/forms",
+ ],
+)
diff --git a/scouting/www/entry/entry.component.css b/scouting/www/entry/entry.component.css
new file mode 100644
index 0000000..76a3c29
--- /dev/null
+++ b/scouting/www/entry/entry.component.css
@@ -0,0 +1,24 @@
+* {
+ padding: 10px;
+}
+
+.center-column {
+ display: flex;
+ align-items: stretch;
+ flex-direction: column;
+ text-align: center;
+}
+
+.buttons {
+ display: flex;
+ justify-content: space-between;
+}
+
+textarea {
+ width: 300px;
+ height: 150px;
+}
+
+button {
+ touch-action: manipulation;
+}
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
new file mode 100644
index 0000000..fb4a1b1
--- /dev/null
+++ b/scouting/www/entry/entry.component.ts
@@ -0,0 +1,161 @@
+import { Component, OnInit } from '@angular/core';
+
+import * as flatbuffer_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+import * as error_response from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import * as submit_data_scouting_response from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_response_generated';
+import * as submit_data_scouting from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
+import SubmitDataScouting = submit_data_scouting.scouting.webserver.requests.SubmitDataScouting;
+import SubmitDataScoutingResponse = submit_data_scouting_response.scouting.webserver.requests.SubmitDataScoutingResponse;
+import ErrorResponse = error_response.scouting.webserver.requests.ErrorResponse;
+
+type Section = 'Team Selection'|'Auto'|'TeleOp'|'Climb'|'Defense'|'Review and Submit'|'Home'
+type Level = 'Low'|'Medium'|'High'|'Transversal'
+
+@Component({
+ selector: 'app-entry',
+ templateUrl: './entry.ng.html',
+ styleUrls: ['../common.css', './entry.component.css']
+})
+export class EntryComponent {
+ section: Section = 'Team Selection';
+ matchNumber: number = 1
+ teamNumber: number = 1
+ autoUpperShotsMade: number = 0;
+ autoLowerShotsMade: number = 0;
+ autoShotsMissed: number = 0;
+ teleUpperShotsMade: number = 0;
+ teleLowerShotsMade: number = 0;
+ teleShotsMissed: number = 0;
+ defensePlayedOnScore: number = 3;
+ defensePlayedScore: number = 3;
+ level: Level;
+ proper: boolean = false;
+ climbed: boolean = false;
+ errorMessage: string = '';
+
+ toggleProper() {
+ this.proper = !this.proper;
+ }
+
+ setLow() {
+ this.level = 'Low';
+ }
+
+ setMedium() {
+ this.level = 'Medium';
+ }
+
+ setHigh() {
+ this.level = 'High';
+ }
+
+ setTransversal() {
+ this.level = 'Transversal';
+ }
+
+ defensePlayedOnSlider(event) {
+ this.defensePlayedOnScore = event.target.value;
+ }
+
+ defensePlayedSlider(event) {
+ this.defensePlayedScore = event.target.value;
+ }
+
+ setClimbedTrue() {
+ this.climbed = true;
+ }
+
+ setClimbedFalse() {
+ this.climbed = false;
+ }
+
+ nextSection() {
+ if (this.section === 'Team Selection') {
+ this.section = 'Auto';
+ } else if (this.section === 'Auto') {
+ this.section = 'TeleOp';
+ } else if (this.section === 'TeleOp') {
+ this.section = 'Climb';
+ } else if (this.section === 'Climb') {
+ this.section = 'Defense';
+ } else if (this.section === 'Defense') {
+ this.section = 'Review and Submit';
+ } else if (this.section === 'Review and Submit') {
+ this.submitDataScouting();
+ }
+ }
+
+ prevSection() {
+ if (this.section === 'Auto') {
+ this.section = 'Team Selection';
+ } else if (this.section === 'TeleOp') {
+ this.section = 'Auto';
+ } else if (this.section === 'Climb') {
+ this.section = 'TeleOp';
+ } else if (this.section === 'Defense') {
+ this.section = 'Climb';
+ } else if (this.section === 'Review and Submit') {
+ this.section = 'Defense';
+ }
+ }
+
+ adjustAutoUpper(by: number) {
+ this.autoUpperShotsMade = Math.max(0, this.autoUpperShotsMade + by);
+ }
+
+ adjustAutoLower(by: number) {
+ this.autoLowerShotsMade = Math.max(0, this.autoLowerShotsMade + by);
+ }
+
+ adjustAutoMissed(by: number) {
+ this.autoShotsMissed = Math.max(0, this.autoShotsMissed + by);
+ }
+
+ adjustTeleUpper(by: number) {
+ this.teleUpperShotsMade = Math.max(0, this.teleUpperShotsMade + by);
+ }
+
+ adjustTeleLower(by: number) {
+ this.teleLowerShotsMade = Math.max(0, this.teleLowerShotsMade + by);
+ }
+
+ adjustTeleMissed(by: number) {
+ this.teleShotsMissed = Math.max(0, this.teleShotsMissed + by);
+ }
+
+ async submitDataScouting() {
+ const builder = new flatbuffer_builder.Builder() as unknown as flatbuffers.Builder;
+ SubmitDataScouting.startSubmitDataScouting(builder);
+ SubmitDataScouting.addTeam(builder, this.teamNumber);
+ SubmitDataScouting.addMatch(builder, this.matchNumber);
+ SubmitDataScouting.addMissedShotsAuto(builder, this.autoShotsMissed);
+ SubmitDataScouting.addUpperGoalAuto(builder, this.autoUpperShotsMade);
+ SubmitDataScouting.addLowerGoalAuto(builder, this.autoLowerShotsMade);
+ SubmitDataScouting.addMissedShotsTele(builder, this.teleShotsMissed);
+ SubmitDataScouting.addUpperGoalTele(builder, this.teleUpperShotsMade);
+ SubmitDataScouting.addLowerGoalTele(builder, this.teleLowerShotsMade);
+ SubmitDataScouting.addDefenseRating(builder, this.defensePlayedScore);
+ // TODO(phil): Add support for defensePlayedOnScore.
+ // TODO(phil): Fix the Climbing score.
+ SubmitDataScouting.addClimbing(builder, 1);
+ builder.finish(SubmitDataScouting.endSubmitDataScouting(builder));
+
+ const buffer = builder.asUint8Array();
+ const res = await fetch(
+ '/requests/submit/data_scouting', {method: 'POST', body: buffer});
+
+ if (res.ok) {
+ // We successfully submitted the data. Go back to Home.
+ this.section = 'Home';
+ } else {
+ const resBuffer = await res.arrayBuffer();
+ const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
+ const parsedResponse = ErrorResponse.getRootAsErrorResponse(
+ fbBuffer as unknown as flatbuffers.ByteBuffer);
+
+ const errorMessage = parsedResponse.errorMessage();
+ this.errorMessage = `Received ${res.status} ${res.statusText}: "${errorMessage}"`;
+ }
+ }
+}
diff --git a/scouting/www/entry/entry.module.ts b/scouting/www/entry/entry.module.ts
new file mode 100644
index 0000000..35ecd26
--- /dev/null
+++ b/scouting/www/entry/entry.module.ts
@@ -0,0 +1,12 @@
+import {NgModule} from '@angular/core';
+import {CommonModule} from '@angular/common';
+import {EntryComponent} from './entry.component';
+import {FormsModule} from '@angular/forms';
+
+@NgModule({
+ declarations: [EntryComponent],
+ exports: [EntryComponent],
+ imports: [CommonModule, FormsModule],
+})
+export class EntryModule {
+}
diff --git a/scouting/www/entry/entry.ng.html b/scouting/www/entry/entry.ng.html
new file mode 100644
index 0000000..b5783d2
--- /dev/null
+++ b/scouting/www/entry/entry.ng.html
@@ -0,0 +1,219 @@
+<div class="header">
+ <h2>{{section}}</h2>
+</div>
+
+<ng-container [ngSwitch]="section">
+ <div *ngSwitchCase="'Team Selection'" id="team_selection" class="container-fluid">
+ <div class="row">
+ <label for="match_number">Match Number</label>
+ <input [(ngModel)]="matchNumber" type="number" id="match_number" min="1" max="999">
+ </div>
+ <div class="row">
+ <label for="team_number">Team Number</label>
+ <input [(ngModel)]="teamNumber" type="number" id="team_number" min="1" max="9999">
+ </div>
+ <div class="text-right">
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Auto'" id="auto" class="container-fluid">
+ <div class="row">
+ <!--Image here-->
+ <h4>Image</h4>
+ <form>
+ <!--Choice for each ball location-->
+ <input type="radio" name="balls" value="1" id="ball-1"><label for="ball-1">Ball 1</label>
+ <input type="radio" name="balls" value="2" id="ball-2"><label for="ball-2">Ball 2</label><br>
+ <input type="radio" name="balls" value="3" id="ball-3"><label for="ball-3">Ball 3</label>
+ <input type="radio" name="balls" value="4" id="ball-4"><label for="ball-4">Ball 4</label>
+ </form>
+ </div>
+ <div class="row">
+ <!--Image here-->
+ <h4>Image</h4>
+ <form>
+ <input type="radio" name="quadrant" id="first" value="Quadrant 1">
+ <label for="first">Quadrant 1</label>
+ <input type="radio" name="quadrant" id="second" value="Quadrant 2">
+ <label for="second">Quadrant 2</label><br>
+ <input type="radio" name="quadrant" id="third" value="Quadrant 3">
+ <label for="third">Quadrant 3</label>
+ <input type="radio" name="quadrant" id="fourth" value="Quadrant 4">
+ <label for="fourth">Quadrant 4</label>
+ </form>
+ </div>
+ <div class="row justify-content-center">
+ <span class="col-4 center-column">
+ <h4>Upper</h4>
+ <button (click)="adjustAutoUpper(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoUpperShotsMade}}</h3>
+ <button (click)="adjustAutoUpper(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Lower</h4>
+ <button (click)="adjustAutoLower(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoLowerShotsMade}}</h3>
+ <button (click)="adjustAutoLower(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Missed</h4>
+ <button (click)="adjustAutoMissed(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoShotsMissed}}</h3>
+ <button (click)="adjustAutoMissed(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+ </div>
+ <div class="buttons">
+ <!-- hack to right align the next button -->
+ <div></div>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'TeleOp'" id="teleop" class="container-fluid">
+ <div class="row justify-content-center">
+ <span class="col-4 center-column">
+ <h4>Upper</h4>
+ <button (click)="adjustTeleUpper(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleUpperShotsMade}}</h3>
+ <button (click)="adjustTeleUpper(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Lower</h4>
+ <button (click)="adjustTeleLower(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleLowerShotsMade}}</h3>
+ <button (click)="adjustTeleLower(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Missed</h4>
+ <button (click)="adjustTeleMissed(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleShotsMissed}}</h3>
+ <button (click)="adjustTeleMissed(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+ </div>
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Climb'" id="climb" class="container-fluid">
+ <div class="row">
+ <form>
+ <input (click)="setClimbedFalse()" type="radio" name="climbing" id="continue"><label for="continue">Kept Shooting</label><br>
+ <input (click)="setClimbedTrue()" type="radio" name="climbing" id="climbed"><label for="climbed">Attempted to Climb</label><br>
+ </form>
+ </div>
+ <div *ngIf="climbed">
+ <h4>Bar Made</h4>
+ <form>
+ <input (click)="setLow()" type="radio" name="level" id="low"><label for="low">Low</label><br>
+ <input (click)="setMedium()" type="radio" name="level" id="medium"><label for="medium">Medium</label><br>
+ <input (click)="setHigh()" type="radio" name="level" id="high"><label for="high">High</label><br>
+ <input (click)="setTransversal()" type="radio" name="level" id="transversal"><label for="transversal">Transversal</label><br>
+ <input (click)="toggleProper()" type="checkbox" id="proper"><label for="proper">~10 seconds to attempt next level?</label>
+ </form>
+ </div>
+ <div class="row">
+ <h4>Comments</h4>
+ <textarea></textarea>
+ </div>
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Defense'" id="defense" class="container-fluid">
+ <h4 class="text-center">How much defense did other robots play on this robot?</h4>
+
+ <div class="row" style="min-height: 50px">
+ <div class="col">
+ <h6>None</h6>
+ </div>
+
+ <div class="col">
+ <input type="range" min="1" max="5" value="3" (input)="defensePlayedOnSlider($event)">
+ </div>
+
+ <div class="col">
+ <h6>A lot</h6>
+ </div>
+ </div>
+
+ <h6 class="text-center">{{defensePlayedOnScore}}</h6>
+
+ <h4 class="text-center">How much defense did this robot play?</h4>
+
+ <div class="row">
+
+ <div class="col">
+ <h6>None</h6>
+ </div>
+
+ <div class="col">
+ <input type="range" min="1" max="5" value="3" (input)="defensePlayedSlider($event)">
+ </div>
+
+ <div class="col">
+ <h6>A lot</h6>
+ </div>
+ </div>
+ <h6 class="text-center">{{defensePlayedScore}}</h6>
+
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Review and Submit'" id="review" class="container-fluid">
+ <h4>Team Selection</h4>
+ <ul>
+ <li>Match number: {{matchNumber}}</li>
+ <li>Team number: {{teamNumber}}</li>
+ </ul>
+
+ <h4>Auto</h4>
+ <ul>
+ <li>Upper Shots Made: {{autoUpperShotsMade}}</li>
+ <li>Lower Shots Made: {{autoLowerShotsMade}}</li>
+ <li>Missed Shots: {{autoShotsMissed}}</li>
+ </ul>
+
+ <h4>TeleOp</h4>
+ <ul>
+ <li>Upper Shots Made: {{teleUpperShotsMade}}</li>
+ <li>Lower Shots Made: {{teleLowerShotsMade}}</li>
+ <li>Missed Shots: {{teleShotsMissed}}</li>
+ </ul>
+
+ <h4>Climb</h4>
+ <ul>
+ <div *ngIf="climbed">
+ <li *ngIf="climbed">Attempted to Climb?: Yes</li>
+ <li>Level: {{level}}</li>
+ <li *ngIf="proper">Proper Attempt: Yes</li>
+ <li *ngIf="!proper">Proper Attempt: No</li>
+ </div>
+ <li *ngIf="!climbed">Attempted to Climb: No</li>
+ </ul>
+
+ <h4>Defense</h4>
+ <ul>
+ <li>Defense Played On Rating: {{defensePlayedOnScore}}</li>
+ <li>Defense Played Rating: {{defensePlayedScore}}</li>
+ </ul>
+
+ <span class="error_message">{{ errorMessage }}</span>
+
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Submit</button>
+ </div>
+ </div>
+</ng-container>
diff --git a/scouting/www/import_match_list/BUILD b/scouting/www/import_match_list/BUILD
new file mode 100644
index 0000000..9e40794
--- /dev/null
+++ b/scouting/www/import_match_list/BUILD
@@ -0,0 +1,27 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "import_match_list",
+ srcs = [
+ "import_match_list.component.ts",
+ "import_match_list.module.ts",
+ ],
+ angular_assets = [
+ "import_match_list.component.css",
+ "import_match_list.ng.html",
+ "//scouting/www:common_css",
+ ],
+ compiler = "//tools:tsc_wrapped_with_angular",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ use_angular_plugin = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/webserver/requests/messages:error_response_ts_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_ts_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_ts_fbs",
+ "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+ "@npm//@angular/common",
+ "@npm//@angular/core",
+ "@npm//@angular/forms",
+ ],
+)
diff --git a/scouting/www/import_match_list/import_match_list.component.css b/scouting/www/import_match_list/import_match_list.component.css
new file mode 100644
index 0000000..0570c72
--- /dev/null
+++ b/scouting/www/import_match_list/import_match_list.component.css
@@ -0,0 +1,3 @@
+* {
+ padding: 10px;
+}
diff --git a/scouting/www/import_match_list/import_match_list.component.ts b/scouting/www/import_match_list/import_match_list.component.ts
new file mode 100644
index 0000000..b2b15e5
--- /dev/null
+++ b/scouting/www/import_match_list/import_match_list.component.ts
@@ -0,0 +1,53 @@
+import { Component, OnInit } from '@angular/core';
+
+import * as flatbuffer_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+import * as error_response from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import * as refresh_match_list_response from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_response_generated';
+import * as refresh_match_list from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_generated';
+import RefreshMatchList = refresh_match_list.scouting.webserver.requests.RefreshMatchList;
+import RefreshMatchListResponse = refresh_match_list_response.scouting.webserver.requests.RefreshMatchListResponse;
+import ErrorResponse = error_response.scouting.webserver.requests.ErrorResponse;
+
+@Component({
+ selector: 'app-import-match-list',
+ templateUrl: './import_match_list.ng.html',
+ styleUrls: ['../common.css', './import_match_list.component.css']
+})
+export class ImportMatchListComponent {
+ year: number = new Date().getFullYear();
+ eventCode: string = '';
+ progressMessage: string = '';
+ errorMessage: string = '';
+
+ async importMatchList() {
+ this.errorMessage = '';
+
+ const builder = new flatbuffer_builder.Builder() as unknown as flatbuffers.Builder;
+ const eventCode = builder.createString(this.eventCode);
+ RefreshMatchList.startRefreshMatchList(builder);
+ RefreshMatchList.addYear(builder, this.year);
+ RefreshMatchList.addEventCode(builder, eventCode);
+ builder.finish(RefreshMatchList.endRefreshMatchList(builder));
+
+ this.progressMessage = 'Importing match list. Please be patient.';
+
+ const buffer = builder.asUint8Array();
+ const res = await fetch(
+ '/requests/refresh_match_list', {method: 'POST', body: buffer});
+
+ if (res.ok) {
+ // We successfully submitted the data.
+ this.progressMessage = 'Successfully imported match list.';
+ } else {
+ this.progressMessage = '';
+ const resBuffer = await res.arrayBuffer();
+ const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
+ const parsedResponse = ErrorResponse.getRootAsErrorResponse(
+ fbBuffer as unknown as flatbuffers.ByteBuffer);
+
+ const errorMessage = parsedResponse.errorMessage();
+ this.errorMessage = `Received ${res.status} ${res.statusText}: "${errorMessage}"`;
+ }
+ }
+}
diff --git a/scouting/www/import_match_list/import_match_list.module.ts b/scouting/www/import_match_list/import_match_list.module.ts
new file mode 100644
index 0000000..1da8bec
--- /dev/null
+++ b/scouting/www/import_match_list/import_match_list.module.ts
@@ -0,0 +1,12 @@
+import {NgModule} from '@angular/core';
+import {CommonModule} from '@angular/common';
+import {ImportMatchListComponent} from './import_match_list.component';
+import {FormsModule} from '@angular/forms';
+
+@NgModule({
+ declarations: [ImportMatchListComponent],
+ exports: [ImportMatchListComponent],
+ imports: [CommonModule, FormsModule],
+})
+export class ImportMatchListModule {
+}
diff --git a/scouting/www/import_match_list/import_match_list.ng.html b/scouting/www/import_match_list/import_match_list.ng.html
new file mode 100644
index 0000000..3c7ffa0
--- /dev/null
+++ b/scouting/www/import_match_list/import_match_list.ng.html
@@ -0,0 +1,20 @@
+<div class="header">
+ <h2>Import Match List</h2>
+</div>
+
+<div class="container-fluid">
+ <div class="row">
+ <label for="year">Year</label>
+ <input [(ngModel)]="year" type="number" id="year" min="1970" max="2500">
+ </div>
+ <div class="row">
+ <label for="event_code">Event Code</label>
+ <input [(ngModel)]="eventCode" type="text" id="event_code">
+ </div>
+
+ <span class="progress_message">{{ progressMessage }}</span>
+ <span class="error_message">{{ errorMessage }}</span>
+ <div class="text-right">
+ <button class="btn btn-primary" (click)="importMatchList()">Import</button>
+ </div>
+</div>
diff --git a/scouting/www/index.html b/scouting/www/index.html
index cbe8770..3a09dfd 100644
--- a/scouting/www/index.html
+++ b/scouting/www/index.html
@@ -1,7 +1,10 @@
+<!DOCTYPE html>
<html>
<head>
+ <meta name="viewport" content="width=device-width, initial-scale=1">
<base href="/">
<script src="./npm/node_modules/zone.js/dist/zone.min.js"></script>
+ <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.1.3/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-1BmE4kWBq78iYhFldvKuhfTAU6auU8tT94WrHftjDbrCEXSU1oBoqyl2QvZ6jIW3" crossorigin="anonymous">
</head>
<body>
<my-app></my-app>
diff --git a/third_party/BUILD b/third_party/BUILD
index cff81fd..8dbb529 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -24,6 +24,10 @@
cc_library(
name = "phoenix",
+ linkopts = [
+ "-Wl,-rpath",
+ "-Wl,.",
+ ],
target_compatible_with = ["//tools/platforms/hardware:roborio"],
visibility = ["//visibility:public"],
deps = [
diff --git a/third_party/flatbuffers/build_defs.bzl b/third_party/flatbuffers/build_defs.bzl
index 98cc897..d66e271 100644
--- a/third_party/flatbuffers/build_defs.bzl
+++ b/third_party/flatbuffers/build_defs.bzl
@@ -35,6 +35,7 @@
DEFAULT_FLATC_GO_ARGS = [
"--gen-onefile",
"--gen-object-api",
+ "--require-explicit-ids",
]
DEFAULT_FLATC_TS_ARGS = [
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index 2022ee6..14ac821 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -32,6 +32,8 @@
"-Wno-switch-enum",
"-Wno-error=cast-align",
"-Wno-error=cast-qual",
+ "-Wno-deprecated-volatile",
+ "-Wno-cast-qual",
# //build_tests:tcmalloc_build_test relies on this.
"-DENABLE_LARGE_ALLOC_REPORT=1",
diff --git a/third_party/osqp/include/constants.h b/third_party/osqp/include/constants.h
index 2acbb65..93b2ac1 100644
--- a/third_party/osqp/include/constants.h
+++ b/third_party/osqp/include/constants.h
@@ -118,7 +118,7 @@
# endif // ifdef PROFILING
/* Printing */
-# define PRINT_INTERVAL 200
+# define PRINT_INTERVAL 5
# ifdef __cplusplus
diff --git a/third_party/osqp/include/glob_opts.h b/third_party/osqp/include/glob_opts.h
index e2b5b24..7a22848 100644
--- a/third_party/osqp/include/glob_opts.h
+++ b/third_party/osqp/include/glob_opts.h
@@ -144,7 +144,7 @@
# include <R_ext/Print.h>
# define c_print Rprintf
# else /* ifdef MATLAB */
-# define c_print printf
+# define c_print(...) fprintf(stderr, __VA_ARGS__)
# endif /* c_print configuration */
/* error printing function */
diff --git a/tools/build_rules/js.bzl b/tools/build_rules/js.bzl
index a014d13..eeb5594 100644
--- a/tools/build_rules/js.bzl
+++ b/tools/build_rules/js.bzl
@@ -1,6 +1,9 @@
load("@build_bazel_rules_nodejs//:providers.bzl", "JSModuleInfo")
load("@npm//@bazel/rollup:index.bzl", upstream_rollup_bundle = "rollup_bundle")
load("@npm//@bazel/terser:index.bzl", "terser_minified")
+load("@bazel_skylib//lib:paths.bzl", "paths")
+load("@npm//@bazel/protractor:index.bzl", "protractor_web_test_suite")
+load("@npm//@bazel/typescript:index.bzl", "ts_project")
def rollup_bundle(name, deps, visibility = None, **kwargs):
"""Calls the upstream rollup_bundle() and exposes a .min.js file.
@@ -59,3 +62,55 @@
"out": attr.output(mandatory = True),
},
)
+
+# Some rules (e.g. babel()) do not expose their files as runfiles. So we need
+# to do this step manually.
+def _turn_files_into_runfiles_impl(ctx):
+ files = ctx.attr.files.files
+ return [DefaultInfo(
+ files = files,
+ runfiles = ctx.runfiles(transitive_files = files),
+ )]
+
+turn_files_into_runfiles = rule(
+ implementation = _turn_files_into_runfiles_impl,
+ attrs = {
+ "files": attr.label(
+ mandatory = True,
+ doc = "The target whose files should be turned into runfiles.",
+ ),
+ },
+)
+
+def protractor_ts_test(name, srcs, deps = None, **kwargs):
+ """Wraps upstream protractor_web_test_suite() to reduce boilerplate.
+
+ This is largely based on the upstream protractor example:
+ https://github.com/bazelbuild/rules_nodejs/blob/stable/examples/angular/e2e/BUILD.bazel
+
+ See the documentation for more information:
+ https://bazelbuild.github.io/rules_nodejs/Protractor.html#protractor_web_test_suite
+ """
+ ts_project(
+ name = name + "__lib",
+ srcs = srcs,
+ testonly = 1,
+ deps = (deps or []) + [
+ # Implicit deps that are necessary to get tests of this kind to
+ # work.
+ "@npm//@types/jasmine",
+ "@npm//jasmine",
+ "@npm//protractor",
+ "@npm//@types/node",
+ ],
+ tsconfig = {},
+ declaration = True,
+ declaration_map = True,
+ )
+
+ protractor_web_test_suite(
+ name = name,
+ srcs = [paths.replace_extension(src, ".js") for src in srcs],
+ deps = [":%s__lib" % name],
+ **kwargs
+ )
diff --git a/y2014/BUILD b/y2014/BUILD
index cb718a6..5be5cfa 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -76,7 +76,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2014.json",
flatbuffers = [
"//y2014/control_loops/shooter:shooter_goal_fbs",
@@ -91,8 +91,8 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
diff --git a/y2014/actors/autonomous_actor_main.cc b/y2014/actors/autonomous_actor_main.cc
index 1a3b97e..2566fe8 100644
--- a/y2014/actors/autonomous_actor_main.cc
+++ b/y2014/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2014/actors/shoot_actor_main.cc b/y2014/actors/shoot_actor_main.cc
index ac34356..379361d 100644
--- a/y2014/actors/shoot_actor_main.cc
+++ b/y2014/actors/shoot_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014::actors::ShootActor shoot(&event_loop);
diff --git a/y2014/control_loops/claw/BUILD b/y2014/control_loops/claw/BUILD
index 21be558..7c530e8 100644
--- a/y2014/control_loops/claw/BUILD
+++ b/y2014/control_loops/claw/BUILD
@@ -89,7 +89,7 @@
srcs = [
"claw_lib_test.cc",
],
- data = ["//y2014:config"],
+ data = ["//y2014:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":claw_goal_fbs",
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index a714124..3a5fdc5 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -293,7 +293,7 @@
protected:
ClawTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2014/config.json"),
+ aos::configuration::ReadConfig("y2014/aos_config.json"),
chrono::microseconds(5000)),
test_event_loop_(MakeEventLoop("test")),
claw_goal_sender_(test_event_loop_->MakeSender<Goal>("/claw")),
diff --git a/y2014/control_loops/claw/claw_main.cc b/y2014/control_loops/claw/claw_main.cc
index 4cffa44..16803cf 100644
--- a/y2014/control_loops/claw/claw_main.cc
+++ b/y2014/control_loops/claw/claw_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014::control_loops::claw::ClawMotor claw(&event_loop);
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 19b8e70..3f3eb52 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2014/control_loops/shooter/BUILD b/y2014/control_loops/shooter/BUILD
index f3093ea..7552462 100644
--- a/y2014/control_loops/shooter/BUILD
+++ b/y2014/control_loops/shooter/BUILD
@@ -90,7 +90,7 @@
srcs = [
"shooter_lib_test.cc",
],
- data = ["//y2014:config"],
+ data = ["//y2014:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":shooter_goal_fbs",
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index f7dcf20..7fd0fbf 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -331,7 +331,7 @@
protected:
ShooterTestTemplated()
: ::frc971::testing::ControlLoopTestTemplated<TestType>(
- aos::configuration::ReadConfig("y2014/config.json"),
+ aos::configuration::ReadConfig("y2014/aos_config.json"),
// TODO(austin): I think this runs at 5 ms in real life.
chrono::microseconds(5000)),
test_event_loop_(this->MakeEventLoop("test")),
diff --git a/y2014/control_loops/shooter/shooter_main.cc b/y2014/control_loops/shooter/shooter_main.cc
index be3fd41..c2817d1 100644
--- a/y2014/control_loops/shooter/shooter_main.cc
+++ b/y2014/control_loops/shooter/shooter_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014::control_loops::shooter::ShooterMotor shooter(&event_loop);
diff --git a/y2014/hot_goal_reader.cc b/y2014/hot_goal_reader.cc
index 71380f4..16a5840 100644
--- a/y2014/hot_goal_reader.cc
+++ b/y2014/hot_goal_reader.cc
@@ -17,7 +17,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop shm_event_loop(&config.message());
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index fc78994..4fc3229 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -451,7 +451,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014::input::joysticks::Reader reader(&event_loop);
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 9f8e2ce..b27e381 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -670,7 +670,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2014_bot3/actors/autonomous_actor_main.cc b/y2014_bot3/actors/autonomous_actor_main.cc
index d8205cd..bdc6353 100644
--- a/y2014_bot3/actors/autonomous_actor_main.cc
+++ b/y2014_bot3/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014_bot3::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 7c1486d..0d75499 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index 6caf886..c17caa9 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014_bot3::control_loops::rollers::Rollers rollers(&event_loop);
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 5c27247..9b25c37 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -142,7 +142,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2014_bot3::input::joysticks::Reader reader(&event_loop);
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 2c7c521..22d372e 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -291,7 +291,7 @@
}
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2016/BUILD b/y2016/BUILD
index 260a305..ed3256f 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -55,7 +55,7 @@
robot_downloader(
data = [
- ":config",
+ ":aos_config",
],
dirs = [
"//y2016/dashboard:www_files",
@@ -76,7 +76,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2016.json",
flatbuffers = [
"//y2016/control_loops/shooter:shooter_goal_fbs",
@@ -96,10 +96,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
],
)
diff --git a/y2016/actors/autonomous_actor_main.cc b/y2016/actors/autonomous_actor_main.cc
index 4dc2721..ad68bd1 100644
--- a/y2016/actors/autonomous_actor_main.cc
+++ b/y2016/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2016/actors/superstructure_actor_main.cc b/y2016/actors/superstructure_actor_main.cc
index 46c3b55..58b5e8e 100644
--- a/y2016/actors/superstructure_actor_main.cc
+++ b/y2016/actors/superstructure_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::actors::SuperstructureActor superstructure(&event_loop);
diff --git a/y2016/actors/vision_align_actor_main.cc b/y2016/actors/vision_align_actor_main.cc
index 37c3183..1cd7aff 100644
--- a/y2016/actors/vision_align_actor_main.cc
+++ b/y2016/actors/vision_align_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::actors::VisionAlignActor vision_align(&event_loop);
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 7edcde5..7e44ecb 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2016/control_loops/shooter/BUILD b/y2016/control_loops/shooter/BUILD
index 5205adb..6f8d7e1 100644
--- a/y2016/control_loops/shooter/BUILD
+++ b/y2016/control_loops/shooter/BUILD
@@ -94,7 +94,7 @@
srcs = [
"shooter_lib_test.cc",
],
- data = ["//y2016:config"],
+ data = ["//y2016:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":shooter_goal_fbs",
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index 46b96c0..1ae51fb 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -118,7 +118,7 @@
protected:
ShooterTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2016/config.json"),
+ aos::configuration::ReadConfig("y2016/aos_config.json"),
chrono::microseconds(5000)),
test_event_loop_(MakeEventLoop("test")),
shooter_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/shooter")),
diff --git a/y2016/control_loops/shooter/shooter_main.cc b/y2016/control_loops/shooter/shooter_main.cc
index 2e47a6f..0c88ba8 100644
--- a/y2016/control_loops/shooter/shooter_main.cc
+++ b/y2016/control_loops/shooter/shooter_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::control_loops::shooter::Shooter shooter(&event_loop);
diff --git a/y2016/control_loops/superstructure/BUILD b/y2016/control_loops/superstructure/BUILD
index 5f18405..3c6a771 100644
--- a/y2016/control_loops/superstructure/BUILD
+++ b/y2016/control_loops/superstructure/BUILD
@@ -130,7 +130,7 @@
srcs = [
"superstructure_lib_test.cc",
],
- data = ["//y2016:config"],
+ data = ["//y2016:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 12ef0a2..c5e71c5 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -353,7 +353,7 @@
protected:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2016/config.json"),
+ aos::configuration::ReadConfig("y2016/aos_config.json"),
chrono::microseconds(5000)),
test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
index ea871f2..ff25ae1 100644
--- a/y2016/control_loops/superstructure/superstructure_main.cc
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::control_loops::superstructure::Superstructure superstructure(
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index b16c66e..a7cc821 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -286,7 +286,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
@@ -301,7 +301,7 @@
server.serve("www", 1180);
#else
// Absolute directory of www folder on the robot.
- server.serve("/home/admin/robot_code/www", 1180);
+ server.serve("/home/admin/bin/www", 1180);
#endif
socket_handler.Quit();
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index b235f64..3daecce 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -466,7 +466,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2016::input::joysticks::Reader reader(&event_loop);
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index 75a07a8..701f7e8 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -299,7 +299,7 @@
void Main() {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 0419950..b658573 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -605,7 +605,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2017/BUILD b/y2017/BUILD
index df1fd4b..a557815 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -49,7 +49,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2017.json",
flatbuffers = [
"//y2017/control_loops/superstructure:superstructure_goal_fbs",
@@ -61,8 +61,8 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
diff --git a/y2017/actors/autonomous_actor_main.cc b/y2017/actors/autonomous_actor_main.cc
index ae13d15..81f1507 100644
--- a/y2017/actors/autonomous_actor_main.cc
+++ b/y2017/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2017::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
index 4db7b95..843349c 100644
--- a/y2017/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2017/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
index 5481aa0..b974b15 100644
--- a/y2017/control_loops/superstructure/BUILD
+++ b/y2017/control_loops/superstructure/BUILD
@@ -78,7 +78,7 @@
srcs = [
"superstructure_lib_test.cc",
],
- data = ["//y2017:config"],
+ data = ["//y2017:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
@@ -136,7 +136,7 @@
srcs = [
"vision_time_adjuster_test.cc",
],
- data = ["//y2017:config"],
+ data = ["//y2017:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":vision_time_adjuster",
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 05ca333..2c97475 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -521,7 +521,7 @@
protected:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2017/config.json"),
+ aos::configuration::ReadConfig("y2017/aos_config.json"),
chrono::microseconds(5050)),
test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
diff --git a/y2017/control_loops/superstructure/superstructure_main.cc b/y2017/control_loops/superstructure/superstructure_main.cc
index 1a8627c..f113477 100644
--- a/y2017/control_loops/superstructure/superstructure_main.cc
+++ b/y2017/control_loops/superstructure/superstructure_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2017::control_loops::superstructure::Superstructure superstructure(
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index 49e4460..66c3627 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -17,7 +17,7 @@
public:
VisionTimeAdjusterTest()
: ::testing::Test(),
- configuration_(aos::configuration::ReadConfig("y2017/config.json")),
+ configuration_(aos::configuration::ReadConfig("y2017/aos_config.json")),
event_loop_factory_(&configuration_.message()),
simulation_event_loop_(event_loop_factory_.MakeEventLoop("drivetrain")),
drivetrain_status_sender_(
diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index cb21d3e..fd8dc38 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -326,7 +326,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2017::input::joysticks::Reader reader(&event_loop);
diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
index ba09425..f21fe4e 100644
--- a/y2017/vision/target_receiver.cc
+++ b/y2017/vision/target_receiver.cc
@@ -20,7 +20,7 @@
// TODO(parker): Have this pull in a config from somewhere.
TargetFinder finder;
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 6a4596e..d299c1d 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -474,7 +474,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2018/BUILD b/y2018/BUILD
index 9c845fd..ac59493 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -118,7 +118,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2018.json",
flatbuffers = [
":status_light_fbs",
@@ -131,8 +131,8 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
diff --git a/y2018/actors/autonomous_actor_main.cc b/y2018/actors/autonomous_actor_main.cc
index 71f115e..f22aa57 100644
--- a/y2018/actors/autonomous_actor_main.cc
+++ b/y2018/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2018::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
index 461fd34..6281b5e 100644
--- a/y2018/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 5d64d6e..567810d 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -79,7 +79,7 @@
srcs = [
"superstructure_lib_test.cc",
],
- data = ["//y2018:config"],
+ data = ["//y2018:aos_config"],
shard_count = 5,
target_compatible_with = ["@platforms//os:linux"],
deps = [
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index c52d8db..285c8c3 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -313,7 +313,7 @@
protected:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2018/config.json"),
+ aos::configuration::ReadConfig("y2018/aos_config.json"),
::std::chrono::microseconds(5050)),
test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
diff --git a/y2018/control_loops/superstructure/superstructure_main.cc b/y2018/control_loops/superstructure/superstructure_main.cc
index 25a3448..108cbdf 100644
--- a/y2018/control_loops/superstructure/superstructure_main.cc
+++ b/y2018/control_loops/superstructure/superstructure_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2018::control_loops::superstructure::Superstructure superstructure(
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 3a5ed63..be7be1f 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -394,7 +394,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2018::input::joysticks::Reader reader(&event_loop);
diff --git a/y2018/vision/vision_status.cc b/y2018/vision/vision_status.cc
index ca11dd8..ef3fd5a 100644
--- a/y2018/vision/vision_status.cc
+++ b/y2018/vision/vision_status.cc
@@ -15,7 +15,7 @@
int Main() {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::events::RXUdpSocket video_rx(5001);
char data[65507];
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 4ee8031..1fd72e8 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -706,7 +706,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2019/BUILD b/y2019/BUILD
index 7d4e233..2fba6d6 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -5,7 +5,7 @@
robot_downloader(
data = [
- ":config",
+ ":aos_config",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
],
@@ -180,7 +180,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2019.json",
flatbuffers = [
":status_light_fbs",
@@ -195,10 +195,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
],
)
diff --git a/y2019/actors/autonomous_actor_main.cc b/y2019/actors/autonomous_actor_main.cc
index d04a806..229edd3 100644
--- a/y2019/actors/autonomous_actor_main.cc
+++ b/y2019/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2019::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index a78eab9..80e9fe6 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -151,7 +151,7 @@
cc_test(
name = "target_selector_test",
srcs = ["target_selector_test.cc"],
- data = ["//y2019:config"],
+ data = ["//y2019:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":target_selector",
@@ -212,7 +212,7 @@
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops/drivetrain:simulation_channels",
- "//y2019:config",
+ "//y2019:aos_config",
],
)
@@ -238,7 +238,7 @@
cc_binary(
name = "drivetrain_replay",
srcs = ["drivetrain_replay.cc"],
- data = ["//y2019:config"],
+ data = ["//y2019:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
index a45db0c..5e3185c 100644
--- a/y2019/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -12,7 +12,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2019::control_loops::drivetrain::EventLoopLocalizer localizer(
diff --git a/y2019/control_loops/drivetrain/drivetrain_replay.cc b/y2019/control_loops/drivetrain/drivetrain_replay.cc
index 97b4c2b..f00002a 100644
--- a/y2019/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_replay.cc
@@ -14,7 +14,7 @@
DEFINE_string(logfile, "/tmp/logfile.bfbs",
"Name of the logfile to read from.");
-DEFINE_string(config, "y2019/config.json",
+DEFINE_string(config, "y2019/aos_config.json",
"Name of the config file to replay using.");
DEFINE_string(output_file, "/tmp/replayed",
"Name of the logfile to write replayed data to.");
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index f33224b..b60085c 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -37,7 +37,7 @@
class TargetSelectorParamTest : public ::testing::TestWithParam<TestParams> {
public:
TargetSelectorParamTest()
- : configuration_(aos::configuration::ReadConfig("y2019/config.json")),
+ : configuration_(aos::configuration::ReadConfig("y2019/aos_config.json")),
event_loop_factory_(&configuration_.message()),
event_loop_(this->event_loop_factory_.MakeEventLoop("drivetrain")),
test_event_loop_(this->event_loop_factory_.MakeEventLoop("test")),
diff --git a/y2019/control_loops/drivetrain/trajectory_generator_main.cc b/y2019/control_loops/drivetrain/trajectory_generator_main.cc
index cc3d2bf..8f18222 100644
--- a/y2019/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2019/control_loops/drivetrain/trajectory_generator_main.cc
@@ -15,7 +15,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
TrajectoryGenerator generator(
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index 6052545..9504c9f 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -80,7 +80,7 @@
"superstructure_lib_test.cc",
],
data = [
- "//y2019:config",
+ "//y2019:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index d6b4f2d..4e51086 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -405,7 +405,7 @@
protected:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2019/config.json"),
+ aos::configuration::ReadConfig("y2019/aos_config.json"),
chrono::microseconds(5050)),
test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
diff --git a/y2019/control_loops/superstructure/superstructure_main.cc b/y2019/control_loops/superstructure/superstructure_main.cc
index c55ac4b..5dc1542 100644
--- a/y2019/control_loops/superstructure/superstructure_main.cc
+++ b/y2019/control_loops/superstructure/superstructure_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2019::control_loops::superstructure::Superstructure superstructure(
diff --git a/y2019/jevois/cobs.h b/y2019/jevois/cobs.h
index 979cc15..c429622 100644
--- a/y2019/jevois/cobs.h
+++ b/y2019/jevois/cobs.h
@@ -23,9 +23,8 @@
// output_buffer is where to store the result.
// Returns a span in output_buffer which has no 0 bytes.
template <size_t max_decoded_size>
-absl::Span<char> CobsEncode(
- absl::Span<const char> input,
- std::array<char, CobsMaxEncodedSize(max_decoded_size)> *output_buffer);
+absl::Span<char> CobsEncode(absl::Span<const char> input,
+ absl::Span<char> output_buffer);
// Decodes some COBS-encoded data.
// input is the data to decide. Its size may be at most
@@ -90,20 +89,19 @@
};
template <size_t max_decoded_size>
-absl::Span<char> CobsEncode(
- absl::Span<const char> input,
- std::array<char, CobsMaxEncodedSize(max_decoded_size)> *output_buffer) {
+absl::Span<char> CobsEncode(absl::Span<const char> input,
+ absl::Span<char> output_buffer) {
static_assert(max_decoded_size > 0, "Empty buffers not supported");
if (static_cast<size_t>(input.size()) > max_decoded_size) {
__builtin_trap();
}
auto input_pointer = input.begin();
- auto output_pointer = output_buffer->begin();
+ auto output_pointer = output_buffer.begin();
auto code_pointer = output_pointer;
++output_pointer;
uint8_t code = 1;
while (input_pointer < input.end()) {
- if (output_pointer >= output_buffer->end()) {
+ if (output_pointer >= output_buffer.end()) {
__builtin_trap();
}
if (*input_pointer == 0u) {
@@ -125,11 +123,11 @@
++input_pointer;
}
*code_pointer = code;
- if (output_pointer > output_buffer->end()) {
+ if (output_pointer > output_buffer.end()) {
__builtin_trap();
}
- return absl::Span<char>(*output_buffer)
- .subspan(0, output_pointer - output_buffer->begin());
+ return absl::Span<char>(output_buffer)
+ .subspan(0, output_pointer - output_buffer.begin());
}
template <size_t max_decoded_size>
diff --git a/y2019/jevois/cobs_test.cc b/y2019/jevois/cobs_test.cc
index fd312f0..fa4742f 100644
--- a/y2019/jevois/cobs_test.cc
+++ b/y2019/jevois/cobs_test.cc
@@ -32,8 +32,8 @@
template <size_t max_decoded_size>
void EncodeAndDecode(const absl::Span<const char> decoded_input) {
std::array<char, CobsMaxEncodedSize(max_decoded_size)> encoded_buffer;
- const auto encoded =
- CobsEncode<max_decoded_size>(decoded_input, &encoded_buffer);
+ const auto encoded = CobsEncode<max_decoded_size>(
+ decoded_input, absl::Span<char>(encoded_buffer));
ASSERT_LE(encoded.size(), encoded_buffer.size());
ASSERT_EQ(encoded.data(), &encoded_buffer.front());
diff --git a/y2019/jevois/serial.cc b/y2019/jevois/serial.cc
index 5febbb4..cd0bb99 100644
--- a/y2019/jevois/serial.cc
+++ b/y2019/jevois/serial.cc
@@ -1,13 +1,13 @@
#include "y2019/jevois/serial.h"
-#include "aos/logging/logging.h"
-
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <termios.h>
#include <unistd.h>
+#include "aos/logging/logging.h"
+
namespace y2019 {
namespace jevois {
@@ -33,7 +33,7 @@
| IGNCR // ignore CR
| ICRNL // translate CR to newline on input
| IXON // disable XON/XOFF flow control on output
- );
+ );
// disable implementation-defined output processing
options.c_oflag &= ~OPOST;
@@ -42,7 +42,7 @@
| ICANON // disable cannonical mode
| ISIG // do not signal for INTR, QUIT, SUSP etc
| IEXTEN // disable platform dependent i/p processing
- );
+ );
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
diff --git a/y2019/jevois/serial.h b/y2019/jevois/serial.h
index 9dd4b0c..14e2f98 100644
--- a/y2019/jevois/serial.h
+++ b/y2019/jevois/serial.h
@@ -7,6 +7,6 @@
int open_via_terminos(const char *tty_name);
} // namespace jevois
-} // namespace frc971
+} // namespace y2019
#endif // Y2019_JEVOIS_SERIAL_H_
diff --git a/y2019/jevois/uart.cc b/y2019/jevois/uart.cc
index 2857bd6..9cded62 100644
--- a/y2019/jevois/uart.cc
+++ b/y2019/jevois/uart.cc
@@ -49,8 +49,9 @@
}
AOS_CHECK(remaining_space.empty());
UartToTeensyBuffer result;
- result.set_size(
- CobsEncode<uart_to_teensy_size()>(buffer, result.mutable_backing_array())
+ result.resize(result.capacity());
+ result.resize(
+ CobsEncode<uart_to_teensy_size()>(buffer, absl::Span<char>(result))
.size());
return result;
}
@@ -137,8 +138,9 @@
}
AOS_CHECK(remaining_space.empty());
UartToCameraBuffer result;
- result.set_size(
- CobsEncode<uart_to_camera_size()>(buffer, result.mutable_backing_array())
+ result.resize(result.capacity());
+ result.resize(
+ CobsEncode<uart_to_camera_size()>(buffer, absl::Span<char>(result))
.size());
return result;
}
diff --git a/y2019/jevois/uart_test.cc b/y2019/jevois/uart_test.cc
index ff02f08..5a3a330 100644
--- a/y2019/jevois/uart_test.cc
+++ b/y2019/jevois/uart_test.cc
@@ -88,7 +88,7 @@
}
{
UartToTeensyBuffer buffer = UartPackToTeensy(input_message);
- buffer.set_size(buffer.size() - 1);
+ buffer.resize(buffer.size() - 1);
EXPECT_FALSE(UartUnpackToTeensy(buffer));
}
{
@@ -113,7 +113,7 @@
}
{
UartToCameraBuffer buffer = UartPackToCamera(input_message);
- buffer.set_size(buffer.size() - 1);
+ buffer.resize(buffer.size() - 1);
EXPECT_FALSE(UartUnpackToCamera(buffer));
}
{
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 51aeffb..ed55dfc 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -678,7 +678,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2019::input::joysticks::Reader reader(&event_loop);
diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
index 6d436e9..817da17 100644
--- a/y2019/vision/server/server.cc
+++ b/y2019/vision/server/server.cc
@@ -135,7 +135,7 @@
void DataThread(seasocks::Server *server, WebsocketHandler *websocket_handler) {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
@@ -300,13 +300,13 @@
bool serve_www = false;
{
struct stat result;
- if (stat("/home/admin/robot_code/www", &result) == 0) {
+ if (stat("/home/admin/bin/www", &result) == 0) {
serve_www = true;
}
}
server.serve(
- serve_www ? "/home/admin/robot_code/www" : "y2019/vision/server/www",
+ serve_www ? "/home/admin/bin/www" : "y2019/vision/server/www",
1180);
return 0;
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 4aa4b54..650693c 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -1,5 +1,3 @@
-#include "y2019/vision/target_finder.h"
-
#include <condition_variable>
#include <fstream>
#include <mutex>
@@ -16,19 +14,20 @@
#include "y2019/jevois/structures.h"
#include "y2019/jevois/uart.h"
#include "y2019/vision/image_writer.h"
+#include "y2019/vision/target_finder.h"
// This has to be last to preserve compatibility with other headers using AOS
// logging.
#include "glog/logging.h"
+using ::aos::monotonic_clock;
using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
-using ::aos::monotonic_clock;
-using ::y2019::jevois::open_via_terminos;
using aos::vision::Segment;
+using ::y2019::jevois::open_via_terminos;
class CameraStream : public ::y2019::camera::ImageStreamEvent {
public:
@@ -41,8 +40,9 @@
if (on_frame_) on_frame_(data, monotonic_now);
}
- void set_on_frame(const std::function<
- void(DataRef, monotonic_clock::time_point)> &on_frame) {
+ void set_on_frame(
+ const std::function<void(DataRef, monotonic_clock::time_point)>
+ &on_frame) {
on_frame_ = on_frame;
}
@@ -67,12 +67,12 @@
exit(-1);
}
+using aos::vision::ImageFormat;
using aos::vision::ImageRange;
using aos::vision::RangeImage;
-using aos::vision::ImageFormat;
-using y2019::vision::TargetFinder;
using y2019::vision::IntermediateResult;
using y2019::vision::Target;
+using y2019::vision::TargetFinder;
class TargetProcessPool {
public:
@@ -271,7 +271,7 @@
frc971::jevois::CameraFrame frame{};
- for (size_t i = 0; i < results.size() && i < frame.targets.max_size();
+ for (size_t i = 0; i < results.size() && i < frame.targets.capacity();
++i) {
const auto &result = results[i].extrinsics;
frame.targets.push_back(frc971::jevois::Target{
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index f37b86c..09d2225 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -744,7 +744,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2020/BUILD b/y2020/BUILD
index 1e0e4d8..918ff79 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -9,7 +9,7 @@
"//aos/network:web_proxy_main",
],
data = [
- ":config",
+ ":aos_config",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
],
@@ -39,7 +39,7 @@
"//y2020/vision:viewer",
],
data = [
- ":config",
+ ":aos_config",
],
dirs = [
"//y2020/www:www_files",
@@ -152,7 +152,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2020.json",
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
@@ -192,9 +192,9 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
for pi in [
@@ -221,9 +221,9 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
@@ -247,11 +247,11 @@
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//aos/events:config",
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
+ "//aos/events:aos_config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
],
)
@@ -266,7 +266,7 @@
name = "log_web_proxy",
srcs = ["log_web_proxy.sh"],
data = [
- ":config",
+ ":aos_config",
"//aos/network:log_web_proxy_main",
"//y2020/www:camera_main_bundle.min.js",
"//y2020/www:field_main_bundle.min.js",
@@ -279,7 +279,7 @@
name = "web_proxy",
srcs = ["web_proxy.sh"],
data = [
- ":config",
+ ":aos_config",
"//aos/network:web_proxy_main",
"//y2020/www:camera_main_bundle.min.js",
"//y2020/www:field_main_bundle.min.js",
diff --git a/y2020/actors/auto_splines.cc b/y2020/actors/auto_splines.cc
index 0ed59e2..3ad292d 100644
--- a/y2020/actors/auto_splines.cc
+++ b/y2020/actors/auto_splines.cc
@@ -5,8 +5,8 @@
namespace y2020 {
namespace actors {
-constexpr double kFieldLength = 15.983;
-constexpr double kFieldWidth = 8.212;
+constexpr double kFieldLength = 16.4592;
+constexpr double kFieldWidth = 8.2296;
void MaybeFlipSpline(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
diff --git a/y2020/actors/autonomous_actor_main.cc b/y2020/actors/autonomous_actor_main.cc
index 72384d5..f866064 100644
--- a/y2020/actors/autonomous_actor_main.cc
+++ b/y2020/actors/autonomous_actor_main.cc
@@ -9,7 +9,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2020::constants::InitValues();
diff --git a/y2020/actors/shooter_tuning_actor.cc b/y2020/actors/shooter_tuning_actor.cc
index d18c518..06e78b9 100644
--- a/y2020/actors/shooter_tuning_actor.cc
+++ b/y2020/actors/shooter_tuning_actor.cc
@@ -178,7 +178,7 @@
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
aos::ShmEventLoop event_loop(&config.message());
y2020::constants::InitValues();
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 56ac3a9..f4915da 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -145,7 +145,7 @@
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops/drivetrain:simulation_channels",
- "//y2020:config",
+ "//y2020:aos_config",
],
)
@@ -172,7 +172,7 @@
name = "drivetrain_replay_test",
srcs = ["drivetrain_replay_test.cc"],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
"@drivetrain_replay",
],
target_compatible_with = ["@platforms//os:linux"],
@@ -195,7 +195,7 @@
cc_binary(
name = "drivetrain_replay",
srcs = ["drivetrain_replay.cc"],
- data = ["//y2020:config"],
+ data = ["//y2020:aos_config"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index 24c876f..cd8df4d 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -12,7 +12,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
std::unique_ptr<::y2020::control_loops::drivetrain::Localizer> localizer =
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 40b50ed..d2f2880 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -19,7 +19,7 @@
#include "y2020/control_loops/drivetrain/localizer.h"
#include "y2020/control_loops/superstructure/superstructure.h"
-DEFINE_string(config, "y2020/config.json",
+DEFINE_string(config, "y2020/aos_config.json",
"Name of the config file to replay using.");
DEFINE_string(output_folder, "/tmp/replayed",
"Name of the folder to write replayed logs to.");
diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 297cf5b..08622cb 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -26,7 +26,7 @@
logfile,
"external/drivetrain_replay/",
"Name of the logfile to read from.");
-DEFINE_string(config, "y2020/config.json",
+DEFINE_string(config, "y2020/aos_config.json",
"Name of the config file to replay using.");
namespace y2020 {
diff --git a/y2020/control_loops/drivetrain/trajectory_generator_main.cc b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
index adfa492..152822e 100644
--- a/y2020/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2020/control_loops/drivetrain/trajectory_generator_main.cc
@@ -15,7 +15,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
TrajectoryGenerator generator(
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index abf24fc..9fa5969 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -108,7 +108,7 @@
"superstructure_lib_test.cc",
],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
"@superstructure_replay",
],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 474c8a4..f2127f5 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -39,7 +39,6 @@
ballsShotPlot.plot.setDefaultYRange([0.0, 20.0]);
ballsShotPlot.addMessageLine(status, ['shooter', 'balls_shot']).setColor(BLUE).setPointSize(0.0);
-
const voltagePlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
@@ -51,7 +50,6 @@
voltagePlot.addMessageLine(status, ['shooter', 'finisher', 'voltage_error']).setColor(RED).setPointSize(0.0);
voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(0.0);
-
const currentPlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentPlot.plot.getAxisLabels().setTitle('Current');
diff --git a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
index 68bb243..e919aae 100644
--- a/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter_tuning_params_setter.cc
@@ -34,7 +34,7 @@
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
aos::ShmEventLoop event_loop(&config.message());
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index f70f107..b7d57b4 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -225,9 +225,8 @@
subsystems_not_ready.push_back(Subsystem::TURRET);
}
- subsystems_not_ready_offset =
- status->fbb()->CreateVector(subsystems_not_ready.backing_array().data(),
- subsystems_not_ready.size());
+ subsystems_not_ready_offset = status->fbb()->CreateVector(
+ subsystems_not_ready.data(), subsystems_not_ready.size());
}
Status::Builder status_builder = status->MakeBuilder<Status>();
diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index e41c421..1bbf42b 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -23,7 +23,7 @@
"If set, logs all channels to the provided logfile.");
DEFINE_string(replay_logfile, "external/superstructure_replay/",
"Name of the logfile to read from and replay.");
-DEFINE_string(config, "y2020/config.json",
+DEFINE_string(config, "y2020/aos_config.json",
"Name of the config file to replay using.");
namespace y2020 {
@@ -445,7 +445,7 @@
protected:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2020/config.json"),
+ aos::configuration::ReadConfig("y2020/aos_config.json"),
chrono::microseconds(5050)),
roborio_(aos::configuration::GetNode(configuration(), "roborio")),
test_event_loop_(MakeEventLoop("test", roborio_)),
diff --git a/y2020/control_loops/superstructure/superstructure_main.cc b/y2020/control_loops/superstructure/superstructure_main.cc
index a10237d..88dddf1 100644
--- a/y2020/control_loops/superstructure/superstructure_main.cc
+++ b/y2020/control_loops/superstructure/superstructure_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2020::constants::InitValues();
diff --git a/y2020/control_loops/superstructure/turret/BUILD b/y2020/control_loops/superstructure/turret/BUILD
index 3761868..703c01e 100644
--- a/y2020/control_loops/superstructure/turret/BUILD
+++ b/y2020/control_loops/superstructure/turret/BUILD
@@ -43,6 +43,7 @@
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:pose",
"//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/control_loops/aiming",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2020:constants",
"//y2020/control_loops/drivetrain:drivetrain_base",
diff --git a/y2020/control_loops/superstructure/turret/aiming.cc b/y2020/control_loops/superstructure/turret/aiming.cc
index c8f8f6e..4976efa 100644
--- a/y2020/control_loops/superstructure/turret/aiming.cc
+++ b/y2020/control_loops/superstructure/turret/aiming.cc
@@ -9,6 +9,9 @@
namespace turret {
using frc971::control_loops::Pose;
+using frc971::control_loops::aiming::TurretGoal;
+using frc971::control_loops::aiming::ShotConfig;
+using frc971::control_loops::aiming::RobotState;
// Shooting-on-the-fly concept:
// The current way that we manage shooting-on-the fly endeavors to be reasonably
@@ -104,22 +107,6 @@
fbb.Finish(builder.Finish());
return fbb.Release();
}
-
-// This implements the iteration in the described shooting-on-the-fly algorithm.
-// robot_pose: Current robot pose.
-// robot_velocity: Current robot velocity, in the absolute field frame.
-// target_pose: Absolute goal Pose.
-// current_virtual_pose: Current estimate of where we want to shoot at.
-Pose IterateVirtualGoal(const Pose &robot_pose,
- const Eigen::Vector3d &robot_velocity,
- const Pose &target_pose,
- const Pose ¤t_virtual_pose) {
- const double air_time =
- current_virtual_pose.Rebase(&robot_pose).xy_norm() / kBallSpeedOverGround;
- const Eigen::Vector3d virtual_target =
- target_pose.abs_pos() - air_time * robot_velocity;
- return Pose(virtual_target, target_pose.abs_theta());
-}
} // namespace
Pose InnerPortPose(aos::Alliance alliance) {
@@ -176,83 +163,25 @@
aiming_for_inner_port_ =
(std::abs(inner_port_angle_) < max_inner_port_angle) &&
(inner_port_distance > min_inner_port_distance);
+ const Pose goal = aiming_for_inner_port_ ? inner_port : outer_port;
- // This code manages compensating the goal turret heading for the robot's
- // current velocity, to allow for shooting on-the-fly.
- // This works by solving for the correct turret angle numerically, since while
- // we technically could do it analytically, doing so would both make it hard
- // to make small changes (since it would force us to redo the math) and be
- // error-prone since it'd be easy to make typos or other minor math errors.
- Pose virtual_goal;
- {
- const Pose goal = aiming_for_inner_port_ ? inner_port : outer_port;
- target_distance_ = goal.Rebase(&robot_pose).xy_norm();
- virtual_goal = goal;
- if (shot_mode == ShotMode::kShootOnTheFly) {
- for (int ii = 0; ii < 3; ++ii) {
- virtual_goal =
- IterateVirtualGoal(robot_pose, {xdot, ydot, 0}, goal, virtual_goal);
- }
- VLOG(1) << "Shooting-on-the-fly target position: "
- << virtual_goal.abs_pos().transpose();
- }
- virtual_goal = virtual_goal.Rebase(&robot_pose);
- }
+ const struct TurretGoal turret_goal =
+ frc971::control_loops::aiming::AimerGoal(
+ ShotConfig{goal, shot_mode, constants::Values::kTurretRange(),
+ kBallSpeedOverGround,
+ wrap_mode == WrapMode::kAvoidEdges ? kAntiWrapBuffer : 0.0,
+ kTurretZeroOffset},
+ RobotState{robot_pose,
+ {xdot, ydot},
+ linear_angular(1),
+ goal_.message().unsafe_goal()});
- const double heading_to_goal = virtual_goal.heading();
- CHECK(status->has_localizer());
- shot_distance_ = virtual_goal.xy_norm();
+ target_distance_ = turret_goal.target_distance;
+ shot_distance_ = turret_goal.virtual_shot_distance;
- // The following code all works to calculate what the rate of turn of the
- // turret should be. The code only accounts for the rate of turn if we are
- // aiming at a static target, which should be close enough to correct that it
- // doesn't matter that it fails to account for the
- // shooting-on-the-fly compensation.
- const double rel_x = virtual_goal.rel_pos().x();
- const double rel_y = virtual_goal.rel_pos().y();
- const double squared_norm = rel_x * rel_x + rel_y * rel_y;
- // rel_xdot and rel_ydot are the derivatives (with respect to time) of rel_x
- // and rel_y. Since these are in the robot's coordinate frame, and since we
- // are ignoring lateral velocity for this exercise, rel_ydot is zero, and
- // rel_xdot is just the inverse of the robot's velocity.
- const double rel_xdot = -linear_angular(0);
- const double rel_ydot = 0.0;
-
- // If squared_norm gets to be too close to zero, just zero out the relevant
- // term to prevent NaNs. Note that this doesn't address the chattering that
- // would likely occur if we were to get excessively close to the target.
- // Note that x and y terms are swapped relative to what you would normally see
- // in the derivative of atan because xdot and ydot are the derivatives of
- // robot_pos and we are working with the atan of (target_pos - robot_pos).
- const double atan_diff =
- (squared_norm < 1e-3) ? 0.0 : (rel_x * rel_ydot - rel_y * rel_xdot) /
- squared_norm;
- // heading = atan2(relative_y, relative_x) - robot_theta
- // dheading / dt =
- // (rel_x * rel_y' - rel_y * rel_x') / (rel_x^2 + rel_y^2) - dtheta / dt
- const double dheading_dt = atan_diff - linear_angular(1);
-
- double range = kTurretRange;
- if (wrap_mode == WrapMode::kAvoidEdges) {
- range -= 2.0 * kAntiWrapBuffer;
- }
- // Calculate a goal turret heading such that it is within +/- pi of the
- // current position (i.e., a goal that would minimize the amount the turret
- // would have to travel).
- // We then check if this goal would bring us out of range of the valid angles,
- // and if it would, we reset to be within +/- pi of zero.
- double turret_heading =
- goal_.message().unsafe_goal() +
- aos::math::NormalizeAngle(heading_to_goal - kTurretZeroOffset -
- goal_.message().unsafe_goal());
- if (std::abs(turret_heading - constants::Values::kTurretRange().middle()) >
- range / 2.0) {
- turret_heading = aos::math::NormalizeAngle(turret_heading);
- }
-
- goal_.mutable_message()->mutate_unsafe_goal(turret_heading);
+ goal_.mutable_message()->mutate_unsafe_goal(turret_goal.position);
goal_.mutable_message()->mutate_goal_velocity(
- std::clamp(dheading_dt, -2.0, 2.0));
+ std::clamp(turret_goal.velocity, -2.0, 2.0));
}
flatbuffers::Offset<AimerStatus> Aimer::PopulateStatus(
diff --git a/y2020/control_loops/superstructure/turret/aiming.h b/y2020/control_loops/superstructure/turret/aiming.h
index ed00972..217085c 100644
--- a/y2020/control_loops/superstructure/turret/aiming.h
+++ b/y2020/control_loops/superstructure/turret/aiming.h
@@ -6,6 +6,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/input/joystick_state_generated.h"
+#include "frc971/control_loops/aiming/aiming.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
namespace y2020 {
@@ -39,14 +40,7 @@
kAvoidWrapping,
};
- // Control modes for managing how we manage shooting on the fly.
- enum class ShotMode {
- // Don't do any shooting-on-the-fly compensation--just point straight at the
- // target. Primarily used in tests.
- kStatic,
- // Do do shooting-on-the-fly compensation.
- kShootOnTheFly,
- };
+ typedef frc971::control_loops::aiming::ShotMode ShotMode;
Aimer();
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index b610b64..951c5a7 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -340,7 +340,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2020::input::joysticks::Reader reader(&event_loop);
diff --git a/y2020/setpoint_setter.cc b/y2020/setpoint_setter.cc
index e04fe41..0ca67e7 100644
--- a/y2020/setpoint_setter.cc
+++ b/y2020/setpoint_setter.cc
@@ -13,7 +13,7 @@
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
aos::ShmEventLoop event_loop(&config.message());
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index 75ef7aa..1fd48cf 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -31,7 +31,7 @@
"camera_reader.h",
],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"] + ["//y2022:__subpackages__"],
@@ -55,7 +55,7 @@
"viewer.cc",
],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
@@ -69,41 +69,13 @@
],
)
-cc_library(
- name = "charuco_lib",
- srcs = [
- "charuco_lib.cc",
- ],
- hdrs = [
- "charuco_lib.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
- deps = [
- "//aos:flatbuffers",
- "//aos/events:event_loop",
- "//aos/network:message_bridge_server_fbs",
- "//aos/network:team_number",
- "//frc971/control_loops:quaternion_utils",
- "//frc971/vision:vision_fbs",
- "//third_party:opencv",
- "//y2020/vision/sift:sift_fbs",
- "//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision/tools/python_code:sift_training_data",
- "@com_github_google_glog//:glog",
- "@com_google_absl//absl/strings:str_format",
- "@com_google_absl//absl/types:span",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
cc_binary(
name = "calibration",
srcs = [
"calibration.cc",
],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = [
@@ -111,10 +83,10 @@
"//y2022:__subpackages__",
],
deps = [
- ":charuco_lib",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:charuco_lib",
"//frc971/vision:vision_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
@@ -133,7 +105,7 @@
"viewer_replay.cc",
],
data = [
- "//y2020:config",
+ "//y2020:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
@@ -149,27 +121,15 @@
cc_binary(
name = "extrinsics_calibration",
srcs = [
- "calibration_accumulator.cc",
- "calibration_accumulator.h",
"extrinsics_calibration.cc",
],
- data = [
- "//y2020:config",
- ],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":charuco_lib",
"//aos:init",
- "//aos/events:shm_event_loop",
"//aos/events/logging:log_reader",
- "//frc971/analysis:in_process_plotter",
- "//frc971/control_loops/drivetrain:improved_down_estimator",
- "//frc971/wpilib:imu_batch_fbs",
- "//frc971/wpilib:imu_fbs",
- "//third_party:opencv",
- "@com_google_absl//absl/strings:str_format",
- "@com_google_ceres_solver//:ceres",
- "@org_tuxfamily_eigen//:eigen",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/vision:extrinsics_calibration",
+ "//y2020/control_loops/superstructure:superstructure_status_fbs",
],
)
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
index 9293d50..3f08be9 100644
--- a/y2020/vision/calibration.cc
+++ b/y2020/vision/calibration.cc
@@ -12,11 +12,11 @@
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#include "aos/util/file.h"
-#include "y2020/vision/charuco_lib.h"
+#include "frc971/vision/charuco_lib.h"
DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
DEFINE_string(camera_id, "", "Camera ID in format YY-NN-- year and number.");
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
DEFINE_string(pi, "", "Pi name to calibrate.");
@@ -32,8 +32,8 @@
pi_(pi),
pi_number_(aos::network::ParsePiNumber(pi)),
camera_id_(camera_id),
- H_camera_board_(Eigen::Affine3d()),
prev_H_camera_board_(Eigen::Affine3d()),
+ prev_image_H_camera_board_(Eigen::Affine3d()),
charuco_extractor_(
event_loop, pi,
[this](cv::Mat rgb_image,
@@ -73,12 +73,12 @@
}
// Calibration calculates rotation and translation delta from last image
- // captured to automatically capture next image
+ // stored to automatically capture next image
Eigen::Affine3d H_board_camera =
Eigen::Translation3d(tvec_eigen) *
Eigen::AngleAxisd(rvec_eigen.norm(), rvec_eigen / rvec_eigen.norm());
- H_camera_board_ = H_board_camera.inverse();
+ Eigen::Affine3d H_camera_board_ = H_board_camera.inverse();
Eigen::Affine3d H_delta = H_board_camera * prev_H_camera_board_;
Eigen::AngleAxisd delta_r = Eigen::AngleAxisd(H_delta.rotation());
@@ -88,8 +88,30 @@
double r_norm = std::abs(delta_r.angle());
double t_norm = delta_t.norm();
- int keystroke = cv::waitKey(1);
+ bool store_image = false;
+ // Verify that camera has moved enough from last stored image
if (r_norm > kDeltaRThreshold || t_norm > kDeltaTThreshold) {
+ // frame_ refers to deltas between current and last captured image
+ Eigen::Affine3d frame_H_delta =
+ H_board_camera * prev_image_H_camera_board_;
+
+ Eigen::AngleAxisd frame_delta_r =
+ Eigen::AngleAxisd(frame_H_delta.rotation());
+
+ Eigen::Vector3d frame_delta_t = frame_H_delta.translation();
+
+ double frame_r_norm = std::abs(frame_delta_r.angle());
+ double frame_t_norm = frame_delta_t.norm();
+
+ // Make sure camera has stopped moving before storing image
+ store_image =
+ frame_r_norm < kFrameDeltaRLimit && frame_t_norm < kFrameDeltaTLimit;
+ }
+
+ prev_image_H_camera_board_ = H_camera_board_;
+
+ int keystroke = cv::waitKey(1);
+ if (store_image) {
if (valid) {
prev_H_camera_board_ = H_camera_board_;
@@ -101,7 +123,7 @@
<< kDeltaRThreshold;
}
if (t_norm > kDeltaTThreshold) {
- LOG(INFO) << "Trigerred by translation delta = " << t_norm << " > "
+ LOG(INFO) << "Triggered by translation delta = " << t_norm << " > "
<< kDeltaTThreshold;
}
@@ -199,6 +221,9 @@
static constexpr double kDeltaRThreshold = M_PI / 6.0;
static constexpr double kDeltaTThreshold = 0.3;
+ static constexpr double kFrameDeltaRLimit = M_PI / 60;
+ static constexpr double kFrameDeltaTLimit = 0.01;
+
aos::ShmEventLoop *event_loop_;
std::string pi_;
const std::optional<uint16_t> pi_number_;
@@ -209,6 +234,7 @@
Eigen::Affine3d H_camera_board_;
Eigen::Affine3d prev_H_camera_board_;
+ Eigen::Affine3d prev_image_H_camera_board_;
CharucoExtractor charuco_extractor_;
};
diff --git a/y2020/vision/camera_reader_main.cc b/y2020/vision/camera_reader_main.cc
index c7fec43..b54cf4e 100644
--- a/y2020/vision/camera_reader_main.cc
+++ b/y2020/vision/camera_reader_main.cc
@@ -3,9 +3,9 @@
#include "y2020/vision/camera_reader.h"
// config used to allow running camera_reader independently. E.g.,
-// bazel run //y2020/vision:camera_reader -- --config y2020/config.json
+// bazel run //y2020/vision:camera_reader -- --config y2020/aos_config.json
// --override_hostname pi-7971-1 --ignore_timestamps true
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
namespace frc971 {
namespace vision {
namespace {
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index f2ac926..c561652 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -1,28 +1,24 @@
+#include "frc971/vision/extrinsics_calibration.h"
+
#include "Eigen/Dense"
#include "Eigen/Geometry"
-
#include "absl/strings/str_format.h"
#include "aos/events/logging/log_reader.h"
-#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#include "aos/util/file.h"
-#include "ceres/ceres.h"
-#include "frc971/analysis/in_process_plotter.h"
-#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/vision_generated.h"
#include "frc971/wpilib/imu_batch_generated.h"
-#include "y2020/vision/calibration_accumulator.h"
-#include "y2020/vision/charuco_lib.h"
+#include "y2020/control_loops/superstructure/superstructure_status_generated.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
DEFINE_bool(plot, false, "Whether to plot the resulting data.");
+DEFINE_bool(turret, false, "If true, the camera is on the turret");
namespace frc971 {
namespace vision {
@@ -30,529 +26,6 @@
using aos::distributed_clock;
using aos::monotonic_clock;
-constexpr double kGravity = 9.8;
-
-// The basic ideas here are taken from Kalibr.
-// (https://github.com/ethz-asl/kalibr), but adapted to work with AOS, and to be
-// simpler.
-//
-// Camera readings and IMU readings come in at different times, on different
-// time scales. Our first problem is to align them in time so we can actually
-// compute an error. This is done in the calibration accumulator code. The
-// kalibr paper uses splines, while this uses kalman filters to solve the same
-// interpolation problem so we can get the expected vs actual pose at the time
-// each image arrives.
-//
-// The cost function is then fed the computed angular and positional error for
-// each camera sample before the kalman filter update. Intuitively, the smaller
-// the corrections to the kalman filter each step, the better the estimate
-// should be.
-//
-// We don't actually implement the angular kalman filter because the IMU is so
-// good. We give the solver an initial position and bias, and let it solve from
-// there. This lets us represent drift that is linear in time, which should be
-// good enough for ~1 minute calibration.
-//
-// TODO(austin): Kalman smoother ala
-// https://stanford.edu/~boyd/papers/pdf/auto_ks.pdf should allow for better
-// parallelism, and since we aren't causal, will take that into account a lot
-// better.
-
-// This class takes the initial parameters and biases, and computes the error
-// between the measured and expected camera readings. When optimized, this
-// gives us a cost function to minimize.
-template <typename Scalar>
-class CeresPoseFilter : public CalibrationDataObserver {
- public:
- typedef Eigen::Transform<Scalar, 3, Eigen::Affine> Affine3s;
-
- CeresPoseFilter(Eigen::Quaternion<Scalar> initial_orientation,
- Eigen::Quaternion<Scalar> imu_to_camera,
- Eigen::Matrix<Scalar, 3, 1> gyro_bias,
- Eigen::Matrix<Scalar, 6, 1> initial_state,
- Eigen::Quaternion<Scalar> board_to_world,
- Eigen::Matrix<Scalar, 3, 1> imu_to_camera_translation,
- Scalar gravity_scalar,
- Eigen::Matrix<Scalar, 3, 1> accelerometer_bias)
- : accel_(Eigen::Matrix<double, 3, 1>::Zero()),
- omega_(Eigen::Matrix<double, 3, 1>::Zero()),
- imu_bias_(gyro_bias),
- orientation_(initial_orientation),
- x_hat_(initial_state),
- p_(Eigen::Matrix<Scalar, 6, 6>::Zero()),
- imu_to_camera_rotation_(imu_to_camera),
- imu_to_camera_translation_(imu_to_camera_translation),
- board_to_world_(board_to_world),
- gravity_scalar_(gravity_scalar),
- accelerometer_bias_(accelerometer_bias) {}
-
- Scalar gravity_scalar() { return gravity_scalar_; }
-
- virtual void ObserveCameraUpdate(
- distributed_clock::time_point /*t*/,
- Eigen::Vector3d /*board_to_camera_rotation*/,
- Eigen::Quaternion<Scalar> /*imu_to_world_rotation*/,
- Affine3s /*imu_to_world*/) {}
-
- // Observes a camera measurement by applying a kalman filter correction and
- // accumulating up the error associated with the step.
- void UpdateCamera(distributed_clock::time_point t,
- std::pair<Eigen::Vector3d, Eigen::Vector3d> rt) override {
- Integrate(t);
-
- const Eigen::Quaternion<Scalar> board_to_camera_rotation(
- frc971::controls::ToQuaternionFromRotationVector(rt.first)
- .cast<Scalar>());
- const Affine3s board_to_camera =
- Eigen::Translation3d(rt.second).cast<Scalar>() *
- board_to_camera_rotation;
-
- const Affine3s imu_to_camera =
- imu_to_camera_translation_ * imu_to_camera_rotation_;
-
- // This converts us from (facing the board),
- // x right, y up, z towards us -> x right, y away, z up.
- // Confirmed to be right.
-
- // Want world -> imu rotation.
- // world <- board <- camera <- imu.
- const Eigen::Quaternion<Scalar> imu_to_world_rotation =
- board_to_world_ * board_to_camera_rotation.inverse() *
- imu_to_camera_rotation_;
-
- const Affine3s imu_to_world =
- board_to_world_ * board_to_camera.inverse() * imu_to_camera;
-
- const Eigen::Matrix<Scalar, 3, 1> z =
- imu_to_world * Eigen::Matrix<Scalar, 3, 1>::Zero();
-
- Eigen::Matrix<Scalar, 3, 6> H = Eigen::Matrix<Scalar, 3, 6>::Zero();
- H(0, 0) = static_cast<Scalar>(1.0);
- H(1, 1) = static_cast<Scalar>(1.0);
- H(2, 2) = static_cast<Scalar>(1.0);
- const Eigen::Matrix<Scalar, 3, 1> y = z - H * x_hat_;
-
- const Eigen::Matrix<double, 3, 3> R =
- (::Eigen::DiagonalMatrix<double, 3>().diagonal() << ::std::pow(0.01, 2),
- ::std::pow(0.01, 2), ::std::pow(0.01, 2))
- .finished()
- .asDiagonal();
-
- const Eigen::Matrix<Scalar, 3, 3> S =
- H * p_ * H.transpose() + R.cast<Scalar>();
- const Eigen::Matrix<Scalar, 6, 3> K = p_ * H.transpose() * S.inverse();
-
- x_hat_ += K * y;
- p_ = (Eigen::Matrix<Scalar, 6, 6>::Identity() - K * H) * p_;
-
- const Eigen::Quaternion<Scalar> error(imu_to_world_rotation.inverse() *
- orientation());
-
- errors_.emplace_back(
- Eigen::Matrix<Scalar, 3, 1>(error.x(), error.y(), error.z()));
- position_errors_.emplace_back(y);
-
- ObserveCameraUpdate(t, rt.first, imu_to_world_rotation, imu_to_world);
- }
-
- virtual void ObserveIMUUpdate(
- distributed_clock::time_point /*t*/,
- std::pair<Eigen::Vector3d, Eigen::Vector3d> /*wa*/) {}
-
- void UpdateIMU(distributed_clock::time_point t,
- std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) override {
- Integrate(t);
- omega_ = wa.first;
- accel_ = wa.second;
-
- ObserveIMUUpdate(t, wa);
- }
-
- const Eigen::Quaternion<Scalar> &orientation() const { return orientation_; }
-
- size_t num_errors() const { return errors_.size(); }
- Scalar errorx(size_t i) const { return errors_[i].x(); }
- Scalar errory(size_t i) const { return errors_[i].y(); }
- Scalar errorz(size_t i) const { return errors_[i].z(); }
-
- size_t num_perrors() const { return position_errors_.size(); }
- Scalar errorpx(size_t i) const { return position_errors_[i].x(); }
- Scalar errorpy(size_t i) const { return position_errors_[i].y(); }
- Scalar errorpz(size_t i) const { return position_errors_[i].z(); }
-
- private:
- Eigen::Matrix<Scalar, 46, 1> Pack(Eigen::Quaternion<Scalar> q,
- Eigen::Matrix<Scalar, 6, 1> x_hat,
- Eigen::Matrix<Scalar, 6, 6> p) {
- Eigen::Matrix<Scalar, 46, 1> result = Eigen::Matrix<Scalar, 46, 1>::Zero();
- result.template block<4, 1>(0, 0) = q.coeffs();
- result.template block<6, 1>(4, 0) = x_hat;
- result.template block<36, 1>(10, 0) =
- Eigen::Map<Eigen::Matrix<Scalar, 36, 1>>(p.data(), p.size());
-
- return result;
- }
-
- std::tuple<Eigen::Quaternion<Scalar>, Eigen::Matrix<Scalar, 6, 1>,
- Eigen::Matrix<Scalar, 6, 6>>
- UnPack(Eigen::Matrix<Scalar, 46, 1> input) {
- Eigen::Quaternion<Scalar> q(input.template block<4, 1>(0, 0));
- Eigen::Matrix<Scalar, 6, 1> x_hat(input.template block<6, 1>(4, 0));
- Eigen::Matrix<Scalar, 6, 6> p =
- Eigen::Map<Eigen::Matrix<Scalar, 6, 6>>(input.data() + 10, 6, 6);
- return std::make_tuple(q, x_hat, p);
- }
-
- Eigen::Matrix<Scalar, 46, 1> Derivative(
- const Eigen::Matrix<Scalar, 46, 1> &input) {
- auto [q, x_hat, p] = UnPack(input);
-
- Eigen::Quaternion<Scalar> omega_q;
- omega_q.w() = Scalar(0.0);
- omega_q.vec() = 0.5 * (omega_.cast<Scalar>() - imu_bias_);
- Eigen::Matrix<Scalar, 4, 1> q_dot = (q * omega_q).coeffs();
-
- Eigen::Matrix<double, 6, 6> A = Eigen::Matrix<double, 6, 6>::Zero();
- A(0, 3) = 1.0;
- A(1, 4) = 1.0;
- A(2, 5) = 1.0;
-
- Eigen::Matrix<Scalar, 6, 1> x_hat_dot = A * x_hat;
- x_hat_dot.template block<3, 1>(3, 0) =
- orientation() * (accel_.cast<Scalar>() - accelerometer_bias_) -
- Eigen::Vector3d(0, 0, kGravity).cast<Scalar>() * gravity_scalar_;
-
- // Initialize the position noise to 0. If the solver is going to back-solve
- // for the most likely starting position, let's just say that the noise is
- // small.
- constexpr double kPositionNoise = 0.0;
- constexpr double kAccelerometerNoise = 2.3e-6 * 9.8;
- constexpr double kIMUdt = 5.0e-4;
- Eigen::Matrix<double, 6, 6> Q_dot(
- (::Eigen::DiagonalMatrix<double, 6>().diagonal()
- << ::std::pow(kPositionNoise, 2) / kIMUdt,
- ::std::pow(kPositionNoise, 2) / kIMUdt,
- ::std::pow(kPositionNoise, 2) / kIMUdt,
- ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
- ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
- ::std::pow(kAccelerometerNoise, 2) / kIMUdt)
- .finished()
- .asDiagonal());
- Eigen::Matrix<Scalar, 6, 6> p_dot = A.cast<Scalar>() * p +
- p * A.transpose().cast<Scalar>() +
- Q_dot.cast<Scalar>();
-
- return Pack(Eigen::Quaternion<Scalar>(q_dot), x_hat_dot, p_dot);
- }
-
- virtual void ObserveIntegrated(distributed_clock::time_point /*t*/,
- Eigen::Matrix<Scalar, 6, 1> /*x_hat*/,
- Eigen::Quaternion<Scalar> /*orientation*/,
- Eigen::Matrix<Scalar, 6, 6> /*p*/) {}
-
- void Integrate(distributed_clock::time_point t) {
- if (last_time_ != distributed_clock::min_time) {
- Eigen::Matrix<Scalar, 46, 1> next = control_loops::RungeKutta(
- [this](auto r) { return Derivative(r); },
- Pack(orientation_, x_hat_, p_),
- aos::time::DurationInSeconds(t - last_time_));
-
- std::tie(orientation_, x_hat_, p_) = UnPack(next);
-
- // Normalize q so it doesn't drift.
- orientation_.normalize();
- }
-
- last_time_ = t;
- ObserveIntegrated(t, x_hat_, orientation_, p_);
- }
-
- Eigen::Matrix<double, 3, 1> accel_;
- Eigen::Matrix<double, 3, 1> omega_;
- Eigen::Matrix<Scalar, 3, 1> imu_bias_;
-
- // IMU -> world quaternion
- Eigen::Quaternion<Scalar> orientation_;
- Eigen::Matrix<Scalar, 6, 1> x_hat_;
- Eigen::Matrix<Scalar, 6, 6> p_;
- distributed_clock::time_point last_time_ = distributed_clock::min_time;
-
- Eigen::Quaternion<Scalar> imu_to_camera_rotation_;
- Eigen::Translation<Scalar, 3> imu_to_camera_translation_ =
- Eigen::Translation3d(0, 0, 0).cast<Scalar>();
-
- Eigen::Quaternion<Scalar> board_to_world_;
- Scalar gravity_scalar_;
- Eigen::Matrix<Scalar, 3, 1> accelerometer_bias_;
- // States:
- // xyz position
- // xyz velocity
- //
- // Inputs
- // xyz accel
- //
- // Measurement:
- // xyz position from camera.
- //
- // Since the gyro is so good, we can just solve for the bias and initial
- // position with the solver and see what it learns.
-
- // Returns the angular errors for each camera sample.
- std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
- std::vector<Eigen::Matrix<Scalar, 3, 1>> position_errors_;
-};
-
-// Subclass of the filter above which has plotting. This keeps debug code and
-// actual code separate.
-class PoseFilter : public CeresPoseFilter<double> {
- public:
- PoseFilter(Eigen::Quaternion<double> initial_orientation,
- Eigen::Quaternion<double> imu_to_camera,
- Eigen::Matrix<double, 3, 1> gyro_bias,
- Eigen::Matrix<double, 6, 1> initial_state,
- Eigen::Quaternion<double> board_to_world,
- Eigen::Matrix<double, 3, 1> imu_to_camera_translation,
- double gravity_scalar,
- Eigen::Matrix<double, 3, 1> accelerometer_bias)
- : CeresPoseFilter<double>(initial_orientation, imu_to_camera, gyro_bias,
- initial_state, board_to_world,
- imu_to_camera_translation, gravity_scalar,
- accelerometer_bias) {}
-
- void Plot() {
- std::vector<double> rx;
- std::vector<double> ry;
- std::vector<double> rz;
- std::vector<double> x;
- std::vector<double> y;
- std::vector<double> z;
- std::vector<double> vx;
- std::vector<double> vy;
- std::vector<double> vz;
- for (const Eigen::Quaternion<double> &q : orientations_) {
- Eigen::Matrix<double, 3, 1> rotation_vector =
- frc971::controls::ToRotationVectorFromQuaternion(q);
- rx.emplace_back(rotation_vector(0, 0));
- ry.emplace_back(rotation_vector(1, 0));
- rz.emplace_back(rotation_vector(2, 0));
- }
- for (const Eigen::Matrix<double, 6, 1> &x_hat : x_hats_) {
- x.emplace_back(x_hat(0));
- y.emplace_back(x_hat(1));
- z.emplace_back(x_hat(2));
- vx.emplace_back(x_hat(3));
- vy.emplace_back(x_hat(4));
- vz.emplace_back(x_hat(5));
- }
-
- frc971::analysis::Plotter plotter;
- plotter.AddFigure("position");
- plotter.AddLine(times_, rx, "x_hat(0)");
- plotter.AddLine(times_, ry, "x_hat(1)");
- plotter.AddLine(times_, rz, "x_hat(2)");
- plotter.AddLine(ct, cx, "Camera x");
- plotter.AddLine(ct, cy, "Camera y");
- plotter.AddLine(ct, cz, "Camera z");
- plotter.AddLine(ct, cerrx, "Camera error x");
- plotter.AddLine(ct, cerry, "Camera error y");
- plotter.AddLine(ct, cerrz, "Camera error z");
- plotter.Publish();
-
- plotter.AddFigure("error");
- plotter.AddLine(times_, rx, "x_hat(0)");
- plotter.AddLine(times_, ry, "x_hat(1)");
- plotter.AddLine(times_, rz, "x_hat(2)");
- plotter.AddLine(ct, cerrx, "Camera error x");
- plotter.AddLine(ct, cerry, "Camera error y");
- plotter.AddLine(ct, cerrz, "Camera error z");
- plotter.Publish();
-
- plotter.AddFigure("imu");
- plotter.AddLine(ct, world_gravity_x, "world_gravity(0)");
- plotter.AddLine(ct, world_gravity_y, "world_gravity(1)");
- plotter.AddLine(ct, world_gravity_z, "world_gravity(2)");
- plotter.AddLine(imut, imu_x, "imu x");
- plotter.AddLine(imut, imu_y, "imu y");
- plotter.AddLine(imut, imu_z, "imu z");
- plotter.AddLine(times_, rx, "rotation x");
- plotter.AddLine(times_, ry, "rotation y");
- plotter.AddLine(times_, rz, "rotation z");
- plotter.Publish();
-
- plotter.AddFigure("raw");
- plotter.AddLine(imut, imu_x, "imu x");
- plotter.AddLine(imut, imu_y, "imu y");
- plotter.AddLine(imut, imu_z, "imu z");
- plotter.AddLine(imut, imu_ratex, "omega x");
- plotter.AddLine(imut, imu_ratey, "omega y");
- plotter.AddLine(imut, imu_ratez, "omega z");
- plotter.AddLine(ct, raw_cx, "Camera x");
- plotter.AddLine(ct, raw_cy, "Camera y");
- plotter.AddLine(ct, raw_cz, "Camera z");
- plotter.Publish();
-
- plotter.AddFigure("xyz vel");
- plotter.AddLine(times_, x, "x");
- plotter.AddLine(times_, y, "y");
- plotter.AddLine(times_, z, "z");
- plotter.AddLine(times_, vx, "vx");
- plotter.AddLine(times_, vy, "vy");
- plotter.AddLine(times_, vz, "vz");
- plotter.AddLine(ct, camera_position_x, "Camera x");
- plotter.AddLine(ct, camera_position_y, "Camera y");
- plotter.AddLine(ct, camera_position_z, "Camera z");
- plotter.Publish();
-
- plotter.Spin();
- }
-
- void ObserveIntegrated(distributed_clock::time_point t,
- Eigen::Matrix<double, 6, 1> x_hat,
- Eigen::Quaternion<double> orientation,
- Eigen::Matrix<double, 6, 6> p) override {
- VLOG(1) << t << " -> " << p;
- VLOG(1) << t << " xhat -> " << x_hat.transpose();
- times_.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
- x_hats_.emplace_back(x_hat);
- orientations_.emplace_back(orientation);
- }
-
- void ObserveIMUUpdate(
- distributed_clock::time_point t,
- std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) override {
- imut.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
- imu_ratex.emplace_back(wa.first.x());
- imu_ratey.emplace_back(wa.first.y());
- imu_ratez.emplace_back(wa.first.z());
- imu_x.emplace_back(wa.second.x());
- imu_y.emplace_back(wa.second.y());
- imu_z.emplace_back(wa.second.z());
-
- last_accel_ = wa.second;
- }
-
- void ObserveCameraUpdate(distributed_clock::time_point t,
- Eigen::Vector3d board_to_camera_rotation,
- Eigen::Quaternion<double> imu_to_world_rotation,
- Eigen::Affine3d imu_to_world) override {
- raw_cx.emplace_back(board_to_camera_rotation(0, 0));
- raw_cy.emplace_back(board_to_camera_rotation(1, 0));
- raw_cz.emplace_back(board_to_camera_rotation(2, 0));
-
- Eigen::Matrix<double, 3, 1> rotation_vector =
- frc971::controls::ToRotationVectorFromQuaternion(imu_to_world_rotation);
- ct.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
-
- Eigen::Matrix<double, 3, 1> cerr =
- frc971::controls::ToRotationVectorFromQuaternion(
- imu_to_world_rotation.inverse() * orientation());
-
- cx.emplace_back(rotation_vector(0, 0));
- cy.emplace_back(rotation_vector(1, 0));
- cz.emplace_back(rotation_vector(2, 0));
-
- cerrx.emplace_back(cerr(0, 0));
- cerry.emplace_back(cerr(1, 0));
- cerrz.emplace_back(cerr(2, 0));
-
- const Eigen::Vector3d world_gravity =
- imu_to_world_rotation * last_accel_ -
- Eigen::Vector3d(0, 0, kGravity) * gravity_scalar();
-
- const Eigen::Vector3d camera_position =
- imu_to_world * Eigen::Vector3d::Zero();
-
- world_gravity_x.emplace_back(world_gravity.x());
- world_gravity_y.emplace_back(world_gravity.y());
- world_gravity_z.emplace_back(world_gravity.z());
-
- camera_position_x.emplace_back(camera_position.x());
- camera_position_y.emplace_back(camera_position.y());
- camera_position_z.emplace_back(camera_position.z());
- }
-
- std::vector<double> ct;
- std::vector<double> cx;
- std::vector<double> cy;
- std::vector<double> cz;
- std::vector<double> raw_cx;
- std::vector<double> raw_cy;
- std::vector<double> raw_cz;
- std::vector<double> cerrx;
- std::vector<double> cerry;
- std::vector<double> cerrz;
-
- std::vector<double> world_gravity_x;
- std::vector<double> world_gravity_y;
- std::vector<double> world_gravity_z;
- std::vector<double> imu_x;
- std::vector<double> imu_y;
- std::vector<double> imu_z;
- std::vector<double> camera_position_x;
- std::vector<double> camera_position_y;
- std::vector<double> camera_position_z;
-
- std::vector<double> imut;
- std::vector<double> imu_ratex;
- std::vector<double> imu_ratey;
- std::vector<double> imu_ratez;
-
- std::vector<double> times_;
- std::vector<Eigen::Matrix<double, 6, 1>> x_hats_;
- std::vector<Eigen::Quaternion<double>> orientations_;
-
- Eigen::Matrix<double, 3, 1> last_accel_ = Eigen::Matrix<double, 3, 1>::Zero();
-};
-
-// Adapter class from the KF above to a Ceres cost function.
-struct CostFunctor {
- CostFunctor(CalibrationData *d) : data(d) {}
-
- CalibrationData *data;
-
- template <typename S>
- bool operator()(const S *const q1, const S *const q2, const S *const v,
- const S *const p, const S *const btw, const S *const itc,
- const S *const gravity_scalar_ptr,
- const S *const accelerometer_bias_ptr, S *residual) const {
- Eigen::Quaternion<S> initial_orientation(q1[3], q1[0], q1[1], q1[2]);
- Eigen::Quaternion<S> mounting_orientation(q2[3], q2[0], q2[1], q2[2]);
- Eigen::Quaternion<S> board_to_world(btw[3], btw[0], btw[1], btw[2]);
- Eigen::Matrix<S, 3, 1> gyro_bias(v[0], v[1], v[2]);
- Eigen::Matrix<S, 6, 1> initial_state;
- initial_state(0) = p[0];
- initial_state(1) = p[1];
- initial_state(2) = p[2];
- initial_state(3) = p[3];
- initial_state(4) = p[4];
- initial_state(5) = p[5];
- Eigen::Matrix<S, 3, 1> imu_to_camera_translation(itc[0], itc[1], itc[2]);
- Eigen::Matrix<S, 3, 1> accelerometer_bias(accelerometer_bias_ptr[0],
- accelerometer_bias_ptr[1],
- accelerometer_bias_ptr[2]);
-
- CeresPoseFilter<S> filter(initial_orientation, mounting_orientation,
- gyro_bias, initial_state, board_to_world,
- imu_to_camera_translation, *gravity_scalar_ptr,
- accelerometer_bias);
- data->ReviewData(&filter);
-
- for (size_t i = 0; i < filter.num_errors(); ++i) {
- residual[3 * i + 0] = filter.errorx(i);
- residual[3 * i + 1] = filter.errory(i);
- residual[3 * i + 2] = filter.errorz(i);
- }
-
- for (size_t i = 0; i < filter.num_perrors(); ++i) {
- residual[3 * filter.num_errors() + 3 * i + 0] = filter.errorpx(i);
- residual[3 * filter.num_errors() + 3 * i + 1] = filter.errorpy(i);
- residual[3 * filter.num_errors() + 3 * i + 2] = filter.errorpz(i);
- }
-
- return true;
- }
-};
-
void Main(int argc, char **argv) {
CalibrationData data;
@@ -588,6 +61,21 @@
Calibration extractor(&factory, pi_event_loop.get(),
roborio_event_loop.get(), FLAGS_pi, &data);
+ if (FLAGS_turret) {
+ aos::NodeEventLoopFactory *roborio_factory =
+ factory.GetNodeEventLoopFactory(roborio_node->name()->string_view());
+ roborio_event_loop->MakeWatcher(
+ "/superstructure",
+ [roborio_factory, roborio_event_loop = roborio_event_loop.get(),
+ &data](const y2020::control_loops::superstructure::Status &status) {
+ data.AddTurret(
+ roborio_factory->ToDistributedClock(
+ roborio_event_loop->context().monotonic_event_time),
+ Eigen::Vector2d(status.turret()->position(),
+ status.turret()->velocity()));
+ });
+ }
+
factory.Run();
reader.Deregister();
@@ -599,109 +87,35 @@
const Eigen::Quaternion<double> nominal_initial_orientation(
frc971::controls::ToQuaternionFromRotationVector(
Eigen::Vector3d(0.0, 0.0, M_PI)));
- const Eigen::Quaternion<double> nominal_imu_to_camera(
+ const Eigen::Quaternion<double> nominal_pivot_to_camera(
Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
const Eigen::Quaternion<double> nominal_board_to_world(
Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
- Eigen::Quaternion<double> initial_orientation = nominal_initial_orientation;
- // Eigen::Quaternion<double>::Identity();
- Eigen::Quaternion<double> imu_to_camera = nominal_imu_to_camera;
- // Eigen::Quaternion<double>::Identity();
- Eigen::Quaternion<double> board_to_world = nominal_board_to_world;
- // Eigen::Quaternion<double>::Identity();
- Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();
- Eigen::Matrix<double, 6, 1> initial_state =
- Eigen::Matrix<double, 6, 1>::Zero();
- Eigen::Matrix<double, 3, 1> imu_to_camera_translation =
- Eigen::Matrix<double, 3, 1>::Zero();
+ CalibrationParameters calibration_parameters;
+ calibration_parameters.initial_orientation = nominal_initial_orientation;
+ calibration_parameters.pivot_to_camera = nominal_pivot_to_camera;
+ calibration_parameters.board_to_world = nominal_board_to_world;
- double gravity_scalar = 1.0;
- Eigen::Matrix<double, 3, 1> accelerometer_bias =
- Eigen::Matrix<double, 3, 1>::Zero();
+ Solve(data, &calibration_parameters);
+ LOG(INFO) << "Nominal initial_orientation "
+ << nominal_initial_orientation.coeffs().transpose();
+ LOG(INFO) << "Nominal pivot_to_camera "
+ << nominal_pivot_to_camera.coeffs().transpose();
- {
- ceres::Problem problem;
+ LOG(INFO) << "pivot_to_camera delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.pivot_to_camera *
+ nominal_pivot_to_camera.inverse())
+ .transpose();
+ LOG(INFO) << "board_to_world delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.board_to_world *
+ nominal_board_to_world.inverse())
+ .transpose();
- ceres::EigenQuaternionParameterization *quaternion_local_parameterization =
- new ceres::EigenQuaternionParameterization();
- // Set up the only cost function (also known as residual). This uses
- // auto-differentiation to obtain the derivative (jacobian).
-
- ceres::CostFunction *cost_function =
- new ceres::AutoDiffCostFunction<CostFunctor, ceres::DYNAMIC, 4, 4, 3, 6,
- 4, 3, 1, 3>(
- new CostFunctor(&data), data.camera_samples_size() * 6);
- problem.AddResidualBlock(
- cost_function, new ceres::HuberLoss(1.0),
- initial_orientation.coeffs().data(), imu_to_camera.coeffs().data(),
- gyro_bias.data(), initial_state.data(), board_to_world.coeffs().data(),
- imu_to_camera_translation.data(), &gravity_scalar,
- accelerometer_bias.data());
- problem.SetParameterization(initial_orientation.coeffs().data(),
- quaternion_local_parameterization);
- problem.SetParameterization(imu_to_camera.coeffs().data(),
- quaternion_local_parameterization);
- problem.SetParameterization(board_to_world.coeffs().data(),
- quaternion_local_parameterization);
- for (int i = 0; i < 3; ++i) {
- problem.SetParameterLowerBound(gyro_bias.data(), i, -0.05);
- problem.SetParameterUpperBound(gyro_bias.data(), i, 0.05);
- problem.SetParameterLowerBound(accelerometer_bias.data(), i, -0.05);
- problem.SetParameterUpperBound(accelerometer_bias.data(), i, 0.05);
- }
- problem.SetParameterLowerBound(&gravity_scalar, 0, 0.95);
- problem.SetParameterUpperBound(&gravity_scalar, 0, 1.05);
-
- // Run the solver!
- ceres::Solver::Options options;
- options.minimizer_progress_to_stdout = true;
- options.gradient_tolerance = 1e-12;
- options.function_tolerance = 1e-16;
- options.parameter_tolerance = 1e-12;
- ceres::Solver::Summary summary;
- Solve(options, &problem, &summary);
- LOG(INFO) << summary.FullReport();
-
- LOG(INFO) << "Nominal initial_orientation "
- << nominal_initial_orientation.coeffs().transpose();
- LOG(INFO) << "Nominal imu_to_camera "
- << nominal_imu_to_camera.coeffs().transpose();
-
- LOG(INFO) << "initial_orientation "
- << initial_orientation.coeffs().transpose();
- LOG(INFO) << "imu_to_camera " << imu_to_camera.coeffs().transpose();
- LOG(INFO) << "imu_to_camera(rotation) "
- << frc971::controls::ToRotationVectorFromQuaternion(imu_to_camera)
- .transpose();
- LOG(INFO) << "imu_to_camera delta "
- << frc971::controls::ToRotationVectorFromQuaternion(
- imu_to_camera * nominal_imu_to_camera.inverse())
- .transpose();
- LOG(INFO) << "gyro_bias " << gyro_bias.transpose();
- LOG(INFO) << "board_to_world " << board_to_world.coeffs().transpose();
- LOG(INFO) << "board_to_world(rotation) "
- << frc971::controls::ToRotationVectorFromQuaternion(
- board_to_world)
- .transpose();
- LOG(INFO) << "board_to_world delta "
- << frc971::controls::ToRotationVectorFromQuaternion(
- board_to_world * nominal_board_to_world.inverse())
- .transpose();
- LOG(INFO) << "imu_to_camera_translation "
- << imu_to_camera_translation.transpose();
- LOG(INFO) << "gravity " << kGravity * gravity_scalar;
- LOG(INFO) << "accelerometer bias " << accelerometer_bias.transpose();
- }
-
- {
- PoseFilter filter(initial_orientation, imu_to_camera, gyro_bias,
- initial_state, board_to_world, imu_to_camera_translation,
- gravity_scalar, accelerometer_bias);
- data.ReviewData(&filter);
- if (FLAGS_plot) {
- filter.Plot();
- }
+ if (FLAGS_plot) {
+ Plot(data, calibration_parameters);
}
}
diff --git a/y2020/vision/galactic_search_path.py b/y2020/vision/galactic_search_path.py
index 5e8ef54..00b572a 100755
--- a/y2020/vision/galactic_search_path.py
+++ b/y2020/vision/galactic_search_path.py
@@ -77,8 +77,8 @@
AOS_SEND_PATH = "bazel-bin/aos/aos_send"
def setup_if_pi():
- if os.path.isdir("/home/pi/robot_code"):
- AOS_SEND_PATH = "/home/pi/robot_code/aos_send.stripped"
+ if os.path.isdir("/home/pi/bin"):
+ AOS_SEND_PATH = "/home/pi/bin/aos_send.stripped"
os.system("./starter_cmd stop camera_reader")
setup_if_pi()
diff --git a/y2020/vision/viewer.cc b/y2020/vision/viewer.cc
index 37ff4a3..d923407 100644
--- a/y2020/vision/viewer.cc
+++ b/y2020/vision/viewer.cc
@@ -12,7 +12,7 @@
#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift_generated.h"
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_bool(show_features, true, "Show the SIFT features that matched.");
DEFINE_string(channel, "/camera", "Channel name for the image.");
diff --git a/y2020/web_proxy.sh b/y2020/web_proxy.sh
index 8e1a570..16a292a 100755
--- a/y2020/web_proxy.sh
+++ b/y2020/web_proxy.sh
@@ -1 +1 @@
-./aos/network/web_proxy_main --config=y2020/config.json --data_dir=y2020/www
+./aos/network/web_proxy_main --config=y2020/aos_config.json --data_dir=y2020/www
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index f746970..5569550 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -556,7 +556,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2021_bot3/BUILD b/y2021_bot3/BUILD
index 07429e0..ea9c3c5 100644
--- a/y2021_bot3/BUILD
+++ b/y2021_bot3/BUILD
@@ -3,7 +3,7 @@
robot_downloader(
data = [
- ":config",
+ ":aos_config",
],
start_binaries = [
":joystick_reader",
@@ -98,7 +98,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2021_bot3.json",
flatbuffers = [
"//y2021_bot3/control_loops/superstructure:superstructure_goal_fbs",
@@ -108,9 +108,9 @@
],
visibility = ["//visibility:public"],
deps = [
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
],
)
diff --git a/y2021_bot3/actors/autonomous_actor_main.cc b/y2021_bot3/actors/autonomous_actor_main.cc
index daf68e0..6521443 100644
--- a/y2021_bot3/actors/autonomous_actor_main.cc
+++ b/y2021_bot3/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2021_bot3::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
index f79846e..b4a8532 100644
--- a/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -11,7 +11,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
diff --git a/y2021_bot3/control_loops/superstructure/BUILD b/y2021_bot3/control_loops/superstructure/BUILD
index 8266edc..f5b5b3b 100644
--- a/y2021_bot3/control_loops/superstructure/BUILD
+++ b/y2021_bot3/control_loops/superstructure/BUILD
@@ -84,7 +84,7 @@
"superstructure_lib_test.cc",
],
data = [
- "//y2021_bot3:config",
+ "//y2021_bot3:aos_config",
],
deps = [
":superstructure_goal_fbs",
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
index e30fa1d..6554361 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure_lib_test.cc
@@ -21,7 +21,7 @@
public:
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2021_bot3/config.json"),
+ aos::configuration::ReadConfig("y2021_bot3/aos_config.json"),
std::chrono::microseconds(5050)),
superstructure_event_loop(MakeEventLoop("Superstructure")),
superstructure_(superstructure_event_loop.get()),
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_main.cc b/y2021_bot3/control_loops/superstructure/superstructure_main.cc
index c366e53..be37e92 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_main.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure_main.cc
@@ -7,7 +7,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2021_bot3::control_loops::superstructure::Superstructure superstructure(
diff --git a/y2021_bot3/joystick_reader.cc b/y2021_bot3/joystick_reader.cc
index 7cdb296..0e5076a 100644
--- a/y2021_bot3/joystick_reader.cc
+++ b/y2021_bot3/joystick_reader.cc
@@ -67,7 +67,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2021_bot3::input::joysticks::Reader reader(&event_loop);
diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
index 05a8895..1a7837c 100644
--- a/y2021_bot3/wpilib_interface.cc
+++ b/y2021_bot3/wpilib_interface.cc
@@ -259,7 +259,7 @@
void Run() override {
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
diff --git a/y2022/BUILD b/y2022/BUILD
index af57a74..488026e 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -1,17 +1,20 @@
load("//frc971:downloader.bzl", "robot_downloader")
load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
binaries = [
+ ":setpoint_setter",
"//aos/network:web_proxy_main",
],
data = [
- ":config",
+ ":aos_config",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
+ "//y2022/actors:splines",
"//y2022/www:www_files",
],
start_binaries = [
@@ -35,10 +38,13 @@
"//y2020/vision:calibration",
"//y2022/vision:viewer",
"//y2022/localizer:imu_main",
- "//y2022/control_loops/localizer:localizer_main",
+ "//y2022/localizer:localizer_main",
],
data = [
- ":config",
+ ":aos_config",
+ ],
+ dirs = [
+ "//y2022/www:www_files",
],
start_binaries = [
"//aos/events/logging:logger_main",
@@ -52,7 +58,7 @@
)
aos_config(
- name = "config",
+ name = "aos_config",
src = "y2022.json",
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
@@ -91,9 +97,9 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
for pi in [
@@ -112,14 +118,15 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
- "//y2022/control_loops/localizer:localizer_status_fbs",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_status_fbs",
+ "//y2022/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_visualization_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
- "//frc971/control_loops/drivetrain:config",
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
],
)
@@ -137,9 +144,9 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/events:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
],
)
@@ -147,6 +154,7 @@
name = "config_roborio",
src = "y2022_roborio.json",
flatbuffers = [
+ ":setpoint_fbs",
"//aos/network:remote_message_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
@@ -155,15 +163,16 @@
"//y2022/control_loops/superstructure:superstructure_goal_fbs",
"//y2022/control_loops/superstructure:superstructure_output_fbs",
"//y2022/control_loops/superstructure:superstructure_position_fbs",
+ "//y2022/control_loops/superstructure:superstructure_can_position_fbs",
"//y2022/control_loops/superstructure:superstructure_status_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//aos/events:config",
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
+ "//aos/events:aos_config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
],
)
@@ -193,6 +202,7 @@
"//frc971/control_loops:pose",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//y2022/control_loops/drivetrain:polydrivetrain_plants",
+ "//y2022/control_loops/superstructure/catapult:catapult_plants",
"//y2022/control_loops/superstructure/climber:climber_plants",
"//y2022/control_loops/superstructure/intake:intake_plants",
"//y2022/control_loops/superstructure/turret:turret_plants",
@@ -223,6 +233,7 @@
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops/drivetrain:drivetrain_position_fbs",
"//frc971/input:robot_state_fbs",
+ "//frc971/queues:gyro_fbs",
"//frc971/wpilib:ADIS16448",
"//frc971/wpilib:buffered_pcm",
"//frc971/wpilib:drivetrain_writer",
@@ -237,6 +248,7 @@
"//frc971/wpilib:wpilib_robot_base",
"//third_party:phoenix",
"//third_party:wpilib",
+ "//y2022/control_loops/superstructure:superstructure_can_position_fbs",
"//y2022/control_loops/superstructure:superstructure_output_fbs",
"//y2022/control_loops/superstructure:superstructure_position_fbs",
],
@@ -248,6 +260,8 @@
":joystick_reader.cc",
],
deps = [
+ ":constants",
+ ":setpoint_fbs",
"//aos:init",
"//aos/actions:action_lib",
"//aos/logging",
@@ -263,9 +277,42 @@
],
)
+flatbuffer_cc_library(
+ name = "setpoint_fbs",
+ srcs = [
+ "setpoint.fbs",
+ ],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+cc_binary(
+ name = "setpoint_setter",
+ srcs = ["setpoint_setter.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":constants",
+ ":setpoint_fbs",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
+
+sh_binary(
+ name = "log_web_proxy",
+ srcs = ["log_web_proxy.sh"],
+ data = [
+ ":aos_config",
+ "//aos/network:log_web_proxy_main",
+ "//y2022/www:field_main_bundle.min.js",
+ "//y2022/www:files",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
diff --git a/y2022/actors/BUILD b/y2022/actors/BUILD
index 57b1222..3c8c6b8 100644
--- a/y2022/actors/BUILD
+++ b/y2022/actors/BUILD
@@ -1,3 +1,5 @@
+load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
+
filegroup(
name = "binaries.stripped",
srcs = [
@@ -14,6 +16,24 @@
visibility = ["//visibility:public"],
)
+filegroup(
+ name = "spline_jsons",
+ srcs = glob([
+ "splines/*.json",
+ ]),
+ visibility = ["//visibility:public"],
+)
+
+aos_downloader_dir(
+ name = "splines",
+ srcs = [
+ ":spline_jsons",
+ ],
+ dir = "splines",
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
cc_library(
name = "autonomous_action_lib",
srcs = [
@@ -33,6 +53,7 @@
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_config",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//y2022:constants",
"//y2022/control_loops/drivetrain:drivetrain_base",
"//y2022/control_loops/superstructure:superstructure_goal_fbs",
"//y2022/control_loops/superstructure:superstructure_status_fbs",
diff --git a/y2022/actors/auto_splines.cc b/y2022/actors/auto_splines.cc
index ce206c8..0c98fed 100644
--- a/y2022/actors/auto_splines.cc
+++ b/y2022/actors/auto_splines.cc
@@ -19,84 +19,35 @@
}
}
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
- flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
- flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
- flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+flatbuffers::Offset<frc971::MultiSpline> FixSpline(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ flatbuffers::Offset<frc971::MultiSpline> spline_offset,
+ aos::Alliance alliance) {
+ frc971::MultiSpline *spline =
+ GetMutableTemporaryPointer(*builder->fbb(), spline_offset);
+ flatbuffers::Vector<float> *spline_x = spline->mutable_spline_x();
+ flatbuffers::Vector<float> *spline_y = spline->mutable_spline_y();
- {
- frc971::Constraint::Builder longitudinal_constraint_builder =
- builder->MakeBuilder<frc971::Constraint>();
- longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
- longitudinal_constraint_builder.add_value(1.0);
- longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ if (alliance == aos::Alliance::kBlue) {
+ for (size_t ii = 0; ii < spline_x->size(); ++ii) {
+ spline_x->Mutate(ii, -spline_x->Get(ii));
+ }
+ for (size_t ii = 0; ii < spline_y->size(); ++ii) {
+ spline_y->Mutate(ii, -spline_y->Get(ii));
+ }
}
-
- {
- frc971::Constraint::Builder lateral_constraint_builder =
- builder->MakeBuilder<frc971::Constraint>();
- lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType::LATERAL_ACCELERATION);
- lateral_constraint_builder.add_value(1.0);
- lateral_constraint_offset = lateral_constraint_builder.Finish();
- }
-
- {
- frc971::Constraint::Builder voltage_constraint_builder =
- builder->MakeBuilder<frc971::Constraint>();
- voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType::VOLTAGE);
- voltage_constraint_builder.add_value(6.0);
- voltage_constraint_offset = voltage_constraint_builder.Finish();
- }
-
- flatbuffers::Offset<
- flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
- constraints_offset =
- builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
- {longitudinal_constraint_offset, lateral_constraint_offset,
- voltage_constraint_offset});
-
- const float startx = 0.4;
- const float starty = 3.4;
- flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
- builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
- 0.6f + startx, 0.4f + startx,
- 0.4f + startx, 1.0f + startx});
- flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
- builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
- starty - 0.3f, starty - 0.7f,
- starty - 1.0f, starty - 1.0f});
-
- frc971::MultiSpline::Builder multispline_builder =
- builder->MakeBuilder<frc971::MultiSpline>();
-
- multispline_builder.add_spline_count(1);
- multispline_builder.add_constraints(constraints_offset);
- multispline_builder.add_spline_x(spline_x_offset);
- multispline_builder.add_spline_y(spline_y_offset);
-
- return multispline_builder.Finish();
+ return spline_offset;
}
-flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
- aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
- flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
- builder->fbb()->CreateVector<float>(
- {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
- flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
- builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
-
- frc971::MultiSpline::Builder multispline_builder =
- builder->MakeBuilder<frc971::MultiSpline>();
-
- multispline_builder.add_spline_count(1);
- multispline_builder.add_spline_x(spline_x_offset);
- multispline_builder.add_spline_y(spline_y_offset);
-
- return multispline_builder.Finish();
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::TestSpline(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(
+ builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_, builder->fbb()),
+ alliance);
}
} // namespace actors
diff --git a/y2022/actors/auto_splines.h b/y2022/actors/auto_splines.h
index 70c3569..9da6bc6 100644
--- a/y2022/actors/auto_splines.h
+++ b/y2022/actors/auto_splines.h
@@ -2,8 +2,10 @@
#define Y2022_ACTORS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/input/joystick_state_generated.h"
/*
The cooridinate system for the autonomous splines is the same as the spline
@@ -16,10 +18,22 @@
class AutonomousSplines {
public:
+ AutonomousSplines()
+ : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/test_spline.json")) {}
+
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+
+ flatbuffers::Offset<frc971::MultiSpline> TestSpline(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
+ private:
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
};
} // namespace actors
diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index d96dd03..ed1a9ee 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -5,33 +5,253 @@
#include <cmath>
#include "aos/logging/logging.h"
+#include "aos/network/team_number.h"
+#include "aos/util/math.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2022/actors/auto_splines.h"
+#include "y2022/constants.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
+
namespace y2022 {
namespace actors {
+namespace {
+constexpr double kExtendIntakeGoal = 0.0;
+constexpr double kRetractIntakeGoal = 1.47;
+constexpr double kRollerVoltage = 12.0;
+constexpr double kCatapultReturnPosition = -0.908;
+} // namespace
using ::aos::monotonic_clock;
+using frc971::CreateProfileParameters;
using ::frc971::ProfileParametersT;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::drivetrain::LocalizerControl;
+
namespace chrono = ::std::chrono;
AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
: frc971::autonomous::BaseAutonomousActor(
- event_loop, control_loops::drivetrain::GetDrivetrainConfig()) {}
+ event_loop, control_loops::drivetrain::GetDrivetrainConfig()),
+ localizer_control_sender_(
+ event_loop->MakeSender<
+ ::frc971::control_loops::drivetrain::LocalizerControl>(
+ "/drivetrain")),
+ superstructure_goal_sender_(
+ event_loop->MakeSender<control_loops::superstructure::Goal>(
+ "/superstructure")),
+ superstructure_status_fetcher_(
+ event_loop->MakeFetcher<control_loops::superstructure::Status>(
+ "/superstructure")),
+ joystick_state_fetcher_(
+ event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+ robot_state_fetcher_(event_loop->MakeFetcher<aos::RobotState>("/aos")),
+ auto_splines_() {
+ set_max_drivetrain_voltage(12.0);
+ replan_timer_ = event_loop->AddTimer([this]() { Replan(); });
+ event_loop->OnRun([this, event_loop]() {
+ replan_timer_->Setup(event_loop->monotonic_now());
+ button_poll_->Setup(event_loop->monotonic_now(), chrono::milliseconds(50));
+ });
+
+ button_poll_ = event_loop->AddTimer([this]() {
+ const aos::monotonic_clock::time_point now =
+ this->event_loop()->context().monotonic_event_time;
+ if (robot_state_fetcher_.Fetch()) {
+ if (robot_state_fetcher_->user_button()) {
+ user_indicated_safe_to_reset_ = true;
+ MaybeSendStartingPosition();
+ }
+ }
+ if (joystick_state_fetcher_.Fetch()) {
+ if (joystick_state_fetcher_->has_alliance() &&
+ (joystick_state_fetcher_->alliance() != alliance_)) {
+ alliance_ = joystick_state_fetcher_->alliance();
+ is_planned_ = false;
+ // Only kick the planning out by 2 seconds. If we end up enabled in that
+ // second, then we will kick it out further based on the code below.
+ replan_timer_->Setup(now + std::chrono::seconds(2));
+ }
+ if (joystick_state_fetcher_->enabled()) {
+ if (!is_planned_) {
+ // Only replan once we've been disabled for 5 seconds.
+ replan_timer_->Setup(now + std::chrono::seconds(5));
+ }
+ }
+ }
+ });
+}
+
+void AutonomousActor::Replan() {
+ LOG(INFO) << "Alliance " << static_cast<int>(alliance_);
+ if (alliance_ == aos::Alliance::kInvalid) {
+ return;
+ }
+ sent_starting_position_ = false;
+ if (FLAGS_spline_auto) {
+ test_spline_ =
+ PlanSpline(std::bind(&AutonomousSplines::TestSpline, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward);
+
+ starting_position_ = test_spline_->starting_position();
+ }
+
+ is_planned_ = true;
+
+ MaybeSendStartingPosition();
+}
+
+void AutonomousActor::MaybeSendStartingPosition() {
+ if (is_planned_ && user_indicated_safe_to_reset_ &&
+ !sent_starting_position_) {
+ CHECK(starting_position_);
+ SendStartingPosition(starting_position_.value());
+ }
+}
void AutonomousActor::Reset() {
InitializeEncoders();
ResetDrivetrain();
+ RetractFrontIntake();
+ RetractBackIntake();
+
+ joystick_state_fetcher_.Fetch();
+ CHECK(joystick_state_fetcher_.get() != nullptr)
+ << "Expect at least one JoystickState message before running auto...";
+ alliance_ = joystick_state_fetcher_->alliance();
}
bool AutonomousActor::RunAction(
const ::frc971::autonomous::AutonomousActionParams *params) {
Reset();
+ if (!user_indicated_safe_to_reset_) {
+ AOS_LOG(WARNING, "Didn't send starting position prior to starting auto.");
+ CHECK(starting_position_);
+ SendStartingPosition(starting_position_.value());
+ }
+ // Clear this so that we don't accidentally resend things as soon as we replan
+ // later.
+ user_indicated_safe_to_reset_ = false;
+ is_planned_ = false;
+ starting_position_.reset();
AOS_LOG(INFO, "Params are %d\n", params->mode());
+ if (alliance_ == aos::Alliance::kInvalid) {
+ AOS_LOG(INFO, "Aborting autonomous due to invalid alliance selection.");
+ return false;
+ }
+ if (FLAGS_spline_auto) {
+ SplineAuto();
+ }
+
return true;
}
+void AutonomousActor::SendStartingPosition(const Eigen::Vector3d &start) {
+ // Set up the starting position for the blue alliance.
+
+ // TODO(james): Resetting the localizer breaks the left/right statespace
+ // controller. That is a bug, but we can fix that later by not resetting.
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ LocalizerControl::Builder localizer_control_builder =
+ builder.MakeBuilder<LocalizerControl>();
+ localizer_control_builder.add_x(start(0));
+ localizer_control_builder.add_y(start(1));
+ localizer_control_builder.add_theta(start(2));
+ localizer_control_builder.add_theta_uncertainty(0.00001);
+ LOG(INFO) << "User button pressed, x: " << start(0) << " y: " << start(1)
+ << " theta: " << start(2);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset localizer.\n");
+ }
+}
+
+void AutonomousActor::SplineAuto() {
+ CHECK(test_spline_);
+
+ if (!test_spline_->WaitForPlan()) return;
+ test_spline_->Start();
+
+ if (!test_spline_->WaitForSplineDistanceRemaining(0.02)) return;
+}
+
+void AutonomousActor::SendSuperstructureGoal() {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_front_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_front_goal_,
+ CreateProfileParameters(*builder.fbb(), 20.0, 60.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_back_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_back_goal_,
+ CreateProfileParameters(*builder.fbb(), 20.0, 60.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ catapult_return_position_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kCatapultReturnPosition,
+ CreateProfileParameters(*builder.fbb(), 9.0, 50.0));
+
+ superstructure::CatapultGoal::Builder catapult_goal_builder(*builder.fbb());
+ catapult_goal_builder.add_shot_position(0.03);
+ catapult_goal_builder.add_shot_velocity(18.0);
+ catapult_goal_builder.add_return_position(catapult_return_position_offset);
+ flatbuffers::Offset<superstructure::CatapultGoal> catapult_goal_offset =
+ catapult_goal_builder.Finish();
+
+ superstructure::Goal::Builder superstructure_builder =
+ builder.MakeBuilder<superstructure::Goal>();
+
+ superstructure_builder.add_intake_front(intake_front_offset);
+ superstructure_builder.add_intake_back(intake_back_offset);
+ superstructure_builder.add_roller_speed_compensation(1.5);
+ superstructure_builder.add_roller_speed_front(roller_front_voltage_);
+ superstructure_builder.add_roller_speed_back(roller_back_voltage_);
+ superstructure_builder.add_transfer_roller_speed(transfer_roller_voltage_);
+ superstructure_builder.add_catapult(catapult_goal_offset);
+ superstructure_builder.add_fire(fire_);
+ superstructure_builder.add_auto_aim(true);
+
+ if (builder.Send(superstructure_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+}
+
+void AutonomousActor::ExtendFrontIntake() {
+ set_intake_front_goal(kExtendIntakeGoal);
+ set_roller_front_voltage(kRollerVoltage);
+ set_transfer_roller_voltage(kRollerVoltage);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::RetractFrontIntake() {
+ set_intake_front_goal(kRetractIntakeGoal);
+ set_roller_front_voltage(kRollerVoltage);
+ set_transfer_roller_voltage(0.0);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::ExtendBackIntake() {
+ set_intake_back_goal(kExtendIntakeGoal);
+ set_roller_back_voltage(kRollerVoltage);
+ set_transfer_roller_voltage(-kRollerVoltage);
+ SendSuperstructureGoal();
+}
+
+void AutonomousActor::RetractBackIntake() {
+ set_intake_back_goal(kRetractIntakeGoal);
+ set_roller_back_voltage(kRollerVoltage);
+ set_transfer_roller_voltage(0.0);
+ SendSuperstructureGoal();
+}
+
} // namespace actors
} // namespace y2022
diff --git a/y2022/actors/autonomous_actor.h b/y2022/actors/autonomous_actor.h
index ca13d38..f01da02 100644
--- a/y2022/actors/autonomous_actor.h
+++ b/y2022/actors/autonomous_actor.h
@@ -6,10 +6,18 @@
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "y2022/actors/auto_splines.h"
+#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
namespace y2022 {
namespace actors {
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+namespace superstructure = y2022::control_loops::superstructure;
+
class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
public:
explicit AutonomousActor(::aos::EventLoop *event_loop);
@@ -19,6 +27,66 @@
private:
void Reset();
+
+ void set_intake_front_goal(double intake_front_goal) {
+ intake_front_goal_ = intake_front_goal;
+ }
+ void set_intake_back_goal(double intake_back_goal) {
+ intake_back_goal_ = intake_back_goal;
+ }
+ void set_roller_front_voltage(double roller_front_voltage) {
+ roller_front_voltage_ = roller_front_voltage;
+ }
+ void set_roller_back_voltage(double roller_back_voltage) {
+ roller_back_voltage_ = roller_back_voltage;
+ }
+ void set_transfer_roller_voltage(double voltage) {
+ transfer_roller_voltage_ = voltage;
+ }
+
+ void set_fire_at_will(bool fire) { fire_ = fire; }
+
+ void SendSuperstructureGoal();
+ void ExtendFrontIntake();
+ void RetractFrontIntake();
+ void ExtendBackIntake();
+ void RetractBackIntake();
+ void SendStartingPosition(const Eigen::Vector3d &start);
+ void MaybeSendStartingPosition();
+
+ void SplineAuto();
+
+ void Replan();
+
+ double intake_front_goal_ = 0.0;
+ double intake_back_goal_ = 0.0;
+ double roller_front_voltage_ = 0.0;
+ double roller_back_voltage_ = 0.0;
+ double transfer_roller_voltage_ = 0.0;
+ bool fire_ = false;
+
+ aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
+ localizer_control_sender_;
+ aos::Sender<y2022::control_loops::superstructure::Goal>
+ superstructure_goal_sender_;
+ aos::Fetcher<y2022::control_loops::superstructure::Status>
+ superstructure_status_fetcher_;
+ aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+ aos::Fetcher<aos::RobotState> robot_state_fetcher_;
+
+ aos::TimerHandler *replan_timer_;
+ aos::TimerHandler *button_poll_;
+
+ std::optional<SplineHandle> test_spline_;
+
+ aos::Alliance alliance_ = aos::Alliance::kInvalid;
+ AutonomousSplines auto_splines_;
+ bool user_indicated_safe_to_reset_ = false;
+ bool sent_starting_position_ = false;
+
+ bool is_planned_ = false;
+
+ std::optional<Eigen::Vector3d> starting_position_;
};
} // namespace actors
diff --git a/y2022/actors/autonomous_actor_main.cc b/y2022/actors/autonomous_actor_main.cc
index bf4a782..ae45ee8 100644
--- a/y2022/actors/autonomous_actor_main.cc
+++ b/y2022/actors/autonomous_actor_main.cc
@@ -8,7 +8,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2022::actors::AutonomousActor autonomous(&event_loop);
diff --git a/y2022/actors/splines/README.md b/y2022/actors/splines/README.md
new file mode 100644
index 0000000..c655416
--- /dev/null
+++ b/y2022/actors/splines/README.md
@@ -0,0 +1,3 @@
+# Spline Descriptions
+This folder contains reference material for what each spline does
+
diff --git a/y2022/actors/splines/test_spline.json b/y2022/actors/splines/test_spline.json
new file mode 100644
index 0000000..733d516
--- /dev/null
+++ b/y2022/actors/splines/test_spline.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [0, 0.4, 0.4, 0.6, 0.6, 1.0], "spline_y": [0, 0, 0.05, 0.1, 0.15, 0.15], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 1}, {"constraint_type": "LATERAL_ACCELERATION", "value": 1}, {"constraint_type": "VOLTAGE", "value": 2}]}
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 764e82b..7162dfa 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -11,6 +11,7 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "glog/logging.h"
+#include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
#include "y2022/control_loops/superstructure/turret/integral_turret_plant.h"
@@ -67,7 +68,7 @@
auto *const turret_params = &turret->subsystem_params;
turret_params->zeroing_voltage = 4.0;
- turret_params->operating_voltage = 8.0;
+ turret_params->operating_voltage = 4.0;
turret_params->zeroing_profile_params = {0.5, 2.0};
turret_params->default_profile_params = {15.0, 40.0};
turret_params->range = Values::kTurretRange();
@@ -100,14 +101,35 @@
flipper_arms.subsystem_params.default_profile_params = {6.0, 1.0};
flipper_arms.subsystem_params.range = Values::kFlipperArmRange();
- auto *const flipper_arm_right = &r.flipper_arm_left;
- auto *const flipper_arm_left = &r.flipper_arm_right;
+ auto *const flipper_arm_right = &r.flipper_arm_right;
+ auto *const flipper_arm_left = &r.flipper_arm_left;
*flipper_arm_right = flipper_arms;
*flipper_arm_left = flipper_arms;
// No integral loops for flipper arms
+ // Catapult
+ Values::PotAndAbsEncoderConstants *const catapult = &r.catapult;
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ *const catapult_params = &catapult->subsystem_params;
+
+ catapult_params->zeroing_voltage = 4.0;
+ catapult_params->operating_voltage = 12.0;
+ catapult_params->zeroing_profile_params = {0.5, 2.0};
+ catapult_params->default_profile_params = {15.0, 40.0};
+ catapult_params->range = Values::kCatapultRange();
+ catapult_params->make_integral_loop =
+ &control_loops::superstructure::catapult::MakeIntegralCatapultLoop;
+ catapult_params->zeroing_constants.average_filter_size =
+ Values::kZeroingSampleSize;
+ catapult_params->zeroing_constants.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kCatapultEncoderRatio();
+ catapult_params->zeroing_constants.zeroing_threshold = 0.0005;
+ catapult_params->zeroing_constants.moving_buffer_size = 20;
+ catapult_params->zeroing_constants.allowable_encoder_error = 0.9;
+
switch (team) {
// A set of constants for tests.
case 1:
@@ -123,21 +145,32 @@
0.0;
flipper_arm_left->potentiometer_offset = 0.0;
flipper_arm_right->potentiometer_offset = 0.0;
+
+ catapult_params->zeroing_constants.measured_absolute_position = 0.0;
+ catapult->potentiometer_offset = 0.0;
break;
case kCompTeamNumber:
climber->potentiometer_offset = 0.0;
- intake_front->potentiometer_offset = 0.0;
+
+ intake_front->potentiometer_offset = 2.79628370453323;
intake_front->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- intake_back->potentiometer_offset = 0.0;
+ .measured_absolute_position = 0.248921954833972;
+
+ intake_back->potentiometer_offset = 3.1409576474047;
intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- turret->potentiometer_offset = 0.0;
+ .measured_absolute_position = 0.280099007470002;
+
+ turret->potentiometer_offset = -9.99970387166721 + 0.06415943;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.0;
- flipper_arm_left->potentiometer_offset = 0.0;
- flipper_arm_right->potentiometer_offset = 0.0;
+ 0.587661064668491;
+
+ flipper_arm_left->potentiometer_offset = -6.4;
+ flipper_arm_right->potentiometer_offset = 5.66;
+
+ catapult_params->zeroing_constants.measured_absolute_position =
+ 1.71723370408082;
+ catapult->potentiometer_offset = -2.03383240293769;
break;
case kPracticeTeamNumber:
@@ -153,6 +186,9 @@
0.0;
flipper_arm_left->potentiometer_offset = 0.0;
flipper_arm_right->potentiometer_offset = 0.0;
+
+ catapult_params->zeroing_constants.measured_absolute_position = 0.0;
+ catapult->potentiometer_offset = 0.0;
break;
case kCodingRobotTeamNumber:
@@ -168,6 +204,9 @@
0.0;
flipper_arm_left->potentiometer_offset = 0.0;
flipper_arm_right->potentiometer_offset = 0.0;
+
+ catapult_params->zeroing_constants.measured_absolute_position = 0.0;
+ catapult->potentiometer_offset = 0.0;
break;
default:
diff --git a/y2022/constants.h b/y2022/constants.h
index c0c49e7..494ca3d 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
#include "y2022/control_loops/superstructure/climber/climber_plant.h"
#include "y2022/control_loops/superstructure/intake/intake_plant.h"
#include "y2022/control_loops/superstructure/turret/turret_plant.h"
@@ -23,9 +24,7 @@
static constexpr double kDrivetrainEncoderCountsPerRevolution() {
return kDrivetrainCyclesPerRevolution() * 4;
}
- static constexpr double kDrivetrainEncoderRatio() {
- return (14.0 / 54.0) * (22.0 / 56.0);
- }
+ static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
control_loops::drivetrain::kHighOutputRatio /
@@ -49,6 +48,9 @@
return 22 * 0.25 * 0.0254;
}
static constexpr double kClimberPotRatio() { return 1.0; }
+ // TODO(milind): figure this out
+ // Climber position when it's comfortably above the mid rung.
+ static constexpr double kClimberMidRungHeight() { return 1.0; }
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
@@ -64,7 +66,7 @@
static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
static constexpr double kIntakeEncoderRatio() {
- return (16.0 / 64.0) * (20.0 / 50.0);
+ return (16.0 / 64.0) * (18.0 / 62.0);
}
static constexpr double kIntakePotRatio() { return 16.0 / 64.0; }
@@ -88,31 +90,57 @@
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kIntakeRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.5, // Back Hard
- .upper_hard = 2.85 + 0.05, // Front Hard
- .lower = -0.300, // Back Soft
- .upper = 2.725 // Front Soft
+ .lower_hard = -0.85, // Back Hard
+ .upper_hard = 1.85, // Front Hard
+ .lower = -0.400, // Back Soft
+ .upper = 1.57 // Front Soft
};
}
+ // When the intake is atleast this much out, always spin the rollers
+ static constexpr double kIntakeSlightlyOutPosition() {
+ return kIntakeRange().middle();
+ }
+ static constexpr double kIntakeOutPosition() { return 1.24; }
+
// Intake rollers
static constexpr double kIntakeRollerSupplyCurrentLimit() { return 40.0; }
static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
+ // Transfer rollers
+ // Positive voltage means front transfer rollers pull in and back spits out,
+ // and vice versa
+ static constexpr double kTransferRollerFrontVoltage() { return 12.0; }
+ static constexpr double kTransferRollerBackVoltage() {
+ return -kTransferRollerFrontVoltage();
+ }
+
+ // Voltage to wiggle the transfer rollers and keep a ball in.
+ static constexpr double kTransferRollerFrontWiggleVoltage() { return 3.0; }
+ static constexpr double kTransferRollerBackWiggleVoltage() {
+ return -kTransferRollerFrontWiggleVoltage();
+ }
+ // Minimum roller speed when the intake is slightly out
+ static constexpr double kMinIntakeSlightlyOutRollerSpeed() { return 6.0; }
+ // Roller speeds when intake is out
+ static constexpr double kIntakeOutRollerSpeed() { return 7.0; }
+
// Turret
PotAndAbsEncoderConstants turret;
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
- .lower_hard = -3.45, // Back Hard
- .upper_hard = 3.45, // Front Hard
- .lower = -3.3, // Back Soft
- .upper = 3.3 // Front Soft
+ .lower_hard = -6.0, // Back Hard
+ .upper_hard = 4.0, // Front Hard
+ .lower = -5.0, // Back Soft
+ .upper = 3.7 // Front Soft
};
}
- // Turret
+ static constexpr double kTurretBackIntakePos() { return M_PI; }
+ static constexpr double kTurretFrontIntakePos() { return 0; }
+
static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
static constexpr double kTurretEncoderRatio() { return kTurretPotRatio(); }
static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
@@ -124,19 +152,83 @@
}
// Flipper arms
- static constexpr double kFlipperArmSupplyCurrentLimit() { return 30.0; }
- static constexpr double kFlipperArmStatorCurrentLimit() { return 40.0; }
+ static constexpr double kFlipperArmSupplyCurrentLimit() { return 40.0; }
+ static constexpr double kFlipperArmStatorCurrentLimit() { return 60.0; }
+
+ // Voltage to open the flippers for firing
+ static constexpr double kFlipperOpenVoltage() { return 3.0; }
+ // Voltage to keep the flippers open for firing once they already are
+ static constexpr double kFlipperHoldVoltage() { return 2.5; }
+ // Voltage to feed a ball from the transfer rollers to the catpult with the
+ // flippers
+ static constexpr double kFlipperFeedVoltage() { return -12.0; }
+
+ // Ball is fed into catapult for atleast this time no matter what
+ static constexpr std::chrono::milliseconds kExtraLoadingTime() {
+ return std::chrono::milliseconds(100);
+ }
+ // If we have been trying to transfer the ball for this amount of time, it
+ // probably got lost so abort
+ static constexpr std::chrono::seconds kBallLostTime() {
+ return std::chrono::seconds(2);
+ }
+ // If the flippers took more than this amount of time to open for firing,
+ // reseat the ball
+ static constexpr std::chrono::milliseconds kFlipperOpeningTimeout() {
+ return std::chrono::milliseconds(1000);
+ }
+ // Don't use flipper velocity readings more than this amount of time in the
+ // past
+ static constexpr std::chrono::milliseconds kFlipperVelocityValidTime() {
+ return std::chrono::milliseconds(100);
+ }
// TODO: (Griffin) this needs to be set
static constexpr ::frc971::constants::Range kFlipperArmRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.6, .lower = 0.0, .upper = 0.5};
+ .lower_hard = -0.01, .upper_hard = 0.4, .lower = 0.0, .upper = 0.5};
}
+ // Position of the flippers when they are open
+ static constexpr double kFlipperOpenPosition() { return 0.15; }
+ // If the flippers were open but now moved back, reseat the ball if they go
+ // below this position
+ static constexpr double kReseatFlipperPosition() { return 0.1; }
static constexpr double kFlipperArmsPotRatio() { return 16.0 / 36.0; }
PotConstants flipper_arm_left;
PotConstants flipper_arm_right;
+
+ // Catapult.
+ static constexpr double kCatapultPotRatio() { return (12.0 / 33.0); }
+ static constexpr double kCatapultEncoderRatio() {
+ return kCatapultPotRatio();
+ }
+ static constexpr double kCatapultEncoderCountsPerRevolution() {
+ return 4096.0;
+ }
+ static constexpr double kDefaultCatapultShotPosition() { return 3.0; }
+ static constexpr double kDefaultCatapultShotVelocity() { return 3.0; }
+ static constexpr double kCatapultReturnPosition() { return -0.85; }
+
+ static constexpr double kMaxCatapultEncoderPulsesPerSecond() {
+ return control_loops::superstructure::catapult::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::superstructure::catapult::kOutputRatio /
+ kCatapultEncoderRatio() * kCatapultEncoderCountsPerRevolution();
+ }
+ static constexpr ::frc971::constants::Range kCatapultRange() {
+ return ::frc971::constants::Range{
+ .lower_hard = -1.0,
+ .upper_hard = 2.0,
+ .lower = -0.91,
+ .upper = 1.57,
+ };
+ }
+
+ PotAndAbsEncoderConstants catapult;
+
+ // TODO(milind): set this
+ static constexpr double kImuHeight() { return 0.0; }
};
// Creates and returns a Values instance for the constants.
diff --git a/y2022/control_loops/drivetrain/BUILD b/y2022/control_loops/drivetrain/BUILD
index 661aee9..3442a39 100644
--- a/y2022/control_loops/drivetrain/BUILD
+++ b/y2022/control_loops/drivetrain/BUILD
@@ -80,7 +80,7 @@
"//aos/network:message_bridge_server_fbs",
"//frc971/control_loops/drivetrain:hybrid_ekf",
"//frc971/control_loops/drivetrain:localizer",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_output_fbs",
],
)
@@ -107,7 +107,7 @@
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops/drivetrain:simulation_channels",
- "//y2022:config",
+ "//y2022:aos_config",
],
)
@@ -127,7 +127,7 @@
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_lib",
"//frc971/control_loops/drivetrain:drivetrain_test_lib",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_output_fbs",
],
)
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index 93233d2..f18ebf2 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -10,6 +10,7 @@
#include "y2022/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
using ::frc971::control_loops::drivetrain::DrivetrainConfig;
+using ::frc971::control_loops::drivetrain::DownEstimatorConfig;
namespace chrono = ::std::chrono;
@@ -22,6 +23,8 @@
const ShifterHallEffect kThreeStateDriveShifter{0.0, 0.0, 0.25, 0.75};
const DrivetrainConfig<double> &GetDrivetrainConfig() {
+ // Yaw of the IMU relative to the robot frame.
+ static constexpr double kImuYaw = 0.0;
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
@@ -53,7 +56,12 @@
1.2 /* quickturn_wheel_multiplier */,
1.2 /* wheel_multiplier */,
true /*pistol_grip_shift_enables_line_follow*/,
- };
+ (Eigen::Matrix<double, 3, 3>() << std::cos(kImuYaw), -std::sin(kImuYaw),
+ 0.0, std::sin(kImuYaw), std::cos(kImuYaw), 0.0, 0.0, 0.0, 1.0)
+ .finished(),
+ false /*is_simulated*/,
+ DownEstimatorConfig{.gravity_threshold = 0.015,
+ .do_accel_corrections = 1000}};
return kDrivetrainConfig;
};
diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index fc448eb..a422eaa 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -12,7 +12,7 @@
aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
aos::ShmEventLoop event_loop(&config.message());
std::unique_ptr<::y2022::control_loops::drivetrain::Localizer> localizer =
diff --git a/y2022/control_loops/drivetrain/localizer.h b/y2022/control_loops/drivetrain/localizer.h
index 50d083a..4505e9b 100644
--- a/y2022/control_loops/drivetrain/localizer.h
+++ b/y2022/control_loops/drivetrain/localizer.h
@@ -6,7 +6,7 @@
#include "aos/events/event_loop.h"
#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
#include "frc971/control_loops/drivetrain/localizer.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
#include "aos/network/message_bridge_server_generated.h"
namespace y2022 {
@@ -16,7 +16,7 @@
// This class handles the localization for the 2022 robot. Rather than actually
// doing any work on the roborio, we farm all the localization out to a
// raspberry pi and it then sends out LocalizerOutput messages that we treat as
-// measurement updates. See //y2022/control_loops/localizer.
+// measurement updates. See //y2022/localizer.
// TODO(james): Needs tests. Should refactor out some of the code from the 2020
// localizer test.
class Localizer : public frc971::control_loops::drivetrain::LocalizerInterface {
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
index 87fc3fd..1e33826 100644
--- a/y2022/control_loops/drivetrain/localizer_test.cc
+++ b/y2022/control_loops/drivetrain/localizer_test.cc
@@ -10,7 +10,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
#include "gtest/gtest.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
diff --git a/y2022/control_loops/drivetrain/trajectory_generator_main.cc b/y2022/control_loops/drivetrain/trajectory_generator_main.cc
index c2837dd..9a59811 100644
--- a/y2022/control_loops/drivetrain/trajectory_generator_main.cc
+++ b/y2022/control_loops/drivetrain/trajectory_generator_main.cc
@@ -15,7 +15,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
TrajectoryGenerator generator(
diff --git a/y2022/control_loops/localizer/BUILD b/y2022/control_loops/localizer/BUILD
deleted file mode 100644
index 034c779..0000000
--- a/y2022/control_loops/localizer/BUILD
+++ /dev/null
@@ -1,119 +0,0 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-
-ts_library(
- name = "localizer_plotter",
- srcs = ["localizer_plotter.ts"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//aos/network/www:aos_plotter",
- "//aos/network/www:colors",
- "//aos/network/www:proxy",
- "//frc971/wpilib:imu_plot_utils",
- ],
-)
-
-flatbuffer_cc_library(
- name = "localizer_output_fbs",
- srcs = [
- "localizer_output.fbs",
- ],
- gen_reflections = True,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
-
-flatbuffer_cc_library(
- name = "localizer_status_fbs",
- srcs = [
- "localizer_status.fbs",
- ],
- gen_reflections = True,
- includes = [
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
-
-cc_static_flatbuffer(
- name = "localizer_schema",
- function = "frc971::controls::LocalizerStatusSchema",
- target = ":localizer_status_fbs_reflection_out",
- visibility = ["//visibility:public"],
-)
-
-cc_library(
- name = "localizer",
- srcs = ["localizer.cc"],
- hdrs = ["localizer.h"],
- visibility = ["//visibility:public"],
- deps = [
- ":localizer_output_fbs",
- ":localizer_status_fbs",
- "//aos/containers:ring_buffer",
- "//aos/events:event_loop",
- "//aos/time",
- "//frc971/control_loops:c2d",
- "//frc971/control_loops:control_loops_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
- "//frc971/control_loops/drivetrain:improved_down_estimator",
- "//frc971/control_loops/drivetrain:localizer_fbs",
- "//frc971/wpilib:imu_batch_fbs",
- "//frc971/wpilib:imu_fbs",
- "//frc971/zeroing:imu_zeroer",
- "//y2020/vision/sift:sift_fbs",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_binary(
- name = "localizer_main",
- srcs = ["localizer_main.cc"],
- visibility = ["//visibility:public"],
- deps = [
- ":localizer",
- "//aos:init",
- "//aos/events:shm_event_loop",
- "//y2022/control_loops/drivetrain:drivetrain_base",
- ],
-)
-
-cc_test(
- name = "localizer_test",
- srcs = ["localizer_test.cc"],
- data = [
- "//y2022:config",
- ],
- shard_count = 10,
- deps = [
- ":localizer",
- "//aos/events:simulated_event_loop",
- "//aos/testing:googletest",
- "//frc971/control_loops/drivetrain:drivetrain_test_lib",
- ],
-)
-
-cc_binary(
- name = "localizer_replay",
- srcs = ["localizer_replay.cc"],
- data = [
- "//y2020:config",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":localizer",
- ":localizer_schema",
- "//aos:configuration",
- "//aos:init",
- "//aos:json_to_flatbuffer",
- "//aos/events:simulated_event_loop",
- "//aos/events/logging:log_reader",
- "//aos/events/logging:log_writer",
- "//y2020/control_loops/drivetrain:drivetrain_base",
- ],
-)
diff --git a/y2022/control_loops/localizer/localizer.cc b/y2022/control_loops/localizer/localizer.cc
deleted file mode 100644
index 3c68e59..0000000
--- a/y2022/control_loops/localizer/localizer.cc
+++ /dev/null
@@ -1,571 +0,0 @@
-#include "y2022/control_loops/localizer/localizer.h"
-
-#include "frc971/control_loops/c2d.h"
-#include "frc971/wpilib/imu_batch_generated.h"
-// TODO(james): Things to do:
-// -Approach still seems fundamentally sound.
-// -Really need to work on cost/residual function.
-// -Particularly for handling stopping.
-// -Extra hysteresis
-
-namespace frc971::controls {
-
-namespace {
-constexpr double kG = 9.80665;
-constexpr std::chrono::microseconds kNominalDt(500);
-
-template <int N>
-Eigen::Matrix<double, N, 1> MakeState(std::vector<double> values) {
- CHECK_EQ(static_cast<size_t>(N), values.size());
- Eigen::Matrix<double, N, 1> vector;
- for (int ii = 0; ii < N; ++ii) {
- vector(ii, 0) = values[ii];
- }
- return vector;
-}
-} // namespace
-
-ModelBasedLocalizer::ModelBasedLocalizer(
- const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
- : dt_config_(dt_config),
- velocity_drivetrain_coefficients_(
- dt_config.make_hybrid_drivetrain_velocity_loop()
- .plant()
- .coefficients()),
- down_estimator_(dt_config) {
- CHECK_EQ(branches_.capacity(), static_cast<size_t>(std::chrono::seconds(1) /
- kNominalDt / kBranchPeriod));
- if (dt_config_.is_simulated) {
- down_estimator_.assume_perfect_gravity();
- }
- A_continuous_accel_.setZero();
- A_continuous_model_.setZero();
- B_continuous_accel_.setZero();
- B_continuous_model_.setZero();
-
- A_continuous_accel_(kX, kVelocityX) = 1.0;
- A_continuous_accel_(kY, kVelocityY) = 1.0;
-
- const double diameter = 2.0 * dt_config_.robot_radius;
-
- A_continuous_model_(kTheta, kLeftVelocity) = -1.0 / diameter;
- A_continuous_model_(kTheta, kRightVelocity) = 1.0 / diameter;
- A_continuous_model_(kLeftEncoder, kLeftVelocity) = 1.0;
- A_continuous_model_(kRightEncoder, kRightVelocity) = 1.0;
- const auto &vel_coefs = velocity_drivetrain_coefficients_;
- A_continuous_model_(kLeftVelocity, kLeftVelocity) =
- vel_coefs.A_continuous(0, 0);
- A_continuous_model_(kLeftVelocity, kRightVelocity) =
- vel_coefs.A_continuous(0, 1);
- A_continuous_model_(kRightVelocity, kLeftVelocity) =
- vel_coefs.A_continuous(1, 0);
- A_continuous_model_(kRightVelocity, kRightVelocity) =
- vel_coefs.A_continuous(1, 1);
-
- A_continuous_model_(kLeftVelocity, kLeftVoltageError) =
- 1 * vel_coefs.B_continuous(0, 0);
- A_continuous_model_(kLeftVelocity, kRightVoltageError) =
- 1 * vel_coefs.B_continuous(0, 1);
- A_continuous_model_(kRightVelocity, kLeftVoltageError) =
- 1 * vel_coefs.B_continuous(1, 0);
- A_continuous_model_(kRightVelocity, kRightVoltageError) =
- 1 * vel_coefs.B_continuous(1, 1);
-
- B_continuous_model_.block<1, 2>(kLeftVelocity, kLeftVoltage) =
- vel_coefs.B_continuous.row(0);
- B_continuous_model_.block<1, 2>(kRightVelocity, kLeftVoltage) =
- vel_coefs.B_continuous.row(1);
-
- B_continuous_accel_(kVelocityX, kAccelX) = 1.0;
- B_continuous_accel_(kVelocityY, kAccelY) = 1.0;
- B_continuous_accel_(kTheta, kThetaRate) = 1.0;
-
- Q_continuous_model_.setZero();
- Q_continuous_model_.diagonal() << 1e-4, 1e-4, 1e-4, 1e-2, 1e-0, 1e-0, 1e-2,
- 1e-0, 1e-0;
-
- P_model_ = Q_continuous_model_ * aos::time::DurationInSeconds(kNominalDt);
-}
-
-Eigen::Matrix<double, ModelBasedLocalizer::kNModelStates,
- ModelBasedLocalizer::kNModelStates>
-ModelBasedLocalizer::AModel(
- const ModelBasedLocalizer::ModelState &state) const {
- Eigen::Matrix<double, kNModelStates, kNModelStates> A = A_continuous_model_;
- const double theta = state(kTheta);
- const double stheta = std::sin(theta);
- const double ctheta = std::cos(theta);
- const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
- A(kX, kTheta) = -stheta * velocity;
- A(kX, kLeftVelocity) = ctheta / 2.0;
- A(kX, kRightVelocity) = ctheta / 2.0;
- A(kY, kTheta) = ctheta * velocity;
- A(kY, kLeftVelocity) = stheta / 2.0;
- A(kY, kRightVelocity) = stheta / 2.0;
- return A;
-}
-
-Eigen::Matrix<double, ModelBasedLocalizer::kNAccelStates,
- ModelBasedLocalizer::kNAccelStates>
-ModelBasedLocalizer::AAccel() const {
- return A_continuous_accel_;
-}
-
-ModelBasedLocalizer::ModelState ModelBasedLocalizer::DiffModel(
- const ModelBasedLocalizer::ModelState &state,
- const ModelBasedLocalizer::ModelInput &U) const {
- ModelState x_dot = AModel(state) * state + B_continuous_model_ * U;
- const double theta = state(kTheta);
- const double stheta = std::sin(theta);
- const double ctheta = std::cos(theta);
- const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
- x_dot(kX) = ctheta * velocity;
- x_dot(kY) = stheta * velocity;
- return x_dot;
-}
-
-ModelBasedLocalizer::AccelState ModelBasedLocalizer::DiffAccel(
- const ModelBasedLocalizer::AccelState &state,
- const ModelBasedLocalizer::AccelInput &U) const {
- return AAccel() * state + B_continuous_accel_ * U;
-}
-
-ModelBasedLocalizer::ModelState ModelBasedLocalizer::UpdateModel(
- const ModelBasedLocalizer::ModelState &model,
- const ModelBasedLocalizer::ModelInput &input,
- const aos::monotonic_clock::duration dt) const {
- return control_loops::RungeKutta(
- std::bind(&ModelBasedLocalizer::DiffModel, this, std::placeholders::_1,
- input),
- model, aos::time::DurationInSeconds(dt));
-}
-
-ModelBasedLocalizer::AccelState ModelBasedLocalizer::UpdateAccel(
- const ModelBasedLocalizer::AccelState &accel,
- const ModelBasedLocalizer::AccelInput &input,
- const aos::monotonic_clock::duration dt) const {
- return control_loops::RungeKutta(
- std::bind(&ModelBasedLocalizer::DiffAccel, this, std::placeholders::_1,
- input),
- accel, aos::time::DurationInSeconds(dt));
-}
-
-ModelBasedLocalizer::AccelState ModelBasedLocalizer::AccelStateForModelState(
- const ModelBasedLocalizer::ModelState &state) const {
- const double robot_speed =
- (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
- const double velocity_x = std::cos(state(kTheta)) * robot_speed;
- const double velocity_y = std::sin(state(kTheta)) * robot_speed;
- return (AccelState() << state(0), state(1), state(2), velocity_x, velocity_y)
- .finished();
-}
-
-ModelBasedLocalizer::ModelState ModelBasedLocalizer::ModelStateForAccelState(
- const ModelBasedLocalizer::AccelState &state,
- const Eigen::Vector2d &encoders, const double yaw_rate) const {
- const double robot_speed = state(kVelocityX) * std::cos(state(kTheta)) +
- state(kVelocityY) * std::sin(state(kTheta));
- const double radius = dt_config_.robot_radius;
- const double left_velocity = robot_speed - yaw_rate * radius;
- const double right_velocity = robot_speed + yaw_rate * radius;
- return (ModelState() << state(0), state(1), state(2), encoders(0),
- left_velocity, 0.0, encoders(1), right_velocity, 0.0)
- .finished();
-}
-
-double ModelBasedLocalizer::ModelDivergence(
- const ModelBasedLocalizer::CombinedState &state,
- const ModelBasedLocalizer::AccelInput &accel_inputs,
- const Eigen::Vector2d &filtered_accel,
- const ModelBasedLocalizer::ModelInput &model_inputs) {
- // Convert the model state into the acceleration-based state-space and check
- // the distance between the two (should really be a weighted norm, but all the
- // numbers are on ~the same scale).
- VLOG(2) << "divergence: "
- << (state.accel_state - AccelStateForModelState(state.model_state))
- .transpose();
- const AccelState diff_accel = DiffAccel(state.accel_state, accel_inputs);
- const ModelState diff_model = DiffModel(state.model_state, model_inputs);
- const double model_lng_velocity =
- (state.model_state(kLeftVelocity) + state.model_state(kRightVelocity)) /
- 2.0;
- const double model_lng_accel =
- (diff_model(kLeftVelocity) + diff_model(kRightVelocity)) / 2.0;
- const Eigen::Vector2d robot_frame_accel(
- model_lng_accel, diff_model(kTheta) * model_lng_velocity);
- const Eigen::Vector2d model_accel =
- Eigen::AngleAxisd(state.model_state(kTheta), Eigen::Vector3d::UnitZ())
- .toRotationMatrix()
- .block<2, 2>(0, 0) *
- robot_frame_accel;
- const double accel_diff = (model_accel - filtered_accel).norm();
- const double theta_rate_diff =
- std::abs(diff_accel(kTheta) - diff_model(kTheta));
-
- const Eigen::Vector2d accel_vel = state.accel_state.bottomRows<2>();
- const Eigen::Vector2d model_vel =
- AccelStateForModelState(state.model_state).bottomRows<2>();
- velocity_residual_ = (accel_vel - model_vel).norm() /
- (1.0 + accel_vel.norm() + model_vel.norm());
- theta_rate_residual_ = theta_rate_diff;
- accel_residual_ = accel_diff / 4.0;
- return velocity_residual_ + theta_rate_residual_ + accel_residual_;
-}
-
-void ModelBasedLocalizer::HandleImu(aos::monotonic_clock::time_point t,
- const Eigen::Vector3d &gyro,
- const Eigen::Vector3d &accel,
- const Eigen::Vector2d encoders,
- const Eigen::Vector2d voltage) {
- VLOG(2) << t;
- if (t_ == aos::monotonic_clock::min_time) {
- t_ = t;
- }
- if (t_ + 2 * kNominalDt < t) {
- t_ = t;
- ++clock_resets_;
- }
- const aos::monotonic_clock::duration dt = t - t_;
- t_ = t;
- down_estimator_.Predict(gyro, accel, dt);
- // TODO(james): Should we prefer this or use the down-estimator corrected
- // version?
- const double yaw_rate = (dt_config_.imu_transform * gyro)(2);
- const double diameter = 2.0 * dt_config_.robot_radius;
-
- const Eigen::AngleAxis<double> orientation(
- Eigen::AngleAxis<double>(xytheta()(kTheta), Eigen::Vector3d::UnitZ()) *
- down_estimator_.X_hat());
-
- const Eigen::Vector3d absolute_accel =
- orientation * dt_config_.imu_transform * kG * accel;
- abs_accel_ = absolute_accel;
- const Eigen::Vector3d absolute_gyro =
- orientation * dt_config_.imu_transform * gyro;
- (void)absolute_gyro;
-
- VLOG(2) << "abs accel " << absolute_accel.transpose();
- VLOG(2) << "abs gyro " << absolute_gyro.transpose();
- VLOG(2) << "dt " << aos::time::DurationInSeconds(dt);
-
- // Update all the branched states.
- const AccelInput accel_input(absolute_accel.x(), absolute_accel.y(),
- yaw_rate);
- const ModelInput model_input(voltage);
-
- const Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous =
- AModel(current_state_.model_state);
-
- Eigen::Matrix<double, kNModelStates, kNModelStates> A_discrete;
- Eigen::Matrix<double, kNModelStates, kNModelStates> Q_discrete;
-
- DiscretizeQAFast(Q_continuous_model_, A_continuous, dt, &Q_discrete,
- &A_discrete);
-
- P_model_ = A_discrete * P_model_ * A_discrete.transpose() + Q_discrete;
-
- Eigen::Matrix<double, kNModelOutputs, kNModelStates> H;
- Eigen::Matrix<double, kNModelOutputs, kNModelOutputs> R;
- {
- H.setZero();
- R.setZero();
- H(0, kLeftEncoder) = 1.0;
- H(1, kRightEncoder) = 1.0;
- H(2, kRightVelocity) = 1.0 / diameter;
- H(2, kLeftVelocity) = -1.0 / diameter;
-
- R.diagonal() << 1e-9, 1e-9, 1e-13;
- }
-
- const Eigen::Matrix<double, kNModelOutputs, 1> Z(encoders(0), encoders(1),
- yaw_rate);
-
- if (branches_.empty()) {
- VLOG(2) << "Initializing";
- current_state_.model_state.setZero();
- current_state_.accel_state.setZero();
- current_state_.model_state(kLeftEncoder) = encoders(0);
- current_state_.model_state(kRightEncoder) = encoders(1);
- current_state_.branch_time = t;
- branches_.Push(current_state_);
- }
-
- const Eigen::Matrix<double, kNModelStates, kNModelOutputs> K =
- P_model_ * H.transpose() * (H * P_model_ * H.transpose() + R).inverse();
- P_model_ = (Eigen::Matrix<double, kNModelStates, kNModelStates>::Identity() -
- K * H) *
- P_model_;
- VLOG(2) << "K\n" << K;
- VLOG(2) << "Z\n" << Z.transpose();
-
- for (CombinedState &state : branches_) {
- state.accel_state = UpdateAccel(state.accel_state, accel_input, dt);
- if (down_estimator_.consecutive_still() > 100.0) {
- state.accel_state(kVelocityX) *= 0.9;
- state.accel_state(kVelocityY) *= 0.9;
- }
- state.model_state = UpdateModel(state.model_state, model_input, dt);
- state.model_state += K * (Z - H * state.model_state);
- }
-
- VLOG(2) << "oildest accel " << branches_[0].accel_state.transpose();
- VLOG(2) << "oildest accel diff "
- << DiffAccel(branches_[0].accel_state, accel_input).transpose();
- VLOG(2) << "oildest model " << branches_[0].model_state.transpose();
-
- // Determine whether to switch modes--if we are currently in model-based mode,
- // swap to accel-based if the two states have divergeed meaningfully in the
- // oldest branch. If we are currently in accel-based, then swap back to model
- // if the oldest model branch matches has matched the
- filtered_residual_accel_ +=
- 0.01 * (accel_input.topRows<2>() - filtered_residual_accel_);
- const double model_divergence =
- branches_.full() ? ModelDivergence(branches_[0], accel_input,
- filtered_residual_accel_, model_input)
- : 0.0;
- filtered_residual_ +=
- (1.0 - std::exp(-aos::time::DurationInSeconds(kNominalDt) / 0.0095)) *
- (model_divergence - filtered_residual_);
- constexpr double kUseAccelThreshold = 0.4;
- constexpr double kUseModelThreshold = 0.2;
- constexpr size_t kShareStates = kNModelStates;
- static_assert(kUseModelThreshold < kUseAccelThreshold);
- if (using_model_) {
- if (filtered_residual_ > kUseAccelThreshold) {
- hysteresis_count_++;
- } else {
- hysteresis_count_ = 0;
- }
- if (hysteresis_count_ > 0) {
- using_model_ = false;
- // Grab the accel-based state from back when we started diverging.
- // TODO(james): This creates a problematic selection bias, because
- // we will tend to bias towards deliberately out-of-tune measurements.
- current_state_.accel_state = branches_[0].accel_state;
- current_state_.model_state = branches_[0].model_state;
- current_state_.model_state = ModelStateForAccelState(
- current_state_.accel_state, encoders, yaw_rate);
- } else {
- VLOG(2) << "Normal branching";
- current_state_.model_state = branches_[branches_.size() - 1].model_state;
- current_state_.accel_state =
- AccelStateForModelState(current_state_.model_state);
- current_state_.branch_time = t;
- }
- hysteresis_count_ = 0;
- } else {
- if (filtered_residual_ < kUseModelThreshold) {
- hysteresis_count_++;
- } else {
- hysteresis_count_ = 0;
- }
- if (hysteresis_count_ > 100) {
- using_model_ = true;
- // Grab the model-based state from back when we stopped diverging.
- current_state_.model_state.topRows<kShareStates>() =
- ModelStateForAccelState(branches_[0].accel_state, encoders, yaw_rate)
- .topRows<kShareStates>();
- current_state_.accel_state =
- AccelStateForModelState(current_state_.model_state);
- } else {
- current_state_.accel_state = branches_[branches_.size() - 1].accel_state;
- // TODO(james): Why was I leaving the encoders/wheel velocities in place?
- current_state_.model_state = branches_[branches_.size() - 1].model_state;
- current_state_.model_state = ModelStateForAccelState(
- current_state_.accel_state, encoders, yaw_rate);
- current_state_.branch_time = t;
- }
- }
-
- // Generate a new branch, with the accel state reset based on the model-based
- // state (really, just getting rid of the lateral velocity).
- CombinedState new_branch = current_state_;
- //if (!keep_accel_state) {
- if (using_model_) {
- new_branch.accel_state = AccelStateForModelState(new_branch.model_state);
- }
- new_branch.accumulated_divergence = 0.0;
-
- ++branch_counter_;
- if (branch_counter_ % kBranchPeriod == 0) {
- branches_.Push(new_branch);
- branch_counter_ = 0;
- }
-
- last_residual_ = model_divergence;
-
- VLOG(2) << "Using " << (using_model_ ? "model" : "accel");
- VLOG(2) << "Residual " << last_residual_;
- VLOG(2) << "Filtered Residual " << filtered_residual_;
- VLOG(2) << "buffer size " << branches_.size();
- VLOG(2) << "Model state " << current_state_.model_state.transpose();
- VLOG(2) << "Accel state " << current_state_.accel_state.transpose();
- VLOG(2) << "Accel state for model "
- << AccelStateForModelState(current_state_.model_state).transpose();
- VLOG(2) << "Input acce " << accel.transpose();
- VLOG(2) << "Input gyro " << gyro.transpose();
- VLOG(2) << "Input voltage " << voltage.transpose();
- VLOG(2) << "Input encoder " << encoders.transpose();
- VLOG(2) << "yaw rate " << yaw_rate;
-
- CHECK(std::isfinite(last_residual_));
-}
-
-void ModelBasedLocalizer::HandleReset(aos::monotonic_clock::time_point now,
- const Eigen::Vector3d &xytheta) {
- branches_.Reset();
- t_ = now;
- using_model_ = true;
- current_state_.model_state << xytheta(0), xytheta(1), xytheta(2),
- current_state_.model_state(kLeftEncoder), 0.0, 0.0,
- current_state_.model_state(kRightEncoder), 0.0, 0.0;
- current_state_.accel_state =
- AccelStateForModelState(current_state_.model_state);
- last_residual_ = 0.0;
- filtered_residual_ = 0.0;
- filtered_residual_accel_.setZero();
- abs_accel_.setZero();
-}
-
-flatbuffers::Offset<AccelBasedState> ModelBasedLocalizer::BuildAccelState(
- flatbuffers::FlatBufferBuilder *fbb, const AccelState &state) {
- AccelBasedState::Builder accel_state_builder(*fbb);
- accel_state_builder.add_x(state(kX));
- accel_state_builder.add_y(state(kY));
- accel_state_builder.add_theta(state(kTheta));
- accel_state_builder.add_velocity_x(state(kVelocityX));
- accel_state_builder.add_velocity_y(state(kVelocityY));
- return accel_state_builder.Finish();
-}
-
-flatbuffers::Offset<ModelBasedState> ModelBasedLocalizer::BuildModelState(
- flatbuffers::FlatBufferBuilder *fbb, const ModelState &state) {
- ModelBasedState::Builder model_state_builder(*fbb);
- model_state_builder.add_x(state(kX));
- model_state_builder.add_y(state(kY));
- model_state_builder.add_theta(state(kTheta));
- model_state_builder.add_left_encoder(state(kLeftEncoder));
- model_state_builder.add_left_velocity(state(kLeftVelocity));
- model_state_builder.add_left_voltage_error(state(kLeftVoltageError));
- model_state_builder.add_right_encoder(state(kRightEncoder));
- model_state_builder.add_right_velocity(state(kRightVelocity));
- model_state_builder.add_right_voltage_error(state(kRightVoltageError));
- return model_state_builder.Finish();
-}
-
-flatbuffers::Offset<ModelBasedStatus> ModelBasedLocalizer::PopulateStatus(
- flatbuffers::FlatBufferBuilder *fbb) {
- const flatbuffers::Offset<control_loops::drivetrain::DownEstimatorState>
- down_estimator_offset = down_estimator_.PopulateStatus(fbb, t_);
-
- const CombinedState &state = current_state_;
-
- const flatbuffers::Offset<ModelBasedState> model_state_offset =
- BuildModelState(fbb, state.model_state);
-
- const flatbuffers::Offset<AccelBasedState> accel_state_offset =
- BuildAccelState(fbb, state.accel_state);
-
- const flatbuffers::Offset<AccelBasedState> oldest_accel_state_offset =
- branches_.empty() ? flatbuffers::Offset<AccelBasedState>()
- : BuildAccelState(fbb, branches_[0].accel_state);
-
- const flatbuffers::Offset<ModelBasedState> oldest_model_state_offset =
- branches_.empty() ? flatbuffers::Offset<ModelBasedState>()
- : BuildModelState(fbb, branches_[0].model_state);
-
- ModelBasedStatus::Builder builder(*fbb);
- builder.add_accel_state(accel_state_offset);
- builder.add_oldest_accel_state(oldest_accel_state_offset);
- builder.add_oldest_model_state(oldest_model_state_offset);
- builder.add_model_state(model_state_offset);
- builder.add_using_model(using_model_);
- builder.add_residual(last_residual_);
- builder.add_filtered_residual(filtered_residual_);
- builder.add_velocity_residual(velocity_residual_);
- builder.add_accel_residual(accel_residual_);
- builder.add_theta_rate_residual(theta_rate_residual_);
- builder.add_down_estimator(down_estimator_offset);
- builder.add_x(xytheta()(0));
- builder.add_y(xytheta()(1));
- builder.add_theta(xytheta()(2));
- builder.add_implied_accel_x(abs_accel_(0));
- builder.add_implied_accel_y(abs_accel_(1));
- builder.add_implied_accel_z(abs_accel_(2));
- builder.add_clock_resets(clock_resets_);
- return builder.Finish();
-}
-
-EventLoopLocalizer::EventLoopLocalizer(
- aos::EventLoop *event_loop,
- const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
- : event_loop_(event_loop),
- model_based_(dt_config),
- status_sender_(event_loop_->MakeSender<LocalizerStatus>("/localizer")),
- output_sender_(event_loop_->MakeSender<LocalizerOutput>("/localizer")),
- output_fetcher_(
- event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
- "/drivetrain")) {
- event_loop_->MakeWatcher(
- "/drivetrain",
- [this](
- const frc971::control_loops::drivetrain::LocalizerControl &control) {
- const double theta = control.keep_current_theta()
- ? model_based_.xytheta()(2)
- : control.theta();
- model_based_.HandleReset(event_loop_->monotonic_now(),
- {control.x(), control.y(), theta});
- });
- event_loop_->MakeWatcher(
- "/localizer", [this](const frc971::IMUValuesBatch &values) {
- CHECK(values.has_readings());
- output_fetcher_.Fetch();
- for (const IMUValues *value : *values.readings()) {
- zeroer_.InsertAndProcessMeasurement(*value);
- if (zeroer_.Zeroed()) {
- if (output_fetcher_.get() != nullptr) {
- const bool disabled =
- output_fetcher_.context().monotonic_event_time +
- std::chrono::milliseconds(10) <
- event_loop_->context().monotonic_event_time;
- model_based_.HandleImu(
- aos::monotonic_clock::time_point(std::chrono::nanoseconds(
- value->monotonic_timestamp_ns())),
- zeroer_.ZeroedGyro(), zeroer_.ZeroedAccel(),
- {value->left_encoder(), value->right_encoder()},
- disabled ? Eigen::Vector2d::Zero()
- : Eigen::Vector2d{output_fetcher_->left_voltage(),
- output_fetcher_->right_voltage()});
- }
- }
- {
- auto builder = status_sender_.MakeBuilder();
- const flatbuffers::Offset<ModelBasedStatus> model_based_status =
- model_based_.PopulateStatus(builder.fbb());
- LocalizerStatus::Builder status_builder =
- builder.MakeBuilder<LocalizerStatus>();
- status_builder.add_model_based(model_based_status);
- status_builder.add_zeroed(zeroer_.Zeroed());
- status_builder.add_faulted_zero(zeroer_.Faulted());
- builder.CheckOk(builder.Send(status_builder.Finish()));
- }
- if (last_output_send_ + std::chrono::milliseconds(5) <
- event_loop_->context().monotonic_event_time) {
- auto builder = output_sender_.MakeBuilder();
- LocalizerOutput::Builder output_builder =
- builder.MakeBuilder<LocalizerOutput>();
- // TODO(james): Should we bother to try to estimate time offsets for
- // the pico?
- output_builder.add_monotonic_timestamp_ns(
- value->monotonic_timestamp_ns());
- output_builder.add_x(model_based_.xytheta()(0));
- output_builder.add_y(model_based_.xytheta()(1));
- output_builder.add_theta(model_based_.xytheta()(2));
- builder.CheckOk(builder.Send(output_builder.Finish()));
- last_output_send_ = event_loop_->monotonic_now();
- }
- }
- });
-}
-
-} // namespace frc971::controls
diff --git a/y2022/control_loops/localizer/localizer.h b/y2022/control_loops/localizer/localizer.h
deleted file mode 100644
index bb52a40..0000000
--- a/y2022/control_loops/localizer/localizer.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
-#define Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
-
-#include "Eigen/Dense"
-#include "Eigen/Geometry"
-
-#include "aos/events/event_loop.h"
-#include "aos/containers/ring_buffer.h"
-#include "aos/time/time.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2022/control_loops/localizer/localizer_status_generated.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
-#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
-#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
-#include "frc971/control_loops/drivetrain/localizer_generated.h"
-#include "frc971/zeroing/imu_zeroer.h"
-
-namespace frc971::controls {
-
-namespace testing {
-class LocalizerTest;
-}
-
-// Localizer implementation that makes use of a 6-axis IMU, encoder readings,
-// drivetrain voltages, and camera returns to localize the robot. Meant to
-// be run on a raspberry pi.
-//
-// This operates on the principle that the drivetrain can be in one of two
-// modes:
-// 1) A "normal" mode where it is obeying the regular drivetrain model, with
-// minimal lateral motion and no major external disturbances. This is
-// referred to as the "model" mode in the code/variable names.
-// 2) An non-holonomic mode where the robot is just flying around on a 2-D
-// plane with no meaningful constraints (referred to as an "accel" model
-// in the code, because we rely primarily on the accelerometer readings).
-//
-// In order to determine which mode to be in, we attempt to track whether the
-// two models are diverging substantially. In order to do this, we maintain a
-// 1-second long queue of "branches". A branch is generated every X iterations
-// and contains a model state and an accel state. When the branch starts, the
-// two will have identical states. For the remaining 1 second, the model state
-// will evolve purely according to the drivetrian model, and the accel state
-// will evolve purely using IMU readings.
-//
-// When the branch reaches 1 second in age, we calculate a residual associated
-// with how much the accel and model based states diverged. If they have
-// diverged substantially, that implies that the model is a poor match for
-// whatever has been happening to the robot in the past second, so if we were
-// previously relying on the model, we will override the current "actual"
-// state with the branched accel state, and then continue to update the accel
-// state based on IMU readings.
-// If we are currently in the accel state, we will continue generating branches
-// until the branches stop diverging--this will indicate that the model
-// matches the accelerometer readings again, and so we will swap back to
-// the model-based state.
-//
-// TODO:
-// * Implement paying attention to camera readings.
-// * Tune for ADIS16505/real robot.
-// * Tune down CPU usage to run on a pi.
-class ModelBasedLocalizer {
- public:
- static constexpr size_t kX = 0;
- static constexpr size_t kY = 1;
- static constexpr size_t kTheta = 2;
-
- static constexpr size_t kVelocityX = 3;
- static constexpr size_t kVelocityY = 4;
- static constexpr size_t kNAccelStates = 5;
-
- static constexpr size_t kLeftEncoder = 3;
- static constexpr size_t kLeftVelocity = 4;
- static constexpr size_t kLeftVoltageError = 5;
- static constexpr size_t kRightEncoder = 6;
- static constexpr size_t kRightVelocity = 7;
- static constexpr size_t kRightVoltageError = 8;
- static constexpr size_t kNModelStates = 9;
-
- static constexpr size_t kNModelOutputs = 3;
-
- static constexpr size_t kNAccelOuputs = 1;
-
- static constexpr size_t kAccelX = 0;
- static constexpr size_t kAccelY = 1;
- static constexpr size_t kThetaRate = 2;
- static constexpr size_t kNAccelInputs = 3;
-
- static constexpr size_t kLeftVoltage = 0;
- static constexpr size_t kRightVoltage = 1;
- static constexpr size_t kNModelInputs = 2;
-
- // Branching period, in cycles.
- static constexpr int kBranchPeriod = 1;
-
- typedef Eigen::Matrix<double, kNModelStates, 1> ModelState;
- typedef Eigen::Matrix<double, kNAccelStates, 1> AccelState;
- typedef Eigen::Matrix<double, kNModelInputs, 1> ModelInput;
- typedef Eigen::Matrix<double, kNAccelInputs, 1> AccelInput;
-
- ModelBasedLocalizer(
- const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
- void HandleImu(aos::monotonic_clock::time_point t,
- const Eigen::Vector3d &gyro, const Eigen::Vector3d &accel,
- const Eigen::Vector2d encoders, const Eigen::Vector2d voltage);
- void HandleImageMatch(aos::monotonic_clock::time_point,
- const vision::sift::ImageMatchResult *) {
- LOG(FATAL) << "Unimplemented.";
- }
- void HandleReset(aos::monotonic_clock::time_point,
- const Eigen::Vector3d &xytheta);
-
- flatbuffers::Offset<ModelBasedStatus> PopulateStatus(
- flatbuffers::FlatBufferBuilder *fbb);
-
- Eigen::Vector3d xytheta() const {
- if (using_model_) {
- return current_state_.model_state.block<3, 1>(0, 0);
- } else {
- return current_state_.accel_state.block<3, 1>(0, 0);
- }
- }
-
- AccelState accel_state() const { return current_state_.accel_state; };
-
- private:
- struct CombinedState {
- AccelState accel_state;
- ModelState model_state;
- aos::monotonic_clock::time_point branch_time;
- double accumulated_divergence;
- };
-
- static flatbuffers::Offset<AccelBasedState> BuildAccelState(
- flatbuffers::FlatBufferBuilder *fbb, const AccelState &state);
-
- static flatbuffers::Offset<ModelBasedState> BuildModelState(
- flatbuffers::FlatBufferBuilder *fbb, const ModelState &state);
-
- Eigen::Matrix<double, kNModelStates, kNModelStates> AModel(
- const ModelState &state) const;
- Eigen::Matrix<double, kNAccelStates, kNAccelStates> AAccel() const;
- ModelState DiffModel(const ModelState &state, const ModelInput &U) const;
- AccelState DiffAccel(const AccelState &state, const AccelInput &U) const;
-
- ModelState UpdateModel(const ModelState &model, const ModelInput &input,
- aos::monotonic_clock::duration dt) const;
- AccelState UpdateAccel(const AccelState &accel, const AccelInput &input,
- aos::monotonic_clock::duration dt) const;
-
- AccelState AccelStateForModelState(const ModelState &state) const;
- ModelState ModelStateForAccelState(const AccelState &state,
- const Eigen::Vector2d &encoders,
- const double yaw_rate) const;
- double ModelDivergence(const CombinedState &state,
- const AccelInput &accel_inputs,
- const Eigen::Vector2d &filtered_accel,
- const ModelInput &model_inputs);
-
- const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
- const StateFeedbackHybridPlantCoefficients<2, 2, 2, double>
- velocity_drivetrain_coefficients_;
- Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous_model_;
- Eigen::Matrix<double, kNAccelStates, kNAccelStates> A_continuous_accel_;
- Eigen::Matrix<double, kNModelStates, kNModelInputs> B_continuous_model_;
- Eigen::Matrix<double, kNAccelStates, kNAccelInputs> B_continuous_accel_;
-
- Eigen::Matrix<double, kNModelStates, kNModelStates> Q_continuous_model_;
-
- Eigen::Matrix<double, kNModelStates, kNModelStates> P_model_;
- // When we are following the model, we will, on each iteration:
- // 1) Perform a model-based update of a single state.
- // 2) Add a hypothetical non-model-based entry based on the current state.
- // 3) Evict too-old non-model-based entries.
- control_loops::drivetrain::DrivetrainUkf down_estimator_;
-
- // Buffer of old branches these are all created by initializing a new
- // model-based state based on the current state, and then initializing a new
- // accel-based state on top of that new model-based state (to eliminate the
- // impact of any lateral motion).
- // We then integrate up all of these states and observe how much the model and
- // accel based states of each branch compare to one another.
- aos::RingBuffer<CombinedState, 2000 / kBranchPeriod> branches_;
- int branch_counter_ = 0;
-
- CombinedState current_state_;
- aos::monotonic_clock::time_point t_ = aos::monotonic_clock::min_time;
- bool using_model_;
-
- double last_residual_ = 0.0;
- double filtered_residual_ = 0.0;
- Eigen::Vector2d filtered_residual_accel_ = Eigen::Vector2d::Zero();
- Eigen::Vector3d abs_accel_ = Eigen::Vector3d::Zero();
- double velocity_residual_ = 0.0;
- double accel_residual_ = 0.0;
- double theta_rate_residual_ = 0.0;
- int hysteresis_count_ = 0;
-
- int clock_resets_ = 0;
-
- friend class testing::LocalizerTest;
-};
-
-class EventLoopLocalizer {
- public:
- EventLoopLocalizer(
- aos::EventLoop *event_loop,
- const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
-
- private:
- aos::EventLoop *event_loop_;
- ModelBasedLocalizer model_based_;
- aos::Sender<LocalizerStatus> status_sender_;
- aos::Sender<LocalizerOutput> output_sender_;
- aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
- zeroing::ImuZeroer zeroer_;
- aos::monotonic_clock::time_point last_output_send_ =
- aos::monotonic_clock::min_time;
-};
-} // namespace frc971::controls
-#endif // Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
diff --git a/y2022/control_loops/localizer/localizer_test.cc b/y2022/control_loops/localizer/localizer_test.cc
deleted file mode 100644
index 5857bda..0000000
--- a/y2022/control_loops/localizer/localizer_test.cc
+++ /dev/null
@@ -1,525 +0,0 @@
-#include "y2022/control_loops/localizer/localizer.h"
-
-#include "aos/events/simulated_event_loop.h"
-#include "gtest/gtest.h"
-#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
-
-namespace frc971::controls::testing {
-typedef ModelBasedLocalizer::ModelState ModelState;
-typedef ModelBasedLocalizer::AccelState AccelState;
-typedef ModelBasedLocalizer::ModelInput ModelInput;
-typedef ModelBasedLocalizer::AccelInput AccelInput;
-namespace {
-constexpr size_t kX = ModelBasedLocalizer::kX;
-constexpr size_t kY = ModelBasedLocalizer::kY;
-constexpr size_t kTheta = ModelBasedLocalizer::kTheta;
-constexpr size_t kVelocityX = ModelBasedLocalizer::kVelocityX;
-constexpr size_t kVelocityY = ModelBasedLocalizer::kVelocityY;
-constexpr size_t kAccelX = ModelBasedLocalizer::kAccelX;
-constexpr size_t kAccelY = ModelBasedLocalizer::kAccelY;
-constexpr size_t kThetaRate = ModelBasedLocalizer::kThetaRate;
-constexpr size_t kLeftEncoder = ModelBasedLocalizer::kLeftEncoder;
-constexpr size_t kLeftVelocity = ModelBasedLocalizer::kLeftVelocity;
-constexpr size_t kLeftVoltageError = ModelBasedLocalizer::kLeftVoltageError;
-constexpr size_t kRightEncoder = ModelBasedLocalizer::kRightEncoder;
-constexpr size_t kRightVelocity = ModelBasedLocalizer::kRightVelocity;
-constexpr size_t kRightVoltageError = ModelBasedLocalizer::kRightVoltageError;
-constexpr size_t kLeftVoltage = ModelBasedLocalizer::kLeftVoltage;
-constexpr size_t kRightVoltage = ModelBasedLocalizer::kRightVoltage;
-}
-
-class LocalizerTest : public ::testing::Test {
- protected:
- LocalizerTest()
- : dt_config_(
- control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
- localizer_(dt_config_) {}
- ModelState CallDiffModel(const ModelState &state, const ModelInput &U) {
- return localizer_.DiffModel(state, U);
- }
-
- AccelState CallDiffAccel(const AccelState &state, const AccelInput &U) {
- return localizer_.DiffAccel(state, U);
- }
-
- const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
- ModelBasedLocalizer localizer_;
-
-};
-
-TEST_F(LocalizerTest, AccelIntegrationTest) {
- AccelState state;
- state.setZero();
- AccelInput input;
- input.setZero();
-
- EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
- // Non-zero x/y/theta states should still result in a zero derivative.
- state(kX) = 1.0;
- state(kY) = 1.0;
- state(kTheta) = 1.0;
- EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
-
- state.setZero();
- state(kVelocityX) = 1.0;
- state(kVelocityY) = 2.0;
- EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
- CallDiffAccel(state, input));
- // Derivatives should be independent of theta.
- state(kTheta) = M_PI / 2.0;
- EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
- CallDiffAccel(state, input));
-
- state.setZero();
- input(kAccelX) = 1.0;
- input(kAccelY) = 2.0;
- input(kThetaRate) = 3.0;
- EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
- CallDiffAccel(state, input));
- state(kTheta) = M_PI / 2.0;
- EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
- CallDiffAccel(state, input));
-}
-
-TEST_F(LocalizerTest, ModelIntegrationTest) {
- ModelState state;
- state.setZero();
- ModelInput input;
- input.setZero();
- ModelState diff;
-
- EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
- // Non-zero x/y/theta/encoder states should still result in a zero derivative.
- state(kX) = 1.0;
- state(kY) = 1.0;
- state(kTheta) = 1.0;
- state(kLeftEncoder) = 1.0;
- state(kRightEncoder) = 1.0;
- EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
-
- state.setZero();
- state(kLeftVelocity) = 1.0;
- state(kRightVelocity) = 1.0;
- diff = CallDiffModel(state, input);
- const ModelState mask_velocities =
- (ModelState() << 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0).finished();
- EXPECT_EQ(
- (ModelState() << 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0).finished(),
- diff.cwiseProduct(mask_velocities));
- EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
- EXPECT_GT(0.0, diff(kLeftVelocity));
- state(kTheta) = M_PI / 2.0;
- diff = CallDiffModel(state, input);
- EXPECT_NEAR(0.0,
- ((ModelState() << 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0)
- .finished() -
- diff.cwiseProduct(mask_velocities))
- .norm(),
- 1e-12);
- EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
- EXPECT_GT(0.0, diff(kLeftVelocity));
-
- state.setZero();
- state(kLeftVelocity) = -1.0;
- state(kRightVelocity) = 1.0;
- diff = CallDiffModel(state, input);
- EXPECT_EQ((ModelState() << 0.0, 0.0, 1.0 / dt_config_.robot_radius, -1.0, 0.0,
- 0.0, 1.0, 0.0, 0.0)
- .finished(),
- diff.cwiseProduct(mask_velocities));
- EXPECT_EQ(-diff(kLeftVelocity), diff(kRightVelocity));
- EXPECT_LT(0.0, diff(kLeftVelocity));
-
- state.setZero();
- input(kLeftVoltage) = 5.0;
- input(kRightVoltage) = 6.0;
- diff = CallDiffModel(state, input);
- EXPECT_EQ(0, diff(kX));
- EXPECT_EQ(0, diff(kY));
- EXPECT_EQ(0, diff(kTheta));
- EXPECT_EQ(0, diff(kLeftEncoder));
- EXPECT_EQ(0, diff(kRightEncoder));
- EXPECT_EQ(0, diff(kLeftVoltageError));
- EXPECT_EQ(0, diff(kRightVoltageError));
- EXPECT_LT(0, diff(kLeftVelocity));
- EXPECT_LT(0, diff(kRightVelocity));
- EXPECT_LT(diff(kLeftVelocity), diff(kRightVelocity));
-
- state.setZero();
- state(kLeftVoltageError) = -1.0;
- state(kRightVoltageError) = -2.0;
- input(kLeftVoltage) = 1.0;
- input(kRightVoltage) = 2.0;
- EXPECT_EQ(ModelState::Zero(), CallDiffModel(state, input));
-}
-
-// Test that the HandleReset does indeed reset the state of the localizer.
-TEST_F(LocalizerTest, LocalizerReset) {
- aos::monotonic_clock::time_point t = aos::monotonic_clock::epoch();
- localizer_.HandleReset(t, {1.0, 2.0, 3.0});
- EXPECT_EQ((Eigen::Vector3d{1.0, 2.0, 3.0}), localizer_.xytheta());
- localizer_.HandleReset(t, {4.0, 5.0, 6.0});
- EXPECT_EQ((Eigen::Vector3d{4.0, 5.0, 6.0}), localizer_.xytheta());
-}
-
-// Test that if we are moving only by accelerometer readings (and just assuming
-// zero voltage/encoders) that we initially don't believe it but then latch into
-// following the accelerometer.
-// Note: this test is somewhat sensitive to the exact tuning values used for the
-// filter.
-TEST_F(LocalizerTest, AccelOnly) {
- const aos::monotonic_clock::time_point start = aos::monotonic_clock::epoch();
- const std::chrono::microseconds kDt{500};
- aos::monotonic_clock::time_point t = start - std::chrono::milliseconds(1000);
- Eigen::Vector3d gyro{0.0, 0.0, 0.0};
- const Eigen::Vector2d encoders{0.0, 0.0};
- const Eigen::Vector2d voltages{0.0, 0.0};
- Eigen::Vector3d accel{1.0, 0.2, 9.80665};
- Eigen::Vector3d accel_gs = accel / 9.80665;
- while (t < start) {
- // Spin to fill up the buffer.
- localizer_.HandleImu(t, gyro, Eigen::Vector3d::UnitZ(), encoders, voltages);
- t += kDt;
- }
- while (t < start + std::chrono::milliseconds(100)) {
- localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
- EXPECT_EQ(Eigen::Vector3d::Zero(), localizer_.xytheta());
- t += kDt;
- }
- while (t < start + std::chrono::milliseconds(500)) {
- // Too lazy to hard-code when the transition happens.
- localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
- t += kDt;
- }
- while (t < start + std::chrono::milliseconds(1000)) {
- SCOPED_TRACE(t);
- localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
- const Eigen::Vector3d xytheta = localizer_.xytheta();
- t += kDt;
- EXPECT_NEAR(
- 0.5 * accel(0) * std::pow(aos::time::DurationInSeconds(t - start), 2),
- xytheta(0), 1e-4);
- EXPECT_NEAR(
- 0.5 * accel(1) * std::pow(aos::time::DurationInSeconds(t - start), 2),
- xytheta(1), 1e-4);
- EXPECT_EQ(0.0, xytheta(2));
- }
-
- ASSERT_NEAR(1.0, localizer_.accel_state()(kVelocityX), 1e-10);
- ASSERT_NEAR(0.2, localizer_.accel_state()(kVelocityY), 1e-10);
-
- // Start going in a cirlce, and confirm that we
- // handle things correctly. We rotate the accelerometer readings by 90 degrees
- // and then leave them constant, which should make it look like we are going
- // around in a circle.
- accel = Eigen::Vector3d{-accel(1), accel(0), 9.80665};
- accel_gs = accel / 9.80665;
- // v^2 / r = a
- // w * r = v
- // v^2 / v * w = a
- // w = a / v
- const double omega = accel.topRows<2>().norm() /
- std::hypot(localizer_.accel_state()(kVelocityX),
- localizer_.accel_state()(kVelocityY));
- gyro << 0.0, 0.0, omega;
- // Due to the magic of math, omega works out to be 1.0 after having run at the
- // acceleration for one second.
- ASSERT_NEAR(1.0, omega, 1e-10);
- // Yes, we could save some operations here, but let's be at least somewhat
- // clear about what we're doing...
- const double radius = accel.topRows<2>().norm() / (omega * omega);
- const Eigen::Vector2d center = localizer_.xytheta().topRows<2>() +
- accel.topRows<2>().normalized() * radius;
- const double initial_theta = std::atan2(-accel(1), -accel(0));
-
- std::chrono::microseconds one_revolution_time(
- static_cast<int>(2 * M_PI / omega * 1e6));
-
- aos::monotonic_clock::time_point circle_start = t;
-
- while (t < circle_start + one_revolution_time) {
- SCOPED_TRACE(t);
- localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
- t += kDt;
- const double t_circle = aos::time::DurationInSeconds(t - circle_start);
- ASSERT_NEAR(t_circle * omega, localizer_.xytheta()(2), 1e-5);
- const double theta_circle = t_circle * omega + initial_theta;
- const Eigen::Vector2d offset =
- radius *
- Eigen::Vector2d{std::cos(theta_circle), std::sin(theta_circle)};
- const Eigen::Vector2d expected = center + offset;
- const Eigen::Vector2d estimated = localizer_.xytheta().topRows<2>();
- const Eigen::Vector2d implied_offset = estimated - center;
- const double implied_theta =
- std::atan2(implied_offset.y(), implied_offset.x());
- VLOG(1) << "center: " << center.transpose() << " radius " << radius
- << "\nlocalizer " << localizer_.xytheta().transpose()
- << " t_circle " << t_circle << " omega " << omega << " theta "
- << theta_circle << "\noffset " << offset.transpose()
- << "\nexpected " << expected.transpose() << "\nimplied offset "
- << implied_offset << " implied_theta " << implied_theta << "\nvel "
- << localizer_.accel_state()(kVelocityX) << ", "
- << localizer_.accel_state()(kVelocityY);
- ASSERT_NEAR(0.0, (expected - localizer_.xytheta().topRows<2>()).norm(),
- 1e-2);
- }
-
- // Set accelerometer back to zero and confirm that we recover (the
- // implementation decays the accelerometer speeds to zero when still, so
- // should recover).
- while (t <
- circle_start + one_revolution_time + std::chrono::milliseconds(3000)) {
- localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
- encoders, voltages);
- t += kDt;
- }
- const Eigen::Vector3d final_pos = localizer_.xytheta();
- localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
- encoders, voltages);
- ASSERT_NEAR(0.0, (final_pos - localizer_.xytheta()).norm(), 1e-10);
-}
-
-using control_loops::drivetrain::Output;
-
-class EventLoopLocalizerTest : public ::testing::Test {
- protected:
- EventLoopLocalizerTest()
- : configuration_(aos::configuration::ReadConfig("y2022/config.json")),
- event_loop_factory_(&configuration_.message()),
- roborio_node_(
- aos::configuration::GetNode(&configuration_.message(), "roborio")),
- imu_node_(
- aos::configuration::GetNode(&configuration_.message(), "imu")),
- dt_config_(
- control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
- localizer_event_loop_(
- event_loop_factory_.MakeEventLoop("localizer", imu_node_)),
- localizer_(localizer_event_loop_.get(), dt_config_),
- drivetrain_plant_event_loop_(event_loop_factory_.MakeEventLoop(
- "drivetrain_plant", roborio_node_)),
- drivetrain_plant_imu_event_loop_(
- event_loop_factory_.MakeEventLoop("drivetrain_plant", imu_node_)),
- drivetrain_plant_(drivetrain_plant_event_loop_.get(),
- drivetrain_plant_imu_event_loop_.get(), dt_config_,
- std::chrono::microseconds(500)),
- roborio_test_event_loop_(
- event_loop_factory_.MakeEventLoop("test", roborio_node_)),
- imu_test_event_loop_(
- event_loop_factory_.MakeEventLoop("test", imu_node_)),
- logger_test_event_loop_(
- event_loop_factory_.GetNodeEventLoopFactory("logger")
- ->MakeEventLoop("test")),
- output_sender_(
- roborio_test_event_loop_->MakeSender<Output>("/drivetrain")),
- output_fetcher_(roborio_test_event_loop_->MakeFetcher<LocalizerOutput>(
- "/localizer")),
- status_fetcher_(
- imu_test_event_loop_->MakeFetcher<LocalizerStatus>("/localizer")) {
- aos::TimerHandler *timer = roborio_test_event_loop_->AddTimer([this]() {
- auto builder = output_sender_.MakeBuilder();
- auto output_builder = builder.MakeBuilder<Output>();
- output_builder.add_left_voltage(output_voltages_(0));
- output_builder.add_right_voltage(output_voltages_(1));
- builder.CheckOk(builder.Send(output_builder.Finish()));
- });
- roborio_test_event_loop_->OnRun([timer, this]() {
- timer->Setup(roborio_test_event_loop_->monotonic_now(),
- std::chrono::milliseconds(5));
- });
- // Get things zeroed.
- event_loop_factory_.RunFor(std::chrono::seconds(10));
- CHECK(status_fetcher_.Fetch());
- CHECK(status_fetcher_->zeroed());
- }
-
- aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
- aos::SimulatedEventLoopFactory event_loop_factory_;
- const aos::Node *const roborio_node_;
- const aos::Node *const imu_node_;
- const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
- std::unique_ptr<aos::EventLoop> localizer_event_loop_;
- EventLoopLocalizer localizer_;
-
- std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
- std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
- control_loops::drivetrain::testing::DrivetrainSimulation drivetrain_plant_;
-
- std::unique_ptr<aos::EventLoop> roborio_test_event_loop_;
- std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
- std::unique_ptr<aos::EventLoop> logger_test_event_loop_;
-
- aos::Sender<Output> output_sender_;
- aos::Fetcher<LocalizerOutput> output_fetcher_;
- aos::Fetcher<LocalizerStatus> status_fetcher_;
-
- Eigen::Vector2d output_voltages_ = Eigen::Vector2d::Zero();
-};
-
-TEST_F(EventLoopLocalizerTest, Nominal) {
- output_voltages_ << 1.0, 1.0;
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- drivetrain_plant_.set_accel_sin_magnitude(0.01);
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // The two can be different because they may've been sent at different times.
- ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
- ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
- ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
- 1e-6);
- ASSERT_LT(0.1, output_fetcher_->x());
- ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
- ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
- ASSERT_TRUE(status_fetcher_->has_model_based());
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_LT(0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
- 1e-10);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
- 1e-1);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
- 1e-1);
-}
-
-TEST_F(EventLoopLocalizerTest, Reverse) {
- output_voltages_ << -4.0, -4.0;
- drivetrain_plant_.set_accel_sin_magnitude(0.01);
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // The two can be different because they may've been sent at different times.
- ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
- ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
- ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
- 1e-6);
- ASSERT_GT(-0.1, output_fetcher_->x());
- ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
- ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
- ASSERT_TRUE(status_fetcher_->has_model_based());
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_GT(-0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
- 1e-10);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
- 1e-1);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
- 1e-1);
-}
-
-TEST_F(EventLoopLocalizerTest, SpinInPlace) {
- output_voltages_ << 4.0, -4.0;
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // The two can be different because they may've been sent at different times.
- ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
- ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
- ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
- 1e-1);
- ASSERT_NEAR(0.0, output_fetcher_->x(), 1e-10);
- ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
- ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
- ASSERT_TRUE(status_fetcher_->has_model_based());
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_x(),
- 1e-10);
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
- 1e-10);
- ASSERT_NEAR(-status_fetcher_->model_based()->model_state()->left_velocity(),
- status_fetcher_->model_based()->model_state()->right_velocity(),
- 1e-3);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
- 1e-1);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
- 1e-1);
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-3);
-}
-
-TEST_F(EventLoopLocalizerTest, Curve) {
- output_voltages_ << 2.0, 4.0;
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // The two can be different because they may've been sent at different times.
- ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-2);
- ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-2);
- ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
- 1e-1);
- ASSERT_LT(0.1, output_fetcher_->x());
- ASSERT_LT(0.1, output_fetcher_->y());
- ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
- ASSERT_TRUE(status_fetcher_->has_model_based());
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_x());
- ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_y());
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
- 1e-1);
- ASSERT_NEAR(
- 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
- 1e-1);
- ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-1)
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
-}
-
-// Tests that small amounts of voltage error are handled by the model-based
-// half of the localizer.
-TEST_F(EventLoopLocalizerTest, VoltageError) {
- output_voltages_ << 0.0, 0.0;
- drivetrain_plant_.set_left_voltage_offset(2.0);
- drivetrain_plant_.set_right_voltage_offset(2.0);
- drivetrain_plant_.set_accel_sin_magnitude(0.01);
-
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // Should still be using the model, but have a non-trivial residual.
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_LT(0.1, status_fetcher_->model_based()->residual())
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
-
- // Afer running for a while, voltage error terms should converge and result in
- // low residuals.
- event_loop_factory_.RunFor(std::chrono::seconds(10));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- ASSERT_TRUE(status_fetcher_->model_based()->using_model());
- ASSERT_NEAR(
- 2.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
- 0.1)
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
- ASSERT_NEAR(
- 2.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
- 0.1)
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
- ASSERT_GT(0.01, status_fetcher_->model_based()->residual())
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
-}
-
-// Tests that large amounts of voltage error force us into the
-// acceleration-based localizer.
-TEST_F(EventLoopLocalizerTest, HighVoltageError) {
- output_voltages_ << 0.0, 0.0;
- drivetrain_plant_.set_left_voltage_offset(200.0);
- drivetrain_plant_.set_right_voltage_offset(200.0);
- drivetrain_plant_.set_accel_sin_magnitude(0.01);
-
- event_loop_factory_.RunFor(std::chrono::seconds(2));
- CHECK(output_fetcher_.Fetch());
- CHECK(status_fetcher_.Fetch());
- // Should still be using the model, but have a non-trivial residual.
- ASSERT_FALSE(status_fetcher_->model_based()->using_model());
- ASSERT_LT(0.1, status_fetcher_->model_based()->residual())
- << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
- ASSERT_NEAR(drivetrain_plant_.state()(0),
- status_fetcher_->model_based()->x(), 1.0);
- ASSERT_NEAR(drivetrain_plant_.state()(1),
- status_fetcher_->model_based()->y(), 1e-6);
-}
-
-} // namespace frc91::controls::testing
diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
index ce7496a..ad0e25a 100755
--- a/y2022/control_loops/python/catapult.py
+++ b/y2022/control_loops/python/catapult.py
@@ -41,8 +41,8 @@
J_cup = M_cup * lever**2.0 + M_cup * (ball_diameter / 2.)**2.0
-J = (J_ball + J_bar + J_cup * 1.5)
-JEmpty = (J_bar + J_cup * 1.5)
+J = (0.6 * J_ball + J_bar + J_cup * 0.0)
+JEmpty = (J_bar + J_cup * 0.0)
kCatapultWithBall = catapult_lib.CatapultParams(
name='Catapult',
@@ -52,14 +52,14 @@
radius=lever,
q_pos=2.8,
q_vel=20.0,
- kalman_q_pos=0.12,
+ kalman_q_pos=0.01,
kalman_q_vel=1.0,
kalman_q_voltage=1.5,
- kalman_r_position=0.05)
+ kalman_r_position=0.001)
kCatapultEmpty = catapult_lib.CatapultParams(
name='Catapult',
- motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
+ motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.02),
G=G,
J=JEmpty,
radius=lever,
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 644b53b..e7b6559 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -24,6 +24,14 @@
)
flatbuffer_cc_library(
+ name = "superstructure_can_position_fbs",
+ srcs = [
+ "superstructure_can_position.fbs",
+ ],
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
name = "superstructure_status_fbs",
srcs = [
"superstructure_status.fbs",
@@ -68,6 +76,8 @@
"superstructure.h",
],
deps = [
+ ":collision_avoidance_lib",
+ ":superstructure_can_position_fbs",
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
@@ -76,6 +86,8 @@
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2022:constants",
+ "//y2022/control_loops/superstructure/catapult",
+ "//y2022/control_loops/superstructure/turret:aiming",
],
)
@@ -97,7 +109,7 @@
"superstructure_lib_test.cc",
],
data = [
- "//y2022:config",
+ "//y2022:aos_config",
],
deps = [
":superstructure_goal_fbs",
@@ -117,6 +129,35 @@
],
)
+cc_library(
+ name = "collision_avoidance_lib",
+ srcs = ["collision_avoidance.cc"],
+ hdrs = ["collision_avoidance.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":superstructure_goal_fbs",
+ ":superstructure_status_fbs",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/functional:bind_front",
+ ],
+)
+
+cc_test(
+ name = "collision_avoidance_test",
+ srcs = ["collision_avoidance_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":collision_avoidance_lib",
+ ":superstructure_goal_fbs",
+ ":superstructure_status_fbs",
+ "//aos:flatbuffers",
+ "//aos:math",
+ "//aos/testing:googletest",
+ ],
+)
+
ts_library(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
@@ -138,3 +179,36 @@
"//aos/network/www:proxy",
],
)
+
+ts_library(
+ name = "intake_plotter",
+ srcs = ["intake_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "turret_plotter",
+ srcs = ["turret_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "climber_plotter",
+ srcs = ["climber_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
diff --git a/y2022/control_loops/superstructure/catapult/BUILD b/y2022/control_loops/superstructure/catapult/BUILD
index 289dfde..a43925e 100644
--- a/y2022/control_loops/superstructure/catapult/BUILD
+++ b/y2022/control_loops/superstructure/catapult/BUILD
@@ -42,6 +42,10 @@
":catapult_plants",
"//aos:realtime",
"//third_party/osqp-cpp",
+ "//y2022:constants",
+ "//y2022/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2022/control_loops/superstructure:superstructure_position_fbs",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
],
)
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index 243cb2d..b99f59b 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -19,17 +19,17 @@
osqp::OsqpInstance MakeInstance(
size_t horizon, Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> P) {
osqp::OsqpInstance instance;
- instance.objective_matrix = P.cast<c_float>().sparseView();
+ instance.objective_matrix = P.sparseView();
instance.constraint_matrix =
- Eigen::SparseMatrix<c_float, Eigen::ColMajor, osqp::c_int>(horizon,
- horizon);
+ Eigen::SparseMatrix<double, Eigen::ColMajor, osqp::c_int>(horizon,
+ horizon);
instance.constraint_matrix.setIdentity();
instance.lower_bounds =
- Eigen::Matrix<c_float, Eigen::Dynamic, 1>::Zero(horizon, 1);
+ Eigen::Matrix<double, Eigen::Dynamic, 1>::Zero(horizon, 1);
instance.upper_bounds =
- Eigen::Matrix<c_float, Eigen::Dynamic, 1>::Ones(horizon, 1) * 12.0;
+ Eigen::Matrix<double, Eigen::Dynamic, 1>::Ones(horizon, 1) * 12.0;
return instance;
}
} // namespace
@@ -40,27 +40,37 @@
Eigen::Matrix<double, 2, 2> Af,
Eigen::Matrix<double, Eigen::Dynamic, 2> final_q)
: horizon_(horizon),
- accel_q_(std::move(accel_q.cast<c_float>())),
- Af_(std::move(Af.cast<c_float>())),
- final_q_(std::move(final_q.cast<c_float>())),
+ accel_q_(std::move(accel_q)),
+ Af_(std::move(Af)),
+ final_q_(std::move(final_q)),
instance_(MakeInstance(horizon, std::move(P))) {
- instance_.objective_vector =
- Eigen::Matrix<c_float, Eigen::Dynamic, 1>(horizon, 1);
+ // Start with a representative problem.
+ Eigen::Matrix<double, 2, 1> X_initial(0.0, 0.0);
+ Eigen::Matrix<double, 2, 1> X_final(2.0, 25.0);
+
+ objective_vector_ =
+ X_initial(1, 0) * accel_q_ + final_q_ * (Af_ * X_initial - X_final);
+ instance_.objective_vector = objective_vector_;
settings_.max_iter = 25;
- settings_.check_termination = 25;
- settings_.warm_start = 0;
+ settings_.check_termination = 5;
+ settings_.warm_start = 1;
+ // TODO(austin): Do we need this scaling thing? It makes it not solve
+ // sometimes... I'm pretty certain by giving it a decently formed problem to
+ // initialize with, it will not try doing crazy things with the scaling
+ // internally.
+ settings_.scaling = 0;
auto status = solver_.Init(instance_, settings_);
CHECK(status.ok()) << status;
}
-void MPCProblem::SetState(Eigen::Matrix<c_float, 2, 1> X_initial,
- Eigen::Matrix<c_float, 2, 1> X_final) {
+void MPCProblem::SetState(Eigen::Matrix<double, 2, 1> X_initial,
+ Eigen::Matrix<double, 2, 1> X_final) {
X_initial_ = X_initial;
X_final_ = X_final;
- instance_.objective_vector =
+ objective_vector_ =
X_initial(1, 0) * accel_q_ + final_q_ * (Af_ * X_initial - X_final);
- auto status = solver_.SetObjectiveVector(instance_.objective_vector);
+ auto status = solver_.SetObjectiveVector(objective_vector_);
CHECK(status.ok()) << status;
}
@@ -126,8 +136,8 @@
}
const Eigen::Matrix<double, Eigen::Dynamic, 1> CatapultProblemGenerator::q(
- size_t horizon, Eigen::Matrix<c_float, 2, 1> X_initial,
- Eigen::Matrix<c_float, 2, 1> X_final) {
+ size_t horizon, Eigen::Matrix<double, 2, 1> X_initial,
+ Eigen::Matrix<double, 2, 1> X_final) {
CHECK_GT(horizon, 0u);
CHECK_LE(horizon, horizon_);
return 2.0 * X_initial(1, 0) * accel_q(horizon) +
@@ -254,6 +264,163 @@
Bf(horizon_).transpose() * Q_final_ * Bf(horizon_));
}
+CatapultController::CatapultController(size_t horizon) : generator_(horizon) {
+ problems_.reserve(generator_.horizon());
+ for (size_t i = generator_.horizon(); i > 0; --i) {
+ problems_.emplace_back(generator_.MakeProblem(i));
+ }
+
+ Reset();
+}
+
+void CatapultController::Reset() {
+ current_controller_ = 0;
+ solve_time_ = 0.0;
+}
+
+void CatapultController::SetState(Eigen::Matrix<double, 2, 1> X_initial,
+ Eigen::Matrix<double, 2, 1> X_final) {
+ if (current_controller_ >= problems_.size()) {
+ return;
+ }
+ problems_[current_controller_]->SetState(X_initial, X_final);
+}
+
+bool CatapultController::Solve() {
+ if (current_controller_ >= problems_.size()) {
+ return true;
+ }
+ const bool result = problems_[current_controller_]->Solve();
+ solve_time_ = problems_[current_controller_]->solve_time();
+ return result;
+}
+
+std::optional<double> CatapultController::Next() {
+ if (current_controller_ >= problems_.size()) {
+ return std::nullopt;
+ }
+
+ const double u = problems_[current_controller_]->U(0);
+
+ if (current_controller_ + 1u < problems_.size()) {
+ problems_[current_controller_ + 1]->WarmStart(
+ *problems_[current_controller_]);
+ }
+ ++current_controller_;
+ return u;
+}
+
+const flatbuffers::Offset<
+ frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+Catapult::Iterate(const Goal *unsafe_goal, const Position *position,
+ double *catapult_voltage, bool fire,
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *catapult_goal = unsafe_goal != nullptr && unsafe_goal->has_catapult()
+ ? (unsafe_goal->catapult()->return_position())
+ : nullptr;
+
+ const bool catapult_disabled = catapult_.Correct(
+ catapult_goal, position->catapult(), catapult_voltage == nullptr);
+
+ if (catapult_disabled) {
+ catapult_state_ = CatapultState::PROFILE;
+ } else if (catapult_.running() && unsafe_goal &&
+ unsafe_goal->has_catapult() && fire && !last_firing_) {
+ catapult_state_ = CatapultState::FIRING;
+ }
+
+ if (catapult_.running() && unsafe_goal && unsafe_goal->has_catapult()) {
+ last_firing_ = fire;
+ }
+
+ use_profile_ = true;
+
+ switch (catapult_state_) {
+ case CatapultState::FIRING: {
+ // Select the ball controller. We should only be firing if we have a
+ // ball, or at least should only care about the shot accuracy.
+ catapult_.set_controller_index(0);
+ // Ok, so we've now corrected. Next step is to run the MPC.
+ //
+ // Since there is a unit delay between when we ask for a U and the
+ // hardware applies it, we need to run the optimizer for the position at
+ // the *next* control loop cycle.
+
+ const Eigen::Vector3d next_X =
+ catapult_.controller().plant().A() * catapult_.estimated_state() +
+ catapult_.controller().plant().B() *
+ catapult_.controller().observer().last_U();
+
+ catapult_mpc_.SetState(
+ next_X.block<2, 1>(0, 0),
+ Eigen::Vector2d(unsafe_goal->catapult()->shot_position(),
+ unsafe_goal->catapult()->shot_velocity()));
+
+ const bool solved = catapult_mpc_.Solve();
+
+ if (solved || catapult_mpc_.started()) {
+ std::optional<double> solution = catapult_mpc_.Next();
+
+ if (!solution.has_value()) {
+ CHECK_NOTNULL(catapult_voltage);
+ *catapult_voltage = 0.0;
+ if (catapult_mpc_.started()) {
+ ++shot_count_;
+ // Finished the catapult, time to fire.
+ catapult_state_ = CatapultState::RESETTING;
+ }
+ } else {
+ // TODO(austin): Voltage error?
+ CHECK_NOTNULL(catapult_voltage);
+ *catapult_voltage =
+ std::max(0.0, std::min(12.0, *solution - 0.0 * next_X(2, 0)));
+ use_profile_ = false;
+ }
+ } else {
+ if (unsafe_goal && unsafe_goal->has_catapult() && !fire) {
+ // Eh, didn't manage to solve before it was time to fire. Give up.
+ catapult_state_ = CatapultState::PROFILE;
+ }
+ }
+
+ if (!use_profile_ || catapult_state_ == CatapultState::RESETTING) {
+ catapult_.ForceGoal(catapult_.estimated_position(),
+ catapult_.estimated_velocity());
+ }
+ } break;
+
+ case CatapultState::RESETTING:
+ if (catapult_.controller().R(1, 0) > 0.0) {
+ catapult_.AdjustProfile(7.0, 1000.0);
+ } else {
+ catapult_state_ = CatapultState::PROFILE;
+ }
+ [[fallthrough]];
+
+ case CatapultState::PROFILE:
+ break;
+ }
+
+ if (use_profile_) {
+ if (catapult_state_ != CatapultState::FIRING) {
+ catapult_mpc_.Reset();
+ }
+ // Select the controller designed for when we have no ball.
+ catapult_.set_controller_index(1);
+
+ const double output_voltage = catapult_.UpdateController(catapult_disabled);
+ if (catapult_voltage != nullptr) {
+ *catapult_voltage = output_voltage;
+ }
+ }
+
+ catapult_.UpdateObserver(catapult_voltage != nullptr ? *catapult_voltage
+ : 0.0);
+
+ return catapult_.MakeStatus(fbb);
+}
+
} // namespace catapult
} // namespace superstructure
} // namespace control_loops
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index 85e9242..ccd4b06 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -5,6 +5,10 @@
#include "frc971/control_loops/state_feedback_loop.h"
#include "glog/logging.h"
#include "osqp++.h"
+#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
namespace y2022 {
namespace control_loops {
@@ -57,6 +61,8 @@
Eigen::Matrix<double, 2, 1> X_initial_;
Eigen::Matrix<double, 2, 1> X_final_;
+ Eigen::Matrix<double, Eigen::Dynamic, 1> objective_vector_;
+
// Solver state.
osqp::OsqpInstance instance_;
osqp::OsqpSolver solver_;
@@ -124,6 +130,108 @@
const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> Wmpw_;
};
+// A class to hold all the state needed to manage the catapult MPC solvers for
+// repeated shots.
+//
+// The solver may take a couple of cycles to get everything converged and ready.
+// The flow is as follows:
+// 1) Reset() the state for the new problem.
+// 2) Update to the current state with SetState()
+// 3) Call Solve(). This will return true if it is ready to be executed, false
+// if it needs more iterations to fully converge.
+// 4) Next() returns the current optimal control output and advances the
+// pointers to the next problem.
+// 5) Go back to 2 for the next cycle.
+class CatapultController {
+ public:
+ CatapultController(size_t horizon);
+
+ // Starts back over at the first controller.
+ void Reset();
+
+ // Updates our current and final states for the current controller.
+ void SetState(Eigen::Matrix<double, 2, 1> X_initial,
+ Eigen::Matrix<double, 2, 1> X_final);
+
+ // Solves! Returns true if the solution converged and osqp was happy.
+ bool Solve();
+
+ // Returns the time in seconds it last took Solve to run.
+ double solve_time() const { return solve_time_; }
+
+ // Returns the controller value if there is a controller to run, or nullopt if
+ // we finished the last controller. Advances the controller pointer to the
+ // next controller and warms up the next controller.
+ std::optional<double> Next();
+
+ // Returns true if Next has been called and a controller has been used. Reset
+ // starts over.
+ bool started() const { return current_controller_ != 0u; }
+
+ private:
+ CatapultProblemGenerator generator_;
+
+ std::vector<std::unique_ptr<MPCProblem>> problems_;
+
+ size_t current_controller_ = 0;
+ double solve_time_ = 0.0;
+};
+
+// Class to handle transitioning between both the profiled subsystem and the MPC
+// for shooting.
+class Catapult {
+ public:
+ Catapult(const constants::Values &values)
+ : catapult_(values.catapult.subsystem_params), catapult_mpc_(35) {}
+
+ using PotAndAbsoluteEncoderSubsystem =
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
+ ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+
+ // Resets all state for when WPILib restarts.
+ void Reset() { catapult_.Reset(); }
+
+ void Estop() { catapult_.Estop(); }
+
+ bool zeroed() const { return catapult_.zeroed(); }
+ bool estopped() const { return catapult_.estopped(); }
+ double solve_time() const { return catapult_mpc_.solve_time(); }
+
+ bool mpc_active() const { return !use_profile_; }
+
+ // Returns the number of shots taken.
+ int shot_count() const { return shot_count_; }
+
+ // Returns the estimated position
+ double estimated_position() const { return catapult_.estimated_position(); }
+
+ // Runs either the MPC or the profiled subsystem depending on if we are
+ // shooting or not. Returns the status.
+ const flatbuffers::Offset<
+ frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+ Iterate(const Goal *unsafe_goal, const Position *position,
+ double *catapult_voltage, bool fire,
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ private:
+ // TODO(austin): Prototype is just an encoder. Catapult has both an encoder
+ // and pot. Switch back once we have a catapult.
+ // PotAndAbsoluteEncoderSubsystem catapult_;
+ PotAndAbsoluteEncoderSubsystem catapult_;
+
+ catapult::CatapultController catapult_mpc_;
+
+ enum CatapultState { PROFILE, FIRING, RESETTING };
+
+ CatapultState catapult_state_ = CatapultState::PROFILE;
+
+ bool last_firing_ = false;
+ bool use_profile_ = true;
+
+ int shot_count_ = 0;
+};
+
} // namespace catapult
} // namespace superstructure
} // namespace control_loops
diff --git a/y2022/control_loops/superstructure/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
new file mode 100644
index 0000000..e24a993
--- /dev/null
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotClimber(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('Position');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('rad');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(status, ['climber', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlot.addMessageLine(output, ['climber_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['climber', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
new file mode 100644
index 0000000..0c13295
--- /dev/null
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -0,0 +1,218 @@
+#include "y2022/control_loops/superstructure/collision_avoidance.h"
+
+#include <cmath>
+
+#include "absl/functional/bind_front.h"
+#include "glog/logging.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace superstructure {
+
+CollisionAvoidance::CollisionAvoidance() {
+ clear_min_intake_front_goal();
+ clear_max_intake_front_goal();
+ clear_min_intake_back_goal();
+ clear_max_intake_back_goal();
+ clear_min_turret_goal();
+ clear_max_turret_goal();
+}
+
+bool CollisionAvoidance::IsCollided(const CollisionAvoidance::Status &status) {
+ // Checks if intake front is collided.
+ if (TurretCollided(status.intake_front_position, status.turret_position,
+ kMinCollisionZoneFrontTurret,
+ kMaxCollisionZoneFrontTurret)) {
+ return true;
+ }
+
+ // Checks if intake back is collided.
+ if (TurretCollided(status.intake_back_position, status.turret_position,
+ kMinCollisionZoneBackTurret,
+ kMaxCollisionZoneBackTurret)) {
+ return true;
+ }
+
+ // If we aren't firing, no need to check the catapult
+ if (!status.shooting) {
+ return false;
+ }
+
+ // Checks if intake front is collided with catapult.
+ if (TurretCollided(
+ status.intake_front_position, status.turret_position + M_PI,
+ kMinCollisionZoneFrontTurret, kMaxCollisionZoneFrontTurret)) {
+ return true;
+ }
+
+ // Checks if intake back is collided with catapult.
+ if (TurretCollided(status.intake_back_position, status.turret_position + M_PI,
+ kMinCollisionZoneBackTurret,
+ kMaxCollisionZoneBackTurret)) {
+ return true;
+ }
+
+ return false;
+}
+
+std::pair<double, int> WrapTurretAngle(double turret_angle) {
+ double wrapped = std::remainder(turret_angle - M_PI, 2 * M_PI) + M_PI;
+ int wraps =
+ static_cast<int>(std::round((turret_angle - wrapped) / (2 * M_PI)));
+ return {wrapped, wraps};
+}
+
+double UnwrapTurretAngle(double wrapped, int wraps) {
+ return wrapped + 2.0 * M_PI * wraps;
+}
+
+bool AngleInRange(double theta, double theta_min, double theta_max) {
+ return (
+ (theta >= theta_min && theta <= theta_max) ||
+ (theta_min > theta_max && (theta >= theta_min || theta <= theta_max)));
+}
+
+bool CollisionAvoidance::TurretCollided(double intake_position,
+ double turret_position,
+ double min_turret_collision_position,
+ double max_turret_collision_position) {
+ const auto turret_position_wrapped_pair = WrapTurretAngle(turret_position);
+ const double turret_position_wrapped = turret_position_wrapped_pair.first;
+
+ // Checks if turret is in the collision area.
+ if (AngleInRange(turret_position_wrapped, min_turret_collision_position,
+ max_turret_collision_position)) {
+ // Reterns true if the intake is raised.
+ if (intake_position > kCollisionZoneIntake) {
+ return true;
+ }
+ } else {
+ return false;
+ }
+ return false;
+}
+
+void CollisionAvoidance::UpdateGoal(
+ const CollisionAvoidance::Status &status,
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *unsafe_turret_goal) {
+ // Start with our constraints being wide open.
+ clear_max_turret_goal();
+ clear_min_turret_goal();
+ clear_max_intake_front_goal();
+ clear_min_intake_front_goal();
+ clear_max_intake_back_goal();
+ clear_min_intake_back_goal();
+
+ const double intake_front_position = status.intake_front_position;
+ const double intake_back_position = status.intake_back_position;
+ const double turret_position = status.turret_position;
+
+ const double turret_goal = (unsafe_turret_goal != nullptr
+ ? unsafe_turret_goal->unsafe_goal()
+ : std::numeric_limits<double>::quiet_NaN());
+
+ // Calculating the avoidance with either intake, and when the turret is
+ // wrapped.
+
+ CalculateAvoidance(true, false, intake_front_position, turret_position,
+ turret_goal, kMinCollisionZoneFrontTurret,
+ kMaxCollisionZoneFrontTurret);
+ CalculateAvoidance(false, false, intake_back_position, turret_position,
+ turret_goal, kMinCollisionZoneBackTurret,
+ kMaxCollisionZoneBackTurret);
+
+ // If we aren't firing, no need to check the catapult
+ if (!status.shooting) {
+ return;
+ }
+
+ CalculateAvoidance(true, true, intake_front_position, turret_position,
+ turret_goal, kMinCollisionZoneFrontTurret,
+ kMaxCollisionZoneFrontTurret);
+ CalculateAvoidance(false, true, intake_back_position, turret_position,
+ turret_goal, kMinCollisionZoneBackTurret,
+ kMaxCollisionZoneBackTurret);
+}
+
+void CollisionAvoidance::CalculateAvoidance(bool intake_front, bool catapult,
+ double intake_position,
+ double turret_position,
+ double turret_goal,
+ double min_turret_collision_goal,
+ double max_turret_collision_goal) {
+ // If we are checking the catapult, offset the turret angle to represent where
+ // the catapult is
+ if (catapult) {
+ turret_position += M_PI;
+ turret_goal += M_PI;
+ }
+
+ auto [turret_position_wrapped, turret_position_wraps] =
+ WrapTurretAngle(turret_position);
+
+ // If the turret goal is in a collison zone or moving through one, limit
+ // intake.
+ const bool turret_pos_unsafe =
+ AngleInRange(turret_position_wrapped, min_turret_collision_goal,
+ max_turret_collision_goal);
+
+ const bool turret_moving_forward = (turret_goal > turret_position);
+
+ // To figure out if we are moving past an intake, find the unwrapped min/max
+ // angles closest to the turret position on the journey.
+ int bounds_wraps = turret_position_wraps;
+ double min_turret_collision_goal_unwrapped =
+ UnwrapTurretAngle(min_turret_collision_goal, bounds_wraps);
+ if (turret_moving_forward &&
+ min_turret_collision_goal_unwrapped < turret_position) {
+ bounds_wraps++;
+ } else if (!turret_moving_forward &&
+ min_turret_collision_goal_unwrapped > turret_position) {
+ bounds_wraps--;
+ }
+ min_turret_collision_goal_unwrapped =
+ UnwrapTurretAngle(min_turret_collision_goal, bounds_wraps);
+ // If we are checking the back intake, the max turret angle is on the wrap
+ // after the min, so add 1 to the number of wraps for it
+ const double max_turret_collision_goal_unwrapped =
+ UnwrapTurretAngle(max_turret_collision_goal,
+ intake_front ? bounds_wraps : bounds_wraps + 1);
+
+ // Check if the closest unwrapped angles are going to be passed
+ const bool turret_moving_past_intake =
+ ((turret_moving_forward &&
+ (turret_position <= max_turret_collision_goal_unwrapped &&
+ turret_goal >= min_turret_collision_goal_unwrapped)) ||
+ (!turret_moving_forward &&
+ (turret_position >= min_turret_collision_goal_unwrapped &&
+ turret_goal <= max_turret_collision_goal_unwrapped)));
+
+ if (turret_pos_unsafe || turret_moving_past_intake) {
+ // If the turret is unsafe, limit the intake
+ if (intake_front) {
+ update_max_intake_front_goal(kCollisionZoneIntake - kEpsIntake);
+ } else {
+ update_max_intake_back_goal(kCollisionZoneIntake - kEpsIntake);
+ }
+
+ // If the intake is in the way, limit the turret until moved. Otherwise,
+ // let'errip!
+ if (!turret_pos_unsafe && (intake_position > kCollisionZoneIntake)) {
+ // If we were comparing the position of the catapult,
+ // remove that offset of pi to get the turret position
+ const double bounds_offset = (catapult ? -M_PI : 0);
+ if (turret_position < min_turret_collision_goal_unwrapped) {
+ update_max_turret_goal(min_turret_collision_goal_unwrapped +
+ bounds_offset - kEpsTurret);
+ } else {
+ update_min_turret_goal(max_turret_collision_goal_unwrapped +
+ bounds_offset + kEpsTurret);
+ }
+ }
+ }
+}
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2022
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
new file mode 100644
index 0000000..3cd5344
--- /dev/null
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -0,0 +1,153 @@
+#ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_COLLISION_AVOIDENCE_H_
+#define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_COLLISION_AVOIDENCE_H_
+
+#include <cmath>
+
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace superstructure {
+
+// Returns the wrapped angle as well as number of wraps (positive or negative).
+// The returned angle will be inside [0.0, 2 * M_PI).
+std::pair<double, int> WrapTurretAngle(double turret_angle);
+
+// Returns the absolute angle given the wrapped angle and number of wraps.
+double UnwrapTurretAngle(double wrapped, int wraps);
+
+// Checks if theta is between theta_min and theta_max. Expects all angles to be
+// wrapped from 0 to 2pi
+bool AngleInRange(double theta, double theta_min, double theta_max);
+
+// 1. Prevent the turret from moving if the intake is up
+// and prevent the back of the turret (where the catapult is)
+// from colliding with the intake when it's up.
+// 2. If the intake is up, drop it so it is not in the way
+// 3. Move the turret to the desired position.
+// 4. When the turret moves away, if the intake is down, move it back up.
+class CollisionAvoidance {
+ public:
+ struct Status {
+ double intake_front_position;
+ double intake_back_position;
+ double turret_position;
+ bool shooting;
+
+ bool operator==(const Status &s) const {
+ return (intake_front_position == s.intake_front_position &&
+ intake_back_position == s.intake_back_position &&
+ turret_position == s.turret_position && shooting == s.shooting);
+ }
+ bool operator!=(const Status &s) const { return !(*this == s); }
+ };
+
+ // TODO(henry): put actual constants here.
+
+ // Reference angles between which the turret will be careful
+ static constexpr double kCollisionZoneTurret = M_PI * 5.0 / 18.0;
+
+ // For the turret, 0 rad is pointing straight forwards
+ static constexpr double kMinCollisionZoneFrontTurret =
+ M_PI - kCollisionZoneTurret;
+ static constexpr double kMaxCollisionZoneFrontTurret =
+ M_PI + kCollisionZoneTurret;
+
+ static constexpr double kMinCollisionZoneBackTurret =
+ (2.0 * M_PI) - kCollisionZoneTurret;
+ static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
+
+ // Maximum position of the intake to avoid collisions
+ static constexpr double kCollisionZoneIntake = 1.4;
+
+ // Tolerances for the subsystems
+ static constexpr double kEpsTurret = 0.05;
+ static constexpr double kEpsIntake = 0.05;
+
+ CollisionAvoidance();
+
+ // Reports if the superstructure is collided.
+ bool IsCollided(const Status &status);
+ // Checks if there is a collision on either intake.
+ bool TurretCollided(double intake_position, double turret_position,
+ double min_turret_collision_position,
+ double max_turret_collision_position);
+ // Checks and alters goals to make sure they're safe.
+ void UpdateGoal(
+ const Status &status,
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *unsafe_turret_goal);
+ // Limits if goal is in collision spots.
+ void CalculateAvoidance(bool intake_front, bool catapult,
+ double intake_position, double turret_position,
+ double turret_goal, double min_turret_collision_goal,
+ double max_turret_collision_goal);
+
+ // Returns the goals to give to the respective control loops in
+ // superstructure.
+ double min_turret_goal() const { return min_turret_goal_; }
+ double max_turret_goal() const { return max_turret_goal_; }
+ double min_intake_front_goal() const { return min_intake_front_goal_; }
+ double max_intake_front_goal() const { return max_intake_front_goal_; }
+ double min_intake_back_goal() const { return min_intake_back_goal_; }
+ double max_intake_back_goal() const { return max_intake_back_goal_; }
+
+ void update_max_turret_goal(double max_turret_goal) {
+ max_turret_goal_ = ::std::min(max_turret_goal, max_turret_goal_);
+ }
+ void update_min_turret_goal(double min_turret_goal) {
+ min_turret_goal_ = ::std::max(min_turret_goal, min_turret_goal_);
+ }
+ void update_max_intake_front_goal(double max_intake_front_goal) {
+ max_intake_front_goal_ =
+ ::std::min(max_intake_front_goal, max_intake_front_goal_);
+ }
+ void update_min_intake_front_goal(double min_intake_front_goal) {
+ min_intake_front_goal_ =
+ ::std::max(min_intake_front_goal, min_intake_front_goal_);
+ }
+ void update_max_intake_back_goal(double max_intake_back_goal) {
+ max_intake_back_goal_ =
+ ::std::min(max_intake_back_goal, max_intake_back_goal_);
+ }
+ void update_min_intake_back_goal(double min_intake_back_goal) {
+ min_intake_back_goal_ =
+ ::std::max(min_intake_back_goal, min_intake_back_goal_);
+ }
+
+ private:
+ void clear_min_intake_front_goal() {
+ min_intake_front_goal_ = -::std::numeric_limits<double>::infinity();
+ }
+ void clear_max_intake_front_goal() {
+ max_intake_front_goal_ = ::std::numeric_limits<double>::infinity();
+ }
+ void clear_min_intake_back_goal() {
+ min_intake_back_goal_ = -::std::numeric_limits<double>::infinity();
+ }
+ void clear_max_intake_back_goal() {
+ max_intake_back_goal_ = ::std::numeric_limits<double>::infinity();
+ }
+ void clear_min_turret_goal() {
+ min_turret_goal_ = -::std::numeric_limits<double>::infinity();
+ }
+ void clear_max_turret_goal() {
+ max_turret_goal_ = ::std::numeric_limits<double>::infinity();
+ }
+
+ double min_intake_front_goal_;
+ double max_intake_front_goal_;
+ double min_intake_back_goal_;
+ double max_intake_back_goal_;
+ double min_turret_goal_;
+ double max_turret_goal_;
+};
+
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2022
+
+#endif
diff --git a/y2022/control_loops/superstructure/collision_avoidance_test.cc b/y2022/control_loops/superstructure/collision_avoidance_test.cc
new file mode 100644
index 0000000..cd54fea
--- /dev/null
+++ b/y2022/control_loops/superstructure/collision_avoidance_test.cc
@@ -0,0 +1,445 @@
+#include "y2022/control_loops/superstructure/collision_avoidance.h"
+
+#include "aos/commonmath.h"
+#include "aos/flatbuffers.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2022::control_loops::superstructure::testing {
+
+using aos::FlatbufferDetachedBuffer;
+using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
+
+FlatbufferDetachedBuffer<Goal> MakeZeroGoal() {
+ flatbuffers::FlatBufferBuilder fbb;
+ fbb.ForceDefaults(true);
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_front_offset;
+ {
+ StaticZeroingSingleDOFProfiledSubsystemGoal::Builder intake_front_builder(
+ fbb);
+
+ intake_front_builder.add_unsafe_goal(0.0);
+ intake_front_offset = intake_front_builder.Finish();
+ }
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_back_offset;
+ {
+ StaticZeroingSingleDOFProfiledSubsystemGoal::Builder intake_back_builder(
+ fbb);
+
+ intake_back_builder.add_unsafe_goal(0.0);
+ intake_back_offset = intake_back_builder.Finish();
+ }
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset;
+ {
+ StaticZeroingSingleDOFProfiledSubsystemGoal::Builder turret_builder(fbb);
+
+ turret_builder.add_unsafe_goal(0.0);
+ turret_offset = turret_builder.Finish();
+ }
+
+ superstructure::Goal::Builder goal_builder(fbb);
+
+ goal_builder.add_intake_front(intake_front_offset);
+ goal_builder.add_intake_back(intake_back_offset);
+ goal_builder.add_turret(turret_offset);
+
+ fbb.Finish(goal_builder.Finish());
+ return fbb.Release();
+}
+
+// Enums for the different classes of intake and turret states
+enum class IntakeState { kSafe, kUnsafe };
+enum class TurretState {
+ kSafeFront,
+ kSafeBack,
+ kSafeFrontWrapped,
+ kSafeBackWrapped,
+ kUnsafeFront,
+ kUnsafeBack,
+ kUnsafeFrontWrapped,
+ kUnsafeBackWrapped,
+ kNegativeSafeFront,
+ kNegativeSafeBack,
+ kNegativeSafeFrontWrapped,
+ kNegativeSafeBackWrapped,
+ kNegativeUnsafeFront,
+ kNegativeUnsafeBack,
+ kNegativeUnsafeFrontWrapped,
+ kNegativeUnsafeBackWrapped,
+};
+enum class CatapultState { kIdle, kShooting };
+
+class CollisionAvoidanceTest : public ::testing::Test {
+ public:
+ CollisionAvoidanceTest()
+ : unsafe_goal_(MakeZeroGoal()),
+ status_({0.0, 0.0, 0.0, false}),
+ prev_status_({0.0, 0.0, 0.0, false}) {}
+
+ void Simulate() {
+ FlatbufferDetachedBuffer<Goal> safe_goal = MakeZeroGoal();
+
+ // Don't simulate if already collided
+ if (avoidance_.IsCollided(status_)) {
+ return;
+ }
+
+ bool moving = true;
+ while (moving) {
+ // Compute the safe goal
+ avoidance_.UpdateGoal(status_, unsafe_goal_.message().turret());
+
+ // The system should never be collided
+ ASSERT_FALSE(avoidance_.IsCollided(status_));
+
+ safe_goal.mutable_message()->mutable_intake_front()->mutate_unsafe_goal(
+ ::aos::Clip(intake_front_goal(), avoidance_.min_intake_front_goal(),
+ avoidance_.max_intake_front_goal()));
+ safe_goal.mutable_message()->mutable_intake_back()->mutate_unsafe_goal(
+ ::aos::Clip(intake_back_goal(), avoidance_.min_intake_back_goal(),
+ avoidance_.max_intake_back_goal()));
+ safe_goal.mutable_message()->mutable_turret()->mutate_unsafe_goal(
+ ::aos::Clip(turret_goal(), avoidance_.min_turret_goal(),
+ avoidance_.max_turret_goal()));
+
+ // Move each subsystem towards their goals a bit
+ status_.intake_front_position =
+ LimitedMove(status_.intake_front_position,
+ safe_goal.message().intake_front()->unsafe_goal());
+ status_.intake_back_position =
+ LimitedMove(status_.intake_back_position,
+ safe_goal.message().intake_back()->unsafe_goal());
+ status_.turret_position = LimitedMove(
+ status_.turret_position, safe_goal.message().turret()->unsafe_goal());
+
+ // If it stopped moving, we're done
+ if (!IsMoving()) {
+ moving = false;
+ } else {
+ prev_status_ = status_;
+ }
+ }
+
+ CheckGoals();
+ }
+
+ bool IsMoving() { return (status_ != prev_status_); }
+
+ double ComputeIntakeAngle(IntakeState intake_state) {
+ double intake_angle = 0.0;
+
+ switch (intake_state) {
+ case IntakeState::kSafe:
+ intake_angle = CollisionAvoidance::kCollisionZoneIntake -
+ CollisionAvoidance::kEpsIntake;
+ break;
+ case IntakeState::kUnsafe:
+ intake_angle = CollisionAvoidance::kCollisionZoneIntake +
+ CollisionAvoidance::kEpsIntake;
+ break;
+ }
+
+ return intake_angle;
+ }
+
+ double ComputeTurretAngle(TurretState turret_state) {
+ double turret_angle = 0.0;
+
+ constexpr double kMaxCollisionZoneFrontTurretWrapped =
+ (2.0 * M_PI) + CollisionAvoidance::kMaxCollisionZoneFrontTurret;
+ constexpr double kMaxCollisionZoneBackTurretWrapped =
+ (2.0 * M_PI) + CollisionAvoidance::kMaxCollisionZoneBackTurret;
+
+ switch (turret_state) {
+ case TurretState::kSafeFront:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret +
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kSafeBack:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret +
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kSafeFrontWrapped:
+ turret_angle = kMaxCollisionZoneFrontTurretWrapped +
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kSafeBackWrapped:
+ turret_angle =
+ kMaxCollisionZoneBackTurretWrapped + CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kUnsafeFront:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret -
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kUnsafeBack:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret -
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kUnsafeFrontWrapped:
+ turret_angle = kMaxCollisionZoneFrontTurretWrapped -
+ CollisionAvoidance::kEpsTurret;
+ break;
+ case TurretState::kUnsafeBackWrapped:
+ turret_angle =
+ kMaxCollisionZoneBackTurretWrapped - CollisionAvoidance::kEpsTurret;
+ break;
+
+ case TurretState::kNegativeSafeFront:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret +
+ CollisionAvoidance::kEpsTurret - 2.0 * M_PI;
+ break;
+ case TurretState::kNegativeSafeBack:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret +
+ CollisionAvoidance::kEpsTurret - 2.0 * M_PI;
+ break;
+ case TurretState::kNegativeSafeFrontWrapped:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret +
+ CollisionAvoidance::kEpsTurret - 4.0 * M_PI;
+ break;
+ case TurretState::kNegativeSafeBackWrapped:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret +
+ CollisionAvoidance::kEpsTurret - 4.0 * M_PI;
+ break;
+ case TurretState::kNegativeUnsafeFront:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret -
+ CollisionAvoidance::kEpsTurret - 2.0 * M_PI;
+ break;
+ case TurretState::kNegativeUnsafeBack:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret -
+ CollisionAvoidance::kEpsTurret - 2.0 * M_PI;
+ break;
+ case TurretState::kNegativeUnsafeFrontWrapped:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneFrontTurret -
+ CollisionAvoidance::kEpsTurret - 4.0 * M_PI;
+ break;
+ case TurretState::kNegativeUnsafeBackWrapped:
+ turret_angle = CollisionAvoidance::kMaxCollisionZoneBackTurret -
+ CollisionAvoidance::kEpsTurret - 4.0 * M_PI;
+ break;
+ }
+
+ return turret_angle;
+ }
+
+ void Test(IntakeState intake_front_pos_state,
+ IntakeState intake_back_pos_state, TurretState turret_pos_state,
+ IntakeState intake_front_goal_state,
+ IntakeState intake_back_goal_state, TurretState turret_goal_state,
+ CatapultState catapult_state) {
+ status_ = {ComputeIntakeAngle(intake_front_pos_state),
+ ComputeIntakeAngle(intake_back_pos_state),
+ ComputeTurretAngle(turret_pos_state),
+ catapult_state == CatapultState::kShooting};
+
+ unsafe_goal_.mutable_message()->mutable_intake_front()->mutate_unsafe_goal(
+ ComputeIntakeAngle(intake_front_goal_state));
+ unsafe_goal_.mutable_message()->mutable_intake_back()->mutate_unsafe_goal(
+ ComputeIntakeAngle(intake_back_goal_state));
+
+ unsafe_goal_.mutable_message()->mutable_turret()->mutate_unsafe_goal(
+ ComputeTurretAngle(turret_goal_state));
+
+ Simulate();
+ }
+
+ // Provide goals and status messages
+ FlatbufferDetachedBuffer<Goal> unsafe_goal_;
+ CollisionAvoidance::Status status_;
+
+ private:
+ static constexpr double kIterationMove = 0.001;
+
+ void CheckGoals() {
+ // Check to see if we reached the goals
+ // Turret is highest priority and should always reach the unsafe goal
+ EXPECT_NEAR(turret_goal(), status_.turret_position, kIterationMove);
+
+ // If the unsafe goal had an intake colliding with the turret or catapult,
+ // the intake position should be at least the collision zone angle.
+ // Otherwise, the intake should be at the unsafe goal
+ if (avoidance_.TurretCollided(
+ intake_front_goal(), turret_goal(),
+ CollisionAvoidance::kMinCollisionZoneFrontTurret,
+ CollisionAvoidance::kMaxCollisionZoneFrontTurret) ||
+ (status_.shooting &&
+ avoidance_.TurretCollided(
+ intake_front_goal(), turret_goal() + M_PI,
+ CollisionAvoidance::kMinCollisionZoneFrontTurret,
+ CollisionAvoidance::kMaxCollisionZoneFrontTurret))) {
+ EXPECT_LE(status_.intake_front_position,
+ CollisionAvoidance::kCollisionZoneIntake);
+ } else {
+ EXPECT_NEAR(intake_front_goal(), status_.intake_front_position,
+ kIterationMove);
+ }
+
+ if (avoidance_.TurretCollided(
+ intake_back_goal(), turret_goal(),
+ CollisionAvoidance::kMinCollisionZoneBackTurret,
+ CollisionAvoidance::kMaxCollisionZoneBackTurret) ||
+ (status_.shooting &&
+ avoidance_.TurretCollided(
+ intake_back_goal(), turret_goal() + M_PI,
+ CollisionAvoidance::kMinCollisionZoneBackTurret,
+ CollisionAvoidance::kMaxCollisionZoneBackTurret))) {
+ EXPECT_LE(status_.intake_back_position,
+ CollisionAvoidance::kCollisionZoneIntake);
+ } else {
+ EXPECT_NEAR(intake_back_goal(), status_.intake_back_position, 0.001);
+ }
+ }
+
+ double LimitedMove(double position, double goal) {
+ if (position + kIterationMove < goal) {
+ return position + kIterationMove;
+ } else if (position - kIterationMove > goal) {
+ return position - kIterationMove;
+ } else {
+ return goal;
+ }
+ }
+
+ double intake_front_goal() const {
+ return unsafe_goal_.message().intake_front()->unsafe_goal();
+ }
+ double intake_back_goal() const {
+ return unsafe_goal_.message().intake_back()->unsafe_goal();
+ }
+ double turret_goal() const {
+ return unsafe_goal_.message().turret()->unsafe_goal();
+ }
+
+ CollisionAvoidance avoidance_;
+ CollisionAvoidance::Status prev_status_;
+};
+
+// Just to be safe, brute force ALL the possible position-goal combinations
+// and make sure we never collide and the correct goals are reached
+TEST_F(CollisionAvoidanceTest, BruteForce) {
+ // Intake front position
+ for (IntakeState intake_front_pos :
+ {IntakeState::kSafe, IntakeState::kUnsafe}) {
+ // Intake back position
+ for (IntakeState intake_back_pos :
+ {IntakeState::kSafe, IntakeState::kUnsafe}) {
+ // Turret back position
+ for (TurretState turret_pos :
+ {TurretState::kSafeFront, TurretState::kSafeBack,
+ TurretState::kSafeFrontWrapped, TurretState::kSafeBackWrapped,
+ TurretState::kUnsafeFront, TurretState::kUnsafeBack,
+ TurretState::kUnsafeFrontWrapped,
+ TurretState::kUnsafeBackWrapped}) {
+ // Intake front goal
+ for (IntakeState intake_front_goal :
+ {IntakeState::kSafe, IntakeState::kUnsafe}) {
+ // Intake back goal
+ for (IntakeState intake_back_goal :
+ {IntakeState::kSafe, IntakeState::kUnsafe}) {
+ // Turret goal
+ for (TurretState turret_goal :
+ {TurretState::kSafeFront, TurretState::kSafeBack,
+ TurretState::kSafeFrontWrapped, TurretState::kSafeBackWrapped,
+ TurretState::kUnsafeFront, TurretState::kUnsafeBack,
+ TurretState::kUnsafeFrontWrapped,
+ TurretState::kUnsafeBackWrapped}) {
+ // Catapult state
+ for (CatapultState catapult_state :
+ {CatapultState::kIdle, CatapultState::kShooting}) {
+ Test(intake_front_pos, intake_back_pos, turret_pos,
+ intake_front_goal, intake_back_goal, turret_goal,
+ catapult_state);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+// Tests some of the various wraps to make sure they match what we expect.
+TEST(WrapTest, Wrap) {
+ EXPECT_THAT(WrapTurretAngle(0.0), ::testing::Eq(std::make_pair(0.0, 0)));
+
+ EXPECT_THAT(WrapTurretAngle(M_PI * 2.0 - 0.1),
+ ::testing::Pair(::testing::DoubleNear(M_PI * 2.0 - 0.1, 1e-6),
+ ::testing::Eq(0)));
+
+ EXPECT_THAT(
+ WrapTurretAngle(M_PI * 2.0 + 0.1),
+ ::testing::Pair(::testing::DoubleNear(0.1, 1e-6), ::testing::Eq(1)));
+
+ EXPECT_THAT(WrapTurretAngle(M_PI * 4.0 - 0.1),
+ ::testing::Pair(::testing::DoubleNear(M_PI * 2.0 - 0.1, 1e-6),
+ ::testing::Eq(1)));
+
+ EXPECT_THAT(
+ WrapTurretAngle(M_PI * 4.0 + 0.1),
+ ::testing::Pair(::testing::DoubleNear(0.1, 1e-6), ::testing::Eq(2)));
+
+ EXPECT_THAT(
+ WrapTurretAngle(-M_PI * 2.0 + 0.1),
+ ::testing::Pair(::testing::DoubleNear(0.1, 1e-6), ::testing::Eq(-1)));
+ EXPECT_THAT(WrapTurretAngle(-0.1),
+ ::testing::Pair(::testing::DoubleNear(M_PI * 2.0 - 0.1, 1e-6),
+ ::testing::Eq(-1)));
+
+ EXPECT_THAT(
+ WrapTurretAngle(-M_PI * 4.0 + 0.1),
+ ::testing::Pair(::testing::DoubleNear(0.1, 1e-6), ::testing::Eq(-2)));
+ EXPECT_THAT(WrapTurretAngle(-M_PI * 2.0 - 0.1),
+ ::testing::Pair(::testing::DoubleNear(M_PI * 2.0 - 0.1, 1e-6),
+ ::testing::Eq(-2)));
+
+ EXPECT_THAT(
+ WrapTurretAngle(-M_PI * 6.0 + 0.1),
+ ::testing::Pair(::testing::DoubleNear(0.1, 1e-6), ::testing::Eq(-3)));
+ EXPECT_THAT(WrapTurretAngle(-M_PI * 4.0 - 0.1),
+ ::testing::Pair(::testing::DoubleNear(M_PI * 2.0 - 0.1, 1e-6),
+ ::testing::Eq(-3)));
+}
+
+// Tests that wrap -> unwrap is a nop.
+TEST(WrapTest, UnWrap) {
+ int wraps = -10000;
+ double wrapped = 0.0;
+ for (double i = -50; i < 50; i += 0.01) {
+ std::pair<double, int> r = WrapTurretAngle(i);
+
+ // Do a dummy check. The wraps should always increase since the angle is
+ // increasing, the wrapped angle too, and everything should be within a
+ // decent range.
+ EXPECT_GE(r.first, 0.0);
+ EXPECT_LT(r.first, 2.0 * M_PI);
+ if (wraps != r.second) {
+ EXPECT_GT(r.second, wraps);
+ wraps = r.second;
+ } else {
+ EXPECT_GT(r.first, wrapped);
+ }
+ wrapped = r.first;
+
+ // And unwrapping should get us back to the start.
+ EXPECT_THAT(UnwrapTurretAngle(r.first, r.second),
+ ::testing::DoubleNear(i, 1e-9));
+ }
+}
+
+// Test that AngleInRange works correctly for wrapped angles
+TEST(AngleTest, AngleInRange) {
+ EXPECT_TRUE(AngleInRange(0.5, 0.4, 0.6));
+ EXPECT_TRUE(AngleInRange(0, (2.0 * M_PI) - 0.2, 0.2));
+ EXPECT_FALSE(AngleInRange(0, (2.0 * M_PI) - 0.2, (2.0 * M_PI) - 0.1));
+ EXPECT_TRUE(AngleInRange(0.5, (2.0 * M_PI) - 0.1, 0.6));
+}
+
+} // namespace y2022::control_loops::superstructure::testing
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
new file mode 100644
index 0000000..8904d8b
--- /dev/null
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -0,0 +1,88 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotIntakeFront(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotFront.addMessageLine(status, ['intake_front', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotFront.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotFront.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotFront.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotFront.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotFront.addMessageLine(output, ['intake_voltage_front']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
+
+export function plotIntakeBack(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ const positionPlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotBack.plot.getAxisLabels().setTitle('Position');
+ positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotBack.plot.getAxisLabels().setYLabel('rad');
+ positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+
+ const voltagePlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotBack.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotBack.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotBack.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotBack.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotBack.addMessageLine(output, ['intake_voltage_back']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index bf04774..b25d074 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -1,6 +1,7 @@
#include "y2022/control_loops/superstructure/superstructure.h"
#include "aos/events/event_loop.h"
+#include "y2022/control_loops/superstructure/collision_avoidance.h"
namespace y2022 {
namespace control_loops {
@@ -15,14 +16,17 @@
const ::std::string &name)
: frc971::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
name),
-
- climber_(values->climber.subsystem_params),
- intake_front_(values->intake_front.subsystem_params),
- intake_back_(values->intake_back.subsystem_params),
- turret_(values->turret.subsystem_params),
+ values_(values),
+ climber_(values_->climber.subsystem_params),
+ intake_front_(values_->intake_front.subsystem_params),
+ intake_back_(values_->intake_back.subsystem_params),
+ turret_(values_->turret.subsystem_params),
+ catapult_(*values_),
drivetrain_status_fetcher_(
event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
- "/drivetrain")) {
+ "/drivetrain")),
+ can_position_fetcher_(
+ event_loop->MakeFetcher<CANPosition>("/superstructure")) {
event_loop->SetRuntimeRealtimePriority(30);
}
@@ -36,14 +40,34 @@
intake_back_.Reset();
turret_.Reset();
climber_.Reset();
+ catapult_.Reset();
}
+ OutputT output_struct;
+
+ aos::FlatbufferFixedAllocatorArray<
+ frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal, 64>
+ turret_goal_buffer;
+
+ const aos::monotonic_clock::time_point timestamp =
+ event_loop()->context().monotonic_event_time;
+
drivetrain_status_fetcher_.Fetch();
const float velocity = robot_velocity();
- double roller_speed_compensated_front = 0;
- double roller_speed_compensated_back = 0;
- double transfer_roller_speed = 0;
+ const turret::Aimer::Goal *auto_aim_goal = nullptr;
+ if (drivetrain_status_fetcher_.get() != nullptr) {
+ aimer_.Update(drivetrain_status_fetcher_.get(),
+ turret::Aimer::ShotMode::kShootOnTheFly);
+ auto_aim_goal = aimer_.TurretGoal();
+ }
+
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *turret_goal = nullptr;
+ double roller_speed_compensated_front = 0.0;
+ double roller_speed_compensated_back = 0.0;
+ double transfer_roller_speed = 0.0;
+ double flipper_arms_voltage = 0.0;
if (unsafe_goal != nullptr) {
roller_speed_compensated_front =
@@ -55,42 +79,302 @@
std::min(velocity * unsafe_goal->roller_speed_compensation(), 0.0);
transfer_roller_speed = unsafe_goal->transfer_roller_speed();
+
+ turret_goal =
+ unsafe_goal->auto_aim() ? auto_aim_goal : unsafe_goal->turret();
}
- OutputT output_struct;
+ // Supersturcture state machine:
+ // 1. IDLE: Wait until an intake beambreak is triggerred, meaning that a ball
+ // is being intaked. This means that the transfer rollers have a ball. If
+ // we've been waiting here for too long without any beambreak triggered, the
+ // ball got lost, so reset.
+ // 2. TRANSFERRING: Until the turret reaches the loading position where the
+ // ball can be transferred into the catapult, wiggle the ball in place.
+ // Once the turret reaches the loading position, send the ball forward with
+ // the transfer rollers until the turret beambreak is triggered.
+ // If we have been in this state for too long, the ball probably got lost so
+ // reset back to IDLE.
+ // 3. LOADING: To load the ball into the catapult, put the flippers at the
+ // feeding speed. Wait for a timeout, and then wait until the ball has gone
+ // past the turret beambreak and the flippers have stopped moving, meaning
+ // that the ball is fully loaded in the catapult.
+ // 4. LOADED: Wait until the user asks us to fire to transition to the
+ // shooting stage. If asked to cancel the shot, reset back to the IDLE state.
+ // 5. SHOOTING: Open the flippers to get ready for the shot. If they don't
+ // open quickly enough, try reseating the ball and going back to the LOADING
+ // stage, which moves the flippers in the opposite direction first.
+ // Now, hold the flippers open and wait until the turret has reached its
+ // aiming goal. Once the turret is ready, tell the catapult to fire.
+ // If the flippers move back for some reason now, it could damage the
+ // catapult, so estop it. Otherwise, wait until the catapult shoots a ball and
+ // goes back to its return position. We have now finished the shot, so return
+ // to IDLE.
- flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
+ const bool is_spitting = ((intake_state_ == IntakeState::INTAKE_FRONT_BALL &&
+ transfer_roller_speed < 0) ||
+ (intake_state_ == IntakeState::INTAKE_BACK_BALL &&
+ transfer_roller_speed > 0));
+
+ // Intake handling should happen regardless of the turret state
+ if (position->intake_beambreak_front() || position->intake_beambreak_back()) {
+ if (intake_state_ == IntakeState::NO_BALL) {
+ if (position->intake_beambreak_front()) {
+ intake_state_ = IntakeState::INTAKE_FRONT_BALL;
+ } else if (position->intake_beambreak_back()) {
+ intake_state_ = IntakeState::INTAKE_BACK_BALL;
+ }
+ }
+
+ intake_beambreak_timer_ = timestamp;
+ }
+
+ if (timestamp >
+ intake_beambreak_timer_ + constants::Values::kBallLostTime()) {
+ intake_state_ = IntakeState::NO_BALL;
+ }
+
+ if (intake_state_ != IntakeState::NO_BALL) {
+ // Block intaking in
+ roller_speed_compensated_front = 0.0;
+ roller_speed_compensated_back = 0.0;
+
+ const double wiggle_voltage =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTransferRollerFrontWiggleVoltage()
+ : constants::Values::kTransferRollerBackWiggleVoltage());
+ // Wiggle transfer rollers: send the ball back and forth while waiting
+ // for the turret or waiting for another shot to be completed
+ if ((intake_state_ == IntakeState::INTAKE_FRONT_BALL &&
+ position->intake_beambreak_front()) ||
+ (intake_state_ == IntakeState::INTAKE_BACK_BALL &&
+ position->intake_beambreak_back())) {
+ transfer_roller_speed = -wiggle_voltage;
+ } else {
+ transfer_roller_speed = wiggle_voltage;
+ }
+ }
+
+ switch (state_) {
+ case SuperstructureState::IDLE: {
+ if (is_spitting) {
+ intake_state_ = IntakeState::NO_BALL;
+ }
+
+ if (intake_state_ == IntakeState::NO_BALL ||
+ !(position->intake_beambreak_front() ||
+ position->intake_beambreak_back())) {
+ break;
+ }
+
+ state_ = SuperstructureState::TRANSFERRING;
+ // Save the side the ball is on for later
+
+ break;
+ }
+ case SuperstructureState::TRANSFERRING: {
+ // If we've been transferring for too long, the ball probably got lost
+ if (intake_state_ == IntakeState::NO_BALL) {
+ state_ = SuperstructureState::IDLE;
+ break;
+ }
+
+ double turret_loading_position =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTurretFrontIntakePos()
+ : constants::Values::kTurretBackIntakePos());
+
+ turret_goal_buffer.Finish(
+ frc971::control_loops::
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *turret_goal_buffer.fbb(), turret_loading_position));
+ turret_goal = &turret_goal_buffer.message();
+
+ const bool turret_near_goal =
+ std::abs(turret_.estimated_position() - turret_loading_position) <
+ kTurretGoalThreshold;
+ if (!turret_near_goal) {
+ break; // Wait for turret to reach the chosen intake
+ }
+
+ // Transfer rollers and flipper arm belt on
+ transfer_roller_speed =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTransferRollerFrontVoltage()
+ : constants::Values::kTransferRollerBackVoltage());
+ flipper_arms_voltage = constants::Values::kFlipperFeedVoltage();
+
+ // Ball is in catapult
+ if (position->turret_beambreak()) {
+ intake_state_ = IntakeState::NO_BALL;
+ state_ = SuperstructureState::LOADING;
+ loading_timer_ = timestamp;
+ }
+ break;
+ }
+ case SuperstructureState::LOADING: {
+ flipper_arms_voltage = constants::Values::kFlipperFeedVoltage();
+
+ // Keep feeding for kExtraLoadingTime
+
+ // The ball should go past the turret beambreak to be loaded.
+ // If we got a CAN reading not too long ago, the flippers should have
+ // also stopped.
+ if (position->turret_beambreak()) {
+ loading_timer_ = timestamp;
+ } else if (timestamp >
+ loading_timer_ + constants::Values::kExtraLoadingTime()) {
+ state_ = SuperstructureState::LOADED;
+ reseating_in_catapult_ = false;
+ }
+ break;
+ }
+ case SuperstructureState::LOADED: {
+ if (unsafe_goal != nullptr) {
+ if (unsafe_goal->cancel_shot()) {
+ // Cancel the shot process
+ state_ = SuperstructureState::IDLE;
+ } else if (unsafe_goal->fire()) {
+ // Start if we were asked to and the turret is at goal
+ state_ = SuperstructureState::SHOOTING;
+ prev_shot_count_ = catapult_.shot_count();
+
+ // Reset opening timeout
+ flipper_opening_start_time_ = timestamp;
+ }
+ }
+ break;
+ }
+ case SuperstructureState::SHOOTING: {
+ // Opening flipper arms could fail, wait until they are open using their
+ // potentiometers (the member below is just named encoder).
+ // Be a little more lenient if the flippers were already open in case of
+ // noise or collisions.
+ const double flipper_open_position =
+ (flippers_open_ ? constants::Values::kReseatFlipperPosition()
+ : constants::Values::kFlipperOpenPosition());
+
+ // TODO(milind): add left arm back once it's fixed
+ flippers_open_ =
+ position->flipper_arm_right()->encoder() >= flipper_open_position;
+
+ if (flippers_open_) {
+ // Hold at kFlipperHoldVoltage
+ flipper_arms_voltage = constants::Values::kFlipperHoldVoltage();
+ } else {
+ // Open at kFlipperOpenVoltage
+ flipper_arms_voltage = constants::Values::kFlipperOpenVoltage();
+ }
+
+ if (!flippers_open_ &&
+ timestamp >
+ loading_timer_ + constants::Values::kFlipperOpeningTimeout()) {
+ // Reseat the ball and try again
+ state_ = SuperstructureState::LOADING;
+ loading_timer_ = timestamp;
+ reseating_in_catapult_ = true;
+ break;
+ }
+
+ const bool turret_near_goal =
+ turret_goal != nullptr &&
+ std::abs(turret_goal->unsafe_goal() - turret_.position()) <
+ kTurretGoalThreshold;
+ const bool collided = collision_avoidance_.IsCollided(
+ {.intake_front_position = intake_front_.estimated_position(),
+ .intake_back_position = intake_back_.estimated_position(),
+ .turret_position = turret_.estimated_position(),
+ .shooting = true});
+
+ // If the turret reached the aiming goal and the catapult is safe to move
+ // up, fire!
+ if (flippers_open_ && turret_near_goal && !collided) {
+ fire_ = true;
+ }
+
+ // If we started firing and the flippers closed a bit, estop to prevent
+ // damage
+ if (fire_ && !flippers_open_) {
+ catapult_.Estop();
+ }
+
+ const bool near_return_position =
+ (unsafe_goal != nullptr && unsafe_goal->has_catapult() &&
+ unsafe_goal->catapult()->has_return_position() &&
+ std::abs(unsafe_goal->catapult()->return_position()->unsafe_goal() -
+ catapult_.estimated_position()) < kCatapultGoalThreshold);
+
+ // Once the shot is complete and the catapult is back to its return
+ // position, go back to IDLE
+ if (catapult_.shot_count() > prev_shot_count_ && near_return_position) {
+ prev_shot_count_ = catapult_.shot_count();
+ fire_ = false;
+ state_ = SuperstructureState::IDLE;
+ }
+
+ break;
+ }
+ }
+
+ collision_avoidance_.UpdateGoal(
+ {.intake_front_position = intake_front_.estimated_position(),
+ .intake_back_position = intake_back_.estimated_position(),
+ .turret_position = turret_.estimated_position(),
+ .shooting = state_ == SuperstructureState::SHOOTING},
+ turret_goal);
+
+ turret_.set_min_position(collision_avoidance_.min_turret_goal());
+ turret_.set_max_position(collision_avoidance_.max_turret_goal());
+ intake_front_.set_min_position(collision_avoidance_.min_intake_front_goal());
+ intake_front_.set_max_position(collision_avoidance_.max_intake_front_goal());
+ intake_back_.set_min_position(collision_avoidance_.min_intake_back_goal());
+ intake_back_.set_max_position(collision_avoidance_.max_intake_back_goal());
+
+ const flatbuffers::Offset<AimerStatus> aimer_offset =
+ aimer_.PopulateStatus(status->fbb());
+
+ // Disable the catapult if we want to restart to prevent damage with
+ // flippers
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ catapult_status_offset =
+ catapult_.Iterate(unsafe_goal, position,
+ output != nullptr && !catapult_.estopped()
+ ? &(output_struct.catapult_voltage)
+ : nullptr,
+ fire_, status->fbb());
+
+ const flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
climber_status_offset = climber_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->climber() : nullptr,
position->climber(),
- output != nullptr ? &(output_struct.climber_voltage) : nullptr,
+ output != nullptr ? &output_struct.climber_voltage : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_front = intake_front_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_front() : nullptr,
position->intake_front(),
- output != nullptr ? &(output_struct.intake_voltage_front) : nullptr,
+ output != nullptr ? &output_struct.intake_voltage_front : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_back = intake_back_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_back() : nullptr,
position->intake_back(),
- output != nullptr ? &(output_struct.intake_voltage_back) : nullptr,
+ output != nullptr ? &output_struct.intake_voltage_back : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
turret_status_offset = turret_.Iterate(
- unsafe_goal != nullptr ? unsafe_goal->turret() : nullptr,
- position->turret(),
- output != nullptr ? &(output_struct.turret_voltage) : nullptr,
+ turret_goal, position->turret(),
+ output != nullptr ? &output_struct.turret_voltage : nullptr,
status->fbb());
if (output != nullptr) {
output_struct.roller_voltage_front = roller_speed_compensated_front;
output_struct.roller_voltage_back = roller_speed_compensated_back;
output_struct.transfer_roller_voltage = transfer_roller_speed;
+ output_struct.flipper_arms_voltage = flipper_arms_voltage;
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
@@ -98,9 +382,11 @@
Status::Builder status_builder = status->MakeBuilder<Status>();
const bool zeroed = intake_front_.zeroed() && intake_back_.zeroed() &&
- turret_.zeroed() && climber_.zeroed();
+ turret_.zeroed() && climber_.zeroed() &&
+ catapult_.zeroed();
const bool estopped = intake_front_.estopped() || intake_back_.estopped() ||
- turret_.estopped() || climber_.zeroed();
+ turret_.estopped() || climber_.estopped() ||
+ catapult_.estopped();
status_builder.add_zeroed(zeroed);
status_builder.add_estopped(estopped);
@@ -110,6 +396,19 @@
status_builder.add_turret(turret_status_offset);
status_builder.add_climber(climber_status_offset);
+ status_builder.add_catapult(catapult_status_offset);
+ status_builder.add_solve_time(catapult_.solve_time());
+ status_builder.add_shot_count(catapult_.shot_count());
+ status_builder.add_mpc_active(catapult_.mpc_active());
+
+ status_builder.add_flippers_open(flippers_open_);
+ status_builder.add_reseating_in_catapult(reseating_in_catapult_);
+ status_builder.add_fire(fire_);
+ status_builder.add_state(state_);
+ status_builder.add_intake_state(intake_state_);
+
+ status_builder.add_aimer(aimer_offset);
+
(void)status->Send(status_builder.Finish());
}
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index d97befc..e9afcc1 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -5,10 +5,14 @@
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/catapult/catapult.h"
+#include "y2022/control_loops/superstructure/collision_avoidance.h"
+#include "y2022/control_loops/superstructure/superstructure_can_position_generated.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/control_loops/superstructure/turret/aiming.h"
namespace y2022 {
namespace control_loops {
@@ -27,8 +31,13 @@
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+ static constexpr double kTurretGoalThreshold = 0.05;
+ static constexpr double kCatapultGoalThreshold = 0.05;
+ // potentiometer will be more noisy
+ static constexpr double kFlipperGoalThreshold = 0.05;
+
explicit Superstructure(::aos::EventLoop *event_loop,
- std::shared_ptr<const constants::Values> values,
+ std::shared_ptr<const constants::Values> values,
const ::std::string &name = "/superstructure");
inline const PotAndAbsoluteEncoderSubsystem &intake_front() const {
@@ -50,13 +59,38 @@
aos::Sender<Status>::Builder *status) override;
private:
+ std::shared_ptr<const constants::Values> values_;
+
RelativeEncoderSubsystem climber_;
PotAndAbsoluteEncoderSubsystem intake_front_;
PotAndAbsoluteEncoderSubsystem intake_back_;
PotAndAbsoluteEncoderSubsystem turret_;
+ catapult::Catapult catapult_;
+
+ CollisionAvoidance collision_avoidance_;
aos::Fetcher<frc971::control_loops::drivetrain::Status>
drivetrain_status_fetcher_;
+ aos::Fetcher<CANPosition> can_position_fetcher_;
+
+ int prev_shot_count_ = 0;
+
+ turret::Aimer aimer_;
+
+ bool flippers_open_ = false;
+ bool reseating_in_catapult_ = false;
+ bool fire_ = false;
+
+ aos::monotonic_clock::time_point intake_beambreak_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point transferring_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point loading_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point flipper_opening_start_time_ =
+ aos::monotonic_clock::min_time;
+ SuperstructureState state_ = SuperstructureState::IDLE;
+ IntakeState intake_state_ = IntakeState::NO_BALL;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};
diff --git a/y2022/control_loops/superstructure/superstructure_can_position.fbs b/y2022/control_loops/superstructure/superstructure_can_position.fbs
new file mode 100644
index 0000000..e521d8c
--- /dev/null
+++ b/y2022/control_loops/superstructure/superstructure_can_position.fbs
@@ -0,0 +1,10 @@
+namespace y2022.control_loops.superstructure;
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+ // Velocity of the flipper arms (rad/s), obtained from the integrated sensor
+ // in the falcon.
+ flipper_arm_integrated_sensor_velocity:double (id: 0);
+}
+
+root_type CANPosition;
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 37e63b5..c86f338 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -2,6 +2,20 @@
namespace y2022.control_loops.superstructure;
+table CatapultGoal {
+ // Old fire flag, only kept for backwards-compatability with logs.
+ // Use the fire flag in the root Goal instead
+ fire:bool (id: 0, deprecated);
+
+ // The target shot position and velocity. If these are provided before fire
+ // is called, the optimizer can pre-compute the trajectory.
+ shot_position:double (id: 1);
+ shot_velocity:double (id: 2);
+
+ // The target position to return the catapult to when not shooting.
+ return_position:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 3);
+}
+
table Goal {
// Height of the climber above rest point
climber:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 0);
@@ -21,6 +35,21 @@
roller_speed_compensation:double (id: 6);
turret:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 7);
+
+ // Catapult goal state.
+ catapult:CatapultGoal (id: 8);
+
+ // If true, fire! The robot will only fire when ready.
+ fire:bool (id: 9);
+
+ // Aborts the shooting process if the ball has been loaded into the catapult
+ // and the superstructure is in the LOADED state.
+ cancel_shot:bool (id: 10);
+
+ // If true, auto-track the turret to point at the goal.
+ auto_aim:bool (id: 11);
}
+
+
root_type Goal;
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 493fe95..2f73370 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -7,7 +7,12 @@
#include "frc971/control_loops/position_sensor_sim.h"
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
+#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
+#include "y2022/control_loops/superstructure/climber/climber_plant.h"
+#include "y2022/control_loops/superstructure/intake/intake_plant.h"
#include "y2022/control_loops/superstructure/superstructure.h"
+#include "y2022/control_loops/superstructure/turret/turret_plant.h"
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
@@ -92,6 +97,8 @@
void set_peak_acceleration(double value) { peak_acceleration_ = value; }
void set_peak_velocity(double value) { peak_velocity_ = value; }
+ void set_controller_index(size_t index) { plant_->set_index(index); }
+
PositionSensorSimulator *encoder() { return &encoder_; }
private:
@@ -133,8 +140,8 @@
event_loop_->MakeFetcher<Output>("/superstructure")),
intake_front_(new CappedTestPlant(intake::MakeIntakePlant()),
PositionSensorSimulator(
- values->intake_front.subsystem_params.zeroing_constants
- .one_revolution_distance),
+ values->intake_front.subsystem_params
+ .zeroing_constants.one_revolution_distance),
values->intake_front, constants::Values::kIntakeRange(),
values->intake_front.subsystem_params.zeroing_constants
.measured_absolute_position,
@@ -155,6 +162,14 @@
values->turret.subsystem_params.zeroing_constants
.measured_absolute_position,
dt_),
+ catapult_(new CappedTestPlant(catapult::MakeCatapultPlant()),
+ PositionSensorSimulator(
+ values->catapult.subsystem_params.zeroing_constants
+ .one_revolution_distance),
+ values->catapult, constants::Values::kCatapultRange(),
+ values->catapult.subsystem_params.zeroing_constants
+ .measured_absolute_position,
+ dt_),
climber_(new CappedTestPlant(climber::MakeClimberPlant()),
PositionSensorSimulator(
constants::Values::kClimberPotMetersPerRevolution()),
@@ -164,6 +179,7 @@
constants::Values::kIntakeRange().middle());
intake_back_.InitializePosition(constants::Values::kIntakeRange().middle());
turret_.InitializePosition(constants::Values::kTurretRange().middle());
+ catapult_.InitializePosition(constants::Values::kCatapultRange().middle());
climber_.InitializePosition(constants::Values::kClimberRange().middle());
phased_loop_handle_ = event_loop_->AddPhasedLoop(
@@ -181,6 +197,14 @@
superstructure_status_fetcher_->intake_back());
turret_.Simulate(superstructure_output_fetcher_->turret_voltage(),
superstructure_status_fetcher_->turret());
+ if (superstructure_status_fetcher_->mpc_active()) {
+ catapult_.set_controller_index(0);
+ } else {
+ catapult_.set_controller_index(1);
+ }
+ catapult_.Simulate(
+ superstructure_output_fetcher_->catapult_voltage(),
+ superstructure_status_fetcher_->catapult());
climber_.Simulate(superstructure_output_fetcher_->climber_voltage(),
superstructure_status_fetcher_->climber());
}
@@ -200,6 +224,11 @@
flatbuffers::Offset<frc971::PotAndAbsolutePosition> turret_offset =
turret_.encoder()->GetSensorValues(&turret_builder);
+ frc971::PotAndAbsolutePosition::Builder catapult_builder =
+ builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> catapult_offset =
+ catapult_.encoder()->GetSensorValues(&catapult_builder);
+
frc971::PotAndAbsolutePosition::Builder intake_front_builder =
builder.MakeBuilder<frc971::PotAndAbsolutePosition>();
flatbuffers::Offset<frc971::PotAndAbsolutePosition> intake_front_offset =
@@ -215,12 +244,30 @@
flatbuffers::Offset<frc971::RelativePosition> climber_offset =
climber_.encoder()->GetSensorValues(&climber_builder);
+ frc971::RelativePosition::Builder flipper_arm_left_builder =
+ builder.MakeBuilder<frc971::RelativePosition>();
+ flipper_arm_left_builder.add_encoder(flipper_arm_left_);
+ flatbuffers::Offset<frc971::RelativePosition> flipper_arm_left_offset =
+ flipper_arm_left_builder.Finish();
+
+ frc971::RelativePosition::Builder flipper_arm_right_builder =
+ builder.MakeBuilder<frc971::RelativePosition>();
+ flipper_arm_right_builder.add_encoder(flipper_arm_right_);
+ flatbuffers::Offset<frc971::RelativePosition> flipper_arm_right_offset =
+ flipper_arm_left_builder.Finish();
+
Position::Builder position_builder = builder.MakeBuilder<Position>();
position_builder.add_intake_front(intake_front_offset);
position_builder.add_intake_back(intake_back_offset);
position_builder.add_turret(turret_offset);
+ position_builder.add_catapult(catapult_offset);
position_builder.add_climber(climber_offset);
+ position_builder.add_intake_beambreak_front(intake_beambreak_front_);
+ position_builder.add_intake_beambreak_back(intake_beambreak_back_);
+ position_builder.add_turret_beambreak(turret_beambreak_);
+ position_builder.add_flipper_arm_left(flipper_arm_left_offset);
+ position_builder.add_flipper_arm_right(flipper_arm_right_offset);
CHECK_EQ(builder.Send(position_builder.Finish()),
aos::RawSender::Error::kOk);
@@ -229,8 +276,22 @@
PotAndAbsoluteEncoderSimulator *intake_front() { return &intake_front_; }
PotAndAbsoluteEncoderSimulator *intake_back() { return &intake_back_; }
PotAndAbsoluteEncoderSimulator *turret() { return &turret_; }
+ PotAndAbsoluteEncoderSimulator *catapult() { return &catapult_; }
RelativeEncoderSimulator *climber() { return &climber_; }
+ void set_intake_beambreak_front(bool triggered) {
+ intake_beambreak_front_ = triggered;
+ }
+
+ void set_intake_beambreak_back(bool triggered) {
+ intake_beambreak_back_ = triggered;
+ }
+
+ void set_turret_beambreak(bool triggered) { turret_beambreak_ = triggered; }
+
+ void set_flipper_arm_left(double pos) { flipper_arm_left_ = pos; }
+ void set_flipper_arm_right(double pos) { flipper_arm_right_ = pos; }
+
private:
::aos::EventLoop *event_loop_;
const chrono::nanoseconds dt_;
@@ -242,17 +303,27 @@
bool first_ = true;
+ bool intake_beambreak_front_ = false;
+ bool intake_beambreak_back_ = false;
+ bool turret_beambreak_ = false;
+ double flipper_arm_left_ = 0.0;
+ double flipper_arm_right_ = 0.0;
PotAndAbsoluteEncoderSimulator intake_front_;
PotAndAbsoluteEncoderSimulator intake_back_;
PotAndAbsoluteEncoderSimulator turret_;
+ PotAndAbsoluteEncoderSimulator catapult_;
RelativeEncoderSimulator climber_;
};
class SuperstructureTest : public ::frc971::testing::ControlLoopTest {
public:
+ static constexpr double kSafeTurretAngle =
+ CollisionAvoidance::kMaxCollisionZoneBackTurret +
+ CollisionAvoidance::kEpsTurret;
+
SuperstructureTest()
: ::frc971::testing::ControlLoopTest(
- aos::configuration::ReadConfig("y2022/config.json"),
+ aos::configuration::ReadConfig("y2022/aos_config.json"),
std::chrono::microseconds(5050)),
values_(std::make_shared<constants::Values>(constants::MakeValues(
frc971::control_loops::testing::kTeamNumber))),
@@ -285,7 +356,7 @@
unlink(FLAGS_output_folder.c_str());
logger_event_loop_ = MakeEventLoop("logger", roborio_);
logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
- logger_->StartLoggingLocalNamerOnRun(FLAGS_output_folder);
+ logger_->StartLoggingOnRun(FLAGS_output_folder);
}
}
@@ -307,16 +378,36 @@
0.001);
}
- if (superstructure_goal_fetcher_->has_turret()) {
- EXPECT_NEAR(superstructure_goal_fetcher_->turret()->unsafe_goal(),
- superstructure_status_fetcher_->turret()->position(), 0.001);
+ if (superstructure_goal_fetcher_->has_catapult() &&
+ superstructure_goal_fetcher_->catapult()->has_return_position()) {
+ EXPECT_NEAR(superstructure_goal_fetcher_->catapult()
+ ->return_position()
+ ->unsafe_goal(),
+ superstructure_status_fetcher_->catapult()->position(),
+ 0.001);
}
if (superstructure_goal_fetcher_->has_climber()) {
EXPECT_NEAR(superstructure_goal_fetcher_->climber()->unsafe_goal(),
superstructure_status_fetcher_->climber()->position(), 0.001);
}
- }
+
+ if (superstructure_status_fetcher_->intake_state() !=
+ IntakeState::NO_BALL) {
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ }
+
+ EXPECT_NEAR(superstructure_goal_fetcher_->climber()->unsafe_goal(),
+ superstructure_status_fetcher_->climber()->position(), 0.001);
+
+ if (superstructure_goal_fetcher_->has_turret() &&
+ superstructure_status_fetcher_->state() !=
+ SuperstructureState::TRANSFERRING) {
+ EXPECT_NEAR(superstructure_goal_fetcher_->turret()->unsafe_goal(),
+ superstructure_status_fetcher_->turret()->position(), 0.001);
+ }
+ } // namespace testing
void CheckIfZeroed() {
superstructure_status_fetcher_.Fetch();
@@ -339,15 +430,25 @@
}
void SendRobotVelocity(double robot_velocity) {
+ SendDrivetrainStatus(robot_velocity, {0.0, 0.0}, 0.0);
+ }
+
+ void SendDrivetrainStatus(double robot_velocity, Eigen::Vector2d pos,
+ double theta) {
// Send a robot velocity to test compensation
auto builder = drivetrain_status_sender_.MakeBuilder();
auto drivetrain_status_builder = builder.MakeBuilder<DrivetrainStatus>();
drivetrain_status_builder.add_robot_speed(robot_velocity);
+ drivetrain_status_builder.add_estimated_left_velocity(robot_velocity);
+ drivetrain_status_builder.add_estimated_right_velocity(robot_velocity);
+ drivetrain_status_builder.add_x(pos.x());
+ drivetrain_status_builder.add_y(pos.y());
+ drivetrain_status_builder.add_theta(theta);
builder.CheckOk(builder.Send(drivetrain_status_builder.Finish()));
}
void TestRollerFront(double roller_speed_front,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_roller_speed_front(roller_speed_front);
@@ -355,18 +456,11 @@
builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(),
- roller_speed_front + std::max((superstructure_.robot_velocity() *
- roller_speed_compensation),
- 0.0));
- if (superstructure_.robot_velocity() <= 0) {
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(),
- roller_speed_front);
- }
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), expected);
}
void TestRollerBack(double roller_speed_back,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_roller_speed_back(roller_speed_back);
@@ -375,18 +469,12 @@
RunFor(dt() * 2);
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(),
- roller_speed_back - std::min(superstructure_.robot_velocity() *
- roller_speed_compensation,
- 0.0));
- if (superstructure_.robot_velocity() >= 0) {
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(),
- roller_speed_back);
- }
+
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), expected);
}
void TestTransferRoller(double transfer_roller_speed,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_transfer_roller_speed(transfer_roller_speed);
@@ -396,7 +484,7 @@
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
- transfer_roller_speed);
+ expected);
}
std::shared_ptr<const constants::Values> values_;
@@ -421,7 +509,7 @@
std::unique_ptr<aos::EventLoop> logger_event_loop_;
std::unique_ptr<aos::logger::Logger> logger_;
-};
+}; // namespace testing
// Tests that the superstructure does nothing when the goal is to remain
// still.
@@ -431,8 +519,9 @@
constants::Values::kIntakeRange().middle());
superstructure_plant_.intake_back()->InitializePosition(
constants::Values::kIntakeRange().middle());
- superstructure_plant_.turret()->InitializePosition(
- constants::Values::kTurretRange().middle());
+ superstructure_plant_.turret()->InitializePosition(kSafeTurretAngle);
+ superstructure_plant_.catapult()->InitializePosition(
+ constants::Values::kCatapultRange().middle());
superstructure_plant_.climber()->InitializePosition(
constants::Values::kClimberRange().middle());
@@ -451,7 +540,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().middle());
+ *builder.fbb(), kSafeTurretAngle);
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
@@ -491,22 +580,22 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().upper,
+ *builder.fbb(), constants::Values::kTurretRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kClimberRange().upper,
+ *builder.fbb(), constants::Values::kClimberRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -532,6 +621,8 @@
// behaviour.
TEST_F(SuperstructureTest, SaturationTest) {
SetEnabled(true);
+ superstructure_plant_.turret()->InitializePosition(kSafeTurretAngle);
+
// Zero it before we move.
WaitUntilZeroed();
{
@@ -545,9 +636,11 @@
intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), constants::Values::kIntakeRange().upper);
+ // Keep the turret away from the intakes because they start in the collision
+ // area
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().upper);
+ *builder.fbb(), kSafeTurretAngle);
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
@@ -564,7 +657,7 @@
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
- RunFor(chrono::seconds(10));
+ RunFor(chrono::seconds(20));
VerifyNearGoal();
// Try a low acceleration move with a high max velocity and verify the
@@ -649,28 +742,265 @@
WaitUntilZeroed();
SendRobotVelocity(3.0);
- TestRollerFront(-12.0, 1.5);
- TestRollerFront(12.0, 1.5);
- TestRollerFront(0.0, 1.5);
+ TestRollerFront(-12.0, 1.5, -7.5);
+ TestRollerFront(12.0, 1.5, 16.5);
+ TestRollerFront(0.0, 1.5, 4.5);
SendRobotVelocity(-3.0);
- TestRollerFront(-12.0, 1.5);
- TestRollerFront(12.0, 1.5);
- TestRollerFront(0.0, 1.5);
+ TestRollerFront(-12.0, 1.5, -12.0);
+ TestRollerFront(12.0, 1.5, 12.0);
+ TestRollerFront(0.0, 1.5, 0.0);
SendRobotVelocity(3.0);
- TestRollerBack(-12.0, 1.5);
- TestRollerBack(12.0, 1.5);
- TestRollerBack(0.0, 1.5);
+ TestRollerBack(-12.0, 1.5, -12.0);
+ TestRollerBack(12.0, 1.5, 12.0);
+ TestRollerBack(0.0, 1.5, 0.0);
SendRobotVelocity(-3.0);
- TestRollerBack(-12.0, 1.5);
- TestRollerBack(12.0, 1.5);
- TestRollerBack(0.0, 1.5);
+ TestRollerBack(-12.0, 1.5, -7.5);
+ TestRollerBack(12.0, 1.5, 16.5);
+ TestRollerBack(0.0, 1.5, 4.5);
- TestTransferRoller(-12.0, 1.5);
- TestTransferRoller(12.0, 1.5);
- TestTransferRoller(0.0, 1.5);
+ TestTransferRoller(-12.0, 1.5, -12.0);
+ TestTransferRoller(12.0, 1.5, 12.0);
+ TestTransferRoller(0.0, 1.5, 0.0);
+}
+
+// Tests the whole shooting statemachine - from loading to shooting
+TEST_F(SuperstructureTest, LoadingToShooting) {
+ SetEnabled(true);
+ WaitUntilZeroed();
+
+ SendRobotVelocity(3.0);
+
+ constexpr double kTurretGoal = 3.0;
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kTurretGoal);
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_roller_speed_front(12.0);
+ goal_builder.add_roller_speed_back(12.0);
+ goal_builder.add_roller_speed_compensation(0.0);
+ goal_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ }
+ RunFor(std::chrono::seconds(2));
+
+ // Make sure that the rollers are spinning, but the superstructure hasn't
+ // transitioned away from idle because the beambreaks haven't been triggered.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(true);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ RunFor(dt());
+
+ // Make sure that the turret goal is set to be loading from the front intake
+ // and the supersturcture is transferring from the front intake, since that
+ // beambreak was trigerred. Also, the outside rollers should be stopped
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::TRANSFERRING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_FRONT_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+
+ RunFor(chrono::seconds(2));
+
+ // Make sure that we are still transferring and the front transfer rollers
+ // still have a ball. The turret should now be at the loading position and the
+ // flippers should be feeding the ball.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::TRANSFERRING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_FRONT_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperFeedVoltage());
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
+ constants::Values::kTransferRollerFrontVoltage());
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
+ constants::Values::kTurretFrontIntakePos(), 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(false);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ superstructure_plant_.set_turret_beambreak(true);
+ RunFor(dt() * 2);
+
+ // Now that the turret beambreak has been triggered, we should be loading the
+ // ball. The outside rollers shouldn't be limited anymore, and the transfer
+ // rollers should be off. The flippers should still be feeding the ball, and
+ // the intake state should reflect that the ball has been transferred away
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperFeedVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_turret_beambreak(false);
+ RunFor(constants::Values::kExtraLoadingTime() + dt() * 2);
+
+ // Now that the ball has gone past the turret beambreak,
+ // it should be loaded in the catapult and ready for firing.
+ // The flippers should be off.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ RunFor(std::chrono::seconds(2));
+
+ // After a few seconds, the turret should be at it's aiming goal. The flippers
+ // should still be off and we should still be loaded and ready to fire.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(), 0.0);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(false);
+ superstructure_plant_.set_intake_beambreak_back(true);
+ RunFor(dt() * 2);
+
+ // A ball being intaked from the back should be held by wiggling the transfer
+ // rollers, but we shound't abort the shot from the front intake for it and
+ // move the turret.
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ LOG(INFO) << superstructure_output_fetcher_->transfer_roller_voltage();
+ EXPECT_TRUE(superstructure_output_fetcher_->transfer_roller_voltage() !=
+ 0.0 &&
+ superstructure_output_fetcher_->transfer_roller_voltage() <=
+ constants::Values::kTransferRollerFrontWiggleVoltage() &&
+ superstructure_output_fetcher_->transfer_roller_voltage() >=
+ -constants::Values::kTransferRollerFrontWiggleVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kTurretGoal);
+
+ const auto catapult_return_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(*builder.fbb(),
+ -0.87);
+ auto catapult_builder = builder.MakeBuilder<CatapultGoal>();
+ catapult_builder.add_shot_position(0.3);
+ catapult_builder.add_shot_velocity(15.0);
+ catapult_builder.add_return_position(catapult_return_offset);
+ auto catapult_offset = catapult_builder.Finish();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_roller_speed_front(12.0);
+ goal_builder.add_roller_speed_back(12.0);
+ goal_builder.add_roller_speed_compensation(0.0);
+ goal_builder.add_catapult(catapult_offset);
+ goal_builder.add_fire(true);
+ goal_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ }
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+ RunFor(dt() * 2);
+
+ // Now that we were asked to fire and the flippers are open,
+ // we should be shooting the ball and holding the flippers open.
+ // The turret should still be at its goal, and we should still be wiggling the
+ // transfer rollers to keep the ball in the back intake
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ EXPECT_TRUE(superstructure_output_fetcher_->transfer_roller_voltage() !=
+ 0.0 &&
+ superstructure_output_fetcher_->transfer_roller_voltage() <=
+ constants::Values::kTransferRollerFrontWiggleVoltage() &&
+ superstructure_output_fetcher_->transfer_roller_voltage() >=
+ -constants::Values::kTransferRollerFrontWiggleVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::SHOOTING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+ EXPECT_TRUE(superstructure_status_fetcher_->flippers_open());
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperHoldVoltage());
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ RunFor(std::chrono::seconds(2));
+
+ // After a bit, we should have completed the shot and be idle.
+ // Since the beambreak was triggered a bit ago, it should still think a ball
+ // is there
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+
+ // Since the intake beambreak hasn't triggered in a while, it should realize
+ // the ball was lost
+ RunFor(std::chrono::seconds(1));
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
}
// Make sure that the front and back intakes are never switched
@@ -680,6 +1010,7 @@
constants::Values::kIntakeRange().middle());
superstructure_plant_.intake_back()->InitializePosition(
constants::Values::kIntakeRange().middle());
+ superstructure_plant_.turret()->InitializePosition(kSafeTurretAngle);
WaitUntilZeroed();
@@ -699,10 +1030,17 @@
*builder.fbb(), constants::Values::kIntakeRange().upper,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
+ // Keep the turret away from the intakes to not trigger collision avoidance
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kSafeTurretAngle,
+ CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
+
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_intake_front(intake_offset_front);
goal_builder.add_intake_back(intake_offset_back);
+ goal_builder.add_turret(turret_offset);
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
// TODO(Milo): Make this a sane time
@@ -714,6 +1052,148 @@
constants::Values::kIntakeRange().upper);
}
+// Make sure that we can shoot the catapult and reload it.
+TEST_F(SuperstructureTest, ShootCatapult) {
+ SetEnabled(true);
+ superstructure_plant_.intake_front()->InitializePosition(
+ constants::Values::kIntakeRange().lower);
+ superstructure_plant_.intake_back()->InitializePosition(
+ constants::Values::kIntakeRange().lower);
+ superstructure_plant_.turret()->InitializePosition(
+ constants::Values::kTurretFrontIntakePos());
+
+ WaitUntilZeroed();
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ catapult_return_position_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kCatapultRange().lower,
+ CreateProfileParameters(*builder.fbb(), 4.0, 20.0));
+
+ CatapultGoal::Builder catapult_goal_builder =
+ builder.MakeBuilder<CatapultGoal>();
+
+ catapult_goal_builder.add_shot_position(0.3);
+ catapult_goal_builder.add_shot_velocity(15.0);
+ catapult_goal_builder.add_return_position(catapult_return_position_offset);
+ flatbuffers::Offset<CatapultGoal> catapult_goal_offset =
+ catapult_goal_builder.Finish();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_fire(false);
+ goal_builder.add_catapult(catapult_goal_offset);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ RunFor(chrono::seconds(5));
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_FALSE(superstructure_status_fetcher_->mpc_active());
+ EXPECT_FLOAT_EQ(superstructure_status_fetcher_->catapult()->position(),
+ constants::Values::kCatapultRange().lower);
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_goal_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kTurretFrontIntakePos());
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ catapult_return_position_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kCatapultRange().lower,
+ CreateProfileParameters(*builder.fbb(), 4.0, 20.0));
+
+ CatapultGoal::Builder catapult_goal_builder =
+ builder.MakeBuilder<CatapultGoal>();
+
+ catapult_goal_builder.add_shot_position(0.5);
+ catapult_goal_builder.add_shot_velocity(20.0);
+ catapult_goal_builder.add_return_position(catapult_return_position_offset);
+ flatbuffers::Offset<CatapultGoal> catapult_goal_offset =
+ catapult_goal_builder.Finish();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_fire(true);
+ goal_builder.add_catapult(catapult_goal_offset);
+ goal_builder.add_turret(turret_goal_offset);
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ // Make the superstructure statemachine progress to SHOOTING
+ superstructure_plant_.set_intake_beambreak_front(true);
+ superstructure_plant_.set_turret_beambreak(true);
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+
+ RunFor(dt() * 4);
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADING);
+ superstructure_plant_.set_turret_beambreak(false);
+
+ RunFor(chrono::milliseconds(200));
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_TRUE(superstructure_status_fetcher_->mpc_active());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ EXPECT_GT(superstructure_status_fetcher_->catapult()->position(),
+ constants::Values::kCatapultRange().lower + 0.1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::SHOOTING);
+ superstructure_plant_.set_intake_beambreak_front(false);
+
+ RunFor(chrono::milliseconds(1950));
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_NEAR(superstructure_status_fetcher_->catapult()->position(),
+ constants::Values::kCatapultRange().lower, 1e-3);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+}
+
+// Tests that the turret switches to auto-aiming when we set auto_aim to
+// true.
+TEST_F(SuperstructureTest, TurretAutoAim) {
+ SetEnabled(true);
+ WaitUntilZeroed();
+
+ // Set ourselves up 5m from the target--the turret goal should be 90 deg (we
+ // need to shoot out the right of the robot, and we shoot out of the back of
+ // the turret).
+ SendDrivetrainStatus(0.0, {0.0, 5.0}, 0.0);
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+
+ goal_builder.add_auto_aim(true);
+
+ ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
+ }
+
+ // Give it time to stabilize.
+ RunFor(chrono::seconds(2));
+
+ superstructure_status_fetcher_.Fetch();
+ EXPECT_NEAR(M_PI_2, superstructure_status_fetcher_->turret()->position(),
+ 5e-4);
+ EXPECT_FLOAT_EQ(M_PI_2,
+ superstructure_status_fetcher_->aimer()->turret_position());
+ EXPECT_FLOAT_EQ(0,
+ superstructure_status_fetcher_->aimer()->turret_velocity());
+}
+
} // namespace testing
} // namespace superstructure
} // namespace control_loops
diff --git a/y2022/control_loops/superstructure/superstructure_main.cc b/y2022/control_loops/superstructure/superstructure_main.cc
index c6c12b7..3aa9517 100644
--- a/y2022/control_loops/superstructure/superstructure_main.cc
+++ b/y2022/control_loops/superstructure/superstructure_main.cc
@@ -6,7 +6,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
std::shared_ptr<const y2022::constants::Values> values =
diff --git a/y2022/control_loops/superstructure/superstructure_output.fbs b/y2022/control_loops/superstructure/superstructure_output.fbs
index a673361..8fa992e 100644
--- a/y2022/control_loops/superstructure/superstructure_output.fbs
+++ b/y2022/control_loops/superstructure/superstructure_output.fbs
@@ -23,6 +23,7 @@
intake_voltage_back:double (id: 5);
// Intake roller voltages
+ // positive is pulling into the robot
roller_voltage_front:double (id: 6);
roller_voltage_back:double (id: 7);
// One transfer motor for both sides
diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index 6581758..36f0c92 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -20,4 +20,62 @@
const position = aosPlotter.addMessageSource(
'/superstructure', 'y2022.control_loops.superstructure.Position');
const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('States');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('wonky state units');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(position, ['turret_beambreak'])
+ .setColor(RED)
+ .setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['state'])
+ .setColor(CYAN)
+ .setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['flippers_open'])
+ .setColor(WHITE)
+ .setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['reseating_in_catapult'])
+ .setColor(BLUE)
+ .setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['fire'])
+ .setColor(CYAN)
+ .setPointSize(1.0);
+
+
+ const intakePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ intakePlot.plot.getAxisLabels().setTitle('Intake');
+ intakePlot.plot.getAxisLabels().setXLabel(TIME);
+ intakePlot.plot.getAxisLabels().setYLabel('wonky state units');
+ intakePlot.plot.setDefaultYRange([-1.0, 2.0]);
+ intakePlot.addMessageLine(status, ['intake_state'])
+ .setColor(RED)
+ .setPointSize(1.0);
+ intakePlot.addMessageLine(position, ['intake_beambreak_front'])
+ .setColor(GREEN)
+ .setPointSize(4.0);
+ intakePlot.addMessageLine(position, ['intake_beambreak_back'])
+ .setColor(PINK)
+ .setPointSize(1.0);
+
+
+ const otherPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ otherPlot.plot.getAxisLabels().setTitle('Position');
+ otherPlot.plot.getAxisLabels().setXLabel(TIME);
+ otherPlot.plot.getAxisLabels().setYLabel('rad');
+ otherPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ otherPlot.addMessageLine(status, ['catapult', 'position'])
+ .setColor(PINK)
+ .setPointSize(4.0);
+ otherPlot.addMessageLine(position, ['flipper_arm_left', 'encoder'])
+ .setColor(BLUE)
+ .setPointSize(4.0);
+ otherPlot.addMessageLine(position, ['flipper_arm_right', 'encoder'])
+ .setColor(CYAN)
+ .setPointSize(4.0);
}
diff --git a/y2022/control_loops/superstructure/superstructure_position.fbs b/y2022/control_loops/superstructure/superstructure_position.fbs
index cd0bc67..ba47662 100644
--- a/y2022/control_loops/superstructure/superstructure_position.fbs
+++ b/y2022/control_loops/superstructure/superstructure_position.fbs
@@ -4,15 +4,25 @@
table Position {
climber:frc971.RelativePosition (id: 0);
- // Zero for the intake position value is up, and positive is
- // down.
+ // Zero for the intake position value is horizontal, and positive is
+ // up.
intake_front:frc971.PotAndAbsolutePosition (id: 1);
intake_back:frc971.PotAndAbsolutePosition (id: 2);
+ // Zero is to the front (away from the RIO); positive = counter-clockwise.
turret:frc971.PotAndAbsolutePosition (id: 3);
- // Zero is straight and positive is open
+ // Zero is closed and positive is open
flipper_arm_left:frc971.RelativePosition (id: 4);
flipper_arm_right:frc971.RelativePosition (id: 5);
+
+ // True means there is a ball in front of the sensor.
+ intake_beambreak_front:bool (id:6);
+ intake_beambreak_back:bool (id:7);
+ turret_beambreak:bool (id:8);
+
+ // Position of the catapult. Positive is up to fire. Zero is horizontal
+ // with the drive base.
+ catapult:frc971.PotAndAbsolutePosition (id: 9);
}
root_type Position;
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index b4bad2a..1005c46 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -3,12 +3,59 @@
namespace y2022.control_loops.superstructure;
+// Contains which intake has a ball
+enum IntakeState : ubyte {
+ NO_BALL,
+ INTAKE_FRONT_BALL,
+ INTAKE_BACK_BALL,
+}
+
+// State of the superstructure state machine
+enum SuperstructureState : ubyte {
+ // Before a ball is intaked, when neither intake beambreak is triggered
+ IDLE,
+ // Transferring ball with transfer rollers. Moves turret to loading position.
+ TRANSFERRING,
+ // Loading the ball into the catapult
+ LOADING,
+ // The ball is loaded into the catapult
+ LOADED,
+ // Waiting for the turret to be at shooting goal and then telling the
+ // catapult to fire.
+ SHOOTING,
+}
+
+table AimerStatus {
+ // The current goal angle for the turret auto-tracking, in radians.
+ turret_position:double (id: 0);
+ // The current goal velocity for the turret, in radians / sec.
+ turret_velocity:double (id: 1);
+ // The current distance to the target, in meters.
+ target_distance:double (id: 2);
+ // The current "shot distance." When shooting on the fly, this may be
+ // different from the static distance to the target.
+ shot_distance:double (id: 3);
+}
+
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+ // The state of the superstructure
+
+ state:SuperstructureState (id: 10);
+ // Intaking state
+ intake_state:IntakeState (id: 11);
+ // Whether the flippers are open for shooting
+ flippers_open:bool (id: 12);
+ // Whether the flippers failed to open and we are retrying
+ reseating_in_catapult:bool (id: 13);
+ // Whether the catapult was told to fire,
+ // meaning that the turret and flippers are ready for firing
+ // and we were asked to fire. Different from fire flag in goal.
+ fire:bool (id: 14);
// Subsystem statuses
climber:frc971.control_loops.RelativeEncoderProfiledJointStatus (id: 2);
@@ -18,6 +65,16 @@
intake_back:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 4);
turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
+
+ catapult:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 6);
+
+ solve_time:double (id: 7);
+ mpc_active:bool (id: 8);
+
+ // The number of shots we have taken.
+ shot_count:int32 (id: 9);
+
+ aimer:AimerStatus (id: 15);
}
-root_type Status;
\ No newline at end of file
+root_type Status;
diff --git a/y2022/control_loops/superstructure/turret/BUILD b/y2022/control_loops/superstructure/turret/BUILD
index c2948d7..2f7ad14 100644
--- a/y2022/control_loops/superstructure/turret/BUILD
+++ b/y2022/control_loops/superstructure/turret/BUILD
@@ -32,3 +32,21 @@
"//frc971/control_loops:state_feedback_loop",
],
)
+
+cc_library(
+ name = "aiming",
+ srcs = ["aiming.cc"],
+ hdrs = ["aiming.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos:flatbuffers",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops:pose",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/control_loops/aiming",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//y2022:constants",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
new file mode 100644
index 0000000..4c0309c
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -0,0 +1,78 @@
+#include "y2022/control_loops/superstructure/turret/aiming.h"
+
+#include "y2022/constants.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace superstructure {
+namespace turret {
+
+using frc971::control_loops::Pose;
+using frc971::control_loops::aiming::ShotConfig;
+using frc971::control_loops::aiming::RobotState;
+
+namespace {
+// Average speed-over-ground of the ball on its way to the target. Our current
+// model assumes constant ball velocity regardless of shot distance.
+constexpr double kBallSpeedOverGround = 12.0; // m/s
+
+// If the turret is at zero, then it will be at this angle at which the shot
+// will leave the robot. I.e., if the turret is at zero, then the shot will go
+// straight out the back of the robot.
+constexpr double kTurretZeroOffset = M_PI;
+
+flatbuffers::DetachedBuffer MakePrefilledGoal() {
+ flatbuffers::FlatBufferBuilder fbb;
+ fbb.ForceDefaults(true);
+ Aimer::Goal::Builder builder(fbb);
+ builder.add_unsafe_goal(0);
+ builder.add_goal_velocity(0);
+ builder.add_ignore_profile(true);
+ fbb.Finish(builder.Finish());
+ return fbb.Release();
+}
+} // namespace
+
+Aimer::Aimer() : goal_(MakePrefilledGoal()) {}
+
+void Aimer::Update(const Status *status, ShotMode shot_mode) {
+ const Pose robot_pose({status->x(), status->y(), 0}, status->theta());
+ const Pose goal({0.0, 0.0, 0.0}, 0.0);
+
+ const Eigen::Vector2d linear_angular =
+ drivetrain::GetDrivetrainConfig().Tlr_to_la() *
+ Eigen::Vector2d(status->estimated_left_velocity(),
+ status->estimated_right_velocity());
+ const double xdot = linear_angular(0) * std::cos(status->theta());
+ const double ydot = linear_angular(0) * std::sin(status->theta());
+
+ current_goal_ =
+ frc971::control_loops::aiming::AimerGoal(
+ ShotConfig{goal, shot_mode, constants::Values::kTurretRange(),
+ kBallSpeedOverGround,
+ /*wrap_mode=*/0.0, kTurretZeroOffset},
+ RobotState{robot_pose,
+ {xdot, ydot},
+ linear_angular(1),
+ goal_.message().unsafe_goal()});
+
+ goal_.mutable_message()->mutate_unsafe_goal(current_goal_.position);
+ goal_.mutable_message()->mutate_goal_velocity(
+ std::clamp(current_goal_.velocity, -2.0, 2.0));
+}
+
+flatbuffers::Offset<AimerStatus> Aimer::PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb) const {
+ AimerStatus::Builder builder(*fbb);
+ builder.add_turret_position(current_goal_.position);
+ builder.add_turret_velocity(current_goal_.velocity);
+ builder.add_target_distance(current_goal_.target_distance);
+ builder.add_shot_distance(DistanceToGoal());
+ return builder.Finish();
+}
+
+} // namespace turret
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2022
diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
new file mode 100644
index 0000000..9494103
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -0,0 +1,40 @@
+#ifndef Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
+#define Y2022_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
+
+#include "aos/flatbuffers.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
+#include "frc971/control_loops/aiming/aiming.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+
+namespace y2022::control_loops::superstructure::turret {
+
+// This class manages taking in drivetrain status messages and generating turret
+// goals so that it gets aimed at the goal.
+class Aimer {
+ public:
+ typedef frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ Goal;
+ typedef frc971::control_loops::drivetrain::Status Status;
+ typedef frc971::control_loops::aiming::ShotMode ShotMode;
+
+ Aimer();
+
+ void Update(const Status *status, ShotMode shot_mode);
+
+ const Goal *TurretGoal() const { return &goal_.message(); }
+
+ // Returns the distance to the goal, in meters.
+ double DistanceToGoal() const { return current_goal_.virtual_shot_distance; }
+
+ flatbuffers::Offset<AimerStatus> PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb) const;
+
+ private:
+ aos::FlatbufferDetachedBuffer<Goal> goal_;
+ frc971::control_loops::aiming::TurretGoal current_goal_;
+};
+
+} // namespace y2022::control_loops::superstructure::turret
+#endif // Y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
new file mode 100644
index 0000000..10fc10e
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotTurret(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('Position');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('rad');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(status, ['turret', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlot.addMessageLine(output, ['turret_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['turret', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index e5b09ac..0065db7 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -10,14 +10,22 @@
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/input/action_joystick_input.h"
#include "frc971/input/driver_station_data.h"
#include "frc971/input/drivetrain_input.h"
#include "frc971/input/joystick_input.h"
+#include "frc971/zeroing/wrap.h"
+#include "y2022/constants.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/setpoint_generated.h"
+using frc971::CreateProfileParameters;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
+using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::input::driver_station::ButtonLocation;
using frc971::input::driver_station::ControlBit;
using frc971::input::driver_station::JoystickAxis;
@@ -29,6 +37,33 @@
namespace superstructure = y2022::control_loops::superstructure;
+// TODO(henry) put actually button locations here
+// TODO(milind): integrate with shooting statemachine and aimer
+#if 0
+const ButtonLocation kCatapultPos(4, 3);
+const ButtonLocation kFire(3, 4);
+const ButtonLocation kTurret(4, 15);
+
+const ButtonLocation kIntakeFrontOut(4, 10);
+const ButtonLocation kIntakeBackOut(4, 9);
+
+const ButtonLocation kRedLocalizerReset(3, 13);
+const ButtonLocation kBlueLocalizerReset(3, 14);
+const ButtonLocation kLocalizerReset(3, 8);
+#else
+
+const ButtonLocation kCatapultPos(4, 3);
+const ButtonLocation kFire(4, 1);
+const ButtonLocation kTurret(4, 15);
+
+const ButtonLocation kIntakeFrontOut(4, 10);
+const ButtonLocation kIntakeBackOut(4, 9);
+
+const ButtonLocation kRedLocalizerReset(3, 13);
+const ButtonLocation kBlueLocalizerReset(3, 14);
+const ButtonLocation kLocalizerReset(3, 8);
+#endif
+
class Reader : public ::frc971::input::ActionJoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
@@ -38,25 +73,204 @@
::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
superstructure_goal_sender_(
event_loop->MakeSender<superstructure::Goal>("/superstructure")),
+ localizer_control_sender_(
+ event_loop->MakeSender<
+ ::frc971::control_loops::drivetrain::LocalizerControl>(
+ "/drivetrain")),
superstructure_status_fetcher_(
- event_loop->MakeFetcher<superstructure::Status>(
- "/superstructure")) {}
+ event_loop->MakeFetcher<superstructure::Status>("/superstructure")),
+ setpoint_fetcher_(
+ event_loop->MakeFetcher<Setpoint>("/superstructure")) {}
+
+ void BlueResetLocalizer() {
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(7.4);
+ localizer_control_builder.add_y(-1.7);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ localizer_control_builder.add_theta(0.0);
+ localizer_control_builder.add_keep_current_theta(false);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset blue localizer.\n");
+ }
+ }
+
+ void RedResetLocalizer() {
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(-7.4);
+ localizer_control_builder.add_y(1.7);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ localizer_control_builder.add_theta(M_PI);
+ localizer_control_builder.add_keep_current_theta(false);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset red localizer.\n");
+ }
+ }
+
+ void ResetLocalizer() {
+ const frc971::control_loops::drivetrain::Status *drivetrain_status =
+ this->drivetrain_status();
+ if (drivetrain_status == nullptr) {
+ return;
+ }
+ // Get the current position
+ // Snap to heading.
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ // TODO<Henry> Put our starting location here.
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(drivetrain_status->x());
+ localizer_control_builder.add_y(drivetrain_status->y());
+ const double new_theta =
+ frc971::zeroing::Wrap(drivetrain_status->theta(), 0, M_PI);
+ localizer_control_builder.add_theta(new_theta);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
void HandleTeleop(
- const ::frc971::input::driver_station::Data & /*data*/) override {
+ const ::frc971::input::driver_station::Data &data) override {
superstructure_status_fetcher_.Fetch();
if (!superstructure_status_fetcher_.get()) {
AOS_LOG(ERROR, "Got no superstructure status message.\n");
return;
}
+
+ setpoint_fetcher_.Fetch();
+
+ // Default to the intakes in
+ double intake_front_pos = 1.47;
+ double intake_back_pos = 1.47;
+ double transfer_roller_speed = 0.0;
+
+ double roller_front_speed = 0.0;
+ double roller_back_speed = 0.0;
+
+ double turret_pos = 0.0;
+
+ double catapult_pos = 0.03;
+ double catapult_speed = 18.0;
+ double catapult_return_pos = 0.0;
+ bool fire = false;
+
+ if (data.PosEdge(kLocalizerReset)) {
+ ResetLocalizer();
+ }
+
+ if (data.PosEdge(kRedLocalizerReset)) {
+ RedResetLocalizer();
+ }
+ if (data.PosEdge(kBlueLocalizerReset)) {
+ BlueResetLocalizer();
+ }
+
+ if (data.IsPressed(kTurret)) {
+ turret_pos = -1.5;
+ } else {
+ turret_pos = 0.0;
+ }
+
+ // Keep the catapult return position at the shot one if kCatapultPos is
+ // pressed
+ if (data.IsPressed(kCatapultPos)) {
+ catapult_return_pos = 0.3;
+ } else {
+ catapult_return_pos = -0.908;
+ }
+
+ // Extend the intakes and spin the rollers
+ if (data.IsPressed(kIntakeFrontOut)) {
+ intake_front_pos = 0.0;
+ roller_front_speed = 12.0;
+ transfer_roller_speed = 12.0;
+ } else if (data.IsPressed(kIntakeBackOut)) {
+ roller_back_speed = 12.0;
+ intake_back_pos = 0.0;
+ transfer_roller_speed = -12.0;
+ }
+
+ if (data.IsPressed(kFire)) {
+ fire = true;
+ }
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_front_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_front_pos,
+ CreateProfileParameters(*builder.fbb(), 8.0, 40.0));
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_back_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_back_pos,
+ CreateProfileParameters(*builder.fbb(), 8.0, 40.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), turret_pos,
+ CreateProfileParameters(*builder.fbb(), 1.0, 10.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ catapult_return_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), catapult_return_pos,
+ frc971::CreateProfileParameters(*builder.fbb(), 9.0, 50.0));
+
+ superstructure::CatapultGoal::Builder catapult_builder =
+ builder.MakeBuilder<superstructure::CatapultGoal>();
+ catapult_builder.add_return_position(catapult_return_offset);
+ catapult_builder.add_shot_position(catapult_pos);
+ catapult_builder.add_shot_velocity(catapult_speed);
+ flatbuffers::Offset<superstructure::CatapultGoal> catapult_offset =
+ catapult_builder.Finish();
+
+ superstructure::Goal::Builder superstructure_goal_builder =
+ builder.MakeBuilder<superstructure::Goal>();
+
+ superstructure_goal_builder.add_intake_front(intake_front_offset);
+ superstructure_goal_builder.add_intake_back(intake_back_offset);
+ superstructure_goal_builder.add_turret(turret_offset);
+ superstructure_goal_builder.add_catapult(catapult_offset);
+ superstructure_goal_builder.add_fire(fire);
+
+ superstructure_goal_builder.add_roller_speed_front(roller_front_speed);
+ superstructure_goal_builder.add_roller_speed_back(roller_back_speed);
+ superstructure_goal_builder.add_transfer_roller_speed(transfer_roller_speed);
+
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
+ }
}
private:
::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
+ ::aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
+ localizer_control_sender_;
+
::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+
+ ::aos::Fetcher<Setpoint> setpoint_fetcher_;
};
} // namespace joysticks
@@ -67,7 +281,7 @@
::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
::aos::ShmEventLoop event_loop(&config.message());
::y2022::input::joysticks::Reader reader(&event_loop);
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index c2afa55..1a57caf 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -1,3 +1,163 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
+load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "localizer_plotter",
+ srcs = ["localizer_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ "//frc971/wpilib:imu_plot_utils",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_output_fbs",
+ srcs = [
+ "localizer_output.fbs",
+ ],
+ gen_reflections = True,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "localizer_output_ts_fbs",
+ srcs = ["localizer_output.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_status_fbs",
+ srcs = [
+ "localizer_status.fbs",
+ ],
+ gen_reflections = True,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_visualization_fbs",
+ srcs = ["localizer_visualization.fbs"],
+ gen_reflections = 1,
+ includes = [
+ ":localizer_status_fbs_includes",
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "localizer_visualization_ts_fbs",
+ srcs = ["localizer_visualization.fbs"],
+ includes = [
+ ":localizer_status_fbs_includes",
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_static_flatbuffer(
+ name = "localizer_schema",
+ function = "frc971::controls::LocalizerStatusSchema",
+ target = ":localizer_status_fbs_reflection_out",
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "localizer",
+ srcs = ["localizer.cc"],
+ hdrs = ["localizer.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer_output_fbs",
+ ":localizer_status_fbs",
+ ":localizer_visualization_fbs",
+ "//aos/containers:ring_buffer",
+ "//aos/containers:sized_array",
+ "//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/time",
+ "//frc971/control_loops:c2d",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//frc971/zeroing:imu_zeroer",
+ "//frc971/zeroing:wrap",
+ "//y2022:constants",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ "//y2022/vision:calibration_fbs",
+ "//y2022/vision:target_estimate_fbs",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_binary(
+ name = "localizer_main",
+ srcs = ["localizer_main.cc"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+cc_test(
+ name = "localizer_test",
+ srcs = ["localizer_test.cc"],
+ data = [
+ "//y2022:aos_config",
+ ],
+ shard_count = 13,
+ deps = [
+ ":localizer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_writer",
+ "//aos/testing:googletest",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+cc_binary(
+ name = "localizer_replay",
+ srcs = ["localizer_replay.cc"],
+ data = [
+ "//y2022:aos_config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":localizer",
+ ":localizer_schema",
+ "//aos:configuration",
+ "//aos:init",
+ "//aos:json_to_flatbuffer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_reader",
+ "//aos/events/logging:log_writer",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
cc_library(
name = "imu",
srcs = [
diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
index eb76e00..fed9ceb 100644
--- a/y2022/localizer/imu.cc
+++ b/y2022/localizer/imu.cc
@@ -20,6 +20,8 @@
imu_sender_(
event_loop_->MakeSender<frc971::IMUValuesBatch>("/localizer")) {
event_loop->SetRuntimeRealtimePriority(30);
+ PCHECK(system("sudo chmod 644 /dev/adis16505") == 0)
+ << ": Failed to set read permissions on IMU device.";
imu_fd_ = open("/dev/adis16505", O_RDONLY | O_NONBLOCK);
PCHECK(imu_fd_ != -1) << ": Failed to open SPI device for IMU.";
aos::internal::EPoll *epoll = event_loop_->epoll();
diff --git a/y2022/localizer/imu_main.cc b/y2022/localizer/imu_main.cc
index bba2dd7..5bdab41 100644
--- a/y2022/localizer/imu_main.cc
+++ b/y2022/localizer/imu_main.cc
@@ -2,7 +2,7 @@
#include "aos/init.h"
#include "y2022/localizer/imu.h"
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
int main(int argc, char *argv[]) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/localizer/kernel/Makefile b/y2022/localizer/kernel/Makefile
new file mode 100644
index 0000000..ad4b9b0
--- /dev/null
+++ b/y2022/localizer/kernel/Makefile
@@ -0,0 +1,9 @@
+obj-m += adis16505.o
+
+PWD := $(CURDIR)
+
+all:
+ ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- make -C ../../../../linux M=$(PWD) modules
+
+clean:
+ ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- make -C ../../../../linux M=$(PWD) clean
diff --git a/y2022/localizer/kernel/README b/y2022/localizer/kernel/README
new file mode 100644
index 0000000..10f4e7b
--- /dev/null
+++ b/y2022/localizer/kernel/README
@@ -0,0 +1 @@
+As of 2022.02.08 this is the current version of the imu kernel driver being used
diff --git a/y2022/localizer/kernel/adis16505.c b/y2022/localizer/kernel/adis16505.c
new file mode 100644
index 0000000..a91006e
--- /dev/null
+++ b/y2022/localizer/kernel/adis16505.c
@@ -0,0 +1,325 @@
+/*
+ * adis16505.c - Driver for the adis16505 IMU used by 971.
+ */
+#include <linux/cdev.h>
+#include <linux/debugfs.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/kernel.h> /* Needed for pr_info() */
+#include <linux/kfifo.h>
+#include <linux/module.h> /* Needed by all modules */
+#include <linux/poll.h>
+
+#include <linux/of_gpio.h>
+#include <linux/spi/spi.h>
+#include <linux/of_address.h>
+#include <linux/of.h>
+#include <linux/of_platform.h>
+
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("frc971");
+MODULE_DESCRIPTION("adis16505 rp2040 driver");
+
+#define MODULE_NAME "adis16505"
+
+//! filter for the device tree class
+static struct of_device_id adis16505_match[] = {
+ {.compatible = "frc971,adis16505"}, {}};
+
+MODULE_DEVICE_TABLE(of, adis16505_match);
+
+#define TRANSFER_SIZE 42
+struct imu_sample {
+ char time[8];
+ char d[TRANSFER_SIZE];
+};
+
+struct adis16505_state {
+ dev_t character_device;
+ struct class *device_class;
+ struct cdev handle_cdev;
+
+ struct spi_device *spi;
+
+ struct spi_message spi_msg;
+
+ struct spi_transfer spi_xfer;
+
+ char tx_buff[128];
+ char rx_buff[128];
+
+ int count;
+
+ spinlock_t lock;
+
+ wait_queue_head_t wq;
+
+ spinlock_t fifo_read_lock;
+ DECLARE_KFIFO(fifo, struct imu_sample, 32);
+};
+
+static int adis16505_dev_open(struct inode *in, struct file *f) {
+ struct adis16505_state *ts =
+ container_of(in->i_cdev, struct adis16505_state, handle_cdev);
+ int count;
+
+ f->private_data = ts;
+
+ spin_lock(&ts->lock);
+ count = ts->count;
+ if (count == 0) {
+ ++(ts->count);
+ }
+ spin_unlock(&ts->lock);
+
+ printk("open %p, count %d\n", ts, count);
+ if (count > 0) {
+ return -EBUSY;
+ }
+ return 0;
+}
+
+static int adis16505_dev_release(struct inode *in, struct file *f) {
+ struct adis16505_state *ts;
+ ts = container_of(in->i_cdev, struct adis16505_state, handle_cdev);
+
+ printk("release %p\n", ts);
+ spin_lock(&ts->lock);
+ --(ts->count);
+ spin_unlock(&ts->lock);
+
+ return 0;
+}
+
+static ssize_t adis16505_dev_read(struct file *f, char *d, size_t s,
+ loff_t *of) {
+ struct adis16505_state *ts = f->private_data;
+ int err;
+
+ if (s != sizeof(struct imu_sample)) {
+ return -EINVAL;
+ }
+
+ while (true) {
+ struct imu_sample sample;
+ int elements;
+
+ spin_lock(&ts->fifo_read_lock);
+ elements = kfifo_get(&ts->fifo, &sample);
+ spin_unlock(&ts->fifo_read_lock);
+
+ if (elements == 0) {
+ bool empty;
+ if (f->f_flags & O_NONBLOCK) {
+ return -EAGAIN;
+ }
+
+ err = wait_event_interruptible(ts->wq,
+ (spin_lock(&ts->fifo_read_lock),
+ empty = !kfifo_is_empty(&ts->fifo),
+ spin_unlock(&ts->fifo_read_lock), empty));
+ if (err != 0) {
+ return err;
+ }
+ continue;
+ }
+
+ memcpy(d, &sample, sizeof(sample));
+ return sizeof(sample);
+ }
+}
+
+static unsigned int adis16505_dev_poll(struct file *f,
+ struct poll_table_struct *wait) {
+ struct adis16505_state *ts = f->private_data;
+ __poll_t mask = 0;
+
+ poll_wait(f, &ts->wq, wait);
+
+ spin_lock(&ts->fifo_read_lock);
+ if (!kfifo_is_empty(&ts->fifo)) {
+ mask |= (POLLIN | POLLRDNORM);
+ }
+ spin_unlock(&ts->fifo_read_lock);
+
+ return mask;
+}
+
+static const struct file_operations adis16505_cdev_opps = {
+ .read = adis16505_dev_read,
+ .open = adis16505_dev_open,
+ .release = adis16505_dev_release,
+ .poll = adis16505_dev_poll,
+};
+
+static void all_done(void *ts_ptr) {
+ // struct adis16505_state *ts = ts_ptr;
+ // printk("All done %x %x\n", ts->rx_buff[0], ts->rx_buff[1]);
+}
+
+static irqreturn_t adis16505_irq(int irq, void *handle) {
+ struct adis16505_state *ts = handle;
+ struct imu_sample s;
+ int err;
+ int i;
+
+ u64 time = ktime_get_ns();
+ memcpy(&s.time, &time, sizeof(time));
+
+ spi_message_init(&ts->spi_msg);
+ for (i = 0; i < TRANSFER_SIZE; ++i) {
+ ts->tx_buff[i] = i;
+ }
+
+ ts->spi_xfer.tx_buf = ts->tx_buff;
+ ts->spi_xfer.rx_buf = ts->rx_buff;
+ ts->spi_xfer.len = TRANSFER_SIZE;
+
+ spi_message_add_tail(&ts->spi_xfer, &ts->spi_msg);
+
+ ts->spi_msg.complete = all_done;
+ ts->spi_msg.context = ts;
+
+ err = spi_sync(ts->spi, &ts->spi_msg);
+
+ // TODO(austin): Timestamp. Also decode the packet for real.
+ for (i = 0; i < TRANSFER_SIZE; ++i) {
+ s.d[i] = ts->rx_buff[i];
+ }
+
+ // Attempt to emplace. If it fails, just drop the data.
+ kfifo_put(&ts->fifo, s);
+
+ wake_up_interruptible(&ts->wq);
+
+ return IRQ_HANDLED;
+}
+
+static int adis16505_probe(struct spi_device *spi) {
+ int err;
+ struct adis16505_state *ts;
+
+ if (!spi->irq) {
+ dev_dbg(&spi->dev, "no IRQ?\n");
+ return -EINVAL;
+ }
+
+ if (spi->max_speed_hz > 10000000) {
+ dev_err(&spi->dev, "f(sample) %d KHz?\n", spi->max_speed_hz / 1000);
+ return -EINVAL;
+ }
+
+ spi->bits_per_word = 8;
+ spi->mode = SPI_MODE_3;
+ spi->max_speed_hz = 2000000;
+
+ err = spi_setup(spi);
+ if (err < 0) {
+ return err;
+ }
+
+ ts = kzalloc(sizeof(struct adis16505_state), GFP_KERNEL);
+
+ if (!ts) {
+ err = -ENOMEM;
+ goto err_free_mem;
+ }
+
+ printk("Ts allocated %p\n", ts);
+
+ spin_lock_init(&ts->lock);
+ spin_lock_init(&ts->fifo_read_lock);
+ ts->count = 0;
+ INIT_KFIFO(ts->fifo);
+ init_waitqueue_head(&ts->wq);
+
+ spi_set_drvdata(spi, ts);
+ ts->spi = spi;
+
+ // Flags are sourced from the device tree.
+ err = request_threaded_irq(spi->irq, NULL, adis16505_irq, IRQF_ONESHOT,
+ spi->dev.driver->name, ts);
+
+ if (!ts) {
+ dev_dbg(&spi->dev, "irq %d busy?\n", spi->irq);
+ goto err_free_mem;
+ }
+
+ err = alloc_chrdev_region(&ts->character_device, 0, 1, "adis16505");
+ if (err < 0) {
+ dev_dbg(&spi->dev, "alloc_chrdev_region error %i", err);
+ goto err_free_irq;
+ }
+
+ // create device class
+ if ((ts->device_class = class_create(THIS_MODULE, "adis16505_class")) ==
+ NULL) {
+ dev_dbg(&spi->dev, "class_create error");
+ goto error_classCreate;
+ }
+
+ if (NULL == device_create(ts->device_class, NULL, ts->character_device, NULL,
+ "adis16505")) {
+ dev_dbg(&spi->dev, "device_create error");
+ goto error_deviceCreate;
+ }
+
+ cdev_init(&ts->handle_cdev, &adis16505_cdev_opps);
+ err = cdev_add(&ts->handle_cdev, ts->character_device, 1);
+ if (-1 == err) {
+ dev_dbg(&spi->dev, "cdev_add error %i", err);
+ goto error_device_add;
+ return -1;
+ }
+
+ dev_dbg(&spi->dev, "Probed adis16505\n");
+
+ if (err < 0) {
+ goto err_free_mem;
+ }
+
+ return 0;
+
+error_device_add:
+ device_destroy(ts->device_class, ts->character_device);
+error_deviceCreate:
+ class_destroy(ts->device_class);
+error_classCreate:
+ unregister_chrdev_region(ts->character_device, 1);
+err_free_irq:
+ free_irq(spi->irq, ts);
+
+err_free_mem:
+ kfree(ts);
+ return err;
+}
+
+static int adis16505_remove(struct spi_device *spi) {
+ struct adis16505_state *ts = spi_get_drvdata(spi);
+
+ device_destroy(ts->device_class, ts->character_device);
+
+ class_destroy(ts->device_class);
+
+ unregister_chrdev_region(ts->character_device, 1);
+
+ free_irq(spi->irq, ts);
+
+ kfree(ts);
+
+ dev_dbg(&spi->dev, "unregistered adis16505\n");
+ return 0;
+}
+
+static struct spi_driver adis16505_driver = {
+ .driver =
+ {
+ .name = "adis16505",
+ .of_match_table = of_match_ptr(adis16505_match),
+ },
+ .probe = adis16505_probe,
+ .remove = adis16505_remove,
+};
+
+module_spi_driver(adis16505_driver);
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
new file mode 100644
index 0000000..e7b6421
--- /dev/null
+++ b/y2022/localizer/localizer.cc
@@ -0,0 +1,1031 @@
+#include "y2022/localizer/localizer.h"
+
+#include "frc971/control_loops/c2d.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+#include "y2022/constants.h"
+#include "aos/json_to_flatbuffer.h"
+
+namespace frc971::controls {
+
+namespace {
+constexpr double kG = 9.80665;
+constexpr std::chrono::microseconds kNominalDt(500);
+
+// Field position of the target (the 2022 target is conveniently in the middle
+// of the field....).
+constexpr double kVisionTargetX = 0.0;
+constexpr double kVisionTargetY = 0.0;
+
+// Minimum confidence to require to use a target match.
+constexpr double kMinTargetEstimateConfidence = 0.2;
+
+template <int N>
+Eigen::Matrix<double, N, 1> MakeState(std::vector<double> values) {
+ CHECK_EQ(static_cast<size_t>(N), values.size());
+ Eigen::Matrix<double, N, 1> vector;
+ for (int ii = 0; ii < N; ++ii) {
+ vector(ii, 0) = values[ii];
+ }
+ return vector;
+}
+} // namespace
+
+ModelBasedLocalizer::ModelBasedLocalizer(
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
+ : dt_config_(dt_config),
+ velocity_drivetrain_coefficients_(
+ dt_config.make_hybrid_drivetrain_velocity_loop()
+ .plant()
+ .coefficients()),
+ down_estimator_(dt_config) {
+ statistics_.rejection_counts.fill(0);
+ CHECK_EQ(branches_.capacity(), static_cast<size_t>(std::chrono::seconds(1) /
+ kNominalDt / kBranchPeriod));
+ if (dt_config_.is_simulated) {
+ down_estimator_.assume_perfect_gravity();
+ }
+ A_continuous_accel_.setZero();
+ A_continuous_model_.setZero();
+ B_continuous_accel_.setZero();
+ B_continuous_model_.setZero();
+
+ A_continuous_accel_(kX, kVelocityX) = 1.0;
+ A_continuous_accel_(kY, kVelocityY) = 1.0;
+
+ const double diameter = 2.0 * dt_config_.robot_radius;
+
+ A_continuous_model_(kTheta, kLeftVelocity) = -1.0 / diameter;
+ A_continuous_model_(kTheta, kRightVelocity) = 1.0 / diameter;
+ A_continuous_model_(kLeftEncoder, kLeftVelocity) = 1.0;
+ A_continuous_model_(kRightEncoder, kRightVelocity) = 1.0;
+ const auto &vel_coefs = velocity_drivetrain_coefficients_;
+ A_continuous_model_(kLeftVelocity, kLeftVelocity) =
+ vel_coefs.A_continuous(0, 0);
+ A_continuous_model_(kLeftVelocity, kRightVelocity) =
+ vel_coefs.A_continuous(0, 1);
+ A_continuous_model_(kRightVelocity, kLeftVelocity) =
+ vel_coefs.A_continuous(1, 0);
+ A_continuous_model_(kRightVelocity, kRightVelocity) =
+ vel_coefs.A_continuous(1, 1);
+
+ A_continuous_model_(kLeftVelocity, kLeftVoltageError) =
+ 1 * vel_coefs.B_continuous(0, 0);
+ A_continuous_model_(kLeftVelocity, kRightVoltageError) =
+ 1 * vel_coefs.B_continuous(0, 1);
+ A_continuous_model_(kRightVelocity, kLeftVoltageError) =
+ 1 * vel_coefs.B_continuous(1, 0);
+ A_continuous_model_(kRightVelocity, kRightVoltageError) =
+ 1 * vel_coefs.B_continuous(1, 1);
+
+ B_continuous_model_.block<1, 2>(kLeftVelocity, kLeftVoltage) =
+ vel_coefs.B_continuous.row(0);
+ B_continuous_model_.block<1, 2>(kRightVelocity, kLeftVoltage) =
+ vel_coefs.B_continuous.row(1);
+
+ B_continuous_accel_(kVelocityX, kAccelX) = 1.0;
+ B_continuous_accel_(kVelocityY, kAccelY) = 1.0;
+ B_continuous_accel_(kTheta, kThetaRate) = 1.0;
+
+ Q_continuous_model_.setZero();
+ Q_continuous_model_.diagonal() << 1e-2, 1e-2, 1e-8, 1e-2, 1e-0, 1e-0, 1e-2,
+ 1e-0, 1e-0;
+
+ Q_continuous_accel_.setZero();
+ Q_continuous_accel_.diagonal() << 1e-2, 1e-2, 1e-20, 1e-4, 1e-4;
+
+ P_model_ = Q_continuous_model_ * aos::time::DurationInSeconds(kNominalDt);
+
+ // We can precalculate the discretizations of the accel model because it is
+ // actually LTI.
+
+ DiscretizeQAFast(Q_continuous_accel_, A_continuous_accel_, kNominalDt,
+ &Q_discrete_accel_, &A_discrete_accel_);
+ P_accel_ = Q_discrete_accel_;
+}
+
+Eigen::Matrix<double, ModelBasedLocalizer::kNModelStates,
+ ModelBasedLocalizer::kNModelStates>
+ModelBasedLocalizer::AModel(
+ const ModelBasedLocalizer::ModelState &state) const {
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A = A_continuous_model_;
+ const double theta = state(kTheta);
+ const double stheta = std::sin(theta);
+ const double ctheta = std::cos(theta);
+ const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ A(kX, kTheta) = -stheta * velocity;
+ A(kX, kLeftVelocity) = ctheta / 2.0;
+ A(kX, kRightVelocity) = ctheta / 2.0;
+ A(kY, kTheta) = ctheta * velocity;
+ A(kY, kLeftVelocity) = stheta / 2.0;
+ A(kY, kRightVelocity) = stheta / 2.0;
+ return A;
+}
+
+Eigen::Matrix<double, ModelBasedLocalizer::kNAccelStates,
+ ModelBasedLocalizer::kNAccelStates>
+ModelBasedLocalizer::AAccel() const {
+ return A_continuous_accel_;
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::DiffModel(
+ const ModelBasedLocalizer::ModelState &state,
+ const ModelBasedLocalizer::ModelInput &U) const {
+ ModelState x_dot = AModel(state) * state + B_continuous_model_ * U;
+ const double theta = state(kTheta);
+ const double stheta = std::sin(theta);
+ const double ctheta = std::cos(theta);
+ const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ x_dot(kX) = ctheta * velocity;
+ x_dot(kY) = stheta * velocity;
+ return x_dot;
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::DiffAccel(
+ const ModelBasedLocalizer::AccelState &state,
+ const ModelBasedLocalizer::AccelInput &U) const {
+ return AAccel() * state + B_continuous_accel_ * U;
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::UpdateModel(
+ const ModelBasedLocalizer::ModelState &model,
+ const ModelBasedLocalizer::ModelInput &input,
+ const aos::monotonic_clock::duration dt) const {
+ return control_loops::RungeKutta(
+ std::bind(&ModelBasedLocalizer::DiffModel, this, std::placeholders::_1,
+ input),
+ model, aos::time::DurationInSeconds(dt));
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::UpdateAccel(
+ const ModelBasedLocalizer::AccelState &accel,
+ const ModelBasedLocalizer::AccelInput &input,
+ const aos::monotonic_clock::duration dt) const {
+ return control_loops::RungeKutta(
+ std::bind(&ModelBasedLocalizer::DiffAccel, this, std::placeholders::_1,
+ input),
+ accel, aos::time::DurationInSeconds(dt));
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::AccelStateForModelState(
+ const ModelBasedLocalizer::ModelState &state) const {
+ const double robot_speed =
+ (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ const double lat_speed = (AModel(state) * state)(kTheta) * long_offset_;
+ const double velocity_x = std::cos(state(kTheta)) * robot_speed -
+ std::sin(state(kTheta)) * lat_speed;
+ const double velocity_y = std::sin(state(kTheta)) * robot_speed +
+ std::cos(state(kTheta)) * lat_speed;
+ return (AccelState() << state(0), state(1), state(2), velocity_x, velocity_y)
+ .finished();
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::ModelStateForAccelState(
+ const ModelBasedLocalizer::AccelState &state,
+ const Eigen::Vector2d &encoders, const double yaw_rate) const {
+ const double robot_speed = state(kVelocityX) * std::cos(state(kTheta)) +
+ state(kVelocityY) * std::sin(state(kTheta));
+ const double radius = dt_config_.robot_radius;
+ const double left_velocity = robot_speed - yaw_rate * radius;
+ const double right_velocity = robot_speed + yaw_rate * radius;
+ return (ModelState() << state(0), state(1), state(2), encoders(0),
+ left_velocity, 0.0, encoders(1), right_velocity, 0.0)
+ .finished();
+}
+
+double ModelBasedLocalizer::ModelDivergence(
+ const ModelBasedLocalizer::CombinedState &state,
+ const ModelBasedLocalizer::AccelInput &accel_inputs,
+ const Eigen::Vector2d &filtered_accel,
+ const ModelBasedLocalizer::ModelInput &model_inputs) {
+ // Convert the model state into the acceleration-based state-space and check
+ // the distance between the two (should really be a weighted norm, but all the
+ // numbers are on ~the same scale).
+ // TODO(james): Maybe weight lateral velocity divergence different than
+ // longitudinal? Seems like we tend to get false-positives currently when in
+ // sharp turns.
+ // TODO(james): For off-center gyros, maybe reduce noise when turning?
+ VLOG(2) << "divergence: "
+ << (state.accel_state - AccelStateForModelState(state.model_state))
+ .transpose();
+ const AccelState diff_accel = DiffAccel(state.accel_state, accel_inputs);
+ const ModelState diff_model = DiffModel(state.model_state, model_inputs);
+ const double model_lng_velocity =
+ (state.model_state(kLeftVelocity) + state.model_state(kRightVelocity)) /
+ 2.0;
+ const double model_lng_accel =
+ (diff_model(kLeftVelocity) + diff_model(kRightVelocity)) / 2.0 -
+ diff_model(kTheta) * diff_model(kTheta) * long_offset_;
+ const double model_lat_accel = diff_model(kTheta) * model_lng_velocity;
+ const Eigen::Vector2d robot_frame_accel(model_lng_accel, model_lat_accel);
+ const Eigen::Vector2d model_accel =
+ Eigen::AngleAxisd(state.model_state(kTheta), Eigen::Vector3d::UnitZ())
+ .toRotationMatrix()
+ .block<2, 2>(0, 0) *
+ robot_frame_accel;
+ const double accel_diff = (model_accel - filtered_accel).norm();
+ const double theta_rate_diff =
+ std::abs(diff_accel(kTheta) - diff_model(kTheta));
+
+ const Eigen::Vector2d accel_vel = state.accel_state.bottomRows<2>();
+ Eigen::Vector2d model_vel =
+ AccelStateForModelState(state.model_state).bottomRows<2>();
+ velocity_residual_ = (accel_vel - model_vel).norm() /
+ (1.0 + accel_vel.norm() + model_vel.norm());
+ theta_rate_residual_ = theta_rate_diff;
+ accel_residual_ = accel_diff / 4.0;
+ return velocity_residual_ + theta_rate_residual_ + accel_residual_;
+}
+
+void ModelBasedLocalizer::UpdateState(
+ CombinedState *state,
+ const Eigen::Matrix<double, kNModelStates, kNModelOutputs> &K,
+ const Eigen::Matrix<double, kNModelOutputs, 1> &Z,
+ const Eigen::Matrix<double, kNModelOutputs, kNModelStates> &H,
+ const AccelInput &accel_input, const ModelInput &model_input,
+ aos::monotonic_clock::duration dt) {
+ state->accel_state = UpdateAccel(state->accel_state, accel_input, dt);
+ if (down_estimator_.consecutive_still() > 500.0) {
+ state->accel_state(kVelocityX) *= 0.9;
+ state->accel_state(kVelocityY) *= 0.9;
+ }
+ state->model_state = UpdateModel(state->model_state, model_input, dt);
+ state->model_state += K * (Z - H * state->model_state);
+}
+
+void ModelBasedLocalizer::HandleImu(aos::monotonic_clock::time_point t,
+ const Eigen::Vector3d &gyro,
+ const Eigen::Vector3d &accel,
+ const Eigen::Vector2d encoders,
+ const Eigen::Vector2d voltage) {
+ VLOG(2) << t;
+ if (t_ == aos::monotonic_clock::min_time) {
+ t_ = t;
+ }
+ if (t_ + 2 * kNominalDt < t) {
+ t_ = t;
+ ++clock_resets_;
+ }
+ const aos::monotonic_clock::duration dt = t - t_;
+ t_ = t;
+ down_estimator_.Predict(gyro, accel, dt);
+ // TODO(james): Should we prefer this or use the down-estimator corrected
+ // version? Using the down estimator is more principled, but does create more
+ // opportunities for subtle biases.
+ const double yaw_rate = (dt_config_.imu_transform * gyro)(2);
+ const double diameter = 2.0 * dt_config_.robot_radius;
+
+ const Eigen::AngleAxis<double> orientation(
+ Eigen::AngleAxis<double>(xytheta()(kTheta), Eigen::Vector3d::UnitZ()) *
+ down_estimator_.X_hat());
+ last_orientation_ = orientation;
+
+ const Eigen::Vector3d absolute_accel =
+ orientation * dt_config_.imu_transform * kG * accel;
+ abs_accel_ = absolute_accel;
+
+ VLOG(2) << "abs accel " << absolute_accel.transpose();
+ VLOG(2) << "dt " << aos::time::DurationInSeconds(dt);
+
+ // Update all the branched states.
+ const AccelInput accel_input(absolute_accel.x(), absolute_accel.y(),
+ yaw_rate);
+ const ModelInput model_input(voltage);
+
+ const Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous =
+ AModel(current_state_.model_state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A_discrete;
+ Eigen::Matrix<double, kNModelStates, kNModelStates> Q_discrete;
+
+ DiscretizeQAFast(Q_continuous_model_, A_continuous, dt, &Q_discrete,
+ &A_discrete);
+
+ P_model_ = A_discrete * P_model_ * A_discrete.transpose() + Q_discrete;
+ P_accel_ = A_discrete_accel_ * P_accel_ * A_discrete_accel_.transpose() +
+ Q_discrete_accel_;
+
+ Eigen::Matrix<double, kNModelOutputs, kNModelStates> H;
+ Eigen::Matrix<double, kNModelOutputs, kNModelOutputs> R;
+ {
+ H.setZero();
+ R.setZero();
+ H(0, kLeftEncoder) = 1.0;
+ H(1, kRightEncoder) = 1.0;
+ H(2, kRightVelocity) = 1.0 / diameter;
+ H(2, kLeftVelocity) = -1.0 / diameter;
+
+ R.diagonal() << 1e-9, 1e-9, 1e-13;
+ }
+
+ const Eigen::Matrix<double, kNModelOutputs, 1> Z(encoders(0), encoders(1),
+ yaw_rate);
+
+ if (branches_.empty()) {
+ VLOG(2) << "Initializing";
+ current_state_.model_state(kLeftEncoder) = encoders(0);
+ current_state_.model_state(kRightEncoder) = encoders(1);
+ current_state_.branch_time = t;
+ branches_.Push(current_state_);
+ }
+
+ const Eigen::Matrix<double, kNModelStates, kNModelOutputs> K =
+ P_model_ * H.transpose() * (H * P_model_ * H.transpose() + R).inverse();
+ P_model_ = (Eigen::Matrix<double, kNModelStates, kNModelStates>::Identity() -
+ K * H) *
+ P_model_;
+ VLOG(2) << "K\n" << K;
+ VLOG(2) << "Z\n" << Z.transpose();
+
+ for (CombinedState &state : branches_) {
+ UpdateState(&state, K, Z, H, accel_input, model_input, dt);
+ }
+ UpdateState(¤t_state_, K, Z, H, accel_input, model_input, dt);
+
+ VLOG(2) << "oildest accel " << branches_[0].accel_state.transpose();
+ VLOG(2) << "oildest accel diff "
+ << DiffAccel(branches_[0].accel_state, accel_input).transpose();
+ VLOG(2) << "oildest model " << branches_[0].model_state.transpose();
+
+ // Determine whether to switch modes--if we are currently in model-based mode,
+ // swap to accel-based if the two states have divergeed meaningfully in the
+ // oldest branch. If we are currently in accel-based, then swap back to model
+ // if the oldest model branch matches has matched the
+ filtered_residual_accel_ +=
+ 0.01 * (accel_input.topRows<2>() - filtered_residual_accel_);
+ const double model_divergence =
+ branches_.full() ? ModelDivergence(branches_[0], accel_input,
+ filtered_residual_accel_, model_input)
+ : 0.0;
+ filtered_residual_ +=
+ (1.0 - std::exp(-aos::time::DurationInSeconds(kNominalDt) / 0.0095)) *
+ (model_divergence - filtered_residual_);
+ // TODO(james): Tune this more. Currently set to generally trust the model,
+ // perhaps a bit too much.
+ // When the residual exceeds the accel threshold, we start using the inertials
+ // alone; when it drops back below the model threshold, we go back to being
+ // model-based.
+ constexpr double kUseAccelThreshold = 2.0;
+ constexpr double kUseModelThreshold = 0.5;
+ constexpr size_t kShareStates = kNModelStates;
+ static_assert(kUseModelThreshold < kUseAccelThreshold);
+ if (using_model_) {
+ if (filtered_residual_ > kUseAccelThreshold) {
+ hysteresis_count_++;
+ } else {
+ hysteresis_count_ = 0;
+ }
+ if (hysteresis_count_ > 0) {
+ using_model_ = false;
+ // Grab the accel-based state from back when we started diverging.
+ // TODO(james): This creates a problematic selection bias, because
+ // we will tend to bias towards deliberately out-of-tune measurements.
+ current_state_.accel_state = branches_[0].accel_state;
+ current_state_.model_state = branches_[0].model_state;
+ current_state_.model_state = ModelStateForAccelState(
+ current_state_.accel_state, encoders, yaw_rate);
+ } else {
+ VLOG(2) << "Normal branching";
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ current_state_.branch_time = t;
+ }
+ hysteresis_count_ = 0;
+ } else {
+ if (filtered_residual_ < kUseModelThreshold) {
+ hysteresis_count_++;
+ } else {
+ hysteresis_count_ = 0;
+ }
+ if (hysteresis_count_ > 100) {
+ using_model_ = true;
+ // Grab the model-based state from back when we stopped diverging.
+ current_state_.model_state.topRows<kShareStates>() =
+ ModelStateForAccelState(branches_[0].accel_state, encoders, yaw_rate)
+ .topRows<kShareStates>();
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ } else {
+ // TODO(james): Why was I leaving the encoders/wheel velocities in place?
+ current_state_.model_state = ModelStateForAccelState(
+ current_state_.accel_state, encoders, yaw_rate);
+ current_state_.branch_time = t;
+ }
+ }
+
+ // Generate a new branch, with the accel state reset based on the model-based
+ // state (really, just getting rid of the lateral velocity).
+ // By resetting the accel state in the new branch, this tries to minimize the
+ // odds of runaway lateral velocities. This doesn't help with runaway
+ // longitudinal velocities, however.
+ CombinedState new_branch = current_state_;
+ new_branch.accel_state = AccelStateForModelState(new_branch.model_state);
+ new_branch.accumulated_divergence = 0.0;
+
+ ++branch_counter_;
+ if (branch_counter_ % kBranchPeriod == 0) {
+ branches_.Push(new_branch);
+ old_positions_.Push(OldPosition{t, xytheta(), latest_turret_position_,
+ latest_turret_velocity_});
+ branch_counter_ = 0;
+ }
+
+ last_residual_ = model_divergence;
+
+ VLOG(2) << "Using " << (using_model_ ? "model" : "accel");
+ VLOG(2) << "Residual " << last_residual_;
+ VLOG(2) << "Filtered Residual " << filtered_residual_;
+ VLOG(2) << "buffer size " << branches_.size();
+ VLOG(2) << "Model state " << current_state_.model_state.transpose();
+ VLOG(2) << "Accel state " << current_state_.accel_state.transpose();
+ VLOG(2) << "Accel state for model "
+ << AccelStateForModelState(current_state_.model_state).transpose();
+ VLOG(2) << "Input acce " << accel.transpose();
+ VLOG(2) << "Input gyro " << gyro.transpose();
+ VLOG(2) << "Input voltage " << voltage.transpose();
+ VLOG(2) << "Input encoder " << encoders.transpose();
+ VLOG(2) << "yaw rate " << yaw_rate;
+
+ CHECK(std::isfinite(last_residual_));
+}
+
+const ModelBasedLocalizer::OldPosition ModelBasedLocalizer::GetStateForTime(
+ aos::monotonic_clock::time_point time) {
+ if (old_positions_.empty()) {
+ return OldPosition{};
+ }
+
+ aos::monotonic_clock::duration lowest_time_error =
+ aos::monotonic_clock::duration::max();
+ const OldPosition *best_match = nullptr;
+ for (const OldPosition &sample : old_positions_) {
+ const aos::monotonic_clock::duration time_error =
+ std::chrono::abs(sample.sample_time - time);
+ if (time_error < lowest_time_error) {
+ lowest_time_error = time_error;
+ best_match = &sample;
+ }
+ }
+ return *best_match;
+}
+
+namespace {
+// Converts a flatbuffer TransformationMatrix to an Eigen matrix. Technically,
+// this should be able to do a single memcpy, but the extra verbosity here seems
+// appropriate.
+Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
+ const frc971::vision::calibration::TransformationMatrix &flatbuffer) {
+ CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ Eigen::Matrix<double, 4, 4> result;
+ result.setIdentity();
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ result(row, col) = (*flatbuffer.data())[row * 4 + col];
+ }
+ }
+ return result;
+}
+
+// Node names of the pis to listen for cameras from.
+const std::array<std::string_view, 4> kPisToUse{"pi1", "pi2", "pi3", "pi4"};
+}
+
+const Eigen::Matrix<double, 4, 4> ModelBasedLocalizer::CameraTransform(
+ const OldPosition &state,
+ const frc971::vision::calibration::CameraCalibration *calibration,
+ std::optional<RejectionReason> *rejection_reason) const {
+ CHECK_NOTNULL(rejection_reason);
+ CHECK_NOTNULL(calibration);
+ // Per the CameraCalibration specification, we can actually determine whether
+ // the camera is the turret camera just from the presence of the
+ // turret_extrinsics member.
+ const bool is_turret = calibration->has_turret_extrinsics();
+ // Ignore readings when the turret is spinning too fast, on the assumption
+ // that the odds of screwing up the time compensation are higher.
+ // Note that the current number here is chosen pretty arbitrarily--1 rad / sec
+ // seems reasonable, but may be unnecessarily low or high.
+ constexpr double kMaxTurretVelocity = 1.0;
+ if (is_turret && std::abs(state.turret_velocity) > kMaxTurretVelocity &&
+ !rejection_reason->has_value()) {
+ *rejection_reason = RejectionReason::TURRET_TOO_FAST;
+ }
+ CHECK(calibration->has_fixed_extrinsics());
+ const Eigen::Matrix<double, 4, 4> fixed_extrinsics =
+ FlatbufferToTransformationMatrix(*calibration->fixed_extrinsics());
+
+ // Calculate the pose of the camera relative to the robot origin.
+ Eigen::Matrix<double, 4, 4> H_robot_camera = fixed_extrinsics;
+ if (is_turret) {
+ H_robot_camera =
+ H_robot_camera *
+ frc971::control_loops::TransformationMatrixForYaw<double>(
+ state.turret_position) *
+ FlatbufferToTransformationMatrix(*calibration->turret_extrinsics());
+ }
+ return H_robot_camera;
+}
+
+const std::optional<Eigen::Vector2d>
+ModelBasedLocalizer::CameraMeasuredRobotPosition(
+ const OldPosition &state, const y2022::vision::TargetEstimate *target,
+ std::optional<RejectionReason> *rejection_reason,
+ Eigen::Matrix<double, 4, 4> *H_field_camera_measured) const {
+ if (!target->has_camera_calibration()) {
+ *rejection_reason = RejectionReason::NO_CALIBRATION;
+ return std::nullopt;
+ }
+ const Eigen::Matrix<double, 4, 4> H_robot_camera =
+ CameraTransform(state, target->camera_calibration(), rejection_reason);
+ const control_loops::Pose robot_pose(
+ {state.xytheta(0), state.xytheta(1), 0.0}, state.xytheta(2));
+ const Eigen::Matrix<double, 4, 4> H_field_robot =
+ robot_pose.AsTransformationMatrix();
+ // Current estimated pose of the camera in the global frame.
+ // Note that this is all really just an elaborate way of extracting the
+ // current estimated camera yaw, and nothing else.
+ const Eigen::Matrix<double, 4, 4> H_field_camera =
+ H_field_robot * H_robot_camera;
+ // Grab the implied yaw of the camera (the +Z axis is coming out of the front
+ // of the cameras).
+ const Eigen::Vector3d rotated_camera_z =
+ H_field_camera.block<3, 3>(0, 0) * Eigen::Vector3d(0, 0, 1);
+ const double camera_yaw =
+ std::atan2(rotated_camera_z.y(), rotated_camera_z.x());
+ // All right, now we need to use the heading and distance from the
+ // TargetEstimate, plus the yaw embedded in the camera_pose, to determine what
+ // the implied X/Y position of the robot is. To do this, we calculate the
+ // heading/distance from the target to the robot. The distance is easy, since
+ // that's the same as the distance from the robot to the target. The heading
+ // isn't too hard, but is obnoxious to think about, since the heading from the
+ // target to the robot is distinct from the heading from the robot to the
+ // target.
+
+ // Just to walk through examples to confirm that the below calculation is
+ // correct:
+ // * If yaw = 0, and angle_to_target = 0, we are at 180 deg relative to the
+ // target.
+ // * If yaw = 90 deg, and angle_to_target = 0, we are at -90 deg relative to
+ // the target.
+ // * If yaw = 0, and angle_to_target = 90 deg, we are at -90 deg relative to
+ // the target.
+ const double heading_from_target =
+ aos::math::NormalizeAngle(M_PI + camera_yaw + target->angle_to_target());
+ const double distance_from_target = target->distance();
+ // Extract the implied camera position on the field.
+ *H_field_camera_measured = H_field_camera;
+ // TODO(james): Are we going to need to evict the roll/pitch components of the
+ // camera extrinsics this year as well?
+ (*H_field_camera_measured)(0, 3) =
+ distance_from_target * std::cos(heading_from_target) + kVisionTargetX;
+ (*H_field_camera_measured)(1, 3) =
+ distance_from_target * std::sin(heading_from_target) + kVisionTargetY;
+ const Eigen::Matrix<double, 4, 4> H_field_robot_measured =
+ *H_field_camera_measured * H_robot_camera.inverse();
+ return H_field_robot_measured.block<2, 1>(0, 3);
+}
+
+void ModelBasedLocalizer::HandleImageMatch(
+ aos::monotonic_clock::time_point sample_time,
+ const y2022::vision::TargetEstimate *target, int camera_index) {
+ std::optional<RejectionReason> rejection_reason;
+
+ if (target->confidence() < kMinTargetEstimateConfidence) {
+ rejection_reason = RejectionReason::LOW_CONFIDENCE;
+ TallyRejection(rejection_reason.value());
+ return;
+ }
+
+ const OldPosition &state = GetStateForTime(sample_time);
+ Eigen::Matrix<double, 4, 4> H_field_camera_measured;
+ const std::optional<Eigen::Vector2d> measured_robot_position =
+ CameraMeasuredRobotPosition(state, target, &rejection_reason,
+ &H_field_camera_measured);
+ // Technically, rejection_reason should always be set if
+ // measured_robot_position is nullopt, but in the future we may have more
+ // recoverable rejection reasons that we wish to allow to propagate further
+ // into the process.
+ if (!measured_robot_position || rejection_reason.has_value()) {
+ CHECK(rejection_reason.has_value());
+ TallyRejection(rejection_reason.value());
+ return;
+ }
+
+ // Next, go through and do the actual Kalman corrections for the x/y
+ // measurement, for both the accel state and the model-based state.
+ const Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous_model =
+ AModel(current_state_.model_state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A_discrete_model;
+ Eigen::Matrix<double, kNModelStates, kNModelStates> Q_discrete_model;
+
+ DiscretizeQAFast(Q_continuous_model_, A_continuous_model, kNominalDt,
+ &Q_discrete_model, &A_discrete_model);
+
+ Eigen::Matrix<double, 2, kNModelStates> H_model;
+ H_model.setZero();
+ Eigen::Matrix<double, 2, kNAccelStates> H_accel;
+ H_accel.setZero();
+ Eigen::Matrix<double, 2, 2> R;
+ R.setZero();
+ H_model(0, kX) = 1.0;
+ H_model(1, kY) = 1.0;
+ H_accel(0, kX) = 1.0;
+ H_accel(1, kY) = 1.0;
+ R.diagonal() << 1e-2, 1e-2;
+
+ const Eigen::Matrix<double, kNModelStates, 2> K_model =
+ P_model_ * H_model.transpose() *
+ (H_model * P_model_ * H_model.transpose() + R).inverse();
+ const Eigen::Matrix<double, kNAccelStates, 2> K_accel =
+ P_accel_ * H_accel.transpose() *
+ (H_accel * P_accel_ * H_accel.transpose() + R).inverse();
+ P_model_ = (Eigen::Matrix<double, kNModelStates, kNModelStates>::Identity() -
+ K_model * H_model) *
+ P_model_;
+ P_accel_ = (Eigen::Matrix<double, kNAccelStates, kNAccelStates>::Identity() -
+ K_accel * H_accel) *
+ P_accel_;
+ // And now we have to correct *everything* on all the branches:
+ for (CombinedState &state : branches_) {
+ state.model_state += K_model * (measured_robot_position.value() -
+ H_model * state.model_state);
+ state.accel_state += K_accel * (measured_robot_position.value() -
+ H_accel * state.accel_state);
+ }
+ current_state_.model_state +=
+ K_model *
+ (measured_robot_position.value() - H_model * current_state_.model_state);
+ current_state_.accel_state +=
+ K_accel *
+ (measured_robot_position.value() - H_accel * current_state_.accel_state);
+
+ statistics_.total_accepted++;
+ statistics_.total_candidates++;
+
+ const Eigen::Vector3d camera_z_in_field =
+ H_field_camera_measured.block<3, 3>(0, 0) * Eigen::Vector3d::UnitZ();
+ const double camera_yaw =
+ std::atan2(camera_z_in_field.y(), camera_z_in_field.x());
+
+ TargetEstimateDebugT debug;
+ debug.camera = static_cast<uint8_t>(camera_index);
+ debug.camera_x = H_field_camera_measured(0, 3);
+ debug.camera_y = H_field_camera_measured(1, 3);
+ debug.camera_theta = camera_yaw;
+ debug.implied_robot_x = measured_robot_position.value().x();
+ debug.implied_robot_y = measured_robot_position.value().y();
+ debug.implied_robot_theta = xytheta()(2);
+ debug.implied_turret_goal =
+ aos::math::NormalizeAngle(camera_yaw + target->angle_to_target());
+ debug.accepted = true;
+ debug.image_age_sec = aos::time::DurationInSeconds(t_ - sample_time);
+ image_debugs_.push_back(debug);
+}
+
+void ModelBasedLocalizer::HandleTurret(
+ aos::monotonic_clock::time_point sample_time, double turret_position,
+ double turret_velocity) {
+ last_turret_update_ = sample_time;
+ latest_turret_position_ = turret_position;
+ latest_turret_velocity_ = turret_velocity;
+}
+
+void ModelBasedLocalizer::HandleReset(aos::monotonic_clock::time_point now,
+ const Eigen::Vector3d &xytheta) {
+ branches_.Reset();
+ t_ = now;
+ using_model_ = true;
+ current_state_.model_state << xytheta(0), xytheta(1), xytheta(2),
+ current_state_.model_state(kLeftEncoder), 0.0, 0.0,
+ current_state_.model_state(kRightEncoder), 0.0, 0.0;
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ last_residual_ = 0.0;
+ filtered_residual_ = 0.0;
+ filtered_residual_accel_.setZero();
+ abs_accel_.setZero();
+}
+
+flatbuffers::Offset<AccelBasedState> ModelBasedLocalizer::BuildAccelState(
+ flatbuffers::FlatBufferBuilder *fbb, const AccelState &state) {
+ AccelBasedState::Builder accel_state_builder(*fbb);
+ accel_state_builder.add_x(state(kX));
+ accel_state_builder.add_y(state(kY));
+ accel_state_builder.add_theta(state(kTheta));
+ accel_state_builder.add_velocity_x(state(kVelocityX));
+ accel_state_builder.add_velocity_y(state(kVelocityY));
+ return accel_state_builder.Finish();
+}
+
+flatbuffers::Offset<ModelBasedState> ModelBasedLocalizer::BuildModelState(
+ flatbuffers::FlatBufferBuilder *fbb, const ModelState &state) {
+ ModelBasedState::Builder model_state_builder(*fbb);
+ model_state_builder.add_x(state(kX));
+ model_state_builder.add_y(state(kY));
+ model_state_builder.add_theta(state(kTheta));
+ model_state_builder.add_left_encoder(state(kLeftEncoder));
+ model_state_builder.add_left_velocity(state(kLeftVelocity));
+ model_state_builder.add_left_voltage_error(state(kLeftVoltageError));
+ model_state_builder.add_right_encoder(state(kRightEncoder));
+ model_state_builder.add_right_velocity(state(kRightVelocity));
+ model_state_builder.add_right_voltage_error(state(kRightVoltageError));
+ return model_state_builder.Finish();
+}
+
+flatbuffers::Offset<CumulativeStatistics>
+ModelBasedLocalizer::PopulateStatistics(flatbuffers::FlatBufferBuilder *fbb) {
+ const auto rejections_offset = fbb->CreateVector(
+ statistics_.rejection_counts.data(), statistics_.rejection_counts.size());
+
+ CumulativeStatistics::Builder stats_builder(*fbb);
+ stats_builder.add_total_accepted(statistics_.total_accepted);
+ stats_builder.add_total_candidates(statistics_.total_candidates);
+ stats_builder.add_rejection_reason_count(rejections_offset);
+ return stats_builder.Finish();
+}
+
+flatbuffers::Offset<ModelBasedStatus> ModelBasedLocalizer::PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<CumulativeStatistics> stats_offset =
+ PopulateStatistics(fbb);
+
+ const flatbuffers::Offset<control_loops::drivetrain::DownEstimatorState>
+ down_estimator_offset = down_estimator_.PopulateStatus(fbb, t_);
+
+ const CombinedState &state = current_state_;
+
+ const flatbuffers::Offset<ModelBasedState> model_state_offset =
+ BuildModelState(fbb, state.model_state);
+
+ const flatbuffers::Offset<AccelBasedState> accel_state_offset =
+ BuildAccelState(fbb, state.accel_state);
+
+ const flatbuffers::Offset<AccelBasedState> oldest_accel_state_offset =
+ branches_.empty() ? flatbuffers::Offset<AccelBasedState>()
+ : BuildAccelState(fbb, branches_[0].accel_state);
+
+ const flatbuffers::Offset<ModelBasedState> oldest_model_state_offset =
+ branches_.empty() ? flatbuffers::Offset<ModelBasedState>()
+ : BuildModelState(fbb, branches_[0].model_state);
+
+ ModelBasedStatus::Builder builder(*fbb);
+ builder.add_accel_state(accel_state_offset);
+ builder.add_oldest_accel_state(oldest_accel_state_offset);
+ builder.add_oldest_model_state(oldest_model_state_offset);
+ builder.add_model_state(model_state_offset);
+ builder.add_using_model(using_model_);
+ builder.add_residual(last_residual_);
+ builder.add_filtered_residual(filtered_residual_);
+ builder.add_velocity_residual(velocity_residual_);
+ builder.add_accel_residual(accel_residual_);
+ builder.add_theta_rate_residual(theta_rate_residual_);
+ builder.add_down_estimator(down_estimator_offset);
+ builder.add_x(xytheta()(0));
+ builder.add_y(xytheta()(1));
+ builder.add_theta(xytheta()(2));
+ builder.add_implied_accel_x(abs_accel_(0));
+ builder.add_implied_accel_y(abs_accel_(1));
+ builder.add_implied_accel_z(abs_accel_(2));
+ builder.add_clock_resets(clock_resets_);
+ builder.add_statistics(stats_offset);
+ return builder.Finish();
+}
+
+flatbuffers::Offset<LocalizerVisualization>
+ModelBasedLocalizer::PopulateVisualization(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<CumulativeStatistics> stats_offset =
+ PopulateStatistics(fbb);
+
+ aos::SizedArray<flatbuffers::Offset<TargetEstimateDebug>, kDebugBufferSize>
+ debug_offsets;
+
+ for (const TargetEstimateDebugT& debug : image_debugs_) {
+ debug_offsets.push_back(PackTargetEstimateDebug(debug, fbb));
+ }
+
+ image_debugs_.clear();
+
+ const flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<TargetEstimateDebug>>>
+ debug_offset =
+ fbb->CreateVector(debug_offsets.data(), debug_offsets.size());
+
+ LocalizerVisualization::Builder builder(*fbb);
+ builder.add_statistics(stats_offset);
+ builder.add_targets(debug_offset);
+ return builder.Finish();
+}
+
+void ModelBasedLocalizer::TallyRejection(const RejectionReason reason) {
+ statistics_.total_candidates++;
+ statistics_.rejection_counts[static_cast<size_t>(reason)]++;
+ TargetEstimateDebugT debug;
+ debug.accepted = false;
+ debug.rejection_reason = reason;
+ image_debugs_.push_back(debug);
+}
+
+flatbuffers::Offset<TargetEstimateDebug>
+ModelBasedLocalizer::PackTargetEstimateDebug(
+ const TargetEstimateDebugT &debug, flatbuffers::FlatBufferBuilder *fbb) {
+ if (!debug.accepted) {
+ TargetEstimateDebug::Builder builder(*fbb);
+ builder.add_accepted(debug.accepted);
+ builder.add_rejection_reason(debug.rejection_reason);
+ return builder.Finish();
+ } else {
+ flatbuffers::Offset<TargetEstimateDebug> offset =
+ TargetEstimateDebug::Pack(*fbb, &debug);
+ flatbuffers::GetMutableTemporaryPointer(*fbb, offset)
+ ->clear_rejection_reason();
+ return offset;
+ }
+}
+
+namespace {
+// Period at which the encoder readings from the IMU board wrap.
+static double DrivetrainWrapPeriod() {
+ return y2022::constants::Values::DrivetrainEncoderToMeters(1 << 16);
+}
+}
+
+EventLoopLocalizer::EventLoopLocalizer(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
+ : event_loop_(event_loop),
+ model_based_(dt_config),
+ status_sender_(event_loop_->MakeSender<LocalizerStatus>("/localizer")),
+ output_sender_(event_loop_->MakeSender<LocalizerOutput>("/localizer")),
+ visualization_sender_(
+ event_loop_->MakeSender<LocalizerVisualization>("/localizer")),
+ output_fetcher_(
+ event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
+ "/drivetrain")),
+ clock_offset_fetcher_(
+ event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
+ "/aos")),
+ left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
+ right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
+ event_loop_->MakeWatcher(
+ "/drivetrain",
+ [this](
+ const frc971::control_loops::drivetrain::LocalizerControl &control) {
+ const double theta = control.keep_current_theta()
+ ? model_based_.xytheta()(2)
+ : control.theta();
+ model_based_.HandleReset(event_loop_->monotonic_now(),
+ {control.x(), control.y(), theta});
+ });
+ event_loop_->MakeWatcher(
+ "/superstructure",
+ [this](const y2022::control_loops::superstructure::Status &status) {
+ if (!status.has_turret()) {
+ return;
+ }
+ CHECK(status.has_turret());
+ model_based_.HandleTurret(event_loop_->context().monotonic_event_time,
+ status.turret()->position(),
+ status.turret()->velocity());
+ });
+
+ for (size_t camera_index = 0; camera_index < kPisToUse.size(); ++camera_index) {
+ event_loop_->MakeWatcher(
+ absl::StrCat("/", kPisToUse[camera_index], "/camera"),
+ [this, camera_index](const y2022::vision::TargetEstimate &target) {
+ const std::optional<aos::monotonic_clock::duration> monotonic_offset =
+ ClockOffset(kPisToUse[camera_index]);
+ if (!monotonic_offset.has_value()) {
+ return;
+ }
+ // TODO(james): Get timestamp from message contents.
+ aos::monotonic_clock::time_point capture_time(
+ event_loop_->context().monotonic_remote_time - monotonic_offset.value());
+ if (capture_time > event_loop_->context().monotonic_event_time) {
+ model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
+ return;
+ }
+ model_based_.HandleImageMatch(capture_time, &target, camera_index);
+ if (model_based_.NumQueuedImageDebugs() ==
+ ModelBasedLocalizer::kDebugBufferSize ||
+ (last_visualization_send_ + kMinVisualizationPeriod <
+ event_loop_->monotonic_now())) {
+ auto builder = visualization_sender_.MakeBuilder();
+ visualization_sender_.CheckOk(
+ builder.Send(model_based_.PopulateVisualization(builder.fbb())));
+ }
+ });
+ }
+ event_loop_->MakeWatcher(
+ "/localizer", [this](const frc971::IMUValuesBatch &values) {
+ CHECK(values.has_readings());
+ output_fetcher_.Fetch();
+ for (const IMUValues *value : *values.readings()) {
+ zeroer_.InsertAndProcessMeasurement(*value);
+ const Eigen::Vector2d encoders{
+ left_encoder_.Unwrap(value->left_encoder()),
+ right_encoder_.Unwrap(value->right_encoder())};
+ if (zeroer_.Zeroed()) {
+ const aos::monotonic_clock::time_point pico_timestamp{
+ std::chrono::microseconds(value->pico_timestamp_us())};
+ // TODO(james): If we get large enough drift off of the pico,
+ // actually do something about it.
+ if (!pico_offset_.has_value()) {
+ pico_offset_ =
+ event_loop_->context().monotonic_event_time - pico_timestamp;
+ last_pico_timestamp_ = pico_timestamp;
+ }
+ if (pico_timestamp < last_pico_timestamp_) {
+ pico_offset_.value() += std::chrono::microseconds(1ULL << 32);
+ }
+ const aos::monotonic_clock::time_point sample_timestamp =
+ pico_offset_.value() + pico_timestamp;
+ pico_offset_error_ =
+ event_loop_->context().monotonic_event_time - sample_timestamp;
+ const bool disabled =
+ (output_fetcher_.get() == nullptr) ||
+ (output_fetcher_.context().monotonic_event_time +
+ std::chrono::milliseconds(10) <
+ event_loop_->context().monotonic_event_time);
+ model_based_.HandleImu(
+ sample_timestamp,
+ zeroer_.ZeroedGyro(), zeroer_.ZeroedAccel(), encoders,
+ disabled ? Eigen::Vector2d::Zero()
+ : Eigen::Vector2d{output_fetcher_->left_voltage(),
+ output_fetcher_->right_voltage()});
+ last_pico_timestamp_ = pico_timestamp;
+ }
+ {
+ auto builder = status_sender_.MakeBuilder();
+ const flatbuffers::Offset<ModelBasedStatus> model_based_status =
+ model_based_.PopulateStatus(builder.fbb());
+ const flatbuffers::Offset<control_loops::drivetrain::ImuZeroerState>
+ zeroer_status = zeroer_.PopulateStatus(builder.fbb());
+ LocalizerStatus::Builder status_builder =
+ builder.MakeBuilder<LocalizerStatus>();
+ status_builder.add_model_based(model_based_status);
+ status_builder.add_zeroed(zeroer_.Zeroed());
+ status_builder.add_faulted_zero(zeroer_.Faulted());
+ status_builder.add_zeroing(zeroer_status);
+ status_builder.add_left_encoder(encoders(0));
+ status_builder.add_right_encoder(encoders(1));
+ if (pico_offset_.has_value()) {
+ status_builder.add_pico_offset_ns(pico_offset_.value().count());
+ status_builder.add_pico_offset_error_ns(
+ pico_offset_error_.count());
+ }
+ builder.CheckOk(builder.Send(status_builder.Finish()));
+ }
+ if (last_output_send_ + std::chrono::milliseconds(5) <
+ event_loop_->context().monotonic_event_time) {
+ auto builder = output_sender_.MakeBuilder();
+ LocalizerOutput::Builder output_builder =
+ builder.MakeBuilder<LocalizerOutput>();
+ // TODO(james): Should we bother to try to estimate time offsets for
+ // the pico?
+ output_builder.add_monotonic_timestamp_ns(
+ value->monotonic_timestamp_ns());
+ output_builder.add_x(model_based_.xytheta()(0));
+ output_builder.add_y(model_based_.xytheta()(1));
+ output_builder.add_theta(model_based_.xytheta()(2));
+ output_builder.add_zeroed(zeroer_.Zeroed());
+ const Eigen::Quaterniond &orientation = model_based_.orientation();
+ Quaternion quaternion;
+ quaternion.mutate_x(orientation.x());
+ quaternion.mutate_y(orientation.y());
+ quaternion.mutate_z(orientation.z());
+ quaternion.mutate_w(orientation.w());
+ output_builder.add_orientation(&quaternion);
+ builder.CheckOk(builder.Send(output_builder.Finish()));
+ last_output_send_ = event_loop_->monotonic_now();
+ }
+ }
+ });
+}
+
+std::optional<aos::monotonic_clock::duration> EventLoopLocalizer::ClockOffset(
+ std::string_view pi) {
+ std::optional<aos::monotonic_clock::duration> monotonic_offset;
+ clock_offset_fetcher_.Fetch();
+ if (clock_offset_fetcher_.get() != nullptr) {
+ for (const auto connection : *clock_offset_fetcher_->connections()) {
+ if (connection->has_node() && connection->node()->has_name() &&
+ connection->node()->name()->string_view() == pi) {
+ if (connection->has_monotonic_offset()) {
+ monotonic_offset =
+ std::chrono::nanoseconds(connection->monotonic_offset());
+ } else {
+ // If we don't have a monotonic offset, that means we aren't
+ // connected.
+ model_based_.TallyRejection(
+ RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
+ return std::nullopt;
+ }
+ break;
+ }
+ }
+ }
+ CHECK(monotonic_offset.has_value());
+ return monotonic_offset;
+}
+
+} // namespace frc971::controls
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
new file mode 100644
index 0000000..4b7eff0
--- /dev/null
+++ b/y2022/localizer/localizer.h
@@ -0,0 +1,340 @@
+#ifndef Y2022_LOCALIZER_LOCALIZER_H_
+#define Y2022_LOCALIZER_LOCALIZER_H_
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "aos/containers/ring_buffer.h"
+#include "aos/containers/sized_array.h"
+#include "aos/events/event_loop.h"
+#include "aos/network/message_bridge_server_generated.h"
+#include "aos/time/time.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
+#include "frc971/zeroing/imu_zeroer.h"
+#include "frc971/zeroing/wrap.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_status_generated.h"
+#include "y2022/localizer/localizer_visualization_generated.h"
+#include "y2022/vision/target_estimate_generated.h"
+
+namespace frc971::controls {
+
+namespace testing {
+class LocalizerTest;
+}
+
+// Localizer implementation that makes use of a 6-axis IMU, encoder readings,
+// drivetrain voltages, and camera returns to localize the robot. Meant to
+// be run on a raspberry pi.
+//
+// This operates on the principle that the drivetrain can be in one of two
+// modes:
+// 1) A "normal" mode where it is obeying the regular drivetrain model, with
+// minimal lateral motion and no major external disturbances. This is
+// referred to as the "model" mode in the code/variable names.
+// 2) An non-holonomic mode where the robot is just flying around on a 2-D
+// plane with no meaningful constraints (referred to as an "accel" model
+// in the code, because we rely primarily on the accelerometer readings).
+//
+// In order to determine which mode to be in, we attempt to track whether the
+// two models are diverging substantially. In order to do this, we maintain a
+// 1-second long queue of "branches". A branch is generated every X iterations
+// and contains a model state and an accel state. When the branch starts, the
+// two will have identical states. For the remaining 1 second, the model state
+// will evolve purely according to the drivetrian model, and the accel state
+// will evolve purely using IMU readings.
+//
+// When the branch reaches 1 second in age, we calculate a residual associated
+// with how much the accel and model based states diverged. If they have
+// diverged substantially, that implies that the model is a poor match for
+// whatever has been happening to the robot in the past second, so if we were
+// previously relying on the model, we will override the current "actual"
+// state with the branched accel state, and then continue to update the accel
+// state based on IMU readings.
+// If we are currently in the accel state, we will continue generating branches
+// until the branches stop diverging--this will indicate that the model
+// matches the accelerometer readings again, and so we will swap back to
+// the model-based state.
+//
+// TODO:
+// * Implement paying attention to camera readings.
+// * Tune for ADIS16505/real robot.
+class ModelBasedLocalizer {
+ public:
+ static constexpr size_t kX = 0;
+ static constexpr size_t kY = 1;
+ static constexpr size_t kTheta = 2;
+
+ static constexpr size_t kVelocityX = 3;
+ static constexpr size_t kVelocityY = 4;
+ static constexpr size_t kNAccelStates = 5;
+
+ static constexpr size_t kLeftEncoder = 3;
+ static constexpr size_t kLeftVelocity = 4;
+ static constexpr size_t kLeftVoltageError = 5;
+ static constexpr size_t kRightEncoder = 6;
+ static constexpr size_t kRightVelocity = 7;
+ static constexpr size_t kRightVoltageError = 8;
+ static constexpr size_t kNModelStates = 9;
+
+ static constexpr size_t kNModelOutputs = 3;
+
+ static constexpr size_t kNAccelOuputs = 1;
+
+ static constexpr size_t kAccelX = 0;
+ static constexpr size_t kAccelY = 1;
+ static constexpr size_t kThetaRate = 2;
+ static constexpr size_t kNAccelInputs = 3;
+
+ static constexpr size_t kLeftVoltage = 0;
+ static constexpr size_t kRightVoltage = 1;
+ static constexpr size_t kNModelInputs = 2;
+
+ // Branching period, in cycles.
+ // Needs 10 to even stay alive, and still at ~96% CPU.
+ // ~20 gives ~55-60% CPU.
+ static constexpr int kBranchPeriod = 100;
+
+ static constexpr size_t kDebugBufferSize = 10;
+
+ typedef Eigen::Matrix<double, kNModelStates, 1> ModelState;
+ typedef Eigen::Matrix<double, kNAccelStates, 1> AccelState;
+ typedef Eigen::Matrix<double, kNModelInputs, 1> ModelInput;
+ typedef Eigen::Matrix<double, kNAccelInputs, 1> AccelInput;
+
+ ModelBasedLocalizer(
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
+ void HandleImu(aos::monotonic_clock::time_point t,
+ const Eigen::Vector3d &gyro, const Eigen::Vector3d &accel,
+ const Eigen::Vector2d encoders, const Eigen::Vector2d voltage);
+ void HandleTurret(aos::monotonic_clock::time_point sample_time,
+ double turret_position, double turret_velocity);
+ void HandleImageMatch(aos::monotonic_clock::time_point sample_time,
+ const y2022::vision::TargetEstimate *target,
+ int camera_index);
+ void HandleReset(aos::monotonic_clock::time_point,
+ const Eigen::Vector3d &xytheta);
+
+ flatbuffers::Offset<ModelBasedStatus> PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ Eigen::Vector3d xytheta() const {
+ if (using_model_) {
+ return current_state_.model_state.block<3, 1>(0, 0);
+ } else {
+ return current_state_.accel_state.block<3, 1>(0, 0);
+ }
+ }
+
+ Eigen::Quaterniond orientation() const { return last_orientation_; }
+
+ AccelState accel_state() const { return current_state_.accel_state; };
+
+ void set_longitudinal_offset(double offset) { long_offset_ = offset; }
+
+ void TallyRejection(const RejectionReason reason);
+
+ flatbuffers::Offset<LocalizerVisualization> PopulateVisualization(
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ size_t NumQueuedImageDebugs() const { return image_debugs_.size(); }
+
+ private:
+ struct CombinedState {
+ AccelState accel_state = AccelState::Zero();
+ ModelState model_state = ModelState::Zero();
+ aos::monotonic_clock::time_point branch_time =
+ aos::monotonic_clock::min_time;
+ double accumulated_divergence = 0.0;
+ };
+
+ // Struct to store state data needed to perform a camera correction, since
+ // camera corrections require looking back in time.
+ struct OldPosition {
+ aos::monotonic_clock::time_point sample_time =
+ aos::monotonic_clock::min_time;
+ Eigen::Vector3d xytheta = Eigen::Vector3d::Zero();
+ double turret_position = 0.0;
+ double turret_velocity = 0.0;
+ };
+
+ static flatbuffers::Offset<AccelBasedState> BuildAccelState(
+ flatbuffers::FlatBufferBuilder *fbb, const AccelState &state);
+
+ static flatbuffers::Offset<ModelBasedState> BuildModelState(
+ flatbuffers::FlatBufferBuilder *fbb, const ModelState &state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> AModel(
+ const ModelState &state) const;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> AAccel() const;
+ ModelState DiffModel(const ModelState &state, const ModelInput &U) const;
+ AccelState DiffAccel(const AccelState &state, const AccelInput &U) const;
+
+ ModelState UpdateModel(const ModelState &model, const ModelInput &input,
+ aos::monotonic_clock::duration dt) const;
+ AccelState UpdateAccel(const AccelState &accel, const AccelInput &input,
+ aos::monotonic_clock::duration dt) const;
+
+ AccelState AccelStateForModelState(const ModelState &state) const;
+ ModelState ModelStateForAccelState(const AccelState &state,
+ const Eigen::Vector2d &encoders,
+ const double yaw_rate) const;
+ double ModelDivergence(const CombinedState &state,
+ const AccelInput &accel_inputs,
+ const Eigen::Vector2d &filtered_accel,
+ const ModelInput &model_inputs);
+ void UpdateState(
+ CombinedState *state,
+ const Eigen::Matrix<double, kNModelStates, kNModelOutputs> &K,
+ const Eigen::Matrix<double, kNModelOutputs, 1> &Z,
+ const Eigen::Matrix<double, kNModelOutputs, kNModelStates> &H,
+ const AccelInput &accel_input, const ModelInput &model_input,
+ aos::monotonic_clock::duration dt);
+
+ const OldPosition GetStateForTime(aos::monotonic_clock::time_point time);
+
+ // Returns the transformation to get from the camera frame to the robot frame
+ // for the specified state.
+ const Eigen::Matrix<double, 4, 4> CameraTransform(
+ const OldPosition &state,
+ const frc971::vision::calibration::CameraCalibration *calibration,
+ std::optional<RejectionReason> *rejection_reason) const;
+
+ // Returns the robot x/y position implied by the specified camera data and
+ // estimated state from that time.
+ // H_field_camera is passed in so that it can be used as a debugging output.
+ const std::optional<Eigen::Vector2d> CameraMeasuredRobotPosition(
+ const OldPosition &state, const y2022::vision::TargetEstimate *target,
+ std::optional<RejectionReason> *rejection_reason,
+ Eigen::Matrix<double, 4, 4> *H_field_camera_measured) const;
+
+ flatbuffers::Offset<TargetEstimateDebug> PackTargetEstimateDebug(
+ const TargetEstimateDebugT &debug, flatbuffers::FlatBufferBuilder *fbb);
+
+ flatbuffers::Offset<CumulativeStatistics> PopulateStatistics(
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ const StateFeedbackHybridPlantCoefficients<2, 2, 2, double>
+ velocity_drivetrain_coefficients_;
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous_model_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> A_continuous_accel_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> A_discrete_accel_;
+ Eigen::Matrix<double, kNModelStates, kNModelInputs> B_continuous_model_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelInputs> B_continuous_accel_;
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> Q_continuous_model_;
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> P_model_;
+
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> Q_continuous_accel_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> Q_discrete_accel_;
+
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> P_accel_;
+
+ control_loops::drivetrain::DrivetrainUkf down_estimator_;
+
+ // When we are following the model, we will, on each iteration:
+ // 1) Perform a model-based update of a single state.
+ // 2) Add a hypothetical non-model-based entry based on the current state.
+ // 3) Evict too-old non-model-based entries.
+
+ // Buffer of old branches these are all created by initializing a new
+ // model-based state based on the current state, and then initializing a new
+ // accel-based state on top of that new model-based state (to eliminate the
+ // impact of any lateral motion).
+ // We then integrate up all of these states and observe how much the model and
+ // accel based states of each branch compare to one another.
+ aos::RingBuffer<CombinedState, 2000 / kBranchPeriod> branches_;
+ int branch_counter_ = 0;
+
+ // Buffer of old x/y/theta positions. This is used so that we can have a
+ // reference for exactly where we thought a camera was when it took an image.
+ aos::RingBuffer<OldPosition, 500 / kBranchPeriod> old_positions_;
+
+ CombinedState current_state_;
+ aos::monotonic_clock::time_point t_ = aos::monotonic_clock::min_time;
+ bool using_model_;
+
+ // X position of the IMU, in meters. 0 = center of robot, positive = ahead of
+ // center, negative = behind center.
+ double long_offset_ = -0.15;
+
+ double last_residual_ = 0.0;
+ double filtered_residual_ = 0.0;
+ Eigen::Vector2d filtered_residual_accel_ = Eigen::Vector2d::Zero();
+ Eigen::Vector3d abs_accel_ = Eigen::Vector3d::Zero();
+ double velocity_residual_ = 0.0;
+ double accel_residual_ = 0.0;
+ double theta_rate_residual_ = 0.0;
+ int hysteresis_count_ = 0;
+ Eigen::Quaterniond last_orientation_ = Eigen::Quaterniond::Identity();
+
+ int clock_resets_ = 0;
+
+ std::optional<aos::monotonic_clock::time_point> last_turret_update_;
+ double latest_turret_position_ = 0.0;
+ double latest_turret_velocity_ = 0.0;
+
+ // Stuff to track faults.
+ static constexpr size_t kNumRejectionReasons =
+ static_cast<int>(RejectionReason::MAX) -
+ static_cast<int>(RejectionReason::MIN) + 1;
+
+ struct Statistics {
+ int total_accepted = 0;
+ int total_candidates = 0;
+ static_assert(0 == static_cast<int>(RejectionReason::MIN));
+ static_assert(
+ kNumRejectionReasons ==
+ sizeof(
+ std::invoke_result<decltype(EnumValuesRejectionReason)>::type) /
+ sizeof(RejectionReason),
+ "RejectionReason has non-contiguous error values.");
+ std::array<int, kNumRejectionReasons> rejection_counts;
+ };
+ Statistics statistics_;
+
+ aos::SizedArray<TargetEstimateDebugT, kDebugBufferSize> image_debugs_;
+
+ friend class testing::LocalizerTest;
+};
+
+class EventLoopLocalizer {
+ public:
+ static constexpr std::chrono::milliseconds kMinVisualizationPeriod{100};
+
+ EventLoopLocalizer(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
+
+ ModelBasedLocalizer *localizer() { return &model_based_; }
+
+ private:
+ std::optional<aos::monotonic_clock::duration> ClockOffset(
+ std::string_view pi);
+ aos::EventLoop *event_loop_;
+ ModelBasedLocalizer model_based_;
+ aos::Sender<LocalizerStatus> status_sender_;
+ aos::Sender<LocalizerOutput> output_sender_;
+ aos::Sender<LocalizerVisualization> visualization_sender_;
+ aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
+ aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
+ zeroing::ImuZeroer zeroer_;
+ aos::monotonic_clock::time_point last_output_send_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point last_visualization_send_ =
+ aos::monotonic_clock::min_time;
+ std::optional<aos::monotonic_clock::time_point> last_pico_timestamp_;
+ aos::monotonic_clock::duration pico_offset_error_;
+ // t = pico_offset_ + pico_timestamp.
+ // Note that this can drift over sufficiently long time periods!
+ std::optional<std::chrono::nanoseconds> pico_offset_;
+
+ zeroing::UnwrapSensor left_encoder_;
+ zeroing::UnwrapSensor right_encoder_;
+};
+} // namespace frc971::controls
+#endif // Y2022_LOCALIZER_LOCALIZER_H_
diff --git a/y2022/control_loops/localizer/localizer_main.cc b/y2022/localizer/localizer_main.cc
similarity index 80%
rename from y2022/control_loops/localizer/localizer_main.cc
rename to y2022/localizer/localizer_main.cc
index 0cc53bb..fab1d51 100644
--- a/y2022/control_loops/localizer/localizer_main.cc
+++ b/y2022/localizer/localizer_main.cc
@@ -1,9 +1,9 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/localizer/localizer.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
int main(int argc, char *argv[]) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/control_loops/localizer/localizer_output.fbs b/y2022/localizer/localizer_output.fbs
similarity index 65%
rename from y2022/control_loops/localizer/localizer_output.fbs
rename to y2022/localizer/localizer_output.fbs
index 078d723..b07278b 100644
--- a/y2022/control_loops/localizer/localizer_output.fbs
+++ b/y2022/localizer/localizer_output.fbs
@@ -3,6 +3,13 @@
// This provides a minimal output from the localizer that can be forwarded to
// the roborio and used for corrections to its (simpler) localizer.
+struct Quaternion {
+ w:double (id: 0);
+ x:double (id: 1);
+ y:double (id: 2);
+ z:double (id: 3);
+}
+
table LocalizerOutput {
// Timestamp (on the source node) that this sample corresponds with. This
// may be older than the sent time to account for delays in sensor readings.
@@ -12,6 +19,11 @@
y:double (id: 2);
// Current heading, in radians.
theta:double (id: 3);
+ // Current estimate of the robot's 3-D rotation.
+ orientation:Quaternion (id: 4);
+ // Whether we have zeroed the IMU (may go false if we observe a fault with the
+ // IMU).
+ zeroed:bool (id: 5);
}
root_type LocalizerOutput;
diff --git a/y2022/control_loops/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
similarity index 92%
rename from y2022/control_loops/localizer/localizer_plotter.ts
rename to y2022/localizer/localizer_plotter.ts
index ce348e7..239d2cb 100644
--- a/y2022/control_loops/localizer/localizer_plotter.ts
+++ b/y2022/localizer/localizer_plotter.ts
@@ -22,7 +22,7 @@
const localizer = aosPlotter.addMessageSource(
'/localizer', 'frc971.controls.LocalizerStatus');
const imu = aosPlotter.addRawMessageSource(
- '/drivetrain', 'frc971.IMUValuesBatch',
+ '/localizer', 'frc971.IMUValuesBatch',
new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
// Drivetrain Status estimated relative position
@@ -48,9 +48,21 @@
positionPlot.addMessageLine(position, ['left_encoder'])
.setColor(BROWN)
.setDrawLine(false);
+ positionPlot.addMessageLine(imu, ['left_encoder'])
+ .setColor(BROWN)
+ .setDrawLine(false);
+ positionPlot.addMessageLine(localizer, ['left_encoder'])
+ .setColor(RED)
+ .setDrawLine(false);
positionPlot.addMessageLine(position, ['right_encoder'])
.setColor(CYAN)
.setDrawLine(false);
+ positionPlot.addMessageLine(imu, ['right_encoder'])
+ .setColor(CYAN)
+ .setDrawLine(false);
+ positionPlot.addMessageLine(localizer, ['right_encoder'])
+ .setColor(GREEN)
+ .setDrawLine(false);
// Drivetrain Velocities
@@ -167,13 +179,6 @@
accelPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
accelPlot.plot.getAxisLabels().setXLabel('Monotonic Time (sec)');
- accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_x'])
- .setColor(PINK);
- accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_y'])
- .setColor(GREEN);
- accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_z'])
- .setColor(BLUE);
-
accelPlot.addMessageLine(localizer, ['model_based', 'accel_state', 'velocity_x'])
.setColor(RED)
.setDrawLine(false);
@@ -197,11 +202,8 @@
xPositionPlot.addMessageLine(status, ['x']).setColor(RED);
xPositionPlot.addMessageLine(status, ['down_estimator', 'position_x'])
.setColor(BLUE);
- xPositionPlot.addMessageLine(localizer, ['no_wheel_status', 'x']).setColor(GREEN);
xPositionPlot.addMessageLine(localizer, ['model_based', 'x']).setColor(CYAN);
- xPositionPlot.plot.setDefaultYRange([0.0, 0.5]);
-
// Absolute Y Position
const yPositionPlot = aosPlotter.addPlot(element);
yPositionPlot.plot.getAxisLabels().setTitle('Y Position');
@@ -212,7 +214,6 @@
localizerY.setColor(RED);
yPositionPlot.addMessageLine(status, ['down_estimator', 'position_y'])
.setColor(BLUE);
- yPositionPlot.addMessageLine(localizer, ['no_wheel_status', 'y']).setColor(GREEN);
yPositionPlot.addMessageLine(localizer, ['model_based', 'y']).setColor(CYAN);
// Gyro
@@ -264,4 +265,13 @@
costPlot.addMessageLine(localizer, ['model_based', 'accel_residual'])
.setColor(CYAN)
.setPointSize(0);
+
+ const timingPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+ timingPlot.plot.getAxisLabels().setTitle('Timing');
+ timingPlot.plot.getAxisLabels().setXLabel(TIME);
+
+ timingPlot.addMessageLine(localizer, ['model_based', 'clock_resets'])
+ .setColor(GREEN)
+ .setDrawLine(false);
}
diff --git a/y2022/control_loops/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
similarity index 69%
rename from y2022/control_loops/localizer/localizer_replay.cc
rename to y2022/localizer/localizer_replay.cc
index 67fb35a..d328948 100644
--- a/y2022/control_loops/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -1,4 +1,3 @@
-
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -6,12 +5,12 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
-#include "y2022/control_loops/localizer/localizer.h"
-#include "y2022/control_loops/localizer/localizer_schema.h"
+#include "y2022/localizer/localizer.h"
+#include "y2022/localizer/localizer_schema.h"
#include "gflags/gflags.h"
-#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-DEFINE_string(config, "y2020/config.json",
+DEFINE_string(config, "y2022/aos_config.json",
"Name of the config file to replay using.");
DEFINE_int32(team, 7971, "Team number to use for logfile replay.");
DEFINE_string(output_folder, "/tmp/replayed",
@@ -58,33 +57,10 @@
aos::logger::SortParts(unsorted_logfiles);
// open logfiles
- aos::logger::LogReader reader(logfiles);
- // Patch in any new channels.
- // TODO(james): With some of the extra changes I've made recently, this is no
- // longer adequate for replaying old logfiles. Just stop trying to support old
- // logs.
- aos::FlatbufferDetachedBuffer<aos::Configuration> updated_config =
- aos::configuration::MergeWithConfig(
- reader.configuration(),
- aos::configuration::AddSchema(
- R"channel({
- "channels": [
- {
- "name": "/localizer",
- "type": "frc971.controls.LocalizerStatus",
- "source_node": "roborio",
- "frequency": 2000,
- "max_size": 2000,
- "num_senders": 2
- }
- ]
-})channel",
- {aos::FlatbufferVector<reflection::Schema>(
- aos::FlatbufferSpan<reflection::Schema>(
- frc971::controls::LocalizerStatusSchema()))}));
+ aos::logger::LogReader reader(logfiles, &config.message());
- auto factory = std::make_unique<aos::SimulatedEventLoopFactory>(
- &updated_config.message());
+ auto factory =
+ std::make_unique<aos::SimulatedEventLoopFactory>(reader.configuration());
reader.Register(factory.get());
@@ -92,7 +68,7 @@
// List of nodes to create loggers for (note: currently just roborio; this
// code was refactored to allow easily adding new loggers to accommodate
// debugging and potential future changes).
- const std::vector<std::string> nodes_to_log = {"roborio"};
+ const std::vector<std::string> nodes_to_log = {"imu"};
for (const std::string &node : nodes_to_log) {
loggers.emplace_back(std::make_unique<LoggerState>(
&reader, aos::configuration::GetNode(reader.configuration(), node)));
@@ -100,7 +76,7 @@
const aos::Node *node = nullptr;
if (aos::configuration::MultiNode(reader.configuration())) {
- node = aos::configuration::GetNode(reader.configuration(), "roborio");
+ node = aos::configuration::GetNode(reader.configuration(), "imu");
}
std::unique_ptr<aos::EventLoop> localizer_event_loop =
@@ -109,7 +85,7 @@
frc971::controls::EventLoopLocalizer localizer(
localizer_event_loop.get(),
- y2020::control_loops::drivetrain::GetDrivetrainConfig());
+ y2022::control_loops::drivetrain::GetDrivetrainConfig());
reader.event_loop_factory()->Run();
diff --git a/y2022/control_loops/localizer/localizer_status.fbs b/y2022/localizer/localizer_status.fbs
similarity index 75%
rename from y2022/control_loops/localizer/localizer_status.fbs
rename to y2022/localizer/localizer_status.fbs
index 6771c5f..ae96b63 100644
--- a/y2022/control_loops/localizer/localizer_status.fbs
+++ b/y2022/localizer/localizer_status.fbs
@@ -2,6 +2,21 @@
namespace frc971.controls;
+enum RejectionReason : byte {
+ IMAGE_FROM_FUTURE = 0,
+ NO_CALIBRATION = 1,
+ TURRET_TOO_FAST = 2,
+ MESSAGE_BRIDGE_DISCONNECTED = 3,
+ LOW_CONFIDENCE = 4,
+}
+
+table CumulativeStatistics {
+ total_accepted:int (id: 0);
+ total_candidates:int (id: 1);
+ // Indexed by integer value of RejectionReason enum.
+ rejection_reason_count:[int] (id: 2);
+}
+
// Stores the state associated with the acceleration-based modelling.
table AccelBasedState {
// x/y position, in meters.
@@ -74,6 +89,7 @@
// Number of times we have missed an IMU reading. Should never increase except
// *maybe* during startup.
clock_resets:int (id: 17);
+ statistics:CumulativeStatistics (id: 18);
}
table LocalizerStatus {
@@ -82,6 +98,18 @@
zeroed:bool (id: 1);
// Whether the IMU zeroing is faulted or not.
faulted_zero:bool (id: 2);
+ zeroing:control_loops.drivetrain.ImuZeroerState (id: 3);
+ // Offset between the pico clock and the pi clock, such that
+ // pico_timestamp + pico_offset_ns = pi_timestamp
+ pico_offset_ns:int64 (id: 4);
+ // Error in the offset, if we assume that the pi/pico clocks are identical and
+ // that there is a perfectly consistent latency between the two. Will be zero
+ // for the very first cycle, and then referenced off of the initial offset
+ // thereafter. If greater than zero, implies that the pico is "behind",
+ // whether due to unusually large latency or due to clock drift.
+ pico_offset_error_ns:int64 (id: 5);
+ left_encoder:double (id: 6);
+ right_encoder:double (id: 7);
}
root_type LocalizerStatus;
diff --git a/y2022/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
new file mode 100644
index 0000000..791adf3
--- /dev/null
+++ b/y2022/localizer/localizer_test.cc
@@ -0,0 +1,875 @@
+#include "y2022/localizer/localizer.h"
+
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+#include "gtest/gtest.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/pose.h"
+#include "y2022/vision/target_estimate_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(output_folder, "",
+ "If set, logs all channels to the provided logfile.");
+
+namespace frc971::controls::testing {
+typedef ModelBasedLocalizer::ModelState ModelState;
+typedef ModelBasedLocalizer::AccelState AccelState;
+typedef ModelBasedLocalizer::ModelInput ModelInput;
+typedef ModelBasedLocalizer::AccelInput AccelInput;
+
+using frc971::vision::calibration::CameraCalibrationT;
+using frc971::vision::calibration::TransformationMatrixT;
+using frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::LocalizerControl;
+using frc971::control_loops::Pose;
+using y2022::vision::TargetEstimate;
+using y2022::vision::TargetEstimateT;
+
+namespace {
+constexpr size_t kX = ModelBasedLocalizer::kX;
+constexpr size_t kY = ModelBasedLocalizer::kY;
+constexpr size_t kTheta = ModelBasedLocalizer::kTheta;
+constexpr size_t kVelocityX = ModelBasedLocalizer::kVelocityX;
+constexpr size_t kVelocityY = ModelBasedLocalizer::kVelocityY;
+constexpr size_t kAccelX = ModelBasedLocalizer::kAccelX;
+constexpr size_t kAccelY = ModelBasedLocalizer::kAccelY;
+constexpr size_t kThetaRate = ModelBasedLocalizer::kThetaRate;
+constexpr size_t kLeftEncoder = ModelBasedLocalizer::kLeftEncoder;
+constexpr size_t kLeftVelocity = ModelBasedLocalizer::kLeftVelocity;
+constexpr size_t kLeftVoltageError = ModelBasedLocalizer::kLeftVoltageError;
+constexpr size_t kRightEncoder = ModelBasedLocalizer::kRightEncoder;
+constexpr size_t kRightVelocity = ModelBasedLocalizer::kRightVelocity;
+constexpr size_t kRightVoltageError = ModelBasedLocalizer::kRightVoltageError;
+constexpr size_t kLeftVoltage = ModelBasedLocalizer::kLeftVoltage;
+constexpr size_t kRightVoltage = ModelBasedLocalizer::kRightVoltage;
+
+Eigen::Matrix<double, 4, 4> TurretRobotTransformation() {
+ Eigen::Matrix<double, 4, 4> H;
+ H.setIdentity();
+ H.block<3, 1>(0, 3) << 1, 1.1, 0.9;
+ return H;
+}
+
+// Provides the location of the camera on the turret.
+Eigen::Matrix<double, 4, 4> CameraTurretTransformation() {
+ Eigen::Matrix<double, 4, 4> H;
+ H.setIdentity();
+ H.block<3, 1>(0, 3) << 0.1, 0, 0;
+ H.block<3, 3>(0, 0) << 0, 0, 1, -1, 0, 0, 0, -1, 0;
+
+ // Introduce a bit of pitch to make sure that we're exercising all the code.
+ H.block<3, 3>(0, 0) =
+ Eigen::AngleAxis<double>(0.1, Eigen::Vector3d::UnitY()) *
+ H.block<3, 3>(0, 0);
+ return H;
+}
+
+// Copies an Eigen matrix into a row-major vector of the data.
+std::vector<float> MatrixToVector(const Eigen::Matrix<double, 4, 4> &H) {
+ std::vector<float> data;
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ data.push_back(H(row, col));
+ }
+ }
+ return data;
+}
+
+DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
+ DrivetrainConfig<double> config =
+ y2022::control_loops::drivetrain::GetDrivetrainConfig();
+ config.is_simulated = true;
+ return config;
+}
+}
+
+class LocalizerTest : public ::testing::Test {
+ protected:
+ LocalizerTest()
+ : dt_config_(
+ GetTest2022DrivetrainConfig()),
+ localizer_(dt_config_) {
+ localizer_.set_longitudinal_offset(0.0);
+ }
+ ModelState CallDiffModel(const ModelState &state, const ModelInput &U) {
+ return localizer_.DiffModel(state, U);
+ }
+
+ AccelState CallDiffAccel(const AccelState &state, const AccelInput &U) {
+ return localizer_.DiffAccel(state, U);
+ }
+
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ ModelBasedLocalizer localizer_;
+
+};
+
+TEST_F(LocalizerTest, AccelIntegrationTest) {
+ AccelState state;
+ state.setZero();
+ AccelInput input;
+ input.setZero();
+
+ EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
+ // Non-zero x/y/theta states should still result in a zero derivative.
+ state(kX) = 1.0;
+ state(kY) = 1.0;
+ state(kTheta) = 1.0;
+ EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
+
+ state.setZero();
+ state(kVelocityX) = 1.0;
+ state(kVelocityY) = 2.0;
+ EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
+ CallDiffAccel(state, input));
+ // Derivatives should be independent of theta.
+ state(kTheta) = M_PI / 2.0;
+ EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
+ CallDiffAccel(state, input));
+
+ state.setZero();
+ input(kAccelX) = 1.0;
+ input(kAccelY) = 2.0;
+ input(kThetaRate) = 3.0;
+ EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
+ CallDiffAccel(state, input));
+ state(kTheta) = M_PI / 2.0;
+ EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
+ CallDiffAccel(state, input));
+}
+
+TEST_F(LocalizerTest, ModelIntegrationTest) {
+ ModelState state;
+ state.setZero();
+ ModelInput input;
+ input.setZero();
+ ModelState diff;
+
+ EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
+ // Non-zero x/y/theta/encoder states should still result in a zero derivative.
+ state(kX) = 1.0;
+ state(kY) = 1.0;
+ state(kTheta) = 1.0;
+ state(kLeftEncoder) = 1.0;
+ state(kRightEncoder) = 1.0;
+ EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
+
+ state.setZero();
+ state(kLeftVelocity) = 1.0;
+ state(kRightVelocity) = 1.0;
+ diff = CallDiffModel(state, input);
+ const ModelState mask_velocities =
+ (ModelState() << 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0).finished();
+ EXPECT_EQ(
+ (ModelState() << 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0).finished(),
+ diff.cwiseProduct(mask_velocities));
+ EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_GT(0.0, diff(kLeftVelocity));
+ state(kTheta) = M_PI / 2.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_NEAR(0.0,
+ ((ModelState() << 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0)
+ .finished() -
+ diff.cwiseProduct(mask_velocities))
+ .norm(),
+ 1e-12);
+ EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_GT(0.0, diff(kLeftVelocity));
+
+ state.setZero();
+ state(kLeftVelocity) = -1.0;
+ state(kRightVelocity) = 1.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_EQ((ModelState() << 0.0, 0.0, 1.0 / dt_config_.robot_radius, -1.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0)
+ .finished(),
+ diff.cwiseProduct(mask_velocities));
+ EXPECT_EQ(-diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_LT(0.0, diff(kLeftVelocity));
+
+ state.setZero();
+ input(kLeftVoltage) = 5.0;
+ input(kRightVoltage) = 6.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_EQ(0, diff(kX));
+ EXPECT_EQ(0, diff(kY));
+ EXPECT_EQ(0, diff(kTheta));
+ EXPECT_EQ(0, diff(kLeftEncoder));
+ EXPECT_EQ(0, diff(kRightEncoder));
+ EXPECT_EQ(0, diff(kLeftVoltageError));
+ EXPECT_EQ(0, diff(kRightVoltageError));
+ EXPECT_LT(0, diff(kLeftVelocity));
+ EXPECT_LT(0, diff(kRightVelocity));
+ EXPECT_LT(diff(kLeftVelocity), diff(kRightVelocity));
+
+ state.setZero();
+ state(kLeftVoltageError) = -1.0;
+ state(kRightVoltageError) = -2.0;
+ input(kLeftVoltage) = 1.0;
+ input(kRightVoltage) = 2.0;
+ EXPECT_EQ(ModelState::Zero(), CallDiffModel(state, input));
+}
+
+// Test that the HandleReset does indeed reset the state of the localizer.
+TEST_F(LocalizerTest, LocalizerReset) {
+ aos::monotonic_clock::time_point t = aos::monotonic_clock::epoch();
+ localizer_.HandleReset(t, {1.0, 2.0, 3.0});
+ EXPECT_EQ((Eigen::Vector3d{1.0, 2.0, 3.0}), localizer_.xytheta());
+ localizer_.HandleReset(t, {4.0, 5.0, 6.0});
+ EXPECT_EQ((Eigen::Vector3d{4.0, 5.0, 6.0}), localizer_.xytheta());
+}
+
+// Test that if we are moving only by accelerometer readings (and just assuming
+// zero voltage/encoders) that we initially don't believe it but then latch into
+// following the accelerometer.
+// Note: this test is somewhat sensitive to the exact tuning values used for the
+// filter.
+TEST_F(LocalizerTest, AccelOnly) {
+ const aos::monotonic_clock::time_point start = aos::monotonic_clock::epoch();
+ const std::chrono::microseconds kDt{500};
+ aos::monotonic_clock::time_point t = start - std::chrono::milliseconds(1000);
+ Eigen::Vector3d gyro{0.0, 0.0, 0.0};
+ const Eigen::Vector2d encoders{0.0, 0.0};
+ const Eigen::Vector2d voltages{0.0, 0.0};
+ Eigen::Vector3d accel{5.0, 2.0, 9.80665};
+ Eigen::Vector3d accel_gs = dt_config_.imu_transform.inverse() * accel / 9.80665;
+ while (t < start) {
+ // Spin to fill up the buffer.
+ localizer_.HandleImu(t, gyro, Eigen::Vector3d::UnitZ(), encoders, voltages);
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(100)) {
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ EXPECT_EQ(Eigen::Vector3d::Zero(), localizer_.xytheta());
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(500)) {
+ // Too lazy to hard-code when the transition happens.
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(1000)) {
+ SCOPED_TRACE(t);
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ const Eigen::Vector3d xytheta = localizer_.xytheta();
+ t += kDt;
+ EXPECT_NEAR(
+ 0.5 * accel(0) * std::pow(aos::time::DurationInSeconds(t - start), 2),
+ xytheta(0), 1e-4);
+ EXPECT_NEAR(
+ 0.5 * accel(1) * std::pow(aos::time::DurationInSeconds(t - start), 2),
+ xytheta(1), 1e-4);
+ EXPECT_EQ(0.0, xytheta(2));
+ }
+
+ ASSERT_NEAR(accel(0), localizer_.accel_state()(kVelocityX), 1e-10);
+ ASSERT_NEAR(accel(1), localizer_.accel_state()(kVelocityY), 1e-10);
+
+ // Start going in a cirlce, and confirm that we
+ // handle things correctly. We rotate the accelerometer readings by 90 degrees
+ // and then leave them constant, which should make it look like we are going
+ // around in a circle.
+ accel = Eigen::Vector3d{-accel(1), accel(0), 9.80665};
+ accel_gs = dt_config_.imu_transform.inverse() * accel / 9.80665;
+ // v^2 / r = a
+ // w * r = v
+ // v^2 / v * w = a
+ // w = a / v
+ const double omega = accel.topRows<2>().norm() /
+ std::hypot(localizer_.accel_state()(kVelocityX),
+ localizer_.accel_state()(kVelocityY));
+ gyro << 0.0, 0.0, omega;
+ // Due to the magic of math, omega works out to be 1.0 after having run at the
+ // acceleration for one second.
+ ASSERT_NEAR(1.0, omega, 1e-10);
+ // Yes, we could save some operations here, but let's be at least somewhat
+ // clear about what we're doing...
+ const double radius = accel.topRows<2>().norm() / (omega * omega);
+ const Eigen::Vector2d center = localizer_.xytheta().topRows<2>() +
+ accel.topRows<2>().normalized() * radius;
+ const double initial_theta = std::atan2(-accel(1), -accel(0));
+
+ std::chrono::microseconds one_revolution_time(
+ static_cast<int>(2 * M_PI / omega * 1e6));
+
+ aos::monotonic_clock::time_point circle_start = t;
+
+ while (t < circle_start + one_revolution_time) {
+ SCOPED_TRACE(t);
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ t += kDt;
+ const double t_circle = aos::time::DurationInSeconds(t - circle_start);
+ ASSERT_NEAR(t_circle * omega, localizer_.xytheta()(2), 1e-5);
+ const double theta_circle = t_circle * omega + initial_theta;
+ const Eigen::Vector2d offset =
+ radius *
+ Eigen::Vector2d{std::cos(theta_circle), std::sin(theta_circle)};
+ const Eigen::Vector2d expected = center + offset;
+ const Eigen::Vector2d estimated = localizer_.xytheta().topRows<2>();
+ const Eigen::Vector2d implied_offset = estimated - center;
+ const double implied_theta =
+ std::atan2(implied_offset.y(), implied_offset.x());
+ VLOG(1) << "center: " << center.transpose() << " radius " << radius
+ << "\nlocalizer " << localizer_.xytheta().transpose()
+ << " t_circle " << t_circle << " omega " << omega << " theta "
+ << theta_circle << "\noffset " << offset.transpose()
+ << "\nexpected " << expected.transpose() << "\nimplied offset "
+ << implied_offset << " implied_theta " << implied_theta << "\nvel "
+ << localizer_.accel_state()(kVelocityX) << ", "
+ << localizer_.accel_state()(kVelocityY);
+ ASSERT_NEAR(0.0, (expected - localizer_.xytheta().topRows<2>()).norm(),
+ 1e-2);
+ }
+
+ // Set accelerometer back to zero and confirm that we recover (the
+ // implementation decays the accelerometer speeds to zero when still, so
+ // should recover).
+ while (t <
+ circle_start + one_revolution_time + std::chrono::milliseconds(3000)) {
+ localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
+ encoders, voltages);
+ t += kDt;
+ }
+ const Eigen::Vector3d final_pos = localizer_.xytheta();
+ localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
+ encoders, voltages);
+ ASSERT_NEAR(0.0, (final_pos - localizer_.xytheta()).norm(), 1e-10);
+}
+
+using control_loops::drivetrain::Output;
+
+class EventLoopLocalizerTest : public ::testing::Test {
+ protected:
+ EventLoopLocalizerTest()
+ : configuration_(aos::configuration::ReadConfig("y2022/aos_config.json")),
+ event_loop_factory_(&configuration_.message()),
+ roborio_node_(
+ aos::configuration::GetNode(&configuration_.message(), "roborio")),
+ imu_node_(
+ aos::configuration::GetNode(&configuration_.message(), "imu")),
+ camera_node_(
+ aos::configuration::GetNode(&configuration_.message(), "pi1")),
+ dt_config_(
+ control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
+ localizer_event_loop_(
+ event_loop_factory_.MakeEventLoop("localizer", imu_node_)),
+ localizer_(localizer_event_loop_.get(), dt_config_),
+ drivetrain_plant_event_loop_(event_loop_factory_.MakeEventLoop(
+ "drivetrain_plant", roborio_node_)),
+ drivetrain_plant_imu_event_loop_(
+ event_loop_factory_.MakeEventLoop("drivetrain_plant", imu_node_)),
+ drivetrain_plant_(drivetrain_plant_event_loop_.get(),
+ drivetrain_plant_imu_event_loop_.get(), dt_config_,
+ std::chrono::microseconds(500)),
+ roborio_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", roborio_node_)),
+ imu_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", imu_node_)),
+ camera_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", camera_node_)),
+ logger_test_event_loop_(
+ event_loop_factory_.GetNodeEventLoopFactory("logger")
+ ->MakeEventLoop("test")),
+ output_sender_(
+ roborio_test_event_loop_->MakeSender<Output>("/drivetrain")),
+ turret_sender_(
+ roborio_test_event_loop_
+ ->MakeSender<y2022::control_loops::superstructure::Status>(
+ "/superstructure")),
+ target_sender_(
+ camera_test_event_loop_->MakeSender<y2022::vision::TargetEstimate>(
+ "/camera")),
+ control_sender_(roborio_test_event_loop_->MakeSender<LocalizerControl>(
+ "/drivetrain")),
+ output_fetcher_(roborio_test_event_loop_->MakeFetcher<LocalizerOutput>(
+ "/localizer")),
+ status_fetcher_(
+ imu_test_event_loop_->MakeFetcher<LocalizerStatus>("/localizer")) {
+ localizer_.localizer()->set_longitudinal_offset(0.0);
+ {
+ aos::TimerHandler *timer = roborio_test_event_loop_->AddTimer([this]() {
+ {
+ auto builder = output_sender_.MakeBuilder();
+ auto output_builder = builder.MakeBuilder<Output>();
+ output_builder.add_left_voltage(output_voltages_(0));
+ output_builder.add_right_voltage(output_voltages_(1));
+ builder.CheckOk(builder.Send(output_builder.Finish()));
+ }
+ {
+ auto builder = turret_sender_.MakeBuilder();
+ auto turret_estimator_builder =
+ builder
+ .MakeBuilder<frc971::PotAndAbsoluteEncoderEstimatorState>();
+ turret_estimator_builder.add_position(turret_position_);
+ const flatbuffers::Offset<frc971::PotAndAbsoluteEncoderEstimatorState>
+ turret_estimator_offset = turret_estimator_builder.Finish();
+ auto turret_builder =
+ builder
+ .MakeBuilder<frc971::control_loops::
+ PotAndAbsoluteEncoderProfiledJointStatus>();
+ turret_builder.add_position(turret_position_);
+ turret_builder.add_velocity(turret_velocity_);
+ turret_builder.add_zeroed(true);
+ turret_builder.add_estimator_state(turret_estimator_offset);
+ const auto turret_offset = turret_builder.Finish();
+ auto status_builder =
+ builder
+ .MakeBuilder<y2022::control_loops::superstructure::Status>();
+ status_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(status_builder.Finish()));
+ }
+ });
+ roborio_test_event_loop_->OnRun([timer, this]() {
+ timer->Setup(roborio_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(5));
+ });
+ }
+ {
+ aos::TimerHandler *timer = camera_test_event_loop_->AddTimer([this]() {
+ if (!send_targets_) {
+ return;
+ }
+ const frc971::control_loops::Pose robot_pose(
+ {drivetrain_plant_.GetPosition().x(),
+ drivetrain_plant_.GetPosition().y(), 0.0},
+ drivetrain_plant_.state()(2, 0));
+ const Eigen::Matrix<double, 4, 4> H_turret_camera =
+ frc971::control_loops::TransformationMatrixForYaw(
+ turret_position_) *
+ CameraTurretTransformation();
+
+ const Eigen::Matrix<double, 4, 4> H_field_camera =
+ robot_pose.AsTransformationMatrix() * TurretRobotTransformation() *
+ H_turret_camera;
+ const Eigen::Matrix<double, 4, 4> target_transform =
+ Eigen::Matrix<double, 4, 4>::Identity();
+ const Eigen::Matrix<double, 4, 4> H_camera_target =
+ H_field_camera.inverse() * target_transform;
+ const Eigen::Matrix<double, 4, 4> H_target_camera =
+ H_camera_target.inverse();
+
+ std::unique_ptr<y2022::vision::TargetEstimateT> estimate(
+ new y2022::vision::TargetEstimateT());
+ estimate->distance = H_target_camera.block<2, 1>(0, 3).norm();
+ estimate->angle_to_target =
+ std::atan2(-H_camera_target(0, 3), H_camera_target(2, 3));
+ estimate->camera_calibration.reset(new CameraCalibrationT());
+ {
+ estimate->camera_calibration->fixed_extrinsics.reset(
+ new TransformationMatrixT());
+ TransformationMatrixT *H_robot_turret =
+ estimate->camera_calibration->fixed_extrinsics.get();
+ H_robot_turret->data = MatrixToVector(TurretRobotTransformation());
+ }
+
+ estimate->camera_calibration->turret_extrinsics.reset(
+ new TransformationMatrixT());
+ estimate->camera_calibration->turret_extrinsics->data =
+ MatrixToVector(CameraTurretTransformation());
+
+ estimate->confidence = 1.0;
+
+ auto builder = target_sender_.MakeBuilder();
+ builder.CheckOk(
+ builder.Send(TargetEstimate::Pack(*builder.fbb(), estimate.get())));
+ });
+ camera_test_event_loop_->OnRun([timer, this]() {
+ timer->Setup(camera_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(50));
+ });
+ }
+
+ localizer_control_send_timer_ =
+ roborio_test_event_loop_->AddTimer([this]() {
+ auto builder = control_sender_.MakeBuilder();
+ auto control_builder = builder.MakeBuilder<LocalizerControl>();
+ control_builder.add_x(localizer_control_x_);
+ control_builder.add_y(localizer_control_y_);
+ control_builder.add_theta(localizer_control_theta_);
+ control_builder.add_theta_uncertainty(0.01);
+ control_builder.add_keep_current_theta(false);
+ builder.CheckOk(builder.Send(control_builder.Finish()));
+ });
+
+ // Get things zeroed.
+ event_loop_factory_.RunFor(std::chrono::seconds(10));
+ CHECK(status_fetcher_.Fetch());
+ CHECK(status_fetcher_->zeroed());
+
+ if (!FLAGS_output_folder.empty()) {
+ logger_event_loop_ =
+ event_loop_factory_.MakeEventLoop("logger", imu_node_);
+ logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+ logger_->StartLoggingOnRun(FLAGS_output_folder);
+ }
+ }
+
+ void SendLocalizerControl(double x, double y, double theta) {
+ localizer_control_x_ = x;
+ localizer_control_y_ = y;
+ localizer_control_theta_ = theta;
+ localizer_control_send_timer_->Setup(
+ roborio_test_event_loop_->monotonic_now());
+ }
+ ::testing::AssertionResult IsNear(double expected, double actual,
+ double epsilon) {
+ if (std::abs(expected - actual) < epsilon) {
+ return ::testing::AssertionSuccess();
+ } else {
+ return ::testing::AssertionFailure()
+ << "Expected " << expected << " but got " << actual
+ << " with a max difference of " << epsilon
+ << " and an actual difference of " << std::abs(expected - actual);
+ }
+ }
+ ::testing::AssertionResult VerifyEstimatorAccurate(double eps) {
+ const Eigen::Matrix<double, 5, 1> true_state = drivetrain_plant_.state();
+ ::testing::AssertionResult result(true);
+ status_fetcher_.Fetch();
+ if (!(result = IsNear(status_fetcher_->model_based()->x(), true_state(0),
+ eps))) {
+ return result;
+ }
+ if (!(result = IsNear(status_fetcher_->model_based()->y(), true_state(1),
+ eps))) {
+ return result;
+ }
+ if (!(result = IsNear(status_fetcher_->model_based()->theta(),
+ true_state(2), eps))) {
+ return result;
+ }
+ return result;
+ }
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
+ aos::SimulatedEventLoopFactory event_loop_factory_;
+ const aos::Node *const roborio_node_;
+ const aos::Node *const imu_node_;
+ const aos::Node *const camera_node_;
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ std::unique_ptr<aos::EventLoop> localizer_event_loop_;
+ EventLoopLocalizer localizer_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
+ control_loops::drivetrain::testing::DrivetrainSimulation drivetrain_plant_;
+
+ std::unique_ptr<aos::EventLoop> roborio_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> camera_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> logger_test_event_loop_;
+
+ aos::Sender<Output> output_sender_;
+ aos::Sender<y2022::control_loops::superstructure::Status> turret_sender_;
+ aos::Sender<y2022::vision::TargetEstimate> target_sender_;
+ aos::Sender<LocalizerControl> control_sender_;
+ aos::Fetcher<LocalizerOutput> output_fetcher_;
+ aos::Fetcher<LocalizerStatus> status_fetcher_;
+
+ Eigen::Vector2d output_voltages_ = Eigen::Vector2d::Zero();
+
+ aos::TimerHandler *localizer_control_send_timer_;
+
+ bool send_targets_ = false;
+ double turret_position_ = 0.0;
+ double turret_velocity_ = 0.0;
+
+ double localizer_control_x_ = 0.0;
+ double localizer_control_y_ = 0.0;
+ double localizer_control_theta_ = 0.0;
+
+ std::unique_ptr<aos::EventLoop> logger_event_loop_;
+ std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+TEST_F(EventLoopLocalizerTest, Nominal) {
+ output_voltages_ << 1.0, 1.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-6);
+ ASSERT_LT(0.1, output_fetcher_->x());
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+}
+
+TEST_F(EventLoopLocalizerTest, Reverse) {
+ output_voltages_ << -4.0, -4.0;
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-6);
+ ASSERT_GT(-0.1, output_fetcher_->x());
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_GT(-0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+}
+
+TEST_F(EventLoopLocalizerTest, SpinInPlace) {
+ output_voltages_ << 4.0, -4.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-1);
+ ASSERT_NEAR(0.0, output_fetcher_->x(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_x(),
+ 1e-10);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(-status_fetcher_->model_based()->model_state()->left_velocity(),
+ status_fetcher_->model_based()->model_state()->right_velocity(),
+ 1e-3);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-3);
+}
+
+TEST_F(EventLoopLocalizerTest, Curve) {
+ output_voltages_ << 2.0, 4.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-2);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-2);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-1);
+ ASSERT_LT(0.1, output_fetcher_->x());
+ ASSERT_LT(0.1, output_fetcher_->y());
+ ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_y());
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+}
+
+// Tests that small amounts of voltage error are handled by the model-based
+// half of the localizer.
+TEST_F(EventLoopLocalizerTest, VoltageError) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.set_left_voltage_offset(2.0);
+ drivetrain_plant_.set_right_voltage_offset(2.0);
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // Should still be using the model, but have a non-trivial residual.
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.02, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+
+ // Afer running for a while, voltage error terms should converge and result in
+ // low residuals.
+ event_loop_factory_.RunFor(std::chrono::seconds(10));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_NEAR(
+ 2.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 0.1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_NEAR(
+ 2.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 0.1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_GT(0.02, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+}
+
+// Tests that large amounts of voltage error force us into the
+// acceleration-based localizer.
+TEST_F(EventLoopLocalizerTest, HighVoltageError) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.set_left_voltage_offset(200.0);
+ drivetrain_plant_.set_right_voltage_offset(200.0);
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // Should still be using the model, but have a non-trivial residual.
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.1, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_NEAR(drivetrain_plant_.state()(0),
+ status_fetcher_->model_based()->x(), 1.0);
+ ASSERT_NEAR(drivetrain_plant_.state()(1),
+ status_fetcher_->model_based()->y(), 1e-6);
+}
+
+// Tests that image corrections in the nominal case (no errors) causes no
+// issues.
+TEST_F(EventLoopLocalizerTest, NominalImageCorrections) {
+ output_voltages_ << 3.0, 2.0;
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+// Tests that image corrections when there is an error at the start results
+// in us actually getting corrected over time.
+TEST_F(EventLoopLocalizerTest, ImageCorrections) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.mutable_state()->x() = 2.0;
+ drivetrain_plant_.mutable_state()->y() = 2.0;
+ SendLocalizerControl(5.0, 3.0, 0.0);
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(output_fetcher_.Fetch());
+ ASSERT_NEAR(5.0, output_fetcher_->x(), 1e-5);
+ ASSERT_NEAR(3.0, output_fetcher_->y(), 1e-5);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-5);
+
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+// Tests that image corrections are ignored when the turret moves too fast.
+TEST_F(EventLoopLocalizerTest, ImageCorrectionsTurretTooFast) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.mutable_state()->x() = 2.0;
+ drivetrain_plant_.mutable_state()->y() = 2.0;
+ SendLocalizerControl(5.0, 3.0, 0.0);
+ turret_velocity_ = 10.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(output_fetcher_.Fetch());
+ ASSERT_NEAR(5.0, output_fetcher_->x(), 1e-5);
+ ASSERT_NEAR(3.0, output_fetcher_->y(), 1e-5);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-5);
+
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ CHECK(output_fetcher_.Fetch());
+ ASSERT_NEAR(5.0, output_fetcher_->x(), 1e-5);
+ ASSERT_NEAR(3.0, output_fetcher_->y(), 1e-5);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-5);
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(0, status_fetcher_->model_based()->statistics()->total_accepted());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()
+ ->statistics()
+ ->rejection_reason_count()
+ ->Get(static_cast<int>(RejectionReason::TURRET_TOO_FAST)));
+ // We expect one more rejection to occur due to the time it takes all the
+ // information to propagate.
+ const int rejected_count =
+ status_fetcher_->model_based()->statistics()->total_candidates() + 1;
+ // Check that when we go back to being still we do successfully converge.
+ turret_velocity_ = 0.0;
+ turret_position_ = 1.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ rejected_count +
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+// Tests that image corrections when we are in accel mode works.
+TEST_F(EventLoopLocalizerTest, ImageCorrectionsInAccel) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.set_left_voltage_offset(200.0);
+ drivetrain_plant_.set_right_voltage_offset(200.0);
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ drivetrain_plant_.mutable_state()->x() = 2.0;
+ drivetrain_plant_.mutable_state()->y() = 2.0;
+ SendLocalizerControl(5.0, 3.0, 0.0);
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ EXPECT_FALSE(VerifyEstimatorAccurate(0.5));
+
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(0.5));
+ // y should be noticeably more accurate than x, since we are just driving
+ // straight.
+ ASSERT_NEAR(drivetrain_plant_.state()(1), status_fetcher_->model_based()->y(), 0.1);
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+} // namespace frc91::controls::testing
diff --git a/y2022/localizer/localizer_visualization.fbs b/y2022/localizer/localizer_visualization.fbs
new file mode 100644
index 0000000..6cca9e8
--- /dev/null
+++ b/y2022/localizer/localizer_visualization.fbs
@@ -0,0 +1,26 @@
+include "y2022/localizer/localizer_status.fbs";
+
+namespace frc971.controls;
+
+table TargetEstimateDebug {
+ camera:uint8 (id: 0);
+ camera_x:double (id: 1);
+ camera_y:double (id: 2);
+ camera_theta:double (id: 3);
+ implied_robot_x:double (id: 4);
+ implied_robot_y:double (id: 5);
+ implied_robot_theta:double (id: 6);
+ implied_turret_goal:double (id: 7);
+ accepted:bool (id: 8);
+ rejection_reason:RejectionReason (id: 9);
+ // Image age (more human-readable than trying to interpret raw nanosecond
+ // values).
+ image_age_sec:double (id: 10);
+}
+
+table LocalizerVisualization {
+ targets:[TargetEstimateDebug] (id: 0);
+ statistics:CumulativeStatistics (id: 1);
+}
+
+root_type LocalizerVisualization;
diff --git a/y2022/log_web_proxy.sh b/y2022/log_web_proxy.sh
new file mode 100755
index 0000000..cb945ab
--- /dev/null
+++ b/y2022/log_web_proxy.sh
@@ -0,0 +1 @@
+./aos/network/log_web_proxy_main --data_dir=y2022/www $@
diff --git a/y2022/setpoint.fbs b/y2022/setpoint.fbs
new file mode 100644
index 0000000..f8dc458
--- /dev/null
+++ b/y2022/setpoint.fbs
@@ -0,0 +1,14 @@
+namespace y2022.input.joysticks;
+
+// Table for dynamically setting shooter goals
+table Setpoint {
+ // Catapult shot release angle
+ catapult_position:double (id: 0);
+ // Catapult shot velocity
+ catapult_velocity:double (id: 1);
+
+ // Turret angle
+ turret:double (id: 2);
+}
+
+root_type Setpoint;
diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
new file mode 100644
index 0000000..9a77ec8
--- /dev/null
+++ b/y2022/setpoint_setter.cc
@@ -0,0 +1,38 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2022/constants.h"
+#include "y2022/setpoint_generated.h"
+
+DEFINE_double(catapult_position,
+ y2022::constants::Values::kDefaultCatapultShotPosition(),
+ "Catapult shot position");
+DEFINE_double(catapult_velocity,
+ y2022::constants::Values::kDefaultCatapultShotVelocity(),
+ "Catapult shot velocity");
+DEFINE_double(turret, 0.0, "Turret setpoint");
+
+using y2022::input::joysticks::Setpoint;
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ auto setpoint_sender = event_loop.MakeSender<Setpoint>("/superstructure");
+
+ aos::Sender<Setpoint>::Builder builder = setpoint_sender.MakeBuilder();
+
+ Setpoint::Builder setpoint_builder = builder.MakeBuilder<Setpoint>();
+
+ setpoint_builder.add_catapult_position(FLAGS_catapult_position);
+ setpoint_builder.add_catapult_velocity(FLAGS_catapult_velocity);
+ setpoint_builder.add_turret(FLAGS_turret);
+ builder.CheckOk(builder.Send(setpoint_builder.Finish()));
+
+ return 0;
+}
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 965cc67..4ca8561 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -1,4 +1,5 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_py_library")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
flatbuffer_cc_library(
name = "calibration_fbs",
@@ -23,6 +24,18 @@
visibility = ["//visibility:public"],
)
+ts_library(
+ name = "vision_plotter",
+ srcs = ["vision_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
py_library(
name = "camera_definition",
srcs = [
@@ -89,7 +102,7 @@
"gpio.h",
],
data = [
- "//y2022:config",
+ "//y2022:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
@@ -97,6 +110,7 @@
":blob_detector_lib",
":calibration_data",
":calibration_fbs",
+ ":geometry_lib",
":target_estimate_fbs",
":target_estimator_lib",
"//aos:flatbuffer_merge",
@@ -124,6 +138,31 @@
)
cc_library(
+ name = "geometry_lib",
+ hdrs = [
+ "geometry.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ "//aos/util:math",
+ "//third_party:opencv",
+ "@com_github_google_glog//:glog",
+ ],
+)
+
+cc_test(
+ name = "geometry_test",
+ srcs = [
+ "geometry_test.cc",
+ ],
+ deps = [
+ ":geometry_lib",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
name = "blob_detector_lib",
srcs = [
"blob_detector.cc",
@@ -134,6 +173,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
deps = [
+ ":geometry_lib",
"//aos/network:team_number",
"//aos/time",
"//third_party:opencv",
@@ -151,8 +191,17 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
deps = [
+ ":blob_detector_lib",
+ ":calibration_fbs",
":target_estimate_fbs",
+ "//aos/logging",
+ "//aos/time",
+ "//frc971/control_loops:quaternion_utils",
"//third_party:opencv",
+ "//y2022:constants",
+ "@com_google_absl//absl/strings:str_format",
+ "@com_google_ceres_solver//:ceres",
+ "@org_tuxfamily_eigen//:eigen",
],
)
@@ -160,6 +209,9 @@
name = "target_estimate_fbs",
srcs = ["target_estimate.fbs"],
gen_reflections = 1,
+ includes = [
+ ":calibration_fbs_includes",
+ ],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
)
@@ -170,12 +222,13 @@
"viewer.cc",
],
data = [
- "//y2022:config",
+ "//y2022:aos_config",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
deps = [
":blob_detector_lib",
+ ":calibration_data",
":target_estimator_lib",
"//aos:init",
"//aos/events:shm_event_loop",
@@ -183,3 +236,19 @@
"//third_party:opencv",
],
)
+
+cc_binary(
+ name = "extrinsics_calibration",
+ srcs = [
+ "extrinsics_calibration.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ "//aos:init",
+ "//aos/events/logging:log_reader",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/vision:extrinsics_calibration",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 96d7ffd..7bbd1f3 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -7,18 +7,20 @@
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#include "opencv2/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
+#include "y2022/vision/geometry.h"
DEFINE_uint64(red_delta, 100,
"Required difference between green pixels vs. red");
-DEFINE_uint64(blue_delta, 50,
+DEFINE_uint64(blue_delta, 30,
"Required difference between green pixels vs. blue");
DEFINE_bool(use_outdoors, false,
"If true, change thresholds to handle outdoor illumination");
DEFINE_uint64(outdoors_red_delta, 100,
"Difference between green pixels vs. red, when outdoors");
-DEFINE_uint64(outdoors_blue_delta, 15,
+DEFINE_uint64(outdoors_blue_delta, 1,
"Difference between green pixels vs. blue, when outdoors");
namespace y2022 {
@@ -30,7 +32,7 @@
if (FLAGS_use_outdoors) {
red_delta = FLAGS_outdoors_red_delta;
- red_delta = FLAGS_outdoors_blue_delta;
+ blue_delta = FLAGS_outdoors_blue_delta;
}
cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
@@ -65,141 +67,46 @@
}
std::vector<BlobDetector::BlobStats> BlobDetector::ComputeStats(
- std::vector<std::vector<cv::Point>> blobs) {
+ const std::vector<std::vector<cv::Point>> &blobs) {
+ cv::Mat img = cv::Mat::zeros(640, 480, CV_8UC3);
+
std::vector<BlobDetector::BlobStats> blob_stats;
for (auto blob : blobs) {
- // Make the blob convex before finding bounding box
- std::vector<cv::Point> convex_blob;
- cv::convexHull(blob, convex_blob);
- auto blob_size = cv::boundingRect(convex_blob).size();
- cv::Moments moments = cv::moments(convex_blob);
+ // Opencv doesn't have height and width ordered correctly.
+ // The rotated size will only be used after blobs have been filtered, so it
+ // is ok to assume that width is the larger side
+ const cv::Size rotated_rect_size_unordered = cv::minAreaRect(blob).size;
+ const cv::Size rotated_rect_size = {
+ std::max(rotated_rect_size_unordered.width,
+ rotated_rect_size_unordered.height),
+ std::min(rotated_rect_size_unordered.width,
+ rotated_rect_size_unordered.height)};
+ const cv::Size bounding_box_size = cv::boundingRect(blob).size();
+
+ cv::Moments moments = cv::moments(blob);
const auto centroid =
cv::Point(moments.m10 / moments.m00, moments.m01 / moments.m00);
const double aspect_ratio =
- static_cast<double>(blob_size.width) / blob_size.height;
+ static_cast<double>(bounding_box_size.width) / bounding_box_size.height;
const double area = moments.m00;
const size_t num_points = blob.size();
blob_stats.emplace_back(
- BlobStats{centroid, aspect_ratio, area, num_points});
+ BlobStats{centroid, rotated_rect_size, aspect_ratio, area, num_points});
}
+
return blob_stats;
}
-namespace {
-
-// Linear equation in the form ax + by = c
-struct Line {
- public:
- double a, b, c;
-
- std::optional<cv::Point2d> Intersection(const Line &l) const {
- // Use Cramer's rule to solve for the intersection
- const double denominator = Determinant(a, b, l.a, l.b);
- const double numerator_x = Determinant(c, b, l.c, l.b);
- const double numerator_y = Determinant(a, c, l.a, l.c);
-
- std::optional<cv::Point2d> intersection = std::nullopt;
- // Return nullopt if the denominator is 0, meaning the same slopes
- if (denominator != 0) {
- intersection =
- cv::Point2d(numerator_x / denominator, numerator_y / denominator);
- }
-
- return intersection;
- }
-
- private: // Determinant of [[a, b], [c, d]]
- static double Determinant(double a, double b, double c, double d) {
- return (a * d) - (b * c);
- }
-};
-
-struct Circle {
- public:
- cv::Point2d center;
- double radius;
-
- static std::optional<Circle> Fit(std::vector<cv::Point2d> centroids) {
- CHECK_EQ(centroids.size(), 3ul);
- // For the 3 points, we have 3 equations in the form
- // (x - h)^2 + (y - k)^2 = r^2
- // Manipulate them to solve for the center and radius
- // (x1 - h)^2 + (y1 - k)^2 = r^2 ->
- // x1^2 + h^2 - 2x1h + y1^2 + k^2 - 2y1k = r^2
- // Also, (x2 - h)^2 + (y2 - k)^2 = r^2
- // Subtracting these two, we get
- // x1^2 - x2^2 - 2h(x1 - x2) + y1^2 - y2^2 - 2k(y1 - y2) = 0 ->
- // h(x1 - x2) + k(y1 - y2) = (-x1^2 + x2^2 - y1^2 + y2^2) / -2
- // Doing the same with equations 1 and 3, we get the second linear equation
- // h(x1 - x3) + k(y1 - y3) = (-x1^2 + x3^2 - y1^2 + y3^2) / -2
- // Now, we can solve for their intersection and find the center
- const auto l =
- Line{centroids[0].x - centroids[1].x, centroids[0].y - centroids[1].y,
- (-std::pow(centroids[0].x, 2) + std::pow(centroids[1].x, 2) -
- std::pow(centroids[0].y, 2) + std::pow(centroids[1].y, 2)) /
- -2.0};
- const auto m =
- Line{centroids[0].x - centroids[2].x, centroids[0].y - centroids[2].y,
- (-std::pow(centroids[0].x, 2) + std::pow(centroids[2].x, 2) -
- std::pow(centroids[0].y, 2) + std::pow(centroids[2].y, 2)) /
- -2.0};
- const auto center = l.Intersection(m);
-
- std::optional<Circle> circle = std::nullopt;
- if (center) {
- // Now find the radius
- const double radius = cv::norm(centroids[0] - *center);
- circle = Circle{*center, radius};
- }
- return circle;
- }
-
- double DistanceTo(cv::Point2d p) const {
- const auto p_prime = TranslateToOrigin(p);
- // Now, the distance is simply the difference between distance from the
- // origin to p' and the radius.
- return std::abs(cv::norm(p_prime) - radius);
- }
-
- bool InAngleRange(cv::Point2d p, double theta_min, double theta_max) const {
- auto p_prime = TranslateToOrigin(p);
- // Flip the y because y values go downwards.
- p_prime.y *= -1;
- const double theta = std::atan2(p_prime.y, p_prime.x);
- return (theta >= theta_min && theta <= theta_max);
- }
-
- private:
- // Translate the point on the circle
- // as if the circle's center is the origin (0,0)
- cv::Point2d TranslateToOrigin(cv::Point2d p) const {
- return cv::Point2d(p.x - center.x, p.y - center.y);
- }
-};
-
-} // namespace
-
-std::pair<std::vector<std::vector<cv::Point>>, cv::Point>
-BlobDetector::FilterBlobs(std::vector<std::vector<cv::Point>> blobs,
- std::vector<BlobDetector::BlobStats> blob_stats) {
+void BlobDetector::FilterBlobs(BlobResult *blob_result) {
std::vector<std::vector<cv::Point>> filtered_blobs;
std::vector<BlobStats> filtered_stats;
- auto blob_it = blobs.begin();
- auto stats_it = blob_stats.begin();
- while (blob_it < blobs.end() && stats_it < blob_stats.end()) {
- // To estimate the maximum y, we can figure out the y value of the blobs
- // when the camera is the farthest from the target, at the field corner.
- // We can solve for the pitch of the blob:
- // blob_pitch = atan((height_tape - height_camera) / depth) + camera_pitch
- // The triangle with the height of the tape above the camera and the
- // camera depth is similar to the one with the focal length in y pixels
- // and the y coordinate offset from the center of the image. Therefore
- // y_offset = focal_length_y * tan(blob_pitch), and y = -(y_offset -
- // offset_y)
- constexpr int kMaxY = 400;
+ auto blob_it = blob_result->unfiltered_blobs.begin();
+ auto stats_it = blob_result->blob_stats.begin();
+ while (blob_it < blob_result->unfiltered_blobs.end() &&
+ stats_it < blob_result->blob_stats.end()) {
constexpr double kTapeAspectRatio = 5.0 / 2.0;
constexpr double kAspectRatioThreshold = 1.6;
constexpr double kMinArea = 10;
@@ -207,8 +114,7 @@
// Remove all blobs that are at the bottom of the image, have a different
// aspect ratio than the tape, or have too little area or points.
- if ((stats_it->centroid.y <= kMaxY) &&
- (std::abs(kTapeAspectRatio - stats_it->aspect_ratio) <
+ if ((std::abs(1.0 - kTapeAspectRatio / stats_it->aspect_ratio) <
kAspectRatioThreshold) &&
(stats_it->area >= kMinArea) &&
(stats_it->num_points >= kMinNumPoints)) {
@@ -220,12 +126,14 @@
}
// Threshold for mean distance from a blob centroid to a circle.
- constexpr double kCircleDistanceThreshold = 5.0;
+ constexpr double kCircleDistanceThreshold = 10.0;
// We should only expect to see blobs between these angles on a circle.
- constexpr double kMinBlobAngle = M_PI / 3;
+ constexpr double kDegToRad = M_PI / 180.0;
+ constexpr double kMinBlobAngle = 50.0 * kDegToRad;
constexpr double kMaxBlobAngle = M_PI - kMinBlobAngle;
std::vector<std::vector<cv::Point>> blob_circle;
- std::vector<cv::Point2d> centroids;
+ std::vector<BlobStats> blob_circle_stats;
+ Circle circle;
// If we see more than this number of blobs after filtering based on
// color/size, the circle fit may detect noise so just return no blobs.
@@ -248,81 +156,90 @@
std::vector<std::vector<cv::Point>> current_blobs{
filtered_blobs[j], filtered_blobs[k], filtered_blobs[l]};
- std::vector<cv::Point2d> current_centroids{filtered_stats[j].centroid,
- filtered_stats[k].centroid,
- filtered_stats[l].centroid};
- const std::optional<Circle> circle = Circle::Fit(current_centroids);
+ std::vector<BlobStats> current_stats{filtered_stats[j], filtered_stats[k],
+ filtered_stats[l]};
+ const std::optional<Circle> current_circle =
+ Circle::Fit({current_stats[0].centroid, current_stats[1].centroid,
+ current_stats[2].centroid});
// Make sure that a circle could be created from the points
- if (!circle) {
+ if (!current_circle) {
continue;
}
// Only try to fit points to this circle if all of these are between
// certain angles.
- if (circle->InAngleRange(current_centroids[0], kMinBlobAngle,
- kMaxBlobAngle) &&
- circle->InAngleRange(current_centroids[1], kMinBlobAngle,
- kMaxBlobAngle) &&
- circle->InAngleRange(current_centroids[2], kMinBlobAngle,
- kMaxBlobAngle)) {
+ if (current_circle->InAngleRange(current_stats[0].centroid, kMinBlobAngle,
+ kMaxBlobAngle) &&
+ current_circle->InAngleRange(current_stats[1].centroid, kMinBlobAngle,
+ kMaxBlobAngle) &&
+ current_circle->InAngleRange(current_stats[2].centroid, kMinBlobAngle,
+ kMaxBlobAngle)) {
for (size_t m = 0; m < filtered_blobs.size(); m++) {
// Add this blob to the list if it is close to the circle, is on the
// top half, and isn't one of the other blobs
- if ((m != i) && (m != j) && (m != k) &&
- circle->InAngleRange(filtered_stats[m].centroid, kMinBlobAngle,
- kMaxBlobAngle) &&
- (circle->DistanceTo(filtered_stats[m].centroid) <
+ if ((m != j) && (m != k) && (m != l) &&
+ current_circle->InAngleRange(filtered_stats[m].centroid,
+ kMinBlobAngle, kMaxBlobAngle) &&
+ (current_circle->DistanceTo(filtered_stats[m].centroid) <
kCircleDistanceThreshold)) {
current_blobs.emplace_back(filtered_blobs[m]);
- current_centroids.emplace_back(filtered_stats[m].centroid);
+ current_stats.emplace_back(filtered_stats[m]);
}
}
if (current_blobs.size() > blob_circle.size()) {
blob_circle = current_blobs;
- centroids = current_centroids;
+ blob_circle_stats = current_stats;
+ circle = *current_circle;
}
}
}
}
cv::Point avg_centroid(-1, -1);
- if (centroids.size() > 0) {
- for (auto centroid : centroids) {
- avg_centroid.x += centroid.x;
- avg_centroid.y += centroid.y;
+ if (blob_circle.size() > 0) {
+ for (const auto &stats : blob_circle_stats) {
+ avg_centroid.x += stats.centroid.x;
+ avg_centroid.y += stats.centroid.y;
}
- avg_centroid.x /= centroids.size();
- avg_centroid.y /= centroids.size();
+ avg_centroid.x /= blob_circle_stats.size();
+ avg_centroid.y /= blob_circle_stats.size();
}
- return {blob_circle, avg_centroid};
+ blob_result->filtered_blobs = blob_circle;
+ blob_result->filtered_stats = blob_circle_stats;
+ blob_result->centroid = avg_centroid;
}
-void BlobDetector::DrawBlobs(
- cv::Mat view_image,
- const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
- const std::vector<std::vector<cv::Point>> &filtered_blobs,
- const std::vector<BlobStats> &blob_stats, cv::Point centroid) {
+void BlobDetector::DrawBlobs(const BlobResult &blob_result,
+ cv::Mat view_image) {
CHECK_GT(view_image.cols, 0);
- if (unfiltered_blobs.size() > 0) {
+ if (blob_result.unfiltered_blobs.size() > 0) {
// Draw blobs unfilled, with red color border
- cv::drawContours(view_image, unfiltered_blobs, -1, cv::Scalar(0, 0, 255),
- 0);
+ cv::drawContours(view_image, blob_result.unfiltered_blobs, -1,
+ cv::Scalar(0, 0, 255), 0);
}
- cv::drawContours(view_image, filtered_blobs, -1, cv::Scalar(0, 255, 0),
- cv::FILLED);
+ if (blob_result.filtered_blobs.size() > 0) {
+ cv::drawContours(view_image, blob_result.filtered_blobs, -1,
+ cv::Scalar(0, 100, 0), cv::FILLED);
+ }
+ static constexpr double kCircleRadius = 2.0;
// Draw blob centroids
- for (auto stats : blob_stats) {
- cv::circle(view_image, stats.centroid, 2, cv::Scalar(255, 0, 0),
+ for (auto stats : blob_result.blob_stats) {
+ cv::circle(view_image, stats.centroid, kCircleRadius,
+ cv::Scalar(0, 215, 255), cv::FILLED);
+ }
+ for (auto stats : blob_result.filtered_stats) {
+ cv::circle(view_image, stats.centroid, kCircleRadius, cv::Scalar(0, 255, 0),
cv::FILLED);
}
// Draw average centroid
- cv::circle(view_image, centroid, 3, cv::Scalar(255, 255, 0), cv::FILLED);
+ cv::circle(view_image, blob_result.centroid, kCircleRadius,
+ cv::Scalar(255, 255, 0), cv::FILLED);
}
void BlobDetector::ExtractBlobs(cv::Mat bgr_image,
@@ -331,12 +248,9 @@
blob_result->binarized_image = ThresholdImage(bgr_image);
blob_result->unfiltered_blobs = FindBlobs(blob_result->binarized_image);
blob_result->blob_stats = ComputeStats(blob_result->unfiltered_blobs);
- auto filtered_pair =
- FilterBlobs(blob_result->unfiltered_blobs, blob_result->blob_stats);
- blob_result->filtered_blobs = filtered_pair.first;
- blob_result->centroid = filtered_pair.second;
+ FilterBlobs(blob_result);
auto end = aos::monotonic_clock::now();
- VLOG(2) << "Blob detection elapsed time: "
+ VLOG(1) << "Blob detection elapsed time: "
<< std::chrono::duration<double, std::milli>(end - start).count()
<< " ms";
}
diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
index d263d32..a60316a 100644
--- a/y2022/vision/blob_detector.h
+++ b/y2022/vision/blob_detector.h
@@ -11,6 +11,9 @@
public:
struct BlobStats {
cv::Point centroid;
+ // Size of the rotated rect fitting around the blob
+ cv::Size size;
+ // Aspect ratio of the non-rotated bounding box
double aspect_ratio;
double area;
size_t num_points;
@@ -20,6 +23,7 @@
cv::Mat binarized_image;
std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
std::vector<BlobStats> blob_stats;
+ std::vector<BlobStats> filtered_stats;
cv::Point centroid;
};
@@ -35,22 +39,16 @@
// Extract stats for each blob
static std::vector<BlobStats> ComputeStats(
- std::vector<std::vector<cv::Point>> blobs);
+ const std::vector<std::vector<cv::Point>> &blobs);
// Filter blobs to get rid of noise, too small/large items, and blobs that
- // aren't in a circle. Returns a pair of filtered blobs and the average
- // of their centroids.
- static std::pair<std::vector<std::vector<cv::Point>>, cv::Point> FilterBlobs(
- std::vector<std::vector<cv::Point>> blobs,
- std::vector<BlobStats> blob_stats);
+ // aren't in a circle. Finds the filtered blobs, centroids, and the absolute
+ // centroid.
+ static void FilterBlobs(BlobResult *blob_result);
// Draw Blobs on image
// Optionally draw all blobs and filtered blobs
- static void DrawBlobs(
- cv::Mat view_image,
- const std::vector<std::vector<cv::Point>> &filtered_blobs,
- const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
- const std::vector<BlobStats> &blob_stats, cv::Point centroid);
+ static void DrawBlobs(const BlobResult &blob_result, cv::Mat view_image);
static void ExtractBlobs(cv::Mat bgr_image, BlobResult *blob_result);
};
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_2022-02-06_15-19-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_2022-02-06_15-19-00.000000000.json
deleted file mode 100755
index 6a4f05c..0000000
--- a/y2022/vision/calib_files/calibration_pi-971-1_2022-02-06_15-19-00.000000000.json
+++ /dev/null
@@ -1,23 +0,0 @@
-{
- "node_name": "pi1",
- "team_number": 971,
- "intrinsics": [
- 398.312439,
- 0.0,
- 348.653015,
- 0.0,
- 397.627533,
- 257.368805,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- 0.143741,
- -0.274336,
- -0.000311,
- -0.000171,
- 0.10252
- ],
- "calibration_timestamp": 1635600750700335075
-}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json b/y2022/vision/calib_files/calibration_pi-971-2_cam-22-02_2022-01-28_05-35-16.002911868.json
similarity index 92%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json
rename to y2022/vision/calib_files/calibration_pi-971-2_cam-22-02_2022-01-28_05-35-16.002911868.json
index b147867..2c9cf48 100644
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json
+++ b/y2022/vision/calib_files/calibration_pi-971-2_cam-22-02_2022-01-28_05-35-16.002911868.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi1",
+ "node_name": "pi2",
"team_number": 971,
"intrinsics": [
390.833618,
@@ -21,4 +21,4 @@
],
"calibration_timestamp": 1643348116002911868,
"camera_id": "22-02"
-}
\ No newline at end of file
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-3_cam-22-03_2022-02-12_16-53-00.000000000.json
similarity index 93%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json
rename to y2022/vision/calib_files/calibration_pi-971-3_cam-22-03_2022-02-12_16-53-00.000000000.json
index a107065..bfcaa5f 100644
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-971-3_cam-22-03_2022-02-12_16-53-00.000000000.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi1",
+ "node_name": "pi3",
"team_number": 971,
"intrinsics": [
388.182281,
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json b/y2022/vision/calib_files/calibration_pi-971-4_cam-22-04_2022-01-28_05-26-43.135661745.json
similarity index 92%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json
rename to y2022/vision/calib_files/calibration_pi-971-4_cam-22-04_2022-01-28_05-26-43.135661745.json
index 8c19c46..cb0c66d 100755
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json
+++ b/y2022/vision/calib_files/calibration_pi-971-4_cam-22-04_2022-01-28_05-26-43.135661745.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi1",
+ "node_name": "pi4",
"team_number": 971,
"intrinsics": [
386.619232,
@@ -21,4 +21,4 @@
],
"calibration_timestamp": 1643347603135661745,
"camera_id": "22-04"
-}
\ No newline at end of file
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-5_cam-22-05_2022-02-16_20-40-00.000000000.json
similarity index 93%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json
rename to y2022/vision/calib_files/calibration_pi-971-5_cam-22-05_2022-02-16_20-40-00.000000000.json
index a5ebf82..6a48cec 100755
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-971-5_cam-22-05_2022-02-16_20-40-00.000000000.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi1",
+ "node_name": "pi5",
"team_number": 971,
"intrinsics": [
387.791046,
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-6_cam-22-06_2022-02-16_20-54-00.000000000.json
similarity index 93%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json
rename to y2022/vision/calib_files/calibration_pi-971-6_cam-22-06_2022-02-16_20-54-00.000000000.json
index 71aaf02..0c5b905 100755
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-971-6_cam-22-06_2022-02-16_20-54-00.000000000.json
@@ -1,5 +1,5 @@
{
- "node_name": "pi1",
+ "node_name": "pi6",
"team_number": 971,
"intrinsics": [
389.730774,
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json b/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
similarity index 92%
rename from y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
rename to y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
index 27ed863..35efa45 100755
--- a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
@@ -1,6 +1,6 @@
{
"node_name": "pi1",
- "team_number": 971,
+ "team_number": 9971,
"intrinsics": [
388.062378,
0.0,
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 21ae7f3..7ad2c0b 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -99,10 +99,8 @@
T = np.array([0.0, 0.0, 0.0])
if pi_number == "pi1":
- # This is the turret camera
- camera_pitch = -10.0 * np.pi / 180.0
- is_turret = True
- T = np.array([7.5 * 0.0254, -5.5 * 0.0254, 41.0 * 0.0254])
+ camera_pitch = -35.0 * np.pi / 180.0
+ T = np.array([0.0, 0.0, 37.0 * 0.0254])
elif pi_number == "pi2":
T = np.array([4.5 * 0.0254, 3.75 * 0.0254, 26.0 * 0.0254])
elif pi_number == "pi3":
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index abce18c..f1cb4e8 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -13,7 +13,6 @@
#include "opencv2/imgproc.hpp"
#include "y2022/vision/blob_detector.h"
#include "y2022/vision/calibration_generated.h"
-#include "y2022/vision/target_estimator.h"
DEFINE_string(image_png, "", "A set of PNG images");
@@ -41,32 +40,43 @@
}
namespace {
+flatbuffers::Offset<flatbuffers::Vector<const Point *>> CvPointsToFbs(
+ const std::vector<cv::Point> &points,
+ aos::Sender<TargetEstimate>::Builder *builder) {
+ std::vector<Point> points_fbs;
+ for (auto p : points) {
+ points_fbs.push_back(Point{p.x, p.y});
+ }
+ return builder->fbb()->CreateVectorOfStructs(points_fbs);
+}
+
+constexpr size_t kMaxBlobsForDebug = 100;
+
// Converts a vector of cv::Point to PointT for the flatbuffer
flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Blob>>>
CvBlobsToFbs(const std::vector<std::vector<cv::Point>> &blobs,
- aos::Sender<TargetEstimate>::Builder &builder) {
+ aos::Sender<TargetEstimate>::Builder *builder) {
std::vector<flatbuffers::Offset<Blob>> blobs_fbs;
for (auto &blob : blobs) {
- std::vector<Point> points_fbs;
- for (auto p : blob) {
- points_fbs.push_back(Point{p.x, p.y});
- }
- auto points_offset = builder.fbb()->CreateVectorOfStructs(points_fbs);
- auto blob_builder = builder.MakeBuilder<Blob>();
+ const auto points_offset = CvPointsToFbs(blob, builder);
+ auto blob_builder = builder->MakeBuilder<Blob>();
blob_builder.add_points(points_offset);
blobs_fbs.emplace_back(blob_builder.Finish());
+ if (blobs_fbs.size() == kMaxBlobsForDebug) {
+ break;
+ }
}
- return builder.fbb()->CreateVector(blobs_fbs.data(), blobs_fbs.size());
+ return builder->fbb()->CreateVector(blobs_fbs.data(), blobs_fbs.size());
}
flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<BlobStatsFbs>>>
BlobStatsToFbs(const std::vector<BlobDetector::BlobStats> blob_stats,
- aos::Sender<TargetEstimate>::Builder &builder) {
+ aos::Sender<TargetEstimate>::Builder *builder) {
std::vector<flatbuffers::Offset<BlobStatsFbs>> stats_fbs;
for (auto &stats : blob_stats) {
// Make BlobStatsFbs builder then fill each field using the BlobStats
// struct, then you finish it and add it to stats_fbs.
- auto stats_builder = builder.MakeBuilder<BlobStatsFbs>();
+ auto stats_builder = builder->MakeBuilder<BlobStatsFbs>();
Point centroid_fbs = Point{stats.centroid.x, stats.centroid.y};
stats_builder.add_centroid(¢roid_fbs);
stats_builder.add_aspect_ratio(stats.aspect_ratio);
@@ -76,24 +86,25 @@
auto current_stats = stats_builder.Finish();
stats_fbs.emplace_back(current_stats);
}
- return builder.fbb()->CreateVector(stats_fbs.data(), stats_fbs.size());
+ return builder->fbb()->CreateVector(stats_fbs.data(), stats_fbs.size());
}
} // namespace
-void CameraReader::ProcessImage(cv::Mat image_mat) {
+void CameraReader::ProcessImage(cv::Mat image_mat,
+ int64_t image_monotonic_timestamp_ns) {
BlobDetector::BlobResult blob_result;
- blob_result.binarized_image =
- cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC1);
BlobDetector::ExtractBlobs(image_mat, &blob_result);
auto builder = target_estimate_sender_.MakeBuilder();
flatbuffers::Offset<BlobResultFbs> blob_result_offset;
{
const auto filtered_blobs_offset =
- CvBlobsToFbs(blob_result.filtered_blobs, builder);
+ CvBlobsToFbs(blob_result.filtered_blobs, &builder);
const auto unfiltered_blobs_offset =
- CvBlobsToFbs(blob_result.unfiltered_blobs, builder);
+ CvBlobsToFbs(blob_result.unfiltered_blobs, &builder);
const auto blob_stats_offset =
- BlobStatsToFbs(blob_result.blob_stats, builder);
+ BlobStatsToFbs(blob_result.blob_stats, &builder);
+ const auto filtered_stats_offset =
+ BlobStatsToFbs(blob_result.filtered_stats, &builder);
const Point centroid_fbs =
Point{blob_result.centroid.x, blob_result.centroid.y};
@@ -101,16 +112,33 @@
blob_result_builder.add_filtered_blobs(filtered_blobs_offset);
blob_result_builder.add_unfiltered_blobs(unfiltered_blobs_offset);
blob_result_builder.add_blob_stats(blob_stats_offset);
+ blob_result_builder.add_filtered_stats(filtered_stats_offset);
blob_result_builder.add_centroid(¢roid_fbs);
blob_result_offset = blob_result_builder.Finish();
}
- auto target_estimate_builder = builder.MakeBuilder<TargetEstimate>();
- TargetEstimator::EstimateTargetLocation(
- blob_result.centroid, CameraIntrinsics(), CameraExtrinsics(),
- &target_estimate_builder);
- target_estimate_builder.add_blob_result(blob_result_offset);
+ target_estimator_.Solve(blob_result.filtered_stats, std::nullopt);
+ const auto camera_calibration_offset =
+ aos::RecursiveCopyFlatBuffer(camera_calibration_, builder.fbb());
+
+ const auto rotation =
+ Rotation{target_estimator_.roll(), target_estimator_.pitch(),
+ target_estimator_.yaw()};
+
+ auto target_estimate_builder = builder.MakeBuilder<TargetEstimate>();
+
+ target_estimate_builder.add_distance(target_estimator_.distance());
+ target_estimate_builder.add_angle_to_target(
+ target_estimator_.angle_to_target());
+ target_estimate_builder.add_angle_to_camera(
+ target_estimator_.angle_to_camera());
+ target_estimate_builder.add_rotation_camera_hub(&rotation);
+ target_estimate_builder.add_confidence(target_estimator_.confidence());
+ target_estimate_builder.add_blob_result(blob_result_offset);
+ target_estimate_builder.add_camera_calibration(camera_calibration_offset);
+ target_estimate_builder.add_image_monotonic_timestamp_ns(
+ image_monotonic_timestamp_ns);
builder.CheckOk(builder.Send(target_estimate_builder.Finish()));
}
@@ -125,7 +153,42 @@
std::this_thread::sleep_for(std::chrono::milliseconds(50));
LOG(INFO) << "Reading file " << file;
cv::Mat bgr_image = cv::imread(file.c_str());
- ProcessImage(bgr_image);
+ cv::Mat image_color_mat;
+ cv::cvtColor(bgr_image, image_color_mat, cv::COLOR_BGR2YUV);
+
+ // Convert YUV (3 channels) to YUYV (stacked format)
+ std::vector<uint8_t> yuyv;
+ for (int i = 0; i < image_color_mat.rows; i++) {
+ for (int j = 0; j < image_color_mat.cols; j++) {
+ // Always push a Y value
+ yuyv.emplace_back(image_color_mat.at<cv::Vec3b>(i, j)[0]);
+ if ((j % 2) == 0) {
+ // If column # is even, push a U value.
+ yuyv.emplace_back(image_color_mat.at<cv::Vec3b>(i, j)[1]);
+ } else {
+ // If column # is odd, push a V value.
+ yuyv.emplace_back(image_color_mat.at<cv::Vec3b>(i, j)[2]);
+ }
+ }
+ }
+
+ CHECK_EQ(static_cast<int>(yuyv.size()),
+ image_color_mat.rows * image_color_mat.cols * 2);
+
+ auto builder = image_sender_.MakeBuilder();
+ auto image_offset = builder.fbb()->CreateVector(yuyv);
+ auto image_builder = builder.MakeBuilder<CameraImage>();
+
+ int64_t timestamp =
+ aos::monotonic_clock::now().time_since_epoch().count();
+
+ image_builder.add_rows(image_color_mat.rows);
+ image_builder.add_cols(image_color_mat.cols);
+ image_builder.add_data(image_offset);
+ image_builder.add_monotonic_timestamp_ns(timestamp);
+
+ ProcessImage(bgr_image, timestamp);
+ builder.CheckOk(builder.Send(image_builder.Finish()));
}
event_loop_->Exit();
return;
@@ -138,16 +201,13 @@
}
const CameraImage &image = reader_->LatestImage();
- cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
- CHECK(image_mat.isContinuous());
- const int number_pixels = image.rows() * image.cols();
- for (int i = 0; i < number_pixels; ++i) {
- reinterpret_cast<uint8_t *>(image_mat.data)[i] =
- image.data()->data()[i * 2];
- }
+ cv::Mat image_color_mat(cv::Size(image.cols(), image.rows()), CV_8UC2,
+ (void *)image.data()->data());
+ cv::Mat image_mat(cv::Size(image.cols(), image.rows()), CV_8UC3);
+ cv::cvtColor(image_color_mat, image_mat, cv::COLOR_YUV2BGR_YUYV);
- ProcessImage(image_mat);
+ ProcessImage(image_mat, image.monotonic_timestamp_ns());
reader_->SendLatestImage();
read_image_timer_->Setup(event_loop_->monotonic_now());
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 2a0bfbc..edc3a1a 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -17,6 +17,7 @@
#include "y2022/vision/calibration_generated.h"
#include "y2022/vision/gpio.h"
#include "y2022/vision/target_estimate_generated.h"
+#include "y2022/vision/target_estimator.h"
namespace y2022 {
namespace vision {
@@ -24,8 +25,6 @@
using namespace frc971::vision;
// TODO<jim>: Probably need to break out LED control to separate process
-// TODO<jim>: Need to add sync with camera to strobe lights
-
class CameraReader {
public:
CameraReader(aos::ShmEventLoop *event_loop,
@@ -36,9 +35,11 @@
camera_calibration_(FindCameraCalibration()),
reader_(reader),
image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
+ target_estimator_(CameraIntrinsics(), CameraExtrinsics()),
target_estimate_sender_(
event_loop->MakeSender<TargetEstimate>("/camera")),
read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })),
+ gpio_imu_pin_(GPIOControl(GPIO_PIN_SCLK_IMU, kGPIOIn)),
gpio_pwm_control_(GPIOPWMControl(GPIO_PIN_SCK_PWM, duty_cycle_)),
gpio_disable_control_(
GPIOControl(GPIO_PIN_MOSI_DISABLE, kGPIOOut, kGPIOLow)) {
@@ -57,24 +58,26 @@
const calibration::CameraCalibration *FindCameraCalibration() const;
// Processes an image (including sending the results).
- void ProcessImage(cv::Mat image);
+ void ProcessImage(cv::Mat image, int64_t image_monotonic_timestamp_ns);
// Reads an image, and then performs all of our processing on it.
void ReadImage();
cv::Mat CameraIntrinsics() const {
- const cv::Mat result(3, 3, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration_->intrinsics()->data())));
+ cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->intrinsics()->data())));
+ result.convertTo(result, CV_64F);
CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
return result;
}
cv::Mat CameraExtrinsics() const {
- const cv::Mat result(
+ cv::Mat result(
4, 4, CV_32F,
const_cast<void *>(static_cast<const void *>(
camera_calibration_->fixed_extrinsics()->data()->data())));
+ result.convertTo(result, CV_64F);
CHECK_EQ(result.total(),
camera_calibration_->fixed_extrinsics()->data()->size());
return result;
@@ -93,6 +96,7 @@
const calibration::CameraCalibration *const camera_calibration_;
V4L2Reader *const reader_;
aos::Sender<CameraImage> image_sender_;
+ TargetEstimator target_estimator_;
aos::Sender<TargetEstimate> target_estimate_sender_;
// We schedule this immediately to read an image. Having it on a timer
@@ -100,6 +104,7 @@
aos::TimerHandler *const read_image_timer_;
double duty_cycle_ = 0.0;
+ GPIOControl gpio_imu_pin_;
GPIOPWMControl gpio_pwm_control_;
GPIOControl gpio_disable_control_;
};
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index a82d2ac..d5ba448 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -3,9 +3,9 @@
#include "y2022/vision/camera_reader.h"
// config used to allow running camera_reader independently. E.g.,
-// bazel run //y2022/vision:camera_reader -- --config y2022/config.json
+// bazel run //y2022/vision:camera_reader -- --config y2022/aos_config.json
// --override_hostname pi-7971-1 --ignore_timestamps true
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_double(duty_cycle, 0.5, "Duty cycle of the LEDs");
DEFINE_uint32(exposure, 5,
"Exposure time, in 100us increments; 0 implies auto exposure");
diff --git a/y2022/vision/extrinsics_calibration.cc b/y2022/vision/extrinsics_calibration.cc
new file mode 100644
index 0000000..49f2ca3
--- /dev/null
+++ b/y2022/vision/extrinsics_calibration.cc
@@ -0,0 +1,129 @@
+#include "frc971/vision/extrinsics_calibration.h"
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "absl/strings/str_format.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/init.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "aos/util/file.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/vision_generated.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2020/vision/sift/sift_training_generated.h"
+#include "y2020/vision/tools/python_code/sift_training_data.h"
+
+DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
+DEFINE_bool(plot, false, "Whether to plot the resulting data.");
+
+namespace frc971 {
+namespace vision {
+namespace chrono = std::chrono;
+using aos::distributed_clock;
+using aos::monotonic_clock;
+
+// TODO(austin): Source of IMU data? Is it the same?
+// TODO(austin): Intrinsics data?
+
+void Main(int argc, char **argv) {
+ CalibrationData data;
+
+ {
+ // Now, accumulate all the data into the data object.
+ aos::logger::LogReader reader(
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+
+ aos::SimulatedEventLoopFactory factory(reader.configuration());
+ reader.Register(&factory);
+
+ CHECK(aos::configuration::MultiNode(reader.configuration()));
+
+ // Find the nodes we care about.
+ const aos::Node *const roborio_node =
+ aos::configuration::GetNode(factory.configuration(), "roborio");
+
+ std::optional<uint16_t> pi_number = aos::network::ParsePiNumber(FLAGS_pi);
+ CHECK(pi_number);
+ LOG(INFO) << "Pi " << *pi_number;
+ const aos::Node *const pi_node = aos::configuration::GetNode(
+ factory.configuration(), absl::StrCat("pi", *pi_number));
+
+ LOG(INFO) << "roboRIO " << aos::FlatbufferToJson(roborio_node);
+ LOG(INFO) << "Pi " << aos::FlatbufferToJson(pi_node);
+
+ std::unique_ptr<aos::EventLoop> roborio_event_loop =
+ factory.MakeEventLoop("calibration", roborio_node);
+ std::unique_ptr<aos::EventLoop> pi_event_loop =
+ factory.MakeEventLoop("calibration", pi_node);
+
+ // Now, hook Calibration up to everything.
+ Calibration extractor(&factory, pi_event_loop.get(),
+ roborio_event_loop.get(), FLAGS_pi, &data);
+
+ aos::NodeEventLoopFactory *roborio_factory =
+ factory.GetNodeEventLoopFactory(roborio_node->name()->string_view());
+ roborio_event_loop->MakeWatcher(
+ "/superstructure",
+ [roborio_factory, roborio_event_loop = roborio_event_loop.get(),
+ &data](const y2022::control_loops::superstructure::Status &status) {
+ data.AddTurret(
+ roborio_factory->ToDistributedClock(
+ roborio_event_loop->context().monotonic_event_time),
+ Eigen::Vector2d(status.turret()->position(),
+ status.turret()->velocity()));
+ });
+
+ factory.Run();
+
+ reader.Deregister();
+ }
+
+ LOG(INFO) << "Done with event_loop running";
+ // And now we have it, we can start processing it.
+
+ const Eigen::Quaternion<double> nominal_initial_orientation(
+ frc971::controls::ToQuaternionFromRotationVector(
+ Eigen::Vector3d(0.0, 0.0, M_PI)));
+ const Eigen::Quaternion<double> nominal_pivot_to_camera(
+ Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
+ const Eigen::Quaternion<double> nominal_board_to_world(
+ Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
+
+ CalibrationParameters calibration_parameters;
+ calibration_parameters.initial_orientation = nominal_initial_orientation;
+ calibration_parameters.pivot_to_camera = nominal_pivot_to_camera;
+ calibration_parameters.board_to_world = nominal_board_to_world;
+
+ Solve(data, &calibration_parameters);
+ LOG(INFO) << "Nominal initial_orientation "
+ << nominal_initial_orientation.coeffs().transpose();
+ LOG(INFO) << "Nominal pivot_to_camera "
+ << nominal_pivot_to_camera.coeffs().transpose();
+
+ LOG(INFO) << "pivot_to_camera delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.pivot_to_camera *
+ nominal_pivot_to_camera.inverse())
+ .transpose();
+ LOG(INFO) << "board_to_world delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.board_to_world *
+ nominal_board_to_world.inverse())
+ .transpose();
+
+ if (FLAGS_plot) {
+ Plot(data, calibration_parameters);
+ }
+}
+
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ frc971::vision::Main(argc, argv);
+}
diff --git a/y2022/vision/geometry.h b/y2022/vision/geometry.h
new file mode 100644
index 0000000..31e8629
--- /dev/null
+++ b/y2022/vision/geometry.h
@@ -0,0 +1,131 @@
+#include "aos/util/math.h"
+#include "glog/logging.h"
+#include "opencv2/core/types.hpp"
+
+namespace y2022::vision {
+
+// Linear equation in the form y = mx + b
+struct SlopeInterceptLine {
+ double m, b;
+
+ inline SlopeInterceptLine(cv::Point2d p, cv::Point2d q) {
+ if (p.x == q.x) {
+ CHECK_EQ(p.y, q.y) << "Can't fit line to infinite slope";
+
+ // If two identical points were passed in, give the slope 0,
+ // with it passing the point.
+ m = 0.0;
+ } else {
+ m = (p.y - q.y) / (p.x - q.x);
+ }
+ // y = mx + b -> b = y - mx
+ b = p.y - (m * p.x);
+ }
+
+ inline double operator()(double x) const { return (m * x) + b; }
+};
+
+// Linear equation in the form ax + by = c
+struct StdFormLine {
+ public:
+ double a, b, c;
+
+ inline std::optional<cv::Point2d> Intersection(const StdFormLine &l) const {
+ // Use Cramer's rule to solve for the intersection
+ const double denominator = Determinant(a, b, l.a, l.b);
+ const double numerator_x = Determinant(c, b, l.c, l.b);
+ const double numerator_y = Determinant(a, c, l.a, l.c);
+
+ std::optional<cv::Point2d> intersection = std::nullopt;
+ // Return nullopt if the denominator is 0, meaning the same slopes
+ if (denominator != 0) {
+ intersection =
+ cv::Point2d(numerator_x / denominator, numerator_y / denominator);
+ }
+
+ return intersection;
+ }
+
+ private: // Determinant of [[a, b], [c, d]]
+ static inline double Determinant(double a, double b, double c, double d) {
+ return (a * d) - (b * c);
+ }
+};
+
+struct Circle {
+ public:
+ cv::Point2d center;
+ double radius;
+
+ static inline std::optional<Circle> Fit(std::vector<cv::Point2d> points) {
+ CHECK_EQ(points.size(), 3ul);
+ // For the 3 points, we have 3 equations in the form
+ // (x - h)^2 + (y - k)^2 = r^2
+ // Manipulate them to solve for the center and radius
+ // (x1 - h)^2 + (y1 - k)^2 = r^2 ->
+ // x1^2 + h^2 - 2x1h + y1^2 + k^2 - 2y1k = r^2
+ // Also, (x2 - h)^2 + (y2 - k)^2 = r^2
+ // Subtracting these two, we get
+ // x1^2 - x2^2 - 2h(x1 - x2) + y1^2 - y2^2 - 2k(y1 - y2) = 0 ->
+ // h(x1 - x2) + k(y1 - y2) = (-x1^2 + x2^2 - y1^2 + y2^2) / -2
+ // Doing the same with equations 1 and 3, we get the second linear equation
+ // h(x1 - x3) + k(y1 - y3) = (-x1^2 + x3^2 - y1^2 + y3^2) / -2
+ // Now, we can solve for their intersection and find the center
+ const auto l =
+ StdFormLine{points[0].x - points[1].x, points[0].y - points[1].y,
+ (-std::pow(points[0].x, 2) + std::pow(points[1].x, 2) -
+ std::pow(points[0].y, 2) + std::pow(points[1].y, 2)) /
+ -2.0};
+ const auto m =
+ StdFormLine{points[0].x - points[2].x, points[0].y - points[2].y,
+ (-std::pow(points[0].x, 2) + std::pow(points[2].x, 2) -
+ std::pow(points[0].y, 2) + std::pow(points[2].y, 2)) /
+ -2.0};
+ const auto center = l.Intersection(m);
+
+ std::optional<Circle> circle = std::nullopt;
+ if (center) {
+ // Now find the radius
+ const double radius = cv::norm(points[0] - *center);
+ circle = Circle{*center, radius};
+ }
+ return circle;
+ }
+
+ inline double DistanceTo(cv::Point2d p) const {
+ const auto p_prime = TranslateToOrigin(p);
+ // Now, the distance is simply the difference between distance from the
+ // origin to p' and the radius.
+ return std::abs(cv::norm(p_prime) - radius);
+ }
+
+ inline double AngleOf(cv::Point2d p) const {
+ auto p_prime = TranslateToOrigin(p);
+ // Flip the y because y values go downwards.
+ p_prime.y *= -1;
+ return std::atan2(p_prime.y, p_prime.x);
+ }
+
+ // Expects all angles to be from 0 to 2pi
+ // TODO(milind): handle wrapping
+ static inline bool AngleInRange(double theta, double theta_min,
+ double theta_max) {
+ return (
+ (theta >= theta_min && theta <= theta_max) ||
+ (theta_min > theta_max && (theta >= theta_min || theta <= theta_max)));
+ }
+
+ inline bool InAngleRange(cv::Point2d p, double theta_min,
+ double theta_max) const {
+ return AngleInRange(AngleOf(p), theta_min, theta_max);
+ }
+
+ private:
+ // Translate the point on the circle
+ // as if the circle's center is the origin (0,0)
+ inline cv::Point2d TranslateToOrigin(cv::Point2d p) const {
+ return cv::Point2d(p.x - center.x, p.y - center.y);
+ }
+};
+
+} // namespace y2022::vision
diff --git a/y2022/vision/geometry_test.cc b/y2022/vision/geometry_test.cc
new file mode 100644
index 0000000..0a5a759
--- /dev/null
+++ b/y2022/vision/geometry_test.cc
@@ -0,0 +1,111 @@
+#include "y2022/vision/geometry.h"
+
+#include <cmath>
+
+#include "aos/util/math.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace y2022::vision::testing {
+
+TEST(GeometryTest, SlopeInterceptLine) {
+ // Test a normal line
+ {
+ SlopeInterceptLine l({2.0, 3.0}, {4.0, 2.0});
+ EXPECT_DOUBLE_EQ(l.m, -0.5);
+ EXPECT_DOUBLE_EQ(l.b, 4.0);
+ EXPECT_DOUBLE_EQ(l(5), 1.5);
+ }
+ // Test a horizontal line
+ {
+ SlopeInterceptLine l({2.0, 3.0}, {4.0, 3.0});
+ EXPECT_DOUBLE_EQ(l.m, 0.0);
+ EXPECT_DOUBLE_EQ(l.b, 3.0);
+ EXPECT_DOUBLE_EQ(l(1000.0), 3.0);
+ }
+ // Test duplicate points
+ {
+ SlopeInterceptLine l({2.0, 3.0}, {2.0, 3.0});
+ EXPECT_DOUBLE_EQ(l.m, 0.0);
+ EXPECT_DOUBLE_EQ(l.b, 3.0);
+ EXPECT_DOUBLE_EQ(l(1000.0), 3.0);
+ }
+ // Test infinite slope
+ {
+ EXPECT_DEATH(SlopeInterceptLine({2.0, 3.0}, {2.0, 5.0}),
+ "(.*)infinite slope(.*)");
+ }
+}
+
+TEST(GeometryTest, StdFormLine) {
+ // Test the intersection of normal lines
+ {
+ StdFormLine l{3.0, 2.0, 2.3};
+ StdFormLine m{-2.0, 1.2, -0.3};
+ const cv::Point2d kIntersection = {42.0 / 95.0, 37.0 / 76.0};
+ EXPECT_EQ(*l.Intersection(m), kIntersection);
+ EXPECT_EQ(*m.Intersection(l), kIntersection);
+ }
+ // Test the intersection of parallel lines
+ {
+ StdFormLine l{-3.0, 2.0, -3.7};
+ StdFormLine m{-6.0, 4.0, 0.1};
+ EXPECT_EQ(l.Intersection(m), std::nullopt);
+ EXPECT_EQ(m.Intersection(l), std::nullopt);
+ }
+ // Test the intersection of duplicate lines
+ {
+ StdFormLine l{6.0, -8.0, 0.23};
+ StdFormLine m{6.0, -8.0, 0.23};
+ EXPECT_EQ(l.Intersection(m), std::nullopt);
+ EXPECT_EQ(m.Intersection(l), std::nullopt);
+ }
+}
+
+TEST(GeometryTest, Circle) {
+ // Test fitting a normal circle
+ {
+ auto c = Circle::Fit({{-6.0, 3.2}, {-3.0, 2.0}, {-9.3, 1.4}});
+ EXPECT_TRUE(c.has_value());
+ EXPECT_NEAR(c->center.x, -5.901, 1e-3);
+ EXPECT_NEAR(c->center.y, -0.905, 1e-3);
+ EXPECT_NEAR(c->radius, 4.106, 1e-3);
+
+ // Coordinate systems flipped because of image
+ const cv::Point2d kPoint = {c->center.x - c->radius * std::sqrt(3.0) / 2.0,
+ c->center.y - c->radius / 2.0};
+ EXPECT_NEAR(c->AngleOf(kPoint), 5.0 * M_PI / 6.0, 1e-5);
+ EXPECT_TRUE(c->InAngleRange(kPoint, 4.0 * M_PI / 6.0, M_PI));
+ EXPECT_FALSE(c->InAngleRange(kPoint, 0, 2.0 * M_PI / 6.0));
+ EXPECT_EQ(c->DistanceTo(kPoint), 0.0);
+
+ const cv::Point2d kZeroPoint = {c->center.x + c->radius, c->center.y};
+ EXPECT_NEAR(c->AngleOf(kZeroPoint), 0.0, 1e-5);
+ EXPECT_TRUE(c->InAngleRange(kZeroPoint, (2.0 * M_PI) - 0.1, 0.1));
+ EXPECT_EQ(c->DistanceTo(kZeroPoint), 0.0);
+
+ // Test the distance to another point
+ const cv::Point2d kDoubleDistPoint = {
+ c->center.x - (c->radius * 2.0) * std::sqrt(3.0) / 2.0,
+ c->center.y - (c->radius * 2.0) / 2.0};
+ EXPECT_DOUBLE_EQ(c->DistanceTo(kDoubleDistPoint), c->radius);
+
+ // Distance to center should be radius
+ EXPECT_DOUBLE_EQ(c->DistanceTo(c->center), c->radius);
+ }
+ // Test fitting an invalid circle (duplicate points)
+ {
+ auto c = Circle::Fit({{-6.0, 3.2}, {-3.0, 2.0}, {-6.0, 3.2}});
+ EXPECT_FALSE(c.has_value());
+ }
+ // Test if angles are in ranges
+ {
+ EXPECT_TRUE(Circle::AngleInRange(0.5, 0.4, 0.6));
+ EXPECT_TRUE(Circle::AngleInRange(0, (2.0 * M_PI) - 0.2, 0.2));
+ EXPECT_FALSE(
+ Circle::AngleInRange(0, (2.0 * M_PI) - 0.2, (2.0 * M_PI) - 0.1));
+ EXPECT_TRUE(Circle::AngleInRange(0.5, (2.0 * M_PI) - 0.1, 0.6));
+ }
+}
+
+} // namespace y2022::vision::testing
diff --git a/y2022/vision/gpio.h b/y2022/vision/gpio.h
index 90ad812..bc9aa8a 100644
--- a/y2022/vision/gpio.h
+++ b/y2022/vision/gpio.h
@@ -23,6 +23,11 @@
// This pin is MOSI, being used to control the LED Disable
static constexpr int GPIO_PIN_MOSI_DISABLE = 10;
+// Physical pin 23 maps to sysfs pin 11
+// This pin is SCLK, and is used to talk to the IMU
+// To drive the lights, we have to set this pin to an input
+static constexpr int GPIO_PIN_SCLK_IMU = 11;
+
// Physical pin 33 maps to sysfs pin 13
// This pin is SCK, being used to control the LED PWM
static constexpr int GPIO_PIN_SCK_PWM = 13;
diff --git a/y2022/vision/target_estimate.fbs b/y2022/vision/target_estimate.fbs
index 707014c..3ba10f03 100644
--- a/y2022/vision/target_estimate.fbs
+++ b/y2022/vision/target_estimate.fbs
@@ -1,3 +1,5 @@
+include "y2022/vision/calibration.fbs";
+
namespace y2022.vision;
struct Point {
@@ -5,6 +7,11 @@
y:int (id: 1);
}
+struct Size {
+ width:int (id: 0);
+ height:int (id: 1);
+}
+
table Blob {
points:[Point] (id: 0);
}
@@ -12,6 +19,7 @@
// Statistics for each blob used for filtering
table BlobStatsFbs {
centroid:Point (id: 0);
+ size:Size (id: 4);
aspect_ratio:double (id: 1);
area:double (id: 2);
num_points:uint64 (id: 3);
@@ -25,21 +33,44 @@
unfiltered_blobs:[Blob] (id: 1);
// Stats on the blobs
blob_stats:[BlobStatsFbs] (id: 2);
+ // Stats of filtered blobs
+ filtered_stats:[BlobStatsFbs] (id: 4);
// Average centroid of the filtered blobs
centroid:Point (id: 3);
}
+// Euler angles rotation
+struct Rotation {
+ roll:double (id: 0);
+ pitch:double (id: 1);
+ yaw:double (id: 2);
+}
+
// Contains the information the EKF wants from blobs from a single image.
table TargetEstimate {
// Horizontal distance from the camera to the center of the upper hub
distance:double (id: 0);
// Angle from the camera to the target (horizontal angle in rad).
- // Positive means right of center, negative means left.
+ // Positive means left of center, negative means right.
angle_to_target:double (id: 1);
+ // Polar angle from target to camera (not rotation).
+ // Currently being frozen at 0
+ angle_to_camera:double (id: 3);
+ // Rotation of the camera in the hub's reference frame
+ rotation_camera_hub:Rotation (id: 4);
+ // Confidence in the estimate from 0 to 1,
+ // based on the final deviation between projected points and actual blobs.
+ // Good estimates currently have confidences of around 0.9 or greater.
+ confidence:double (id: 7);
blob_result:BlobResultFbs (id: 2);
- // TODO(milind): add confidence
+ // Contains the duration between the epoch and the nearest point
+ // in time from when it was called.
+ image_monotonic_timestamp_ns:int64 (id: 5);
+
+ // Information about the camera which took this image.
+ camera_calibration:frc971.vision.calibration.CameraCalibration (id: 6);
}
root_type TargetEstimate;
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index 1ac3d55..130759c 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -1,31 +1,489 @@
#include "y2022/vision/target_estimator.h"
+#include "absl/strings/str_format.h"
+#include "aos/time/time.h"
+#include "ceres/ceres.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "geometry.h"
+#include "opencv2/core/core.hpp"
+#include "opencv2/core/eigen.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc.hpp"
+#include "y2022/constants.h"
+
+DEFINE_bool(freeze_roll, false, "If true, don't solve for roll");
+DEFINE_bool(freeze_pitch, false, "If true, don't solve for pitch");
+DEFINE_bool(freeze_yaw, false, "If true, don't solve for yaw");
+DEFINE_bool(freeze_camera_height, true,
+ "If true, don't solve for camera height");
+DEFINE_bool(freeze_angle_to_camera, true,
+ "If true, don't solve for polar angle to camera");
+
+DEFINE_uint64(max_num_iterations, 200,
+ "Maximum number of iterations for the ceres solver");
+DEFINE_bool(solver_output, false,
+ "If true, log the solver progress and results");
+
namespace y2022::vision {
-void TargetEstimator::EstimateTargetLocation(cv::Point2i centroid,
- const cv::Mat &intrinsics,
- const cv::Mat &extrinsics,
- TargetEstimate::Builder *builder) {
- const cv::Point2d focal_length(intrinsics.at<double>(0, 0),
- intrinsics.at<double>(1, 1));
- const cv::Point2d offset(intrinsics.at<double>(0, 2),
- intrinsics.at<double>(1, 2));
+namespace {
- // Blob pitch in camera reference frame
- const double blob_pitch =
- std::atan(static_cast<double>(-(centroid.y - offset.y)) /
- static_cast<double>(focal_length.y));
- const double camera_height = extrinsics.at<double>(2, 3);
- // Depth from camera to blob
- const double depth = (kTapeHeight - camera_height) / std::tan(blob_pitch);
+constexpr size_t kNumPiecesOfTape = 16;
+// Width and height of a piece of reflective tape
+constexpr double kTapePieceWidth = 0.13;
+constexpr double kTapePieceHeight = 0.05;
+// Height of the center of the tape (m)
+constexpr double kTapeCenterHeight = 2.58 + (kTapePieceHeight / 2);
+// Horizontal distance from tape to center of hub (m)
+constexpr double kUpperHubRadius = 1.22 / 2;
- double angle_to_target =
- std::atan2(static_cast<double>(centroid.x - offset.x),
- static_cast<double>(focal_length.x));
- double distance = (depth / std::cos(angle_to_target)) + kUpperHubRadius;
+std::vector<cv::Point3d> ComputeTapePoints() {
+ std::vector<cv::Point3d> tape_points;
- builder->add_angle_to_target(angle_to_target);
- builder->add_distance(distance);
+ constexpr size_t kNumVisiblePiecesOfTape = 5;
+ for (size_t i = 0; i < kNumVisiblePiecesOfTape; i++) {
+ // The center piece of tape is at 0 rad, so the angle indices are offset
+ // by the number of pieces of tape on each side of it
+ const double theta_index =
+ static_cast<double>(i) - ((kNumVisiblePiecesOfTape - 1) / 2);
+ // The polar angle is a multiple of the angle between tape centers
+ double theta = theta_index * ((2.0 * M_PI) / kNumPiecesOfTape);
+ tape_points.emplace_back(kUpperHubRadius * std::cos(theta),
+ kUpperHubRadius * std::sin(theta),
+ kTapeCenterHeight);
+ }
+
+ return tape_points;
+}
+
+std::array<cv::Point3d, 4> ComputeMiddleTapePiecePoints() {
+ std::array<cv::Point3d, 4> tape_piece_points;
+
+ // Angle that each piece of tape occupies on the hub
+ constexpr double kTapePieceAngle =
+ (kTapePieceWidth / (2.0 * M_PI * kUpperHubRadius)) * (2.0 * M_PI);
+
+ constexpr double kThetaTapeLeft = -kTapePieceAngle / 2.0;
+ constexpr double kThetaTapeRight = kTapePieceAngle / 2.0;
+
+ constexpr double kTapeTopHeight =
+ kTapeCenterHeight + (kTapePieceHeight / 2.0);
+ constexpr double kTapeBottomHeight =
+ kTapeCenterHeight - (kTapePieceHeight / 2.0);
+
+ tape_piece_points[0] = {kUpperHubRadius * std::cos(kThetaTapeLeft),
+ kUpperHubRadius * std::sin(kThetaTapeLeft),
+ kTapeTopHeight};
+ tape_piece_points[1] = {kUpperHubRadius * std::cos(kThetaTapeRight),
+ kUpperHubRadius * std::sin(kThetaTapeRight),
+ kTapeTopHeight};
+
+ tape_piece_points[2] = {kUpperHubRadius * std::cos(kThetaTapeRight),
+ kUpperHubRadius * std::sin(kThetaTapeRight),
+ kTapeBottomHeight};
+ tape_piece_points[3] = {kUpperHubRadius * std::cos(kThetaTapeLeft),
+ kUpperHubRadius * std::sin(kThetaTapeLeft),
+ kTapeBottomHeight};
+
+ return tape_piece_points;
+}
+
+} // namespace
+
+const std::vector<cv::Point3d> TargetEstimator::kTapePoints =
+ ComputeTapePoints();
+const std::array<cv::Point3d, 4> TargetEstimator::kMiddleTapePiecePoints =
+ ComputeMiddleTapePiecePoints();
+
+TargetEstimator::TargetEstimator(cv::Mat intrinsics, cv::Mat extrinsics)
+ : blob_stats_(),
+ image_(std::nullopt),
+ roll_(0.0),
+ pitch_(0.0),
+ yaw_(M_PI),
+ distance_(3.0),
+ angle_to_camera_(0.0),
+ // Seed camera height
+ camera_height_(extrinsics.at<double>(2, 3) +
+ constants::Values::kImuHeight()) {
+ cv::cv2eigen(intrinsics, intrinsics_);
+ cv::cv2eigen(extrinsics, extrinsics_);
+}
+
+namespace {
+void SetBoundsOrFreeze(double *param, bool freeze, double min, double max,
+ ceres::Problem *problem) {
+ if (freeze) {
+ problem->SetParameterBlockConstant(param);
+ } else {
+ problem->SetParameterLowerBound(param, 0, min);
+ problem->SetParameterUpperBound(param, 0, max);
+ }
+}
+
+// With X, Y, Z being hub axes and x, y, z being camera axes,
+// x = -Y, y = -Z, z = X
+const Eigen::Matrix3d kHubToCameraAxes =
+ (Eigen::Matrix3d() << 0.0, -1.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.0, 0.0)
+ .finished();
+
+} // namespace
+
+void TargetEstimator::Solve(
+ const std::vector<BlobDetector::BlobStats> &blob_stats,
+ std::optional<cv::Mat> image) {
+ auto start = aos::monotonic_clock::now();
+
+ blob_stats_ = blob_stats;
+ image_ = image;
+
+ // Do nothing if no blobs were detected
+ if (blob_stats_.size() == 0) {
+ confidence_ = 0.0;
+ return;
+ }
+
+ CHECK_GE(blob_stats_.size(), 3) << "Expected at least 3 blobs";
+
+ const auto circle =
+ Circle::Fit({blob_stats_[0].centroid, blob_stats_[1].centroid,
+ blob_stats_[2].centroid});
+ CHECK(circle.has_value());
+
+ // Find the middle blob, which is the one with the angle closest to the
+ // average
+ double theta_avg = 0.0;
+ for (const auto &stats : blob_stats_) {
+ theta_avg += circle->AngleOf(stats.centroid);
+ }
+ theta_avg /= blob_stats_.size();
+
+ double min_diff = std::numeric_limits<double>::infinity();
+ for (auto it = blob_stats_.begin(); it < blob_stats_.end(); it++) {
+ const double diff = std::abs(circle->AngleOf(it->centroid) - theta_avg);
+ if (diff < min_diff) {
+ min_diff = diff;
+ middle_blob_index_ = it - blob_stats_.begin();
+ }
+ }
+
+ ceres::Problem problem;
+
+ // x and y differences between projected centroids and blob centroids, as well
+ // as width and height differences between middle projected piece and the
+ // detected blob
+ const size_t num_residuals = (blob_stats_.size() * 2) + 2;
+
+ // Set up the only cost function (also known as residual). This uses
+ // auto-differentiation to obtain the derivative (jacobian).
+ ceres::CostFunction *cost_function =
+ new ceres::AutoDiffCostFunction<TargetEstimator, ceres::DYNAMIC, 1, 1, 1,
+ 1, 1, 1>(this, num_residuals,
+ ceres::DO_NOT_TAKE_OWNERSHIP);
+
+ // TODO(milind): add loss function when we get more noisy data
+ problem.AddResidualBlock(cost_function, nullptr, &roll_, &pitch_, &yaw_,
+ &distance_, &angle_to_camera_, &camera_height_);
+
+ // Compute the estimated rotation of the camera using the robot rotation.
+ const Eigen::Vector3d ypr_extrinsics =
+ (Eigen::Affine3d(extrinsics_).rotation() * kHubToCameraAxes)
+ .eulerAngles(2, 1, 0);
+ // TODO(milind): seed with localizer output as well
+ const double roll_seed = ypr_extrinsics.z();
+ const double pitch_seed = ypr_extrinsics.y();
+
+ // Constrain the rotation to be around the localizer's, otherwise there can be
+ // multiple solutions. There shouldn't be too much roll or pitch
+ constexpr double kMaxRollDelta = 0.1;
+ SetBoundsOrFreeze(&roll_, FLAGS_freeze_roll, roll_seed - kMaxRollDelta,
+ roll_seed + kMaxRollDelta, &problem);
+
+ constexpr double kMaxPitchDelta = 0.15;
+ SetBoundsOrFreeze(&pitch_, FLAGS_freeze_pitch, pitch_seed - kMaxPitchDelta,
+ pitch_seed + kMaxPitchDelta, &problem);
+ // Constrain the yaw to where the target would be visible
+ constexpr double kMaxYawDelta = M_PI / 4.0;
+ SetBoundsOrFreeze(&yaw_, FLAGS_freeze_yaw, M_PI - kMaxYawDelta,
+ M_PI + kMaxYawDelta, &problem);
+
+ constexpr double kMaxHeightDelta = 0.1;
+ SetBoundsOrFreeze(&camera_height_, FLAGS_freeze_camera_height,
+ camera_height_ - kMaxHeightDelta,
+ camera_height_ + kMaxHeightDelta, &problem);
+
+ // Distances shouldn't be too close to the target or too far
+ constexpr double kMinDistance = 1.0;
+ constexpr double kMaxDistance = 10.0;
+ SetBoundsOrFreeze(&distance_, false, kMinDistance, kMaxDistance, &problem);
+
+ // Keep the angle between +/- half of the angle between piece of tape
+ constexpr double kMaxAngle = ((2.0 * M_PI) / kNumPiecesOfTape) / 2.0;
+ SetBoundsOrFreeze(&angle_to_camera_, FLAGS_freeze_angle_to_camera, -kMaxAngle,
+ kMaxAngle, &problem);
+
+ ceres::Solver::Options options;
+ options.minimizer_progress_to_stdout = FLAGS_solver_output;
+ options.gradient_tolerance = 1e-12;
+ options.function_tolerance = 1e-16;
+ options.parameter_tolerance = 1e-12;
+ options.max_num_iterations = FLAGS_max_num_iterations;
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+
+ auto end = aos::monotonic_clock::now();
+ VLOG(1) << "Target estimation elapsed time: "
+ << std::chrono::duration<double, std::milli>(end - start).count()
+ << " ms";
+
+ // For computing the confidence, find the standard deviation in pixels
+ std::vector<double> residual(num_residuals);
+ (*this)(&roll_, &pitch_, &yaw_, &distance_, &angle_to_camera_,
+ &camera_height_, residual.data());
+ double std_dev = 0.0;
+ for (auto it = residual.begin(); it < residual.end() - 2; it++) {
+ std_dev += std::pow(*it, 2);
+ }
+ std_dev /= num_residuals - 2;
+ std_dev = std::sqrt(std_dev);
+
+ // Use a sigmoid to convert the deviation into a confidence for the
+ // localizer. Fit a sigmoid to the points of (0, 1) and two other
+ // reasonable deviation-confidence combinations using
+ // https://www.desmos.com/calculator/try0pgx1qw
+ constexpr double kSigmoidCapacity = 1.045;
+ // Stretch the sigmoid out correctly.
+ // Currently, good estimates have deviations of around 2 pixels.
+ constexpr double kSigmoidScalar = 0.04452;
+ constexpr double kSigmoidGrowthRate = -0.4021;
+ confidence_ =
+ kSigmoidCapacity /
+ (1.0 + kSigmoidScalar * std::exp(-kSigmoidGrowthRate * std_dev));
+
+ if (FLAGS_solver_output) {
+ LOG(INFO) << summary.FullReport();
+
+ LOG(INFO) << "roll: " << roll_;
+ LOG(INFO) << "pitch: " << pitch_;
+ LOG(INFO) << "yaw: " << yaw_;
+ LOG(INFO) << "angle to target (based on yaw): " << angle_to_target();
+ LOG(INFO) << "angle to camera (polar): " << angle_to_camera_;
+ LOG(INFO) << "distance (polar): " << distance_;
+ LOG(INFO) << "camera height: " << camera_height_;
+ LOG(INFO) << "standard deviation (px): " << std_dev;
+ LOG(INFO) << "confidence: " << confidence_;
+ }
+}
+
+namespace {
+// Hacks to extract a double from a scalar, which is either a ceres jet or a
+// double. Only used for debugging and displaying.
+template <typename S>
+double ScalarToDouble(S s) {
+ const double *ptr = reinterpret_cast<double *>(&s);
+ return *ptr;
+}
+
+template <typename S>
+cv::Point2d ScalarPointToDouble(cv::Point_<S> p) {
+ return cv::Point2d(ScalarToDouble(p.x), ScalarToDouble(p.y));
+}
+} // namespace
+
+template <typename S>
+bool TargetEstimator::operator()(const S *const roll, const S *const pitch,
+ const S *const yaw, const S *const distance,
+ const S *const theta,
+ const S *const camera_height,
+ S *residual) const {
+ using Vector3s = Eigen::Matrix<S, 3, 1>;
+ using Affine3s = Eigen::Transform<S, 3, Eigen::Affine>;
+
+ Eigen::AngleAxis<S> roll_angle(*roll, Vector3s::UnitX());
+ Eigen::AngleAxis<S> pitch_angle(*pitch, Vector3s::UnitY());
+ Eigen::AngleAxis<S> yaw_angle(*yaw, Vector3s::UnitZ());
+ // Construct the rotation and translation of the camera in the hub's frame
+ Eigen::Quaternion<S> R_camera_hub = yaw_angle * pitch_angle * roll_angle;
+ Vector3s T_camera_hub(*distance * ceres::cos(*theta),
+ *distance * ceres::sin(*theta), *camera_height);
+
+ Affine3s H_camera_hub = Eigen::Translation<S, 3>(T_camera_hub) * R_camera_hub;
+ Affine3s H_hub_camera = H_camera_hub.inverse();
+
+ std::vector<cv::Point_<S>> tape_points_proj;
+ for (cv::Point3d tape_point_hub : kTapePoints) {
+ tape_points_proj.emplace_back(ProjectToImage(tape_point_hub, H_hub_camera));
+ VLOG(2) << "Projected tape point: "
+ << ScalarPointToDouble(
+ tape_points_proj[tape_points_proj.size() - 1]);
+ }
+
+ // Find the rectangle bounding the projected piece of tape
+ std::array<cv::Point_<S>, 4> middle_tape_piece_points_proj;
+ for (auto tape_piece_it = kMiddleTapePiecePoints.begin();
+ tape_piece_it < kMiddleTapePiecePoints.end(); tape_piece_it++) {
+ middle_tape_piece_points_proj[tape_piece_it -
+ kMiddleTapePiecePoints.begin()] =
+ ProjectToImage(*tape_piece_it, H_hub_camera);
+ }
+
+ for (size_t i = 0; i < blob_stats_.size(); i++) {
+ const auto distance = DistanceFromTape(i, tape_points_proj);
+ // Set the residual to the (x, y) distance of the centroid from the
+ // nearest projected piece of tape
+ residual[i * 2] = distance.x;
+ residual[(i * 2) + 1] = distance.y;
+ }
+
+ // Penalize based on the difference between the size of the projected piece of
+ // tape and that of the detected blobs. Use the squared size to avoid taking a
+ // norm, which ceres can't handle well
+ const S middle_tape_piece_width_squared =
+ ceres::pow(middle_tape_piece_points_proj[2].x -
+ middle_tape_piece_points_proj[3].x,
+ 2) +
+ ceres::pow(middle_tape_piece_points_proj[2].y -
+ middle_tape_piece_points_proj[3].y,
+ 2);
+ const S middle_tape_piece_height_squared =
+ ceres::pow(middle_tape_piece_points_proj[1].x -
+ middle_tape_piece_points_proj[2].x,
+ 2) +
+ ceres::pow(middle_tape_piece_points_proj[1].y -
+ middle_tape_piece_points_proj[2].y,
+ 2);
+
+ residual[blob_stats_.size() * 2] =
+ middle_tape_piece_width_squared -
+ std::pow(blob_stats_[middle_blob_index_].size.width, 2);
+ residual[(blob_stats_.size() * 2) + 1] =
+ middle_tape_piece_height_squared -
+ std::pow(blob_stats_[middle_blob_index_].size.height, 2);
+
+ if (image_.has_value()) {
+ // Draw the current stage of the solving
+ cv::Mat image = image_->clone();
+ for (size_t i = 0; i < tape_points_proj.size() - 1; i++) {
+ cv::line(image, ScalarPointToDouble(tape_points_proj[i]),
+ ScalarPointToDouble(tape_points_proj[i + 1]),
+ cv::Scalar(255, 255, 255));
+ cv::circle(image, ScalarPointToDouble(tape_points_proj[i]), 2,
+ cv::Scalar(255, 20, 147), cv::FILLED);
+ cv::circle(image, ScalarPointToDouble(tape_points_proj[i + 1]), 2,
+ cv::Scalar(255, 20, 147), cv::FILLED);
+ }
+ cv::imshow("image", image);
+ cv::waitKey(10);
+ }
+
+ return true;
+}
+
+template <typename S>
+cv::Point_<S> TargetEstimator::ProjectToImage(
+ cv::Point3d tape_point_hub,
+ Eigen::Transform<S, 3, Eigen::Affine> &H_hub_camera) const {
+ using Vector3s = Eigen::Matrix<S, 3, 1>;
+
+ const Vector3s tape_point_hub_eigen =
+ Vector3s(S(tape_point_hub.x), S(tape_point_hub.y), S(tape_point_hub.z));
+ // Project the 3d tape point onto the image using the transformation and
+ // intrinsics
+ const Vector3s tape_point_proj =
+ intrinsics_ * (kHubToCameraAxes * (H_hub_camera * tape_point_hub_eigen));
+
+ // Normalize the projected point
+ return {tape_point_proj.x() / tape_point_proj.z(),
+ tape_point_proj.y() / tape_point_proj.z()};
+}
+
+namespace {
+template <typename S>
+cv::Point_<S> Distance(cv::Point p, cv::Point_<S> q) {
+ return cv::Point_<S>(S(p.x) - q.x, S(p.y) - q.y);
+}
+
+template <typename S>
+bool Less(cv::Point_<S> distance_1, cv::Point_<S> distance_2) {
+ return (ceres::pow(distance_1.x, 2) + ceres::pow(distance_1.y, 2) <
+ ceres::pow(distance_2.x, 2) + ceres::pow(distance_2.y, 2));
+}
+} // namespace
+
+template <typename S>
+cv::Point_<S> TargetEstimator::DistanceFromTape(
+ size_t blob_index, const std::vector<cv::Point_<S>> &tape_points) const {
+ auto distance = cv::Point_<S>(std::numeric_limits<S>::infinity(),
+ std::numeric_limits<S>::infinity());
+ if (blob_index == middle_blob_index_) {
+ // Fix the middle blob so the solver can't go too far off
+ distance = Distance(blob_stats_[middle_blob_index_].centroid,
+ tape_points[tape_points.size() / 2]);
+ } else {
+ // Give the other blob_stats some freedom in case some are split into pieces
+ for (auto it = tape_points.begin(); it < tape_points.end(); it++) {
+ const auto current_distance =
+ Distance(blob_stats_[blob_index].centroid, *it);
+ if ((it != tape_points.begin() + (tape_points.size() / 2)) &&
+ Less(current_distance, distance)) {
+ distance = current_distance;
+ }
+ }
+ }
+
+ return distance;
+}
+
+namespace {
+void DrawEstimateValues(double distance, double angle_to_target,
+ double angle_to_camera, double roll, double pitch,
+ double yaw, double confidence, cv::Mat view_image) {
+ constexpr int kTextX = 10;
+ int text_y = 250;
+ constexpr int kTextSpacing = 35;
+
+ const auto kTextColor = cv::Scalar(0, 255, 255);
+ constexpr double kFontScale = 1.0;
+
+ cv::putText(view_image, absl::StrFormat("Distance: %.3f", distance),
+ cv::Point(kTextX, text_y += kTextSpacing),
+ cv::FONT_HERSHEY_DUPLEX, kFontScale, kTextColor, 2);
+ cv::putText(view_image,
+ absl::StrFormat("Angle to target: %.3f", angle_to_target),
+ cv::Point(kTextX, text_y += kTextSpacing),
+ cv::FONT_HERSHEY_DUPLEX, kFontScale, kTextColor, 2);
+ cv::putText(view_image,
+ absl::StrFormat("Angle to camera: %.3f", angle_to_camera),
+ cv::Point(kTextX, text_y += kTextSpacing),
+ cv::FONT_HERSHEY_DUPLEX, kFontScale, kTextColor, 2);
+
+ cv::putText(
+ view_image,
+ absl::StrFormat("Roll: %.3f, pitch: %.3f, yaw: %.3f", roll, pitch, yaw),
+ cv::Point(kTextX, text_y += kTextSpacing), cv::FONT_HERSHEY_DUPLEX,
+ kFontScale, kTextColor, 2);
+
+ cv::putText(view_image, absl::StrFormat("Confidence: %.3f", confidence),
+ cv::Point(kTextX, text_y += kTextSpacing),
+ cv::FONT_HERSHEY_DUPLEX, kFontScale, kTextColor, 2);
+}
+} // namespace
+
+void TargetEstimator::DrawEstimate(const TargetEstimate &target_estimate,
+ cv::Mat view_image) {
+ DrawEstimateValues(target_estimate.distance(),
+ target_estimate.angle_to_target(),
+ target_estimate.angle_to_camera(),
+ target_estimate.rotation_camera_hub()->roll(),
+ target_estimate.rotation_camera_hub()->pitch(),
+ target_estimate.rotation_camera_hub()->yaw(),
+ target_estimate.confidence(), view_image);
+}
+
+void TargetEstimator::DrawEstimate(cv::Mat view_image) const {
+ DrawEstimateValues(distance_, angle_to_target(), angle_to_camera_, roll_,
+ pitch_, yaw_, confidence_, view_image);
}
} // namespace y2022::vision
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
index 9db4121..b509a2e 100644
--- a/y2022/vision/target_estimator.h
+++ b/y2022/vision/target_estimator.h
@@ -1,28 +1,91 @@
-#ifndef Y2022_VISION_POSE_ESTIMATOR_H_
-#define Y2022_VISION_POSE_ESTIMATOR_H_
+#ifndef Y2022_VISION_TARGET_ESTIMATOR_H_
+#define Y2022_VISION_TARGET_ESTIMATOR_H_
+#include <optional>
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "opencv2/core/types.hpp"
#include "opencv2/imgproc.hpp"
+#include "y2022/vision/blob_detector.h"
#include "y2022/vision/target_estimate_generated.h"
namespace y2022::vision {
+// Class to estimate the distance and rotation of the camera from the
+// target.
class TargetEstimator {
public:
- // Computes the location of the target.
- // blob_point is the mean (x, y) of blob pixels.
- // Adds angle_to_target and distance to the given builder.
- static void EstimateTargetLocation(cv::Point2i centroid,
- const cv::Mat &intrinsics,
- const cv::Mat &extrinsics,
- TargetEstimate::Builder *builder);
+ TargetEstimator(cv::Mat intrinsics, cv::Mat extrinsics);
+
+ // Runs the solver to estimate the target
+ // If image != std::nullopt, the solver's progress will be displayed
+ // graphically.
+ void Solve(const std::vector<BlobDetector::BlobStats> &blob_stats,
+ std::optional<cv::Mat> image);
+
+ // Cost function for the solver.
+ // Takes in the rotation of the camera in the hub's frame, the horizontal
+ // polar coordinates of the camera in the hub's frame, and the height of the
+ // camera (can change if the robot is shaking).
+ // Hub frame is relative to the center of the bottom of the hub.
+ // Compares the projected pieces of tape with these values to the detected
+ // blobs for calculating the cost.
+ template <typename S>
+ bool operator()(const S *const roll, const S *const pitch, const S *const yaw,
+ const S *const distance, const S *const theta,
+ const S *const camera_height, S *residual) const;
+
+ inline double roll() const { return roll_; }
+ inline double pitch() const { return pitch_; }
+ inline double yaw() const { return yaw_; }
+
+ inline double distance() const { return distance_; }
+ inline double angle_to_camera() const { return angle_to_camera_; }
+ inline double angle_to_target() const { return M_PI - yaw_; }
+ inline double camera_height() const { return camera_height_; }
+
+ inline double confidence() const { return confidence_; }
+
+ // Draws the distance, angle, and rotation on the given image
+ static void DrawEstimate(const TargetEstimate &target_estimate,
+ cv::Mat view_image);
+ void DrawEstimate(cv::Mat view_image) const;
private:
- // Height of the center of the tape (m)
- static constexpr double kTapeHeight = 2.58 + (0.05 / 2);
- // Horizontal distance from tape to center of hub (m)
- static constexpr double kUpperHubRadius = 1.22 / 2;
+ // 3d points of the visible pieces of tape in the hub's frame
+ static const std::vector<cv::Point3d> kTapePoints;
+ // 3d outer points of the middle piece of tape in the hub's frame,
+ // clockwise around the rectangle
+ static const std::array<cv::Point3d, 4> kMiddleTapePiecePoints;
+
+ template <typename S>
+ cv::Point_<S> ProjectToImage(
+ cv::Point3d tape_point_hub,
+ Eigen::Transform<S, 3, Eigen::Affine> &H_hub_camera) const;
+
+ template <typename S>
+ cv::Point_<S> DistanceFromTape(
+ size_t centroid_index,
+ const std::vector<cv::Point_<S>> &tape_points) const;
+
+ std::vector<BlobDetector::BlobStats> blob_stats_;
+ size_t middle_blob_index_;
+ std::optional<cv::Mat> image_;
+
+ Eigen::Matrix3d intrinsics_;
+ Eigen::Matrix4d extrinsics_;
+
+ double roll_;
+ double pitch_;
+ double yaw_;
+
+ double distance_;
+ double angle_to_camera_;
+ double camera_height_;
+ double confidence_;
};
} // namespace y2022::vision
-#endif // Y2022_VISION_POSE_ESTIMATOR_H_
+#endif // Y2022_VISION_TARGET_ESTIMATOR_H_
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 2a6f0a6..24c8fc6 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -10,31 +10,53 @@
#include "aos/time/time.h"
#include "frc971/vision/vision_generated.h"
#include "y2022/vision/blob_detector.h"
+#include "y2022/vision/calibration_data.h"
#include "y2022/vision/target_estimate_generated.h"
+#include "y2022/vision/target_estimator.h"
DEFINE_string(capture, "",
"If set, capture a single image and save it to this filename.");
DEFINE_string(channel, "/camera", "Channel name for the image.");
-DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
DEFINE_string(png_dir, "", "Path to a set of images to display.");
+DEFINE_string(calibration_node, "",
+ "If reading locally, use the calibration for this node");
+DEFINE_int32(
+ calibration_team_number, 971,
+ "If reading locally, use the calibration for a node with this team number");
+DEFINE_uint64(skip, 0,
+ "Number of images to skip if doing local reading (png_dir set).");
DEFINE_bool(show_features, true, "Show the blobs.");
+DEFINE_bool(display_estimation, false,
+ "If true, display the target estimation graphically");
namespace y2022 {
namespace vision {
namespace {
+using namespace frc971::vision;
+
+std::map<int64_t, BlobDetector::BlobResult> target_est_map;
aos::Fetcher<frc971::vision::CameraImage> image_fetcher;
aos::Fetcher<y2022::vision::TargetEstimate> target_estimate_fetcher;
+std::vector<cv::Point> FbsToCvPoints(
+ const flatbuffers::Vector<const Point *> &points_fbs) {
+ std::vector<cv::Point> points;
+ for (const Point *point : points_fbs) {
+ points.emplace_back(point->x(), point->y());
+ }
+ return points;
+}
+
std::vector<std::vector<cv::Point>> FbsToCvBlobs(
- const flatbuffers::Vector<flatbuffers::Offset<Blob>> &blobs_fbs) {
+ const flatbuffers::Vector<flatbuffers::Offset<Blob>> *blobs_fbs) {
+ if (blobs_fbs == nullptr) {
+ return {};
+ }
std::vector<std::vector<cv::Point>> blobs;
- for (const auto blob : blobs_fbs) {
- std::vector<cv::Point> points;
- for (const Point *point : *blob->points()) {
- points.emplace_back(cv::Point{point->x(), point->y()});
- }
- blobs.emplace_back(points);
+ for (const auto blob : *blobs_fbs) {
+ blobs.emplace_back(FbsToCvPoints(*blob->points()));
}
return blobs;
}
@@ -45,34 +67,49 @@
std::vector<BlobDetector::BlobStats> blob_stats;
for (const auto stats_fbs : blob_stats_fbs) {
cv::Point centroid{stats_fbs->centroid()->x(), stats_fbs->centroid()->y()};
+ cv::Size size{stats_fbs->size()->width(), stats_fbs->size()->height()};
blob_stats.emplace_back(BlobDetector::BlobStats{
- centroid, stats_fbs->aspect_ratio(), stats_fbs->area(),
+ centroid, size, stats_fbs->aspect_ratio(), stats_fbs->area(),
static_cast<size_t>(stats_fbs->num_points())});
}
return blob_stats;
}
bool DisplayLoop() {
+ int64_t target_timestamp = 0;
+ if (target_estimate_fetcher.Fetch()) {
+ const TargetEstimate *target_est = target_estimate_fetcher.get();
+ CHECK(target_est != nullptr)
+ << "Got null when trying to fetch target estimate";
+
+ target_timestamp = target_est->image_monotonic_timestamp_ns();
+ if (target_est->blob_result()->filtered_blobs()->size() > 0) {
+ VLOG(2) << "Got blobs for timestamp " << target_est << "\n";
+ }
+ // Store the TargetEstimate data so we can match timestamp with image
+ target_est_map[target_timestamp] = BlobDetector::BlobResult{
+ cv::Mat(),
+ FbsToCvBlobs(target_est->blob_result()->filtered_blobs()),
+ FbsToCvBlobs(target_est->blob_result()->unfiltered_blobs()),
+ FbsToBlobStats(*target_est->blob_result()->blob_stats()),
+ FbsToBlobStats(*target_est->blob_result()->filtered_stats()),
+ cv::Point{target_est->blob_result()->centroid()->x(),
+ target_est->blob_result()->centroid()->y()}};
+ // Only keep last 10 matches
+ while (target_est_map.size() > 10u) {
+ target_est_map.erase(target_est_map.begin());
+ }
+ }
int64_t image_timestamp = 0;
- const frc971::vision::CameraImage *image;
- // Read next image
if (!image_fetcher.Fetch()) {
- LOG(INFO) << "Couldn't fetch image";
+ VLOG(2) << "Couldn't fetch image";
return true;
}
-
- image = image_fetcher.get();
+ const CameraImage *image = image_fetcher.get();
CHECK(image != nullptr) << "Couldn't read image";
image_timestamp = image->monotonic_timestamp_ns();
VLOG(2) << "Got image at timestamp: " << image_timestamp;
- // TODO(Milind) Store the target estimates and match them by timestamp to make
- // sure we're getting the right one.
- const TargetEstimate *target_est = nullptr;
- if (target_estimate_fetcher.Fetch()) {
- target_est = target_estimate_fetcher.get();
- }
-
// Create color image:
cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
(void *)image->data()->data());
@@ -84,19 +121,16 @@
return false;
}
- LOG(INFO) << image->monotonic_timestamp_ns() << ": # unfiltered blobs: "
- << target_est->blob_result()->unfiltered_blobs()->size()
- << "; # filtered blobs: "
- << target_est->blob_result()->filtered_blobs()->size();
+ auto target_est_it = target_est_map.find(image_timestamp);
+ if (target_est_it != target_est_map.end()) {
+ LOG(INFO) << image->monotonic_timestamp_ns() << ": # unfiltered blobs: "
+ << target_est_it->second.unfiltered_blobs.size()
+ << "; # filtered blobs: "
+ << target_est_it->second.filtered_blobs.size();
- cv::Mat ret_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
- if (target_est != nullptr) {
- BlobDetector::DrawBlobs(
- ret_image, FbsToCvBlobs(*target_est->blob_result()->filtered_blobs()),
- FbsToCvBlobs(*target_est->blob_result()->unfiltered_blobs()),
- FbsToBlobStats(*target_est->blob_result()->blob_stats()),
- cv::Point{target_est->blob_result()->centroid()->x(),
- target_est->blob_result()->centroid()->y()});
+ cv::Mat ret_image =
+ cv::Mat::zeros(cv::Size(image->cols(), image->rows()), CV_8UC3);
+ BlobDetector::DrawBlobs(target_est_it->second, ret_image);
cv::imshow("blobs", ret_image);
}
@@ -139,8 +173,79 @@
::std::chrono::milliseconds(100));
event_loop.Run();
+}
- image_fetcher = aos::Fetcher<frc971::vision::CameraImage>();
+// TODO(milind): delete this when viewer can accumulate local images and results
+void ViewerLocal() {
+ std::vector<cv::String> file_list;
+ cv::glob(FLAGS_png_dir + "/*.png", file_list, false);
+
+ const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
+ CalibrationData());
+
+ const calibration::CameraCalibration *calibration = nullptr;
+ for (const calibration::CameraCalibration *candidate :
+ *calibration_data.message().camera_calibrations()) {
+ if ((candidate->node_name()->string_view() == FLAGS_calibration_node) &&
+ (candidate->team_number() == FLAGS_calibration_team_number)) {
+ calibration = candidate;
+ break;
+ }
+ }
+
+ CHECK(calibration) << "No calibration data found for node \""
+ << FLAGS_calibration_node << "\" with team number "
+ << FLAGS_calibration_team_number;
+
+ auto intrinsics_float = cv::Mat(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ calibration->intrinsics()->data())));
+ cv::Mat intrinsics;
+ intrinsics_float.convertTo(intrinsics, CV_64F);
+
+ const auto extrinsics_float =
+ cv::Mat(4, 4, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ calibration->fixed_extrinsics()->data()->data())));
+ cv::Mat extrinsics;
+ extrinsics_float.convertTo(extrinsics, CV_64F);
+
+ TargetEstimator estimator(intrinsics, extrinsics);
+
+ for (auto it = file_list.begin() + FLAGS_skip; it != file_list.end(); it++) {
+ LOG(INFO) << "Reading file " << *it;
+ cv::Mat image_mat = cv::imread(it->c_str());
+ BlobDetector::BlobResult blob_result;
+ blob_result.binarized_image =
+ cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC1);
+ BlobDetector::ExtractBlobs(image_mat, &blob_result);
+
+ cv::Mat ret_image =
+ cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC3);
+ BlobDetector::DrawBlobs(blob_result, ret_image);
+
+ LOG(INFO) << ": # blobs: " << blob_result.filtered_blobs.size()
+ << " (# removed: "
+ << blob_result.unfiltered_blobs.size() -
+ blob_result.filtered_blobs.size()
+ << ")";
+
+ if (blob_result.filtered_blobs.size() > 0) {
+ estimator.Solve(blob_result.filtered_stats,
+ FLAGS_display_estimation ? std::make_optional(ret_image)
+ : std::nullopt);
+ estimator.DrawEstimate(ret_image);
+ }
+
+ cv::imshow("image", image_mat);
+ cv::imshow("mask", blob_result.binarized_image);
+ cv::imshow("blobs", ret_image);
+
+ int keystroke = cv::waitKey(0);
+ if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return;
+ }
+ }
}
} // namespace
} // namespace vision
@@ -149,5 +254,8 @@
// Quick and lightweight viewer for images
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- y2022::vision::ViewerMain();
+ if (FLAGS_png_dir != "")
+ y2022::vision::ViewerLocal();
+ else
+ y2022::vision::ViewerMain();
}
diff --git a/y2022/vision/vision_plotter.ts b/y2022/vision/vision_plotter.ts
new file mode 100644
index 0000000..bc27170
--- /dev/null
+++ b/y2022/vision/vision_plotter.ts
@@ -0,0 +1,114 @@
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+// magenta, yellow, cyan, orange
+const PI_COLORS = [[255, 0, 255], [255, 255, 0], [0, 255, 255], [255, 165, 0]];
+
+export function plotVision(conn: Connection, element: Element): void {
+ const aosPlotter = new AosPlotter(conn);
+
+ const targets = [];
+ for (const pi of ["pi1", "pi2", "pi3", "pi4"]) {
+ targets.push(aosPlotter.addMessageSource(
+ '/' + pi + '/camera', 'y2022.vision.TargetEstimate'));
+ }
+ const localizer = aosPlotter.addMessageSource(
+ '/localizer', 'frc971.controls.LocalizerVisualization');
+ const localizerOutput = aosPlotter.addMessageSource(
+ '/localizer', 'frc971.controls.LocalizerOutput');
+ const superstructureStatus = aosPlotter.addMessageSource(
+ '/superstructure', 'y2022.control_loops.superstructure.Status');
+
+ const rejectionPlot = aosPlotter.addPlot(element);
+ rejectionPlot.plot.getAxisLabels().setTitle("Rejection Reasons");
+ rejectionPlot.plot.getAxisLabels().setXLabel(TIME);
+ rejectionPlot.plot.getAxisLabels().setYLabel("[bool, enum]");
+
+ rejectionPlot.addMessageLine(localizer, ['targets[]', 'accepted'])
+ .setDrawLine(false)
+ .setColor(BLUE);
+ rejectionPlot.addMessageLine(localizer, ['targets[]', 'rejection_reason'])
+ .setDrawLine(false)
+ .setColor(RED);
+
+ const xPlot = aosPlotter.addPlot(element);
+ xPlot.plot.getAxisLabels().setTitle("X Position");
+ xPlot.plot.getAxisLabels().setXLabel(TIME);
+ xPlot.plot.getAxisLabels().setYLabel("[m]");
+
+ xPlot.addMessageLine(localizer, ['targets[]', 'implied_robot_x'])
+ .setDrawLine(false)
+ .setColor(RED);
+ xPlot.addMessageLine(localizerOutput, ['x'])
+ .setDrawLine(false)
+ .setColor(BLUE);
+
+ const yPlot = aosPlotter.addPlot(element);
+ yPlot.plot.getAxisLabels().setTitle("X Position");
+ yPlot.plot.getAxisLabels().setXLabel(TIME);
+ yPlot.plot.getAxisLabels().setYLabel("[m]");
+
+ yPlot.addMessageLine(localizer, ['targets[]', 'implied_robot_y'])
+ .setDrawLine(false)
+ .setColor(RED);
+ yPlot.addMessageLine(localizerOutput, ['y'])
+ .setDrawLine(false)
+ .setColor(BLUE);
+
+ const turretPlot = aosPlotter.addPlot(element);
+ turretPlot.plot.getAxisLabels().setTitle("Turret Position");
+ turretPlot.plot.getAxisLabels().setXLabel(TIME);
+ turretPlot.plot.getAxisLabels().setYLabel("[m]");
+
+ turretPlot.addMessageLine(localizer, ['targets[]', 'implied_turret_goal'])
+ .setDrawLine(false)
+ .setColor(RED);
+ turretPlot.addMessageLine(superstructureStatus, ['turret', 'position'])
+ .setPointSize(0.0)
+ .setColor(BLUE);
+ turretPlot
+ .addMessageLine(
+ superstructureStatus, ['aimer', 'turret_position'])
+ .setPointSize(0.0)
+ .setColor(GREEN);
+
+ const anglePlot = aosPlotter.addPlot(element);
+ anglePlot.plot.getAxisLabels().setTitle("TargetEstimate Angle");
+ anglePlot.plot.getAxisLabels().setXLabel(TIME);
+ anglePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+ for (let ii = 0; ii < targets.length; ++ii) {
+ anglePlot.addMessageLine(targets[ii], ['angle_to_target'])
+ .setDrawLine(false)
+ .setColor(PI_COLORS[ii])
+ .setLabel('pi' + ii);
+ }
+
+ const distancePlot = aosPlotter.addPlot(element);
+ distancePlot.plot.getAxisLabels().setTitle("TargetEstimate Distance");
+ distancePlot.plot.getAxisLabels().setXLabel(TIME);
+ distancePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+ for (let ii = 0; ii < targets.length; ++ii) {
+ distancePlot.addMessageLine(targets[ii], ['distance'])
+ .setDrawLine(false)
+ .setColor(PI_COLORS[ii])
+ .setLabel('pi' + ii);
+ }
+
+ const confidencePlot = aosPlotter.addPlot(element);
+ confidencePlot.plot.getAxisLabels().setTitle("TargetEstimate Confidence");
+ confidencePlot.plot.getAxisLabels().setXLabel(TIME);
+ confidencePlot.plot.getAxisLabels().setYLabel("[rad]");
+
+ for (let ii = 0; ii < targets.length; ++ii) {
+ confidencePlot.addMessageLine(targets[ii], ['confidence'])
+ .setDrawLine(false)
+ .setColor(PI_COLORS[ii])
+ .setLabel('pi' + ii);
+ }
+}
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index bd884a8..a694211 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -36,6 +36,7 @@
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
+#include "frc971/queues/gyro_generated.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
@@ -49,6 +50,7 @@
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2022/constants.h"
+#include "y2022/control_loops/superstructure/superstructure_can_position_generated.h"
#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
@@ -107,6 +109,11 @@
static_assert(kMaxMediumEncoderPulsesPerSecond <= 400000,
"medium encoders are too fast");
+double catapult_pot_translate(double voltage) {
+ return voltage * Values::kCatapultPotRatio() *
+ (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+}
+
} // namespace
// Class to send position messages with sensor readings to our loops.
@@ -125,22 +132,64 @@
drivetrain_position_sender_(
event_loop
->MakeSender<::frc971::control_loops::drivetrain::Position>(
- "/drivetrain")) {
+ "/drivetrain")),
+ gyro_sender_(event_loop->MakeSender<::frc971::sensors::GyroReading>(
+ "/drivetrain")) {
// Set to filter out anything shorter than 1/4 of the minimum pulse width
// we should ever see.
UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
UpdateMediumEncoderFilterHz(kMaxMediumEncoderPulsesPerSecond);
}
+ void Start() override {
+ // TODO(Ravago): Figure out why adding multiple DMA readers results in weird
+ // behavior
+ // AddToDMA(&imu_heading_reader_);
+ AddToDMA(&imu_yaw_rate_reader_);
+ }
+
// Auto mode switches.
void set_autonomous_mode(int i, ::std::unique_ptr<frc::DigitalInput> sensor) {
autonomous_modes_.at(i) = ::std::move(sensor);
}
+ void set_catapult_encoder(::std::unique_ptr<frc::Encoder> encoder) {
+ medium_encoder_filter_.Add(encoder.get());
+ catapult_encoder_.set_encoder(::std::move(encoder));
+ }
+
+ void set_catapult_absolute_pwm(
+ ::std::unique_ptr<frc::DigitalInput> absolute_pwm) {
+ catapult_encoder_.set_absolute_pwm(::std::move(absolute_pwm));
+ }
+
+ void set_catapult_potentiometer(
+ ::std::unique_ptr<frc::AnalogInput> potentiometer) {
+ catapult_encoder_.set_potentiometer(::std::move(potentiometer));
+ }
+
+ void set_heading_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_heading_input_ = ::std::move(sensor);
+ imu_heading_reader_.set_input(imu_heading_input_.get());
+ }
+
+ void set_yaw_rate_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_yaw_rate_input_ = ::std::move(sensor);
+ imu_yaw_rate_reader_.set_input(imu_yaw_rate_input_.get());
+ }
+
void RunIteration() override {
{
auto builder = superstructure_position_sender_.MakeBuilder();
+ frc971::PotAndAbsolutePositionT catapult;
+ CopyPosition(catapult_encoder_, &catapult,
+ Values::kCatapultEncoderCountsPerRevolution(),
+ Values::kCatapultEncoderRatio(), catapult_pot_translate,
+ false, values_->catapult.potentiometer_offset);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> catapult_offset =
+ frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &catapult);
+
frc971::RelativePositionT climber;
CopyPosition(*climber_potentiometer_, &climber, climber_pot_translate,
false, values_->climber.potentiometer_offset);
@@ -154,19 +203,20 @@
frc971::RelativePositionT flipper_arm_right;
CopyPosition(*flipper_arm_right_potentiometer_, &flipper_arm_right,
- flipper_arms_pot_translate, false,
+ flipper_arms_pot_translate, true,
values_->flipper_arm_right.potentiometer_offset);
// Intake
frc971::PotAndAbsolutePositionT intake_front;
CopyPosition(intake_encoder_front_, &intake_front,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(), intake_pot_translate, true,
values_->intake_front.potentiometer_offset);
frc971::PotAndAbsolutePositionT intake_back;
CopyPosition(intake_encoder_back_, &intake_back,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(),
+ intake_pot_translate, true,
values_->intake_back.potentiometer_offset);
frc971::PotAndAbsolutePositionT turret;
CopyPosition(turret_encoder_, &turret,
@@ -193,6 +243,11 @@
position_builder.add_intake_front(intake_offset_front);
position_builder.add_intake_back(intake_offset_back);
position_builder.add_turret(turret_offset);
+ position_builder.add_intake_beambreak_front(
+ intake_beambreak_front_->Get());
+ position_builder.add_intake_beambreak_back(intake_beambreak_back_->Get());
+ position_builder.add_turret_beambreak(turret_beambreak_->Get());
+ position_builder.add_catapult(catapult_offset);
builder.CheckOk(builder.Send(position_builder.Finish()));
}
@@ -216,6 +271,43 @@
}
{
+ auto builder = gyro_sender_.MakeBuilder();
+ ::frc971::sensors::GyroReading::Builder gyro_reading_builder =
+ builder.MakeBuilder<::frc971::sensors::GyroReading>();
+ constexpr double kMaxVelocity = 2000; // degrees / second
+ constexpr double kVelocityRadiansPerSecond =
+ kMaxVelocity / 360 * (2.0 * M_PI);
+
+ // Only part of the full range is used to prevent being 100% on or off.
+ constexpr double kScaledRangeLow = 0.1;
+ constexpr double kScaledRangeHigh = 0.9;
+
+ constexpr double kPWMFrequencyHz = 200;
+ double heading_duty_cycle =
+ imu_heading_reader_.last_width() * kPWMFrequencyHz;
+ double velocity_duty_cycle =
+ imu_yaw_rate_reader_.last_width() * kPWMFrequencyHz;
+
+ constexpr double kDutyCycleScale =
+ 1 / (kScaledRangeHigh - kScaledRangeLow);
+ // scale from 0.1 - 0.9 to 0 - 1
+ double rescaled_heading_duty_cycle =
+ (heading_duty_cycle - kScaledRangeLow) * kDutyCycleScale;
+ double rescaled_velocity_duty_cycle =
+ (velocity_duty_cycle - kScaledRangeLow) * kDutyCycleScale;
+
+ if (!std::isnan(rescaled_heading_duty_cycle)) {
+ gyro_reading_builder.add_angle(rescaled_heading_duty_cycle *
+ (2.0 * M_PI));
+ }
+ if (!std::isnan(rescaled_velocity_duty_cycle)) {
+ gyro_reading_builder.add_velocity((rescaled_velocity_duty_cycle - 0.5) *
+ kVelocityRadiansPerSecond);
+ }
+ builder.CheckOk(builder.Send(gyro_reading_builder.Finish()));
+ }
+
+ {
auto builder = auto_mode_sender_.MakeBuilder();
uint32_t mode = 0;
@@ -294,6 +386,16 @@
turret_encoder_.set_potentiometer(::std::move(potentiometer));
}
+ void set_intake_beambreak_front(::std::unique_ptr<frc::DigitalInput> sensor) {
+ intake_beambreak_front_ = ::std::move(sensor);
+ }
+ void set_intake_beambreak_back(::std::unique_ptr<frc::DigitalInput> sensor) {
+ intake_beambreak_back_ = ::std::move(sensor);
+ }
+ void set_turret_beambreak(::std::unique_ptr<frc::DigitalInput> sensor) {
+ turret_beambreak_ = ::std::move(sensor);
+ }
+
private:
std::shared_ptr<const Values> values_;
@@ -301,13 +403,20 @@
aos::Sender<superstructure::Position> superstructure_position_sender_;
aos::Sender<frc971::control_loops::drivetrain::Position>
drivetrain_position_sender_;
+ ::aos::Sender<::frc971::sensors::GyroReading> gyro_sender_;
std::array<std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
+ std::unique_ptr<frc::DigitalInput> intake_beambreak_front_,
+ intake_beambreak_back_, turret_beambreak_, imu_heading_input_,
+ imu_yaw_rate_input_;
+
std::unique_ptr<frc::AnalogInput> climber_potentiometer_,
flipper_arm_right_potentiometer_, flipper_arm_left_potentiometer_;
frc971::wpilib::AbsoluteEncoderAndPotentiometer intake_encoder_front_,
- intake_encoder_back_, turret_encoder_;
+ intake_encoder_back_, turret_encoder_, catapult_encoder_;
+
+ frc971::wpilib::DMAPulseWidthReader imu_heading_reader_, imu_yaw_rate_reader_;
};
class SuperstructureWriter
@@ -329,10 +438,6 @@
catapult_falcon_1_ = ::std::move(t);
}
- void set_catapult_falcon_2(::std::unique_ptr<::frc::TalonFX> t) {
- catapult_falcon_2_ = ::std::move(t);
- }
-
void set_intake_falcon_front(::std::unique_ptr<frc::TalonFX> t) {
intake_falcon_front_ = ::std::move(t);
}
@@ -364,8 +469,8 @@
}
void set_flipper_arms_falcon(
- ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t) {
- flipper_arms_falcon_ = ::std::move(t);
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t) {
+ flipper_arms_falcon_ = t;
flipper_arms_falcon_->ConfigSupplyCurrentLimit(
{true, Values::kFlipperArmSupplyCurrentLimit(),
Values::kFlipperArmSupplyCurrentLimit(), 0});
@@ -374,6 +479,11 @@
Values::kFlipperArmStatorCurrentLimit(), 0});
}
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
+ flipper_arms_falcon() {
+ return flipper_arms_falcon_;
+ }
+
void set_transfer_roller_victor(::std::unique_ptr<::frc::VictorSP> t) {
transfer_roller_victor_ = ::std::move(t);
}
@@ -392,7 +502,6 @@
intake_falcon_back_->SetDisabled();
transfer_roller_victor_->SetDisabled();
catapult_falcon_1_->SetDisabled();
- catapult_falcon_2_->SetDisabled();
turret_falcon_->SetDisabled();
}
@@ -405,12 +514,11 @@
WriteCan(output.roller_voltage_back(), roller_falcon_back_.get());
WritePwm(output.transfer_roller_voltage(), transfer_roller_victor_.get());
- WriteCan(output.flipper_arms_voltage(), flipper_arms_falcon_.get());
+ WriteCan(-output.flipper_arms_voltage(), flipper_arms_falcon_.get());
WritePwm(output.catapult_voltage(), catapult_falcon_1_.get());
- WritePwm(output.catapult_voltage(), catapult_falcon_2_.get());
- WritePwm(output.turret_voltage(), turret_falcon_.get());
+ WritePwm(-output.turret_voltage(), turret_falcon_.get());
}
static void WriteCan(const double voltage,
@@ -429,13 +537,60 @@
::std::unique_ptr<frc::TalonFX> intake_falcon_front_, intake_falcon_back_;
::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
- roller_falcon_front_, roller_falcon_back_, flipper_arms_falcon_;
+ roller_falcon_front_, roller_falcon_back_;
+
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
+ flipper_arms_falcon_;
::std::unique_ptr<::frc::TalonFX> turret_falcon_, catapult_falcon_1_,
- catapult_falcon_2_, climber_falcon_;
+ climber_falcon_;
::std::unique_ptr<::frc::VictorSP> transfer_roller_victor_;
};
+class CANSensorReader {
+ public:
+ CANSensorReader(aos::EventLoop *event_loop)
+ : event_loop_(event_loop),
+ can_position_sender_(
+ event_loop->MakeSender<superstructure::CANPosition>(
+ "/superstructure")) {
+ event_loop->SetRuntimeRealtimePriority(16);
+
+ phased_loop_handler_ =
+ event_loop_->AddPhasedLoop([this](int) { Loop(); }, kPeriod);
+ phased_loop_handler_->set_name("CAN SensorReader Loop");
+
+ event_loop->OnRun([this]() { Loop(); });
+ }
+
+ void set_flipper_arms_falcon(
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t) {
+ flipper_arms_falcon_ = std::move(t);
+ }
+
+ private:
+ void Loop() {
+ auto builder = can_position_sender_.MakeBuilder();
+ superstructure::CANPosition::Builder can_position_builder =
+ builder.MakeBuilder<superstructure::CANPosition>();
+ can_position_builder.add_flipper_arm_integrated_sensor_velocity(
+ flipper_arms_falcon_->GetSelectedSensorVelocity() *
+ kVelocityConversion);
+ builder.CheckOk(builder.Send(can_position_builder.Finish()));
+ }
+
+ static constexpr std::chrono::milliseconds kPeriod =
+ std::chrono::milliseconds(20);
+ // 2048 encoder counts / 100 ms to rad/sec
+ static constexpr double kVelocityConversion = (2.0 * M_PI / 2048) * 0.100;
+ aos::EventLoop *event_loop_;
+ ::aos::PhasedLoopHandler *phased_loop_handler_;
+
+ ::std::shared_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
+ flipper_arms_falcon_;
+ aos::Sender<superstructure::CANPosition> can_position_sender_;
+};
+
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
::std::unique_ptr<frc::Encoder> make_encoder(int index) {
@@ -448,7 +603,7 @@
std::make_shared<const Values>(constants::MakeValues());
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig("config.json");
+ aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
@@ -459,36 +614,52 @@
// Thread 2.
::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
- AddLoop(&pdp_fetcher_event_loop);
+ ;AddLoop(&pdp_fetcher_event_loop);
// Thread 3.
::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop, values);
- sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
- sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
+ sensor_reader.set_drivetrain_left_encoder(make_encoder(1));
+ sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
- sensor_reader.set_intake_encoder_front(make_encoder(2));
+ sensor_reader.set_intake_encoder_front(make_encoder(3));
sensor_reader.set_intake_front_absolute_pwm(
- make_unique<frc::DigitalInput>(2));
- sensor_reader.set_intake_front_potentiometer(
- make_unique<frc::AnalogInput>(2));
-
- sensor_reader.set_intake_encoder_back(make_encoder(3));
- sensor_reader.set_intake_back_absolute_pwm(
make_unique<frc::DigitalInput>(3));
- sensor_reader.set_intake_back_potentiometer(
+ sensor_reader.set_intake_front_potentiometer(
make_unique<frc::AnalogInput>(3));
- sensor_reader.set_turret_encoder(make_encoder(4));
- sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(4));
- sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(4));
+ sensor_reader.set_intake_encoder_back(make_encoder(4));
+ sensor_reader.set_intake_back_absolute_pwm(
+ make_unique<frc::DigitalInput>(4));
+ sensor_reader.set_intake_back_potentiometer(
+ make_unique<frc::AnalogInput>(4));
- sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(5));
+ sensor_reader.set_turret_encoder(make_encoder(5));
+ sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(5));
+ sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(5));
+
+ // TODO(milind): correct intake beambreak ports once set
+ sensor_reader.set_intake_beambreak_front(
+ make_unique<frc::DigitalInput>(1));
+ sensor_reader.set_intake_beambreak_back(make_unique<frc::DigitalInput>(6));
+ sensor_reader.set_turret_beambreak(make_unique<frc::DigitalInput>(7));
+
+ sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(7));
sensor_reader.set_flipper_arm_left_potentiometer(
- make_unique<frc::AnalogInput>(4));
+ make_unique<frc::AnalogInput>(0));
sensor_reader.set_flipper_arm_right_potentiometer(
- make_unique<frc::AnalogInput>(5));
+ make_unique<frc::AnalogInput>(1));
+
+ // TODO(milind): correct catapult encoder and absolute pwm ports
+ sensor_reader.set_catapult_encoder(make_encoder(2));
+ sensor_reader.set_catapult_absolute_pwm(
+ std::make_unique<frc::DigitalInput>(2));
+ sensor_reader.set_catapult_potentiometer(
+ std::make_unique<frc::AnalogInput>(2));
+
+ sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(9));
+ sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(8));
AddLoop(&sensor_reader_event_loop);
@@ -496,29 +667,39 @@
::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), false);
drivetrain_writer.set_right_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), true);
SuperstructureWriter superstructure_writer(&output_event_loop);
- superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(0));
- superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(1));
- superstructure_writer.set_catapult_falcon_2(make_unique<::frc::TalonFX>(2));
+ superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(3));
superstructure_writer.set_roller_falcon_front(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(3));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
superstructure_writer.set_roller_falcon_back(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(4));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(1));
+
+ // TODO(milind): correct port
superstructure_writer.set_transfer_roller_victor(
- make_unique<::frc::VictorSP>(2));
- superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(5));
- superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(6));
- superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(7));
+ make_unique<::frc::VictorSP>(5));
+
+ superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(2));
+ superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(4));
+ superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(8));
superstructure_writer.set_flipper_arms_falcon(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(5));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(2));
+
+ superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(9));
AddLoop(&output_event_loop);
+ // Thread 5
+ ::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ CANSensorReader can_sensor_reader(&can_sensor_reader_event_loop);
+ can_sensor_reader.set_flipper_arms_falcon(
+ superstructure_writer.flipper_arms_falcon());
+ AddLoop(&can_sensor_reader_event_loop);
+
RunLoops();
}
};
diff --git a/y2022/www/2022.png b/y2022/www/2022.png
new file mode 100644
index 0000000..68087bd
--- /dev/null
+++ b/y2022/www/2022.png
Binary files differ
diff --git a/y2022/www/BUILD b/y2022/www/BUILD
index 55cbde2..9ee56e3 100644
--- a/y2022/www/BUILD
+++ b/y2022/www/BUILD
@@ -1,3 +1,5 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+load("//tools/build_rules:js.bzl", "rollup_bundle")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
filegroup(
@@ -5,13 +7,44 @@
srcs = glob([
"**/*.html",
"**/*.css",
+ "**/*.png",
]),
visibility = ["//visibility:public"],
)
+ts_library(
+ name = "field_main",
+ srcs = [
+ "constants.ts",
+ "field_handler.ts",
+ "field_main.ts",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network:connect_ts_fbs",
+ "//aos/network:web_proxy_ts_fbs",
+ "//aos/network/www:proxy",
+ "//y2022/control_loops/superstructure:superstructure_status_ts_fbs",
+ "//y2022/localizer:localizer_output_ts_fbs",
+ "//y2022/localizer:localizer_visualization_ts_fbs",
+ "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+ ],
+)
+
+rollup_bundle(
+ name = "field_main_bundle",
+ entry_point = "field_main.ts",
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":field_main",
+ ],
+)
+
aos_downloader_dir(
name = "www_files",
srcs = [
+ ":field_main_bundle",
":files",
"//frc971/analysis:plot_index_bundle.min.js",
],
diff --git a/y2022/www/constants.ts b/y2022/www/constants.ts
new file mode 100644
index 0000000..b94d7a7
--- /dev/null
+++ b/y2022/www/constants.ts
@@ -0,0 +1,7 @@
+// Conversion constants to meters
+export const IN_TO_M = 0.0254;
+export const FT_TO_M = 0.3048;
+// Dimensions of the field in meters
+export const FIELD_WIDTH = 26 * FT_TO_M + 11.25 * IN_TO_M;
+export const FIELD_LENGTH = 52 * FT_TO_M + 5.25 * IN_TO_M;
+
diff --git a/y2022/www/field.html b/y2022/www/field.html
new file mode 100644
index 0000000..e2a1cf6
--- /dev/null
+++ b/y2022/www/field.html
@@ -0,0 +1,126 @@
+<html>
+ <head>
+ <script src="field_main_bundle.min.js" defer></script>
+ <link rel="stylesheet" href="styles.css">
+ </head>
+ <body>
+ <div id="field"> </div>
+ <div id="legend"> </div>
+ <div id="readouts">
+ <table>
+ <tr>
+ <th colspan="2">Robot State</th>
+ </tr>
+ <tr>
+ <td>X</td>
+ <td id="x"> NA </td>
+ </tr>
+ <tr>
+ <td>Y</td>
+ <td id="y"> NA </td>
+ </tr>
+ <tr>
+ <td>Theta</td>
+ <td id="theta"> NA </td>
+ </tr>
+ </table>
+
+ <table>
+ <tr>
+ <th colspan="2">Aiming</th>
+ </tr>
+ <tr>
+ <td>Shot distance</td>
+ <td id="shot_distance"> NA </td>
+ </tr>
+ <tr>
+ <td>Turret</td>
+ <td id="turret"> NA </td>
+ </tr>
+ </table>
+
+ <table>
+ <tr>
+ <th colspan="2">Catapult</th>
+ </tr>
+ <tr>
+ <td>Fire</td>
+ <td id="fire"> NA </td>
+ </tr>
+ <tr>
+ <td>Solve Time</td>
+ <td id="mpc_solve_time"> NA </td>
+ </tr>
+ <tr>
+ <td>MPC Active</td>
+ <td id="mpc_active"> NA </td>
+ </tr>
+ <tr>
+ <td>Shot Count</td>
+ <td id="shot_count"> NA </td>
+ </tr>
+ <tr>
+ <td>Position</td>
+ <td id="catapult"> NA </td>
+ </tr>
+ </table>
+
+ <table>
+ <tr>
+ <th colspan="2">Superstructure</th>
+ </tr>
+ <tr>
+ <td>State</td>
+ <td id="superstructure_state"> NA </td>
+ </tr>
+ <tr>
+ <td>Intake State</td>
+ <td id="intake_state"> NA </td>
+ </tr>
+ <tr>
+ <td>Reseating</td>
+ <td id="reseating_in_catapult"> NA </td>
+ </tr>
+ <tr>
+ <td>Flippers Open</td>
+ <td id="flippers_open"> NA </td>
+ </tr>
+ <tr>
+ <td>Climber</td>
+ <td id="climber"> NA </td>
+ </tr>
+ </table>
+
+ <table>
+ <tr>
+ <th colspan="2">Intakes</th>
+ </tr>
+ <tr>
+ <td>Front Intake</td>
+ <td id="front_intake"> NA </td>
+ </tr>
+ <tr>
+ <td>Back Intake</td>
+ <td id="back_intake"> NA </td>
+ </tr>
+ </table>
+
+ <table>
+ <tr>
+ <th colspan="2">Images</th>
+ </tr>
+ <tr>
+ <td> Images Accepted </td>
+ <td id="images_accepted"> NA </td>
+ </tr>
+ <tr>
+ <td> Images Rejected </td>
+ <td id="images_rejected"> NA </td>
+ </tr>
+ </table>
+ </div>
+ <div id="vision_readouts">
+ </div>
+ </body>
+</html>
+
diff --git a/y2022/www/field_handler.ts b/y2022/www/field_handler.ts
new file mode 100644
index 0000000..584b65e
--- /dev/null
+++ b/y2022/www/field_handler.ts
@@ -0,0 +1,458 @@
+import * as web_proxy from 'org_frc971/aos/network/web_proxy_generated';
+import {Connection} from 'org_frc971/aos/network/www/proxy';
+import * as flatbuffers_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+import * as localizer from 'org_frc971/y2022/localizer/localizer_visualization_generated';
+import * as output from 'org_frc971/y2022/localizer/localizer_output_generated';
+import * as ss from 'org_frc971/y2022/control_loops/superstructure/superstructure_status_generated'
+
+import LocalizerVisualization = localizer.frc971.controls.LocalizerVisualization;
+import LocalizerOutput = output.frc971.controls.LocalizerOutput;
+import RejectionReason = localizer.frc971.controls.RejectionReason;
+import TargetEstimateDebug = localizer.frc971.controls.TargetEstimateDebug;
+import SuperstructureStatus = ss.y2022.control_loops.superstructure.Status;
+import SuperstructureState = ss.y2022.control_loops.superstructure.SuperstructureState;
+import IntakeState = ss.y2022.control_loops.superstructure.IntakeState;
+
+import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
+
+// (0,0) is field center, +X is toward red DS
+const FIELD_SIDE_Y = FIELD_WIDTH / 2;
+const FIELD_EDGE_X = FIELD_LENGTH / 2;
+
+const ROBOT_WIDTH = 34 * IN_TO_M;
+const ROBOT_LENGTH = 36 * IN_TO_M;
+
+const PI_COLORS = ['#ff00ff', '#ffff00', '#00ffff', '#ffa500'];
+
+export class FieldHandler {
+ private canvas = document.createElement('canvas');
+ private localizerOutput: LocalizerOutput|null = null;
+ private superstructureStatus: SuperstructureStatus|null = null;
+
+ // Image information indexed by timestamp (seconds since the epoch), so that
+ // we can stop displaying images after a certain amount of time.
+ private localizerImageMatches = new Map<number, LocalizerVisualization>();
+ private outerTarget: HTMLElement =
+ (document.getElementById('outer_target') as HTMLElement);
+ private innerTarget: HTMLElement =
+ (document.getElementById('inner_target') as HTMLElement);
+ private x: HTMLElement = (document.getElementById('x') as HTMLElement);
+ private y: HTMLElement = (document.getElementById('y') as HTMLElement);
+ private theta: HTMLElement =
+ (document.getElementById('theta') as HTMLElement);
+ private shotDistance: HTMLElement =
+ (document.getElementById('shot_distance') as HTMLElement);
+ private turret: HTMLElement =
+ (document.getElementById('turret') as HTMLElement);
+ private fire: HTMLElement =
+ (document.getElementById('fire') as HTMLElement);
+ private mpcSolveTime: HTMLElement =
+ (document.getElementById('mpc_solve_time') as HTMLElement);
+ private mpcActive: HTMLElement =
+ (document.getElementById('mpc_active') as HTMLElement);
+ private shotCount: HTMLElement =
+ (document.getElementById('shot_count') as HTMLElement);
+ private catapult: HTMLElement =
+ (document.getElementById('catapult') as HTMLElement);
+ private superstructureState: HTMLElement =
+ (document.getElementById('superstructure_state') as HTMLElement);
+ private intakeState: HTMLElement =
+ (document.getElementById('intake_state') as HTMLElement);
+ private reseatingInCatapult: HTMLElement =
+ (document.getElementById('reseating_in_catapult') as HTMLElement);
+ private flippersOpen: HTMLElement =
+ (document.getElementById('flippers_open') as HTMLElement);
+ private climber: HTMLElement =
+ (document.getElementById('climber') as HTMLElement);
+ private frontIntake: HTMLElement =
+ (document.getElementById('front_intake') as HTMLElement);
+ private backIntake: HTMLElement =
+ (document.getElementById('back_intake') as HTMLElement);
+ private imagesAcceptedCounter: HTMLElement =
+ (document.getElementById('images_accepted') as HTMLElement);
+ private imagesRejectedCounter: HTMLElement =
+ (document.getElementById('images_rejected') as HTMLElement);
+ private rejectionReasonCells: HTMLElement[] = [];
+ private fieldImage: HTMLImageElement = new Image();
+
+ constructor(private readonly connection: Connection) {
+ (document.getElementById('field') as HTMLElement).appendChild(this.canvas);
+
+ this.fieldImage.src = "2022.png";
+
+ for (const value in RejectionReason) {
+ // Typescript generates an iterator that produces both numbers and
+ // strings... don't do anything on the string iterations.
+ if (isNaN(Number(value))) {
+ continue;
+ }
+ const row = document.createElement('div');
+ const nameCell = document.createElement('div');
+ nameCell.innerHTML = RejectionReason[value];
+ row.appendChild(nameCell);
+ const valueCell = document.createElement('div');
+ valueCell.innerHTML = 'NA';
+ this.rejectionReasonCells.push(valueCell);
+ row.appendChild(valueCell);
+ document.getElementById('vision_readouts').appendChild(row);
+ }
+
+ for (let ii = 0; ii < PI_COLORS.length; ++ii) {
+ const legendEntry = document.createElement('div');
+ legendEntry.style.color = PI_COLORS[ii];
+ legendEntry.innerHTML = 'PI' + (ii + 1).toString()
+ document.getElementById('legend').appendChild(legendEntry);
+ }
+
+ this.connection.addConfigHandler(() => {
+ this.connection.addHandler(
+ '/localizer', LocalizerVisualization.getFullyQualifiedName(),
+ (data) => {
+ this.handleLocalizerDebug(data);
+ });
+ this.connection.addHandler(
+ '/localizer', LocalizerOutput.getFullyQualifiedName(), (data) => {
+ this.handleLocalizerOutput(data);
+ });
+ this.connection.addHandler(
+ '/superstructure', SuperstructureStatus.getFullyQualifiedName(),
+ (data) => {
+ this.handleSuperstructureStatus(data);
+ });
+ });
+ }
+
+ private handleLocalizerDebug(data: Uint8Array): void {
+ const now = Date.now() / 1000.0;
+
+ const fbBuffer = new ByteBuffer(data);
+ this.localizerImageMatches.set(
+ now,
+ LocalizerVisualization.getRootAsLocalizerVisualization(
+ fbBuffer as unknown as flatbuffers.ByteBuffer));
+
+ const debug = this.localizerImageMatches.get(now);
+
+ if (debug.statistics()) {
+ this.imagesAcceptedCounter.innerHTML =
+ debug.statistics().totalAccepted().toString();
+ this.imagesRejectedCounter.innerHTML =
+ (debug.statistics().totalCandidates() -
+ debug.statistics().totalAccepted())
+ .toString();
+ if (debug.statistics().rejectionReasonCountLength() ==
+ this.rejectionReasonCells.length) {
+ for (let ii = 0; ii < debug.statistics().rejectionReasonCountLength();
+ ++ii) {
+ this.rejectionReasonCells[ii].innerHTML =
+ debug.statistics().rejectionReasonCount(ii).toString();
+ }
+ } else {
+ console.error('Unexpected number of rejection reasons in counter.');
+ }
+ this.imagesRejectedCounter.innerHTML =
+ (debug.statistics().totalCandidates() -
+ debug.statistics().totalAccepted())
+ .toString();
+ }
+ }
+
+ private handleLocalizerOutput(data: Uint8Array): void {
+ const fbBuffer = new ByteBuffer(data);
+ this.localizerOutput = LocalizerOutput.getRootAsLocalizerOutput(
+ fbBuffer as unknown as flatbuffers.ByteBuffer);
+ }
+
+ private handleSuperstructureStatus(data: Uint8Array): void {
+ const fbBuffer = new ByteBuffer(data);
+ this.superstructureStatus = SuperstructureStatus.getRootAsStatus(
+ fbBuffer as unknown as flatbuffers.ByteBuffer);
+ }
+
+ drawField(): void {
+ const ctx = this.canvas.getContext('2d');
+ ctx.drawImage(
+ this.fieldImage, 0, 0, this.fieldImage.width, this.fieldImage.height,
+ -FIELD_EDGE_X, -FIELD_SIDE_Y, FIELD_LENGTH, FIELD_WIDTH);
+ }
+
+ drawCamera(
+ x: number, y: number, theta: number, color: string = 'blue',
+ extendLines: boolean = true): void {
+ const ctx = this.canvas.getContext('2d');
+ ctx.save();
+ ctx.translate(x, y);
+ ctx.rotate(theta);
+ ctx.strokeStyle = color;
+ ctx.beginPath();
+ ctx.moveTo(0.5, 0.5);
+ ctx.lineTo(0, 0);
+ if (extendLines) {
+ ctx.lineTo(100.0, 0);
+ ctx.lineTo(0, 0);
+ }
+ ctx.lineTo(0.5, -0.5);
+ ctx.stroke();
+ ctx.beginPath();
+ ctx.arc(0, 0, 0.25, -Math.PI / 4, Math.PI / 4);
+ ctx.stroke();
+ ctx.restore();
+ }
+
+ drawRobot(
+ x: number, y: number, theta: number, turret: number|null,
+ color: string = 'blue', dashed: boolean = false,
+ extendLines: boolean = true): void {
+ const ctx = this.canvas.getContext('2d');
+ ctx.save();
+ ctx.translate(x, y);
+ ctx.rotate(theta);
+ ctx.strokeStyle = color;
+ ctx.lineWidth = ROBOT_WIDTH / 10.0;
+ if (dashed) {
+ ctx.setLineDash([0.05, 0.05]);
+ } else {
+ // Empty array = solid line.
+ ctx.setLineDash([]);
+ }
+ ctx.rect(-ROBOT_LENGTH / 2, -ROBOT_WIDTH / 2, ROBOT_LENGTH, ROBOT_WIDTH);
+ ctx.stroke();
+
+ // Draw line indicating which direction is forwards on the robot.
+ ctx.beginPath();
+ ctx.moveTo(0, 0);
+ if (extendLines) {
+ ctx.lineTo(1000.0, 0);
+ } else {
+ ctx.lineTo(ROBOT_LENGTH / 2.0, 0);
+ }
+ ctx.stroke();
+
+ if (turret !== null) {
+ ctx.save();
+ ctx.rotate(turret);
+ const turretRadius = ROBOT_WIDTH / 3.0;
+ ctx.strokeStyle = 'red';
+ // Draw circle for turret.
+ ctx.beginPath();
+ ctx.arc(0, 0, turretRadius, 0, 2.0 * Math.PI);
+ ctx.stroke();
+ // Draw line in circle to show forwards.
+ ctx.beginPath();
+ ctx.moveTo(0, 0);
+ if (extendLines) {
+ ctx.lineTo(1000.0, 0);
+ } else {
+ ctx.lineTo(turretRadius, 0);
+ }
+ ctx.stroke();
+ ctx.restore();
+ }
+ ctx.restore();
+ }
+
+ setZeroing(div: HTMLElement): void {
+ div.innerHTML = 'zeroing';
+ div.classList.remove('faulted');
+ div.classList.add('zeroing');
+ div.classList.remove('near');
+ }
+
+ setEstopped(div: HTMLElement): void {
+ div.innerHTML = 'estopped';
+ div.classList.add('faulted');
+ div.classList.remove('zeroing');
+ div.classList.remove('near');
+ }
+
+ setTargetValue(
+ div: HTMLElement, target: number, val: number, tolerance: number): void {
+ div.innerHTML = val.toFixed(4);
+ div.classList.remove('faulted');
+ div.classList.remove('zeroing');
+ if (Math.abs(target - val) < tolerance) {
+ div.classList.add('near');
+ } else {
+ div.classList.remove('near');
+ }
+ }
+
+ setValue(div: HTMLElement, val: number): void {
+ div.innerHTML = val.toFixed(4);
+ div.classList.remove('faulted');
+ div.classList.remove('zeroing');
+ div.classList.remove('near');
+ }
+
+ draw(): void {
+ this.reset();
+ this.drawField();
+
+ // Draw the matches with debugging information from the localizer.
+ const now = Date.now() / 1000.0;
+ for (const [time, value] of this.localizerImageMatches) {
+ const age = now - time;
+ const kRemovalAge = 2.0;
+ if (age > kRemovalAge) {
+ this.localizerImageMatches.delete(time);
+ continue;
+ }
+ const ageAlpha = (kRemovalAge - age) / kRemovalAge
+ for (let i = 0; i < value.targetsLength(); i++) {
+ const imageDebug = value.targets(i);
+ const x = imageDebug.impliedRobotX();
+ const y = imageDebug.impliedRobotY();
+ const theta = imageDebug.impliedRobotTheta();
+ const cameraX = imageDebug.cameraX();
+ const cameraY = imageDebug.cameraY();
+ const cameraTheta = imageDebug.cameraTheta();
+ const accepted = imageDebug.accepted();
+ // Make camera readings fade over time.
+ const alpha = Math.round(255 * ageAlpha).toString(16).padStart(2, '0');
+ const dashed = false;
+ const acceptedRgb = accepted ? '#00FF00' : '#FF0000';
+ const acceptedRgba = acceptedRgb + alpha;
+ const cameraRgb = PI_COLORS[imageDebug.camera()];
+ const cameraRgba = cameraRgb + alpha;
+ this.drawRobot(x, y, theta, null, acceptedRgba, dashed, false);
+ this.drawCamera(cameraX, cameraY, cameraTheta, cameraRgba, false);
+ }
+ }
+ if (this.superstructureStatus) {
+ this.shotDistance.innerHTML = this.superstructureStatus.aimer() ?
+ this.superstructureStatus.aimer().shotDistance().toFixed(2) :
+ 'NA';
+
+ this.fire.innerHTML = this.superstructureStatus.fire() ? 'true' : 'false';
+
+ this.mpcActive.innerHTML =
+ this.superstructureStatus.mpcActive() ? 'true' : 'false';
+
+ this.setValue(this.mpcSolveTime, this.superstructureStatus.solveTime());
+
+ this.shotCount.innerHTML =
+ this.superstructureStatus.shotCount().toFixed(0);
+
+ this.superstructureState.innerHTML =
+ SuperstructureState[this.superstructureStatus.state()];
+
+ this.intakeState.innerHTML =
+ IntakeState[this.superstructureStatus.intakeState()];
+
+ this.reseatingInCatapult.innerHTML =
+ this.superstructureStatus.reseatingInCatapult() ? 'true' : 'false';
+
+ this.flippersOpen.innerHTML =
+ this.superstructureStatus.flippersOpen() ? 'true' : 'false';
+
+ if (!this.superstructureStatus.catapult() ||
+ !this.superstructureStatus.catapult().zeroed()) {
+ this.setZeroing(this.catapult);
+ } else if (this.superstructureStatus.catapult().estopped()) {
+ this.setEstopped(this.catapult);
+ } else {
+ this.setTargetValue(
+ this.catapult,
+ this.superstructureStatus.catapult().unprofiledGoalPosition(),
+ this.superstructureStatus.catapult().estimatorState().position(),
+ 1e-3);
+ }
+
+ if (!this.superstructureStatus.climber() ||
+ !this.superstructureStatus.climber().zeroed()) {
+ this.setZeroing(this.climber);
+ } else if (this.superstructureStatus.climber().estopped()) {
+ this.setEstopped(this.climber);
+ } else {
+ this.setTargetValue(
+ this.climber,
+ this.superstructureStatus.climber().unprofiledGoalPosition(),
+ this.superstructureStatus.climber().estimatorState().position(),
+ 1e-3);
+ }
+
+
+
+ if (!this.superstructureStatus.turret() ||
+ !this.superstructureStatus.turret().zeroed()) {
+ this.setZeroing(this.turret);
+ } else if (this.superstructureStatus.turret().estopped()) {
+ this.setEstopped(this.turret);
+ } else {
+ this.setTargetValue(
+ this.turret,
+ this.superstructureStatus.turret().unprofiledGoalPosition(),
+ this.superstructureStatus.turret().estimatorState().position(),
+ 1e-3);
+ }
+
+ if (!this.superstructureStatus.intakeBack() ||
+ !this.superstructureStatus.intakeBack().zeroed()) {
+ this.setZeroing(this.backIntake);
+ } else if (this.superstructureStatus.intakeBack().estopped()) {
+ this.setEstopped(this.backIntake);
+ } else {
+ this.setValue(
+ this.backIntake,
+ this.superstructureStatus.intakeBack().estimatorState().position());
+ }
+
+ if (!this.superstructureStatus.intakeFront() ||
+ !this.superstructureStatus.intakeFront().zeroed()) {
+ this.setZeroing(this.frontIntake);
+ } else if (this.superstructureStatus.intakeFront().estopped()) {
+ this.setEstopped(this.frontIntake);
+ } else {
+ this.setValue(
+ this.frontIntake,
+ this.superstructureStatus.intakeFront()
+ .estimatorState()
+ .position());
+ }
+ }
+
+ if (this.localizerOutput) {
+ if (!this.localizerOutput.zeroed()) {
+ this.setZeroing(this.x);
+ this.setZeroing(this.y);
+ this.setZeroing(this.theta);
+ } else {
+ this.setValue(this.x, this.localizerOutput.x());
+ this.setValue(this.y, this.localizerOutput.y());
+ this.setValue(this.theta, this.localizerOutput.theta());
+ }
+
+ this.drawRobot(
+ this.localizerOutput.x(), this.localizerOutput.y(),
+ this.localizerOutput.theta(),
+ this.superstructureStatus ?
+ this.superstructureStatus.turret().position() :
+ null);
+ }
+
+ window.requestAnimationFrame(() => this.draw());
+ }
+
+ reset(): void {
+ const ctx = this.canvas.getContext('2d');
+ ctx.setTransform(1, 0, 0, 1, 0, 0);
+ const size = window.innerHeight * 0.9;
+ ctx.canvas.height = size;
+ const width = size / 2 + 20;
+ ctx.canvas.width = width;
+ ctx.clearRect(0, 0, size, width);
+
+ // Translate to center of display.
+ ctx.translate(width / 2, size / 2);
+ // Coordinate system is:
+ // x -> forward.
+ // y -> to the left.
+ ctx.rotate(-Math.PI / 2);
+ ctx.scale(1, -1);
+
+ const M_TO_PX = (size - 10) / FIELD_LENGTH;
+ ctx.scale(M_TO_PX, M_TO_PX);
+ ctx.lineWidth = 1 / M_TO_PX;
+ }
+}
diff --git a/y2022/www/field_main.ts b/y2022/www/field_main.ts
new file mode 100644
index 0000000..7e2e392
--- /dev/null
+++ b/y2022/www/field_main.ts
@@ -0,0 +1,12 @@
+import {Connection} from 'org_frc971/aos/network/www/proxy';
+
+import {FieldHandler} from './field_handler';
+
+const conn = new Connection();
+
+conn.connect();
+
+const fieldHandler = new FieldHandler(conn);
+
+fieldHandler.draw();
+
diff --git a/y2022/www/index.html b/y2022/www/index.html
index 70442f9..e4e185e 100644
--- a/y2022/www/index.html
+++ b/y2022/www/index.html
@@ -1,5 +1,6 @@
<html>
<body>
+ <a href="field.html">Field Visualization</a><br>
<a href="plotter.html">Plots</a>
</body>
</html>
diff --git a/y2022/y2022_imu.json b/y2022/y2022_imu.json
index 9478123..3d97c3c 100644
--- a/y2022/y2022_imu.json
+++ b/y2022/y2022_imu.json
@@ -78,21 +78,43 @@
"roborio",
"logger"
],
- "max_size": 200,
+ "max_size": 400,
"destination_nodes": [
{
"name": "roborio",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
"time_to_live": 5000000
},
{
"name": "logger",
"priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
"time_to_live": 5000000
}
]
},
{
+ "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
"name": "/logger/aos",
"type": "aos.starter.StarterRpc",
"source_node": "logger",
@@ -171,6 +193,10 @@
"name": "/roborio/aos",
"type": "aos.starter.Status",
"source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "imu",
@@ -200,7 +226,7 @@
"max_size": 2000,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "logger"
],
"destination_nodes": [
{
@@ -225,13 +251,45 @@
},
{
"name": "/localizer",
+ "type": "frc971.controls.LocalizerVisualization",
+ "source_node": "imu",
+ "frequency": 200,
+ "max_size": 2000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerVisualization",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/localizer",
"type": "frc971.controls.LocalizerOutput",
"source_node": "imu",
"frequency": 200,
"max_size": 200,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "roborio",
+ "logger"
],
"destination_nodes": [
{
@@ -315,7 +373,14 @@
},
{
"name": "localizer",
- "executable_name": "localizer",
+ "executable_name": "localizer_main",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "imu",
+ "executable_name": "imu_main",
"nodes": [
"imu"
]
@@ -330,9 +395,9 @@
{
"name": "localizer_logger",
"executable_name": "logger_main",
- "args": ["--logging_folder", "", "--snappy_compress"],
+ "args": ["--snappy_compress"],
"nodes": [
- "logger"
+ "imu"
]
},
{
@@ -359,10 +424,10 @@
"name": "imu",
"hostname": "imu",
"hostnames": [
- "pi-971-7",
- "pi-7971-7",
- "pi-8971-7",
- "pi-9971-7"
+ "pi-971-5",
+ "pi-7971-5",
+ "pi-8971-5",
+ "pi-9971-5"
],
"port": 9971
},
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index 6b879cf..2407b9e 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -189,6 +189,11 @@
"frequency": 15,
"num_senders": 2,
"max_size": 400,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "imu"
+ ],
"destination_nodes": [
{
"name": "pi1",
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 07835a0..7f49e41 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -75,7 +75,8 @@
"num_senders": 2,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "roborio",
+ "imu"
],
"max_size": 200,
"destination_nodes": [
@@ -87,10 +88,56 @@
"timestamp_logger_nodes": [
"roborio"
]
+ },
+ {
+ "name": "imu",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
}
]
},
{
+ "name": "/pi{{ NUM }}/aos/remote_timestamps/roborio/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "pi{{ NUM }}",
+ "max_size": 208
+ },
+ {
+ "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "pi{{ NUM }}",
+ "max_size": 208
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "imu",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/pi{{ NUM }}/imu/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "imu",
+ "max_size": 208
+ },
+ {
"name": "/pi{{ NUM }}/camera",
"type": "frc971.vision.CameraImage",
"source_node": "pi{{ NUM }}",
@@ -111,7 +158,46 @@
"source_node": "pi{{ NUM }}",
"frequency": 25,
"num_senders": 2,
- "max_size": 20000
+ "max_size": 20000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu",
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 4,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "pi{{ NUM }}"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 4,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "pi{{ NUM }}"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "pi{{ NUM }}",
+ "max_size": 208
+ },
+ {
+ "name": "/pi{{ NUM }}/aos/remote_timestamps/logger/pi{{ NUM }}/camera/y2022-vision-TargetEstimate",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "pi{{ NUM }}",
+ "max_size": 208
},
{
"name": "/logger/aos",
@@ -280,6 +366,9 @@
"name": "logger"
},
{
+ "name": "imu"
+ },
+ {
"name": "roborio"
}
]
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index 4433c72..b16f0cb 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -144,6 +144,10 @@
"frequency": 15,
"num_senders": 2,
"max_size": 512,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "pi1",
@@ -234,6 +238,20 @@
"max_size": 448
},
{
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.CANPosition",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 72
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.input.joysticks.Setpoint",
+ "source_node": "roborio",
+ "num_senders": 2
+ },
+ {
"name": "/drivetrain",
"type": "frc971.sensors.GyroReading",
"source_node": "roborio",
diff --git a/yarn.lock b/yarn.lock
index 207757e..e76092f 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2,53 +2,53 @@
# yarn lockfile v1
-"@angular-devkit/architect@0.1301.4":
- version "0.1301.4"
- resolved "https://registry.yarnpkg.com/@angular-devkit/architect/-/architect-0.1301.4.tgz#2fc51bcae0dcb581c8be401e2fde7bbd10b43076"
- integrity sha512-p6G8CEMnE+gYwxRyEttj3QGsuNJ3Kusi7iwBIzWyf2RpJSdGzXdwUEiRGg6iS0YHFr06/ZFfAWfnM2DQvNm4TA==
+"@angular-devkit/architect@0.1302.0":
+ version "0.1302.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/architect/-/architect-0.1302.0.tgz#31a2e6f0c744c5076c85b6db71e31665d7daef55"
+ integrity sha512-1CmVYvxyfvK/khTcDJwwXibm/z4upM2j5SDpwuIdaLx21E4oQPmHn+U/quT/jE5VI1zfZi2vfvIaSXn9XQzMiQ==
dependencies:
- "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
rxjs "6.6.7"
-"@angular-devkit/core@13.1.4":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular-devkit/core/-/core-13.1.4.tgz#b5b6ddd674ae351f83beff2e4a0d702096bdfd47"
- integrity sha512-225Gjy4iVxh5Jo9njJnaG75M/Dt95UW+dEPCGWKV5E/++7UUlXlo9sNWq8x2vJm2nhtsPkpnXNOt4pW1mIDwqQ==
+"@angular-devkit/core@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/core/-/core-13.2.0.tgz#d7ee99ba40af70193a436a27ee1591a1ec754cd9"
+ integrity sha512-5+aV2W2QUazySMKusBuT2pi2qsXWpTHJG2x62mKGAy0lxzwG8l3if+WP3Uh85SQS+zqlHeKxEbmm9zNn8ZrzFg==
dependencies:
- ajv "8.8.2"
+ ajv "8.9.0"
ajv-formats "2.1.1"
fast-json-stable-stringify "2.1.0"
magic-string "0.25.7"
rxjs "6.6.7"
source-map "0.7.3"
-"@angular-devkit/schematics@13.1.4":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular-devkit/schematics/-/schematics-13.1.4.tgz#e8ed817887aa51268dec27d8d6188e2f3f10742a"
- integrity sha512-yBa7IeC4cLZ7s137NAQD+sMB5c6SI6UJ6xYxl6J/CvV2RLGOZZA93i4GuRALi5s82eLi1fH+HEL/gvf3JQynzQ==
+"@angular-devkit/schematics@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/schematics/-/schematics-13.2.0.tgz#656a5491be9f25e08faffd410c6ad9a75a82a8a2"
+ integrity sha512-EwoqDqLJH5YpWiLuQJwonnJu2bi4xQlyKXyUTuXsQ4gIsAPrg+ijyAe+F/brAtDLBj0sU7JHoC0U1yx2pZ7f1A==
dependencies:
- "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
jsonc-parser "3.0.0"
magic-string "0.25.7"
ora "5.4.1"
rxjs "6.6.7"
-"@angular/animations@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/animations/-/animations-13.1.3.tgz#2da6ad99602bfb450624a7499d6f81366c3a4519"
- integrity sha512-OwsVQsNHubIgRcxnjti4CU3QJnqd7Z2b+2iu3M349Oxyqxz4DNCqKXalDuJZt/b0yNfirvYO3kCgBfj4PF43QQ==
+"@angular/animations@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/animations/-/animations-13.2.0.tgz#001983463ea5a1b0ffc8e86b0cd5efeb3acb3a4d"
+ integrity sha512-zLmNxkfxDQShJ97V9gTyQdlEbCD/zDUdpHXKlUViBIbe2M13FLGV3e2D+x9jGr/PRzFe0cukOnYxNEHJqqjqPA==
dependencies:
tslib "^2.3.0"
-"@angular/cli@latest":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular/cli/-/cli-13.1.4.tgz#34e6e87d1c6950408167c41293cf2cd5d1e00a2e"
- integrity sha512-PP9xpvDDCHhLTIZjewQQzzf+JbpF2s5mXTW2AgIL/E53ukaVvXwwjFMt9dQvECwut/LDpThoc3OfqcGrmwtqnA==
+"@angular/cli@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/cli/-/cli-13.2.0.tgz#550841330a4eead75466f423c68a57be3640ec53"
+ integrity sha512-xrtClCucVSBwELG6zgaHrjC71p1rZOkwjF/HewnOFNjyjXSbWIO2y5d/6O2wxmNASoeStpiEU0zPpwDGhXiYpQ==
dependencies:
- "@angular-devkit/architect" "0.1301.4"
- "@angular-devkit/core" "13.1.4"
- "@angular-devkit/schematics" "13.1.4"
- "@schematics/angular" "13.1.4"
+ "@angular-devkit/architect" "0.1302.0"
+ "@angular-devkit/core" "13.2.0"
+ "@angular-devkit/schematics" "13.2.0"
+ "@schematics/angular" "13.2.0"
"@yarnpkg/lockfile" "1.1.0"
ansi-colors "4.1.1"
debug "4.3.3"
@@ -59,23 +59,23 @@
npm-pick-manifest "6.1.1"
open "8.4.0"
ora "5.4.1"
- pacote "12.0.2"
- resolve "1.20.0"
+ pacote "12.0.3"
+ resolve "1.22.0"
semver "7.3.5"
symbol-observable "4.0.0"
uuid "8.3.2"
-"@angular/common@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/common/-/common-13.1.3.tgz#4c80f45cfd00a17543559c5fbebe0a7a7cf403ed"
- integrity sha512-8qf5syeXUogf3+GSu6IRJjrk46UKh9L0QuLx+OSIl/df0y1ewx7e28q3BAUEEnOnKrLzpPNxWs2iwModc4KYfg==
+"@angular/common@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/common/-/common-13.2.0.tgz#d5e311c14c90867d5da7d1d5f539813e338a7d5f"
+ integrity sha512-zyq3kscl5BoY+xxl4YOfbKP72xwzx/vKLE+2ougjPu2spm5KIllIAo/VrxVqIBrsGWT/4gs9pvIOqOdOfufxUA==
dependencies:
tslib "^2.3.0"
-"@angular/compiler-cli@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/compiler-cli/-/compiler-cli-13.1.3.tgz#0269370350e928f22f3150523f95bc490a1e7a7a"
- integrity sha512-ALURaJATc54DzPuiZBvALf/alEp1wr7Hjmw4FuMn2cU7p8lwKkra1Dz5dAZOxh7jAcD1GJfrK/+Sb7A3cuuKjQ==
+"@angular/compiler-cli@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/compiler-cli/-/compiler-cli-13.2.0.tgz#6eee613e86ec028a4a2b88a9dce45512eef7e862"
+ integrity sha512-IDX0X3GXjhUzd/cFyNZBG3eVqh6Y2W7MYvH9tXbZHcJ6vH9RkN2+zh/XQautVWy4EP33oQoDlsydfYKqbHr9TA==
dependencies:
"@babel/core" "^7.8.6"
canonical-path "1.0.0"
@@ -89,24 +89,31 @@
tslib "^2.3.0"
yargs "^17.2.1"
-"@angular/compiler@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/compiler/-/compiler-13.1.3.tgz#fc33b06046599ecc943f55049e0a121d5ab46d4f"
- integrity sha512-dbHs/Oa+Dn+7i0jKtlVDE0lD0DaUC+lVzAcTK/zS37LrckrTMn1CA+z9bZ4gpHig9RU0wgV3YORxv0wokyiB8A==
+"@angular/compiler@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/compiler/-/compiler-13.2.0.tgz#4112970f2bf6e347511de1e32459d717141750e3"
+ integrity sha512-TTA+Mn31vAwI4qiaH0h8DqNV3DWgZF+Q9G8Qqbw17k8Jf+B5CdLkMYBF8wbGegIdsEfo+6DebCp71W+aJxuSlw==
dependencies:
tslib "^2.3.0"
-"@angular/core@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/core/-/core-13.1.3.tgz#4afd71f674f9ead1aada81315f84846cdba10fa4"
- integrity sha512-rvCnIAonRx7VnH2Mv9lQR+UYdlFQQetZCjPw8QOswOspEpHpEPDrp1HxDIqJnHxNqW0n8J3Zev/VgQYr0481UA==
+"@angular/core@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/core/-/core-13.2.0.tgz#8db7b6f56eb2f211b72d943582061b247f39fe7f"
+ integrity sha512-mWRWbbZ6k00AicA/GrxmWKaw8upo77sRQz4tSYKpwVKt2TtCeoW8OkdYUpnmuVjxpF0bD6PtVc0e1fD6es/ElA==
dependencies:
tslib "^2.3.0"
-"@angular/platform-browser@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/platform-browser/-/platform-browser-13.1.3.tgz#69d90b10e89e11f14f5798d1b6fd788255a6114e"
- integrity sha512-mnWjdr9UTNZvGk8jPI6O9FIhun8Q/0ghy3dg3I9AfRzEG4vPiIZW1ICksTiB+jV9etzhKpidtmg71bwgeXax1A==
+"@angular/forms@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/forms/-/forms-13.2.0.tgz#67d505c09175d1ba809be721303316db7b0c60d4"
+ integrity sha512-aduXLuvqynDRRdb316yY1O5rdMQ2DKeNxu5P2FG1nkLQ3hqZvpiaUMhFyXvKDG3s0rV5e/PZs1cpg0Aqdfwevw==
+ dependencies:
+ tslib "^2.3.0"
+
+"@angular/platform-browser@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/platform-browser/-/platform-browser-13.2.0.tgz#d8a309c231dec646ab1dad28240466a00151b54b"
+ integrity sha512-FB9eKdRqpjopTFbea5JXnqSPFR7DZD4nepOSGnYttV9cVj4pABqx2A6FJCnyvPPUSTamODye/pNkGmzP2P1gcw==
dependencies:
tslib "^2.3.0"
@@ -351,26 +358,31 @@
"@babel/helper-validator-identifier" "^7.16.7"
to-fast-properties "^2.0.0"
-"@bazel/concatjs@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/concatjs/-/concatjs-4.6.1.tgz#c40abc3fbe362cbad1e3383c4e78b58d1f4c8e13"
- integrity sha512-eI79oS1F8vK9kw8ttg/zeQYyOiN9FfhJjYyammkc3q4WlNs3Xm717Cp/CquSwPyFh022mB00Tib4gHJ7zp+VpA==
+"@bazel/concatjs@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/concatjs/-/concatjs-4.4.6.tgz#842e4472f5d766a610a93ecc1315dd89a17f0cd3"
+ integrity sha512-2qt6M9G5S3gPTTB/VG8KwhTtv5w9ZqedFvOQS7yBbHHyV4UEWSxijhqHinpbJs0iKOWRbsDGE+jtRdgq8Vu+ZQ==
dependencies:
protobufjs "6.8.8"
source-map-support "0.5.9"
tsutils "3.21.0"
-"@bazel/rollup@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/rollup/-/rollup-4.6.1.tgz#7e5054b1b43c1052bdd8824d9f1a11a410d540e2"
- integrity sha512-8a2halG0dnzjs0BgGiHOM47LVCotGW0I9lSWLdwrTxTNOp8fEdbZ8C7TMHFE+8Zc3Z5oerqR8uvIpMarOJQumQ==
- dependencies:
- "@bazel/worker" "4.6.1"
+"@bazel/protractor@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/protractor/-/protractor-4.4.6.tgz#2ed9c3780caf741bbe6e6947bcb84635fe0aa2a1"
+ integrity sha512-jLg2FDf7pCx87P56+HFEdXmcACpHJiGvePnVhKohLs0QOj+SEi1hDz4YgUsTBmcxZOEftI/v0zmXwgi9FFZ8QA==
-"@bazel/terser@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.6.1.tgz#a3f70672cef7b9383b42930691d6fc8be4b8d993"
- integrity sha512-LOXNSLCscyiNDxhLEgIL+Unj7UQpH6s+IkujizRpEyMrVVrhun5do972ab4TdqCXi9rxQKBBkgj8EL43gMimwg==
+"@bazel/rollup@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/rollup/-/rollup-4.4.6.tgz#936d34c9c8159d42f84f1ac3c9ebb1bed27f691a"
+ integrity sha512-VujfM6QGuNpQZVzOf2nfAi3Xoi4EdA9nXXy6Gq4WiSaDPbgZrlXl/4Db+Hb6Nej5uvWqqppgvigCPHcWX9yM/w==
+ dependencies:
+ "@bazel/worker" "4.4.6"
+
+"@bazel/terser@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.4.6.tgz#7e1579078ab604a0b53135f43086c0a060c83804"
+ integrity sha512-mJKxI3Vinj5kPEXR+XZXch11T18D7nHBle4+pcVmh675xlXRVTTvptYf7Qm0x9FMdjq4D6d1gJOeyxjz8YKaIg==
"@bazel/typescript@4.4.6":
version "4.4.6"
@@ -390,13 +402,6 @@
dependencies:
google-protobuf "^3.6.1"
-"@bazel/worker@4.6.1":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/worker/-/worker-4.6.1.tgz#96925f5819344225d4fe40ffa630a3c5f4847a0b"
- integrity sha512-D6TsHxGSljmlLoz8FXL1+ISh8XnDuRkBpT6Mz0wD62eWajUZASTfX9I4HNiLNbsWY4Omc7nKXI+j4R8/BLciFg==
- dependencies:
- google-protobuf "^3.6.1"
-
"@gar/promisify@^1.0.1":
version "1.1.2"
resolved "https://registry.yarnpkg.com/@gar/promisify/-/promisify-1.1.2.tgz#30aa825f11d438671d585bd44e7fd564535fc210"
@@ -520,7 +525,7 @@
resolved "https://registry.yarnpkg.com/@protobufjs/utf8/-/utf8-1.1.0.tgz#a777360b5b39a1a2e5106f8e858f2fd2d060c570"
integrity sha1-p3c2C1s5oaLlEG+OhY8v0tBgxXA=
-"@rollup/plugin-node-resolve@latest":
+"@rollup/plugin-node-resolve@13.1.3":
version "13.1.3"
resolved "https://registry.yarnpkg.com/@rollup/plugin-node-resolve/-/plugin-node-resolve-13.1.3.tgz#2ed277fb3ad98745424c1d2ba152484508a92d79"
integrity sha512-BdxNk+LtmElRo5d06MGY4zoepyrXX1tkzX2hrnPEZ53k78GuOMWLqmJDGIIOPwVRIFZrLQOo+Yr6KtCuLIA0AQ==
@@ -541,13 +546,13 @@
estree-walker "^1.0.1"
picomatch "^2.2.2"
-"@schematics/angular@13.1.4":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@schematics/angular/-/angular-13.1.4.tgz#8b8c9ad40403c485bae9adeb51649711651189d2"
- integrity sha512-P1YsHn1LLAmdpB9X2TBuUgrvEW/KaoBbHr8ifYO8/uQEXyeiIF+So8h/dnegkYkdsr3OwQ2X/j3UF6/+HS0odg==
+"@schematics/angular@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@schematics/angular/-/angular-13.2.0.tgz#fee1ef0810d16d7090822233e6e6e01a91a04a2c"
+ integrity sha512-DlUJ+ix9u/wz7IWc82dix5xsDGu0nztZ6Litrv+EsFDRYc95IFxTWuNwwjL2eRkI2KLIk79wmO7xhlUwrUyNlg==
dependencies:
- "@angular-devkit/core" "13.1.4"
- "@angular-devkit/schematics" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
+ "@angular-devkit/schematics" "13.2.0"
jsonc-parser "3.0.0"
"@socket.io/base64-arraybuffer@~1.0.2":
@@ -560,6 +565,11 @@
resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-1.1.2.tgz#ccb91445360179a04e7fe6aff78c00ffc1eeaf82"
integrity sha512-RbzJvlNzmRq5c3O09UipeuXno4tA1FE6ikOjxZK0tuxVv3412l64l5t1W5pj4+rJq9vpkm/kwiR07aZXnsKPxw==
+"@tootallnate/once@2":
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-2.0.0.tgz#f544a148d3ab35801c1f633a7441fd87c2e484bf"
+ integrity sha512-XCuKFP5PS55gnMVu3dty8KPatLqUoy/ZYzDzAGCQ8JNFCkLXzmI7vNHCR+XpbZaMWQK/vQubr7PkYq8g470J/A==
+
"@types/component-emitter@^1.2.10":
version "1.2.11"
resolved "https://registry.yarnpkg.com/@types/component-emitter/-/component-emitter-1.2.11.tgz#50d47d42b347253817a39709fef03ce66a108506"
@@ -580,12 +590,12 @@
resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
integrity sha512-EYNwp3bU+98cpU4lAWYYL7Zz+2gryWH1qbdDTidVd6hkiR6weksdbMadyXKXNPEkQFhXM+hVO9ZygomHXp+AIw==
-"@types/flatbuffers@latest":
+"@types/flatbuffers@1.10.0":
version "1.10.0"
resolved "https://registry.yarnpkg.com/@types/flatbuffers/-/flatbuffers-1.10.0.tgz#aa74e30ffdc86445f2f060e1808fc9d56b5603ba"
integrity sha512-7btbphLrKvo5yl/5CC2OCxUSMx1wV1wvGT1qDXkSt7yi00/YW7E8k6qzXqJHsp+WU0eoG7r6MTQQXI9lIvd0qA==
-"@types/jasmine@latest":
+"@types/jasmine@3.10.3":
version "3.10.3"
resolved "https://registry.yarnpkg.com/@types/jasmine/-/jasmine-3.10.3.tgz#a89798b3d5a8bd23ca56e855a9aee3e5a93bdaaa"
integrity sha512-SWyMrjgdAUHNQmutvDcKablrJhkDLy4wunTme8oYLjKp41GnHGxMRXr2MQMvy/qy8H3LdzwQk9gH4hZ6T++H8g==
@@ -600,6 +610,11 @@
resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.8.tgz#50d680c8a8a78fe30abe6906453b21ad8ab0ad7b"
integrity sha512-YofkM6fGv4gDJq78g4j0mMuGMkZVxZDgtU0JRdx6FgiJDG+0fY0GKVolOV8WqVmEhLCXkQRjwDdKyPxJp/uucg==
+"@types/node@17.0.21":
+ version "17.0.21"
+ resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.21.tgz#864b987c0c68d07b4345845c3e63b75edd143644"
+ integrity sha512-DBZCJbhII3r90XbQxI8Y9IjjiiOGlZ0Hr32omXIZvwwZ7p4DMMXGrKXVyPfuoBOri9XNtL0UK69jYIBIsRX3QQ==
+
"@types/node@>=10.0.0":
version "17.0.10"
resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.10.tgz#616f16e9d3a2a3d618136b1be244315d95bd7cab"
@@ -610,10 +625,10 @@
resolved "https://registry.yarnpkg.com/@types/node/-/node-10.14.18.tgz#b7d45fc950e6ffd7edc685e890d13aa7b8535dce"
integrity sha512-ryO3Q3++yZC/+b8j8BdKd/dn9JlzlHBPdm80656xwYUdmPkpTGTjkAdt6BByiNupGPE8w0FhBgvYy/fX9hRNGQ==
-"@types/node@latest":
- version "17.0.12"
- resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.12.tgz#f7aa331b27f08244888c47b7df126184bc2339c5"
- integrity sha512-4YpbAsnJXWYK/fpTVFlMIcUIho2AYCi4wg5aNPrG1ng7fn/1/RZfCIpRCiBX+12RVa34RluilnvCqD+g3KiSiA==
+"@types/q@^0.0.32":
+ version "0.0.32"
+ resolved "https://registry.yarnpkg.com/@types/q/-/q-0.0.32.tgz#bd284e57c84f1325da702babfc82a5328190c0c5"
+ integrity sha1-vShOV8hPEyXacCur/IKlMoGQwMU=
"@types/resolve@1.17.1":
version "1.17.1"
@@ -622,6 +637,11 @@
dependencies:
"@types/node" "*"
+"@types/selenium-webdriver@^3.0.0":
+ version "3.0.19"
+ resolved "https://registry.yarnpkg.com/@types/selenium-webdriver/-/selenium-webdriver-3.0.19.tgz#28ecede76f15b13553b4e86074d4cf9a0bbe49c4"
+ integrity sha512-OFUilxQg+rWL2FMxtmIgCkUDlJB6pskkpvmew7yeXfzzsOBb5rc+y2+DjHm+r3r1ZPPcJefK3DveNSYWGiy68g==
+
"@yarnpkg/lockfile@1.1.0":
version "1.1.0"
resolved "https://registry.yarnpkg.com/@yarnpkg/lockfile/-/lockfile-1.1.0.tgz#e77a97fbd345b76d83245edcd17d393b1b41fb31"
@@ -640,6 +660,11 @@
mime-types "~2.1.24"
negotiator "0.6.2"
+adm-zip@^0.4.9:
+ version "0.4.16"
+ resolved "https://registry.yarnpkg.com/adm-zip/-/adm-zip-0.4.16.tgz#cf4c508fdffab02c269cbc7f471a875f05570365"
+ integrity sha512-TFi4HBKSGfIKsK5YCkKaaFG2m4PEDyViZmEwof3MTIgzimHLto6muaHVpbrljdIvIrFZzEq/p4nafOeLcYegrg==
+
agent-base@6, agent-base@^6.0.2:
version "6.0.2"
resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-6.0.2.tgz#49fff58577cfee3f37176feab4c22e00f86d7f77"
@@ -647,6 +672,13 @@
dependencies:
debug "4"
+agent-base@^4.3.0:
+ version "4.3.0"
+ resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-4.3.0.tgz#8165f01c436009bccad0b1d122f05ed770efc6ee"
+ integrity sha512-salcGninV0nPrwpGNn4VTXBb1SOuXQBiqbrNXoeizJsHrsL6ERFM2Ne3JUSBWRE6aeNJI2ROP/WEEIDUiDe3cg==
+ dependencies:
+ es6-promisify "^5.0.0"
+
agentkeepalive@^4.1.3:
version "4.2.0"
resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.0.tgz#616ce94ccb41d1a39a45d203d8076fe98713062d"
@@ -656,6 +688,15 @@
depd "^1.1.2"
humanize-ms "^1.2.1"
+agentkeepalive@^4.2.1:
+ version "4.2.1"
+ resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.1.tgz#a7975cbb9f83b367f06c90cc51ff28fe7d499717"
+ integrity sha512-Zn4cw2NEqd+9fiSVWMscnjyQ1a8Yfoc5oBajLeo5w+YBHgDUcEBY2hS4YpTz6iN5f/2zQiktcuM6tS8x1p9dpA==
+ dependencies:
+ debug "^4.1.0"
+ depd "^1.1.2"
+ humanize-ms "^1.2.1"
+
aggregate-error@^3.0.0:
version "3.1.0"
resolved "https://registry.yarnpkg.com/aggregate-error/-/aggregate-error-3.1.0.tgz#92670ff50f5359bdb7a3e0d40d0ec30c5737687a"
@@ -671,17 +712,7 @@
dependencies:
ajv "^8.0.0"
-ajv@8.8.2:
- version "8.8.2"
- resolved "https://registry.yarnpkg.com/ajv/-/ajv-8.8.2.tgz#01b4fef2007a28bf75f0b7fc009f62679de4abbb"
- integrity sha512-x9VuX+R/jcFj1DHo/fCp99esgGDWiHENrKxaCENuCxpoMCmAt/COCGVDwA7kleEpEzJjDnvh3yGoOuLu0Dtllw==
- dependencies:
- fast-deep-equal "^3.1.1"
- json-schema-traverse "^1.0.0"
- require-from-string "^2.0.2"
- uri-js "^4.2.2"
-
-ajv@^8.0.0:
+ajv@8.9.0, ajv@^8.0.0:
version "8.9.0"
resolved "https://registry.yarnpkg.com/ajv/-/ajv-8.9.0.tgz#738019146638824dea25edcf299dcba1b0e7eb18"
integrity sha512-qOKJyNj/h+OWx7s5DePL6Zu1KeM9jPZhwBqs+7DzP6bGOvqzVCSf0xueYmVuaC/oQ/VtS2zLMLHdQFbkka+XDQ==
@@ -691,6 +722,16 @@
require-from-string "^2.0.2"
uri-js "^4.2.2"
+ajv@^6.12.3:
+ version "6.12.6"
+ resolved "https://registry.yarnpkg.com/ajv/-/ajv-6.12.6.tgz#baf5a62e802b07d977034586f8c3baf5adf26df4"
+ integrity sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==
+ dependencies:
+ fast-deep-equal "^3.1.1"
+ fast-json-stable-stringify "^2.0.0"
+ json-schema-traverse "^0.4.1"
+ uri-js "^4.2.2"
+
ansi-colors@4.1.1:
version "4.1.1"
resolved "https://registry.yarnpkg.com/ansi-colors/-/ansi-colors-4.1.1.tgz#cbb9ae256bf750af1eab344f229aa27fe94ba348"
@@ -703,11 +744,21 @@
dependencies:
type-fest "^0.21.3"
+ansi-regex@^2.0.0:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-2.1.1.tgz#c3b33ab5ee360d86e0e628f0468ae7ef27d654df"
+ integrity sha1-w7M6te42DYbg5ijwRorn7yfWVN8=
+
ansi-regex@^5.0.1:
version "5.0.1"
resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-5.0.1.tgz#082cb2c89c9fe8659a311a53bd6a4dc5301db304"
integrity sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==
+ansi-styles@^2.2.1:
+ version "2.2.1"
+ resolved "https://registry.yarnpkg.com/ansi-styles/-/ansi-styles-2.2.1.tgz#b432dd3358b634cf75e1e4664368240533c1ddbe"
+ integrity sha1-tDLdM1i2NM914eRmQ2gkBTPB3b4=
+
ansi-styles@^3.2.1:
version "3.2.1"
resolved "https://registry.yarnpkg.com/ansi-styles/-/ansi-styles-3.2.1.tgz#41fbb20243e50b12be0f04b8dedbf07520ce841d"
@@ -743,6 +794,50 @@
delegates "^1.0.0"
readable-stream "^3.6.0"
+array-union@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/array-union/-/array-union-1.0.2.tgz#9a34410e4f4e3da23dea375be5be70f24778ec39"
+ integrity sha1-mjRBDk9OPaI96jdb5b5w8kd47Dk=
+ dependencies:
+ array-uniq "^1.0.1"
+
+array-uniq@^1.0.1:
+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/array-uniq/-/array-uniq-1.0.3.tgz#af6ac877a25cc7f74e058894753858dfdb24fdb6"
+ integrity sha1-r2rId6Jcx/dOBYiUdThY39sk/bY=
+
+arrify@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/arrify/-/arrify-1.0.1.tgz#898508da2226f380df904728456849c1501a4b0d"
+ integrity sha1-iYUI2iIm84DfkEcoRWhJwVAaSw0=
+
+asn1@~0.2.3:
+ version "0.2.6"
+ resolved "https://registry.yarnpkg.com/asn1/-/asn1-0.2.6.tgz#0d3a7bb6e64e02a90c0303b31f292868ea09a08d"
+ integrity sha512-ix/FxPn0MDjeyJ7i/yoHGFt/EX6LyNbxSEhPPXODPL+KB0VPk86UYfL0lMdy+KCnv+fmvIzySwaK5COwqVbWTQ==
+ dependencies:
+ safer-buffer "~2.1.0"
+
+assert-plus@1.0.0, assert-plus@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/assert-plus/-/assert-plus-1.0.0.tgz#f12e0f3c5d77b0b1cdd9146942e4e96c1e4dd525"
+ integrity sha1-8S4PPF13sLHN2RRpQuTpbB5N1SU=
+
+asynckit@^0.4.0:
+ version "0.4.0"
+ resolved "https://registry.yarnpkg.com/asynckit/-/asynckit-0.4.0.tgz#c79ed97f7f34cb8f2ba1bc9790bcc366474b4b79"
+ integrity sha1-x57Zf380y48robyXkLzDZkdLS3k=
+
+aws-sign2@~0.7.0:
+ version "0.7.0"
+ resolved "https://registry.yarnpkg.com/aws-sign2/-/aws-sign2-0.7.0.tgz#b46e890934a9591f2d2f6f86d7e6a9f1b3fe76a8"
+ integrity sha1-tG6JCTSpWR8tL2+G1+ap8bP+dqg=
+
+aws4@^1.8.0:
+ version "1.11.0"
+ resolved "https://registry.yarnpkg.com/aws4/-/aws4-1.11.0.tgz#d61f46d83b2519250e2784daf5b09479a8b41c59"
+ integrity sha512-xh1Rl34h6Fi1DC2WWKfxUTVqRsNnr6LsKz2+hfwDxQJWmrx8+c7ylaqBMcHfl1U1r2dsifOvKX3LQuLNZ+XSvA==
+
balanced-match@^1.0.0:
version "1.0.2"
resolved "https://registry.yarnpkg.com/balanced-match/-/balanced-match-1.0.2.tgz#e83e3a7e3f300b34cb9d87f615fa0cbf357690ee"
@@ -758,6 +853,13 @@
resolved "https://registry.yarnpkg.com/base64id/-/base64id-2.0.0.tgz#2770ac6bc47d312af97a8bf9a634342e0cd25cb6"
integrity sha512-lGe34o6EHj9y3Kts9R4ZYs/Gr+6N7MCaMlIFA3F1R2O5/m7K06AxfSeO5530PEERE6/WyEg3lsuyw4GHlPZHog==
+bcrypt-pbkdf@^1.0.0:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/bcrypt-pbkdf/-/bcrypt-pbkdf-1.0.2.tgz#a4301d389b6a43f9b67ff3ca11a3f6637e360e9e"
+ integrity sha1-pDAdOJtqQ/m2f/PKEaP2Y342Dp4=
+ dependencies:
+ tweetnacl "^0.14.3"
+
binary-extensions@^2.0.0:
version "2.2.0"
resolved "https://registry.yarnpkg.com/binary-extensions/-/binary-extensions-2.2.0.tgz#75f502eeaf9ffde42fc98829645be4ea76bd9e2d"
@@ -772,6 +874,13 @@
inherits "^2.0.4"
readable-stream "^3.4.0"
+blocking-proxy@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/blocking-proxy/-/blocking-proxy-1.0.1.tgz#81d6fd1fe13a4c0d6957df7f91b75e98dac40cb2"
+ integrity sha512-KE8NFMZr3mN2E0HcvCgRtX7DjhiIQrwle+nSVJVC/yqFb9+xznHl2ZcoBp2L9qzkI4t4cBFJ1efXF8Dwi132RA==
+ dependencies:
+ minimist "^1.2.0"
+
body-parser@^1.19.0:
version "1.19.1"
resolved "https://registry.yarnpkg.com/body-parser/-/body-parser-1.19.1.tgz#1499abbaa9274af3ecc9f6f10396c995943e31d4"
@@ -814,6 +923,13 @@
node-releases "^2.0.1"
picocolors "^1.0.0"
+browserstack@^1.5.1:
+ version "1.6.1"
+ resolved "https://registry.yarnpkg.com/browserstack/-/browserstack-1.6.1.tgz#e051f9733ec3b507659f395c7a4765a1b1e358b3"
+ integrity sha512-GxtFjpIaKdbAyzHfFDKixKO8IBT7wR3NjbzrGc78nNs/Ciys9wU3/nBtsqsWv5nDSrdI5tz0peKuzCPuNXNUiw==
+ dependencies:
+ https-proxy-agent "^2.2.1"
+
buffer-from@^1.0.0:
version "1.1.1"
resolved "https://registry.yarnpkg.com/buffer-from/-/buffer-from-1.1.1.tgz#32713bc028f75c02fdb710d7c7bcec1f2c6070ef"
@@ -841,7 +957,7 @@
resolved "https://registry.yarnpkg.com/bytes/-/bytes-3.1.1.tgz#3f018291cb4cbad9accb6e6970bca9c8889e879a"
integrity sha512-dWe4nWO/ruEOY7HkUJ5gFt1DCFV9zPRoJr8pV0/ASQermOZjtq8jMjOprC0Kd10GLN+l7xaUPvxzJFWtxGu8Fg==
-cacache@^15.0.5, cacache@^15.2.0:
+cacache@^15.0.5, cacache@^15.2.0, cacache@^15.3.0:
version "15.3.0"
resolved "https://registry.yarnpkg.com/cacache/-/cacache-15.3.0.tgz#dc85380fb2f556fe3dda4c719bfa0ec875a7f1eb"
integrity sha512-VVdYzXEn+cnbXpFgWs5hTT7OScegHVmLhJIR8Ufqk3iFD6A6j5iSX1KuBTfNEv4tdJWE2PzA6IVFtcLC7fN9wQ==
@@ -865,6 +981,11 @@
tar "^6.0.2"
unique-filename "^1.1.1"
+camelcase@^5.0.0:
+ version "5.3.1"
+ resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-5.3.1.tgz#e3c9b31569e106811df242f715725a1f4c494320"
+ integrity sha512-L28STB170nwWS63UjtlEOE3dldQApaJXZkOI1uMFfzf3rRuPegHaHesyee+YxQ+W6SvRDQV6UrdOdRiR153wJg==
+
caniuse-lite@^1.0.30001286:
version "1.0.30001299"
resolved "https://registry.yarnpkg.com/caniuse-lite/-/caniuse-lite-1.0.30001299.tgz#d753bf6444ed401eb503cbbe17aa3e1451b5a68c"
@@ -875,6 +996,22 @@
resolved "https://registry.yarnpkg.com/canonical-path/-/canonical-path-1.0.0.tgz#fcb470c23958def85081856be7a86e904f180d1d"
integrity sha512-feylzsbDxi1gPZ1IjystzIQZagYYLvfKrSuygUCgf7z6x790VEzze5QEkdSV1U58RA7Hi0+v6fv4K54atOzATg==
+caseless@~0.12.0:
+ version "0.12.0"
+ resolved "https://registry.yarnpkg.com/caseless/-/caseless-0.12.0.tgz#1b681c21ff84033c826543090689420d187151dc"
+ integrity sha1-G2gcIf+EAzyCZUMJBolCDRhxUdw=
+
+chalk@^1.1.1, chalk@^1.1.3:
+ version "1.1.3"
+ resolved "https://registry.yarnpkg.com/chalk/-/chalk-1.1.3.tgz#a8115c55e4a702fe4d150abd3872822a7e09fc98"
+ integrity sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=
+ dependencies:
+ ansi-styles "^2.2.1"
+ escape-string-regexp "^1.0.2"
+ has-ansi "^2.0.0"
+ strip-ansi "^3.0.0"
+ supports-color "^2.0.0"
+
chalk@^2.0.0:
version "2.4.2"
resolved "https://registry.yarnpkg.com/chalk/-/chalk-2.4.2.tgz#cd42541677a54333cf541a49108c1432b44c9424"
@@ -954,6 +1091,15 @@
resolved "https://registry.yarnpkg.com/cli-width/-/cli-width-3.0.0.tgz#a2f48437a2caa9a22436e794bf071ec9e61cedf6"
integrity sha512-FxqpkPPwu1HjuN93Omfm4h8uIanXofW0RxVEW3k5RKx+mJJYSthzNhp32Kzxxy3YAEZ/Dc/EWN1vZRY0+kOhbw==
+cliui@^6.0.0:
+ version "6.0.0"
+ resolved "https://registry.yarnpkg.com/cliui/-/cliui-6.0.0.tgz#511d702c0c4e41ca156d7d0e96021f23e13225b1"
+ integrity sha512-t6wbgtoCXvAzst7QgXxJYqPt0usEfbgQdftEPbLL/cvv6HPE5VgvqCuAIDR0NgU52ds6rFwqrgakNLrHEjCbrQ==
+ dependencies:
+ string-width "^4.2.0"
+ strip-ansi "^6.0.0"
+ wrap-ansi "^6.2.0"
+
cliui@^7.0.2:
version "7.0.4"
resolved "https://registry.yarnpkg.com/cliui/-/cliui-7.0.4.tgz#a0265ee655476fc807aea9df3df8df7783808b4f"
@@ -1002,6 +1148,13 @@
resolved "https://registry.yarnpkg.com/colors/-/colors-1.4.0.tgz#c50491479d4c1bdaed2c9ced32cf7c7dc2360f78"
integrity sha512-a+UqTh4kgZg/SlGvfbzDHpgRu7AAQOmmqRHJnxhRZICKFUT91brVhNNt58CMWU9PsBbv3PDCZUHbVxuDiH2mtA==
+combined-stream@^1.0.6, combined-stream@~1.0.6:
+ version "1.0.8"
+ resolved "https://registry.yarnpkg.com/combined-stream/-/combined-stream-1.0.8.tgz#c3d45a8b34fd730631a110a8a2520682b31d5a7f"
+ integrity sha512-FQN4MRfuJeHf7cBbBMJFXhKSDq+2kAArBlmRBvcvFE5BB1HZKXtSFASDhdlz9zOYwxh8lDdnvmMOe/+5cdoEdg==
+ dependencies:
+ delayed-stream "~1.0.0"
+
commander@^2.20.0:
version "2.20.3"
resolved "https://registry.yarnpkg.com/commander/-/commander-2.20.3.tgz#fd485e84c03eb4881c20722ba48035e8531aeb33"
@@ -1054,6 +1207,16 @@
resolved "https://registry.yarnpkg.com/cookie/-/cookie-0.4.1.tgz#afd713fe26ebd21ba95ceb61f9a8116e50a537d1"
integrity sha512-ZwrFkGJxUR3EIoXtO+yVE69Eb7KlixbaeAWfBQB9vVsNn/o+Yw69gBWSSDK825hQNdN+wF8zELf3dFNl/kxkUA==
+core-util-is@1.0.2:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/core-util-is/-/core-util-is-1.0.2.tgz#b5fd54220aa2bc5ab57aab7140c940754503c1a7"
+ integrity sha1-tf1UIgqivFq1eqtxQMlAdUUDwac=
+
+core-util-is@~1.0.0:
+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/core-util-is/-/core-util-is-1.0.3.tgz#a6042d3634c2b27e9328f837b965fac83808db85"
+ integrity sha512-ZQBvi1DcpJ4GDqanjucZ2Hj3wEO5pZDS89BWbkcrvdxksJorwUDDZamX9ldFkp9aw2lmBDLgkObEA4DWNJ9FYQ==
+
cors@~2.8.5:
version "2.8.5"
resolved "https://registry.yarnpkg.com/cors/-/cors-2.8.5.tgz#eac11da51592dd86b9f06f6e7ac293b3df875d29"
@@ -1067,6 +1230,13 @@
resolved "https://registry.yarnpkg.com/custom-event/-/custom-event-1.0.1.tgz#5d02a46850adf1b4a317946a3928fccb5bfd0425"
integrity sha1-XQKkaFCt8bSjF5RqOSj8y1v9BCU=
+dashdash@^1.12.0:
+ version "1.14.1"
+ resolved "https://registry.yarnpkg.com/dashdash/-/dashdash-1.14.1.tgz#853cfa0f7cbe2fed5de20326b8dd581035f6e2f0"
+ integrity sha1-hTz6D3y+L+1d4gMmuN1YEDX24vA=
+ dependencies:
+ assert-plus "^1.0.0"
+
date-format@^4.0.3:
version "4.0.3"
resolved "https://registry.yarnpkg.com/date-format/-/date-format-4.0.3.tgz#f63de5dc08dc02efd8ef32bf2a6918e486f35873"
@@ -1086,6 +1256,18 @@
dependencies:
ms "2.1.2"
+debug@^3.1.0:
+ version "3.2.7"
+ resolved "https://registry.yarnpkg.com/debug/-/debug-3.2.7.tgz#72580b7e9145fb39b6676f9c5e5fb100b934179a"
+ integrity sha512-CFjzYYAi4ThfiQvizrFQevTTXHtnCqWfe7x1AhgEscTz6ZbLbfoLRLPugTQyBth6f8ZERVUSyWHFD/7Wu4t1XQ==
+ dependencies:
+ ms "^2.1.1"
+
+decamelize@^1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/decamelize/-/decamelize-1.2.0.tgz#f6534d15148269b20352e7bee26f501f9a191290"
+ integrity sha1-9lNNFRSCabIDUue+4m9QH5oZEpA=
+
deepmerge@^4.2.2:
version "4.2.2"
resolved "https://registry.yarnpkg.com/deepmerge/-/deepmerge-4.2.2.tgz#44d2ea3679b8f4d4ffba33f03d865fc1e7bf4955"
@@ -1103,6 +1285,24 @@
resolved "https://registry.yarnpkg.com/define-lazy-prop/-/define-lazy-prop-2.0.0.tgz#3f7ae421129bcaaac9bc74905c98a0009ec9ee7f"
integrity sha512-Ds09qNh8yw3khSjiJjiUInaGX9xlqZDY7JVryGxdxV7NPeuqQfplOpQ66yJFZut3jLa5zOwkXw1g9EI2uKh4Og==
+del@^2.2.0:
+ version "2.2.2"
+ resolved "https://registry.yarnpkg.com/del/-/del-2.2.2.tgz#c12c981d067846c84bcaf862cff930d907ffd1a8"
+ integrity sha1-wSyYHQZ4RshLyvhiz/kw2Qf/0ag=
+ dependencies:
+ globby "^5.0.0"
+ is-path-cwd "^1.0.0"
+ is-path-in-cwd "^1.0.0"
+ object-assign "^4.0.1"
+ pify "^2.0.0"
+ pinkie-promise "^2.0.0"
+ rimraf "^2.2.8"
+
+delayed-stream@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/delayed-stream/-/delayed-stream-1.0.0.tgz#df3ae199acadfb7d440aaae0b29e2272b24ec619"
+ integrity sha1-3zrhmayt+31ECqrgsp4icrJOxhk=
+
delegates@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/delegates/-/delegates-1.0.0.tgz#84c6e159b81904fdca59a0ef44cd870d31250f9a"
@@ -1133,6 +1333,14 @@
extend "^3.0.0"
void-elements "^2.0.0"
+ecc-jsbn@~0.1.1:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/ecc-jsbn/-/ecc-jsbn-0.1.2.tgz#3a83a904e54353287874c564b7549386849a98c9"
+ integrity sha1-OoOpBOVDUyh4dMVkt1SThoSamMk=
+ dependencies:
+ jsbn "~0.1.0"
+ safer-buffer "^2.1.0"
+
ee-first@1.1.1:
version "1.1.1"
resolved "https://registry.yarnpkg.com/ee-first/-/ee-first-1.1.1.tgz#590c61156b0ae2f4f0255732a158b266bc56b21d"
@@ -1153,7 +1361,7 @@
resolved "https://registry.yarnpkg.com/encodeurl/-/encodeurl-1.0.2.tgz#ad3ff4c86ec2d029322f5a02c3a9a606c95b3f59"
integrity sha1-rT/0yG7C0CkyL1oCw6mmBslbP1k=
-encoding@^0.1.12:
+encoding@^0.1.12, encoding@^0.1.13:
version "0.1.13"
resolved "https://registry.yarnpkg.com/encoding/-/encoding-0.1.13.tgz#56574afdd791f54a8e9b2785c0582a2d26210fa9"
integrity sha512-ETBauow1T35Y/WZMkio9jiM0Z5xjHHmJ4XmjZOq1l/dXz3lr2sRn87nJy20RupqSh1F2m3HHPSp8ShIPQJrJ3A==
@@ -1198,6 +1406,18 @@
resolved "https://registry.yarnpkg.com/err-code/-/err-code-2.0.3.tgz#23c2f3b756ffdfc608d30e27c9a941024807e7f9"
integrity sha512-2bmlRpNKBxT/CRmPOlyISQpNj+qSeYvcym/uT0Jx2bMOlKLtSy1ZmLuVxSEKKyor/N5yhvp/ZiG1oE3DEYMSFA==
+es6-promise@^4.0.3:
+ version "4.2.8"
+ resolved "https://registry.yarnpkg.com/es6-promise/-/es6-promise-4.2.8.tgz#4eb21594c972bc40553d276e510539143db53e0a"
+ integrity sha512-HJDGx5daxeIvxdBxvG2cb9g4tEvwIk3i8+nhX0yGrYmZUzbkdg8QbDevheDB8gd0//uPj4c1EQua8Q+MViT0/w==
+
+es6-promisify@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/es6-promisify/-/es6-promisify-5.0.0.tgz#5109d62f3e56ea967c4b63505aef08291c8a5203"
+ integrity sha1-UQnWLz5W6pZ8S2NQWu8IKRyKUgM=
+ dependencies:
+ es6-promise "^4.0.3"
+
escalade@^3.1.1:
version "3.1.1"
resolved "https://registry.yarnpkg.com/escalade/-/escalade-3.1.1.tgz#d8cfdc7000965c5a0174b4a82eaa5c0552742e40"
@@ -1208,7 +1428,7 @@
resolved "https://registry.yarnpkg.com/escape-html/-/escape-html-1.0.3.tgz#0258eae4d3d0c0974de1c169188ef0051d1d1988"
integrity sha1-Aljq5NPQwJdN4cFpGI7wBR0dGYg=
-escape-string-regexp@^1.0.5:
+escape-string-regexp@^1.0.2, escape-string-regexp@^1.0.5:
version "1.0.5"
resolved "https://registry.yarnpkg.com/escape-string-regexp/-/escape-string-regexp-1.0.5.tgz#1b61c0562190a8dff6ae3bb2cf0200ca130b86d4"
integrity sha1-G2HAViGQqN/2rjuyzwIAyhMLhtQ=
@@ -1223,7 +1443,12 @@
resolved "https://registry.yarnpkg.com/eventemitter3/-/eventemitter3-4.0.7.tgz#2de9b68f6528d5644ef5c59526a1b4a07306169f"
integrity sha512-8guHBZCwKnFhYdHr2ysuRWErTwhoN2X8XELRlrRwpmfeY2jjuUN4taQMsULKUVo1K4DvZl+0pgfyoysHxvmvEw==
-extend@^3.0.0:
+exit@^0.1.2:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/exit/-/exit-0.1.2.tgz#0632638f8d877cc82107d30a0fff1a17cba1cd0c"
+ integrity sha1-BjJjj42HfMghB9MKD/8aF8uhzQw=
+
+extend@^3.0.0, extend@~3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/extend/-/extend-3.0.2.tgz#f8b1136b4071fbd8eb140aff858b1019ec2915fa"
integrity sha512-fjquC59cD7CyW6urNXK0FBufkZcoiGG80wTuPujX590cB5Ttln20E2UB4S/WARVqhXffZl2LNgS+gQdPIIim/g==
@@ -1237,12 +1462,22 @@
iconv-lite "^0.4.24"
tmp "^0.0.33"
+extsprintf@1.3.0:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/extsprintf/-/extsprintf-1.3.0.tgz#96918440e3041a7a414f8c52e3c574eb3c3e1e05"
+ integrity sha1-lpGEQOMEGnpBT4xS48V06zw+HgU=
+
+extsprintf@^1.2.0:
+ version "1.4.1"
+ resolved "https://registry.yarnpkg.com/extsprintf/-/extsprintf-1.4.1.tgz#8d172c064867f235c0c84a596806d279bf4bcc07"
+ integrity sha512-Wrk35e8ydCKDj/ArClo1VrPVmN8zph5V4AtHwIuHhvMXsKf73UT3BOD+azBIW+3wOJ4FhEH7zyaJCFvChjYvMA==
+
fast-deep-equal@^3.1.1:
version "3.1.3"
resolved "https://registry.yarnpkg.com/fast-deep-equal/-/fast-deep-equal-3.1.3.tgz#3a7d56b559d6cbc3eb512325244e619a65c6c525"
integrity sha512-f3qQ9oQy9j2AhBe/H9VC91wLmKBCCU/gDOnKNAYG5hswO7BLKj09Hc5HYNz9cGI++xlpDCIgDaitVs03ATR84Q==
-fast-json-stable-stringify@2.1.0:
+fast-json-stable-stringify@2.1.0, fast-json-stable-stringify@^2.0.0:
version "2.1.0"
resolved "https://registry.yarnpkg.com/fast-json-stable-stringify/-/fast-json-stable-stringify-2.1.0.tgz#874bf69c6f404c2b5d99c481341399fd55892633"
integrity sha512-lhd/wF+Lk98HZoTCtlVraHtfh5XYijIjalXck7saUtuanSDyLMxnHhSXEDJqHxD7msR8D0uCmqlkwjCV8xvwHw==
@@ -1274,6 +1509,14 @@
statuses "~1.5.0"
unpipe "~1.0.0"
+find-up@^4.1.0:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/find-up/-/find-up-4.1.0.tgz#97afe7d6cdc0bc5928584b7c8d7b16e8a9aa5d19"
+ integrity sha512-PpOwAdQ/YlXQ2vj8a3h8IipDuYRi3wceVQQGYWxNINccq40Anw7BlsEXCMbt1Zt+OLA6Fq9suIpIWD0OsnISlw==
+ dependencies:
+ locate-path "^5.0.0"
+ path-exists "^4.0.0"
+
flatted@^3.2.4:
version "3.2.4"
resolved "https://registry.yarnpkg.com/flatted/-/flatted-3.2.4.tgz#28d9969ea90661b5134259f312ab6aa7929ac5e2"
@@ -1284,6 +1527,20 @@
resolved "https://registry.yarnpkg.com/follow-redirects/-/follow-redirects-1.14.7.tgz#2004c02eb9436eee9a21446a6477debf17e81685"
integrity sha512-+hbxoLbFMbRKDwohX8GkTataGqO6Jb7jGwpAlwgy2bIz25XtRm7KEzJM76R1WiNT5SwZkX4Y75SwBolkpmE7iQ==
+forever-agent@~0.6.1:
+ version "0.6.1"
+ resolved "https://registry.yarnpkg.com/forever-agent/-/forever-agent-0.6.1.tgz#fbc71f0c41adeb37f96c577ad1ed42d8fdacca91"
+ integrity sha1-+8cfDEGt6zf5bFd60e1C2P2sypE=
+
+form-data@~2.3.2:
+ version "2.3.3"
+ resolved "https://registry.yarnpkg.com/form-data/-/form-data-2.3.3.tgz#dcce52c05f644f298c6a7ab936bd724ceffbf3a6"
+ integrity sha512-1lLKB2Mu3aGP1Q/2eCOx0fNbRMe7XdwktwOruhfqqd0rIJWwN4Dh+E3hrPSlDCXnSR7UtZ1N38rVXm+6+MEhJQ==
+ dependencies:
+ asynckit "^0.4.0"
+ combined-stream "^1.0.6"
+ mime-types "^2.1.12"
+
fs-extra@^10.0.0:
version "10.0.0"
resolved "https://registry.yarnpkg.com/fs-extra/-/fs-extra-10.0.0.tgz#9ff61b655dde53fb34a82df84bb214ce802e17c1"
@@ -1340,11 +1597,18 @@
resolved "https://registry.yarnpkg.com/gensync/-/gensync-1.0.0-beta.2.tgz#32a6ee76c3d7f52d46b2b1ae5d93fea8580a25e0"
integrity sha512-3hN7NaskYvMDLQY55gnW3NQ+mesEAepTqlg+VEbj7zzqEMBVNhzcGYYeqFo/TlYz6eQiFcp1HcsCZO+nGgS8zg==
-get-caller-file@^2.0.5:
+get-caller-file@^2.0.1, get-caller-file@^2.0.5:
version "2.0.5"
resolved "https://registry.yarnpkg.com/get-caller-file/-/get-caller-file-2.0.5.tgz#4f94412a82db32f36e3b0b9741f8a97feb031f7e"
integrity sha512-DyFP3BM/3YHTQOCUL/w0OZHR0lpKeGrxotcHWcqNEdnltqFwXVfhEBQ94eIo34AfQpo0rGki4cyIiftY06h2Fg==
+getpass@^0.1.1:
+ version "0.1.7"
+ resolved "https://registry.yarnpkg.com/getpass/-/getpass-0.1.7.tgz#5eff8e3e684d569ae4cb2b1282604e8ba62149fa"
+ integrity sha1-Xv+OPmhNVprkyysSgmBOi6YhSfo=
+ dependencies:
+ assert-plus "^1.0.0"
+
glob-parent@~5.1.2:
version "5.1.2"
resolved "https://registry.yarnpkg.com/glob-parent/-/glob-parent-5.1.2.tgz#869832c58034fe68a4093c17dc15e8340d8401c4"
@@ -1352,7 +1616,7 @@
dependencies:
is-glob "^4.0.1"
-glob@^7.0.0, glob@^7.1.3, glob@^7.1.4, glob@^7.1.6, glob@^7.1.7:
+glob@^7.0.0, glob@^7.0.3, glob@^7.0.6, glob@^7.1.3, glob@^7.1.4, glob@^7.1.6, glob@^7.1.7:
version "7.2.0"
resolved "https://registry.yarnpkg.com/glob/-/glob-7.2.0.tgz#d15535af7732e02e948f4c41628bd910293f6023"
integrity sha512-lmLf6gtyrPq8tTjSmrO94wBeQbFR3HbLHbuyD69wuyQkImp2hWqMGB47OX65FBkPffO641IP9jWa1z4ivqG26Q==
@@ -1369,6 +1633,18 @@
resolved "https://registry.yarnpkg.com/globals/-/globals-11.12.0.tgz#ab8795338868a0babd8525758018c2a7eb95c42e"
integrity sha512-WOBp/EEGUiIsJSp7wcv/y6MO+lV9UoncWqxuFfm8eBwzWNgyfBd6Gz+IeKQ9jCmyhoH99g15M3T+QaVHFjizVA==
+globby@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/globby/-/globby-5.0.0.tgz#ebd84667ca0dbb330b99bcfc68eac2bc54370e0d"
+ integrity sha1-69hGZ8oNuzMLmbz8aOrCvFQ3Dg0=
+ dependencies:
+ array-union "^1.0.1"
+ arrify "^1.0.0"
+ glob "^7.0.3"
+ object-assign "^4.0.1"
+ pify "^2.0.0"
+ pinkie-promise "^2.0.0"
+
google-protobuf@^3.6.1:
version "3.19.1"
resolved "https://registry.yarnpkg.com/google-protobuf/-/google-protobuf-3.19.1.tgz#5af5390e8206c446d8f49febaffd4b7f4ac28f41"
@@ -1379,6 +1655,26 @@
resolved "https://registry.yarnpkg.com/graceful-fs/-/graceful-fs-4.2.9.tgz#041b05df45755e587a24942279b9d113146e1c96"
integrity sha512-NtNxqUcXgpW2iMrfqSfR73Glt39K+BLwWsPs94yR63v45T0Wbej7eRmL5cWfwEgqXnmjQp3zaJTshdRW/qC2ZQ==
+har-schema@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/har-schema/-/har-schema-2.0.0.tgz#a94c2224ebcac04782a0d9035521f24735b7ec92"
+ integrity sha1-qUwiJOvKwEeCoNkDVSHyRzW37JI=
+
+har-validator@~5.1.3:
+ version "5.1.5"
+ resolved "https://registry.yarnpkg.com/har-validator/-/har-validator-5.1.5.tgz#1f0803b9f8cb20c0fa13822df1ecddb36bde1efd"
+ integrity sha512-nmT2T0lljbxdQZfspsno9hgrG3Uir6Ks5afism62poxqBM6sDnMEuPmzTq8XN0OEwqKLLdh1jQI3qyE66Nzb3w==
+ dependencies:
+ ajv "^6.12.3"
+ har-schema "^2.0.0"
+
+has-ansi@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/has-ansi/-/has-ansi-2.0.0.tgz#34f5049ce1ecdf2b0649af3ef24e45ed35416d91"
+ integrity sha1-NPUEnOHs3ysGSa8+8k5F7TVBbZE=
+ dependencies:
+ ansi-regex "^2.0.0"
+
has-flag@^3.0.0:
version "3.0.0"
resolved "https://registry.yarnpkg.com/has-flag/-/has-flag-3.0.0.tgz#b5d454dc2199ae225699f3467e5a07f3b955bafd"
@@ -1433,6 +1729,15 @@
agent-base "6"
debug "4"
+http-proxy-agent@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/http-proxy-agent/-/http-proxy-agent-5.0.0.tgz#5129800203520d434f142bc78ff3c170800f2b43"
+ integrity sha512-n2hY8YdoRE1i7r6M0w9DIw5GgZN0G25P8zLCRQ8rjXtTU3vsNFBI/vWK/UIeE6g5MUUz6avwAPXmL6Fy9D/90w==
+ dependencies:
+ "@tootallnate/once" "2"
+ agent-base "6"
+ debug "4"
+
http-proxy@^1.18.1:
version "1.18.1"
resolved "https://registry.yarnpkg.com/http-proxy/-/http-proxy-1.18.1.tgz#401541f0534884bbf95260334e72f88ee3976549"
@@ -1442,6 +1747,23 @@
follow-redirects "^1.0.0"
requires-port "^1.0.0"
+http-signature@~1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/http-signature/-/http-signature-1.2.0.tgz#9aecd925114772f3d95b65a60abb8f7c18fbace1"
+ integrity sha1-muzZJRFHcvPZW2WmCruPfBj7rOE=
+ dependencies:
+ assert-plus "^1.0.0"
+ jsprim "^1.2.2"
+ sshpk "^1.7.0"
+
+https-proxy-agent@^2.2.1:
+ version "2.2.4"
+ resolved "https://registry.yarnpkg.com/https-proxy-agent/-/https-proxy-agent-2.2.4.tgz#4ee7a737abd92678a293d9b34a1af4d0d08c787b"
+ integrity sha512-OmvfoQ53WLjtA9HeYP9RNrWMJzzAz1JGaSFr1nijg0PVR1JaD/xbJq1mdEIIlxGpXp9eSe/O2LgU9DJmTPd0Eg==
+ dependencies:
+ agent-base "^4.3.0"
+ debug "^3.1.0"
+
https-proxy-agent@^5.0.0:
version "5.0.0"
resolved "https://registry.yarnpkg.com/https-proxy-agent/-/https-proxy-agent-5.0.0.tgz#e2a90542abb68a762e0a0850f6c9edadfd8506b2"
@@ -1483,6 +1805,11 @@
dependencies:
minimatch "^3.0.4"
+immediate@~3.0.5:
+ version "3.0.6"
+ resolved "https://registry.yarnpkg.com/immediate/-/immediate-3.0.6.tgz#9db1dbd0faf8de6fbe0f5dd5e56bb606280de69b"
+ integrity sha1-nbHb0Pr43m++D13V5Wu2BigN5ps=
+
imurmurhash@^0.1.4:
version "0.1.4"
resolved "https://registry.yarnpkg.com/imurmurhash/-/imurmurhash-0.1.4.tgz#9218b9b2b928a238b13dc4fb6b6d576f231453ea"
@@ -1506,7 +1833,7 @@
once "^1.3.0"
wrappy "1"
-inherits@2, inherits@2.0.4, inherits@^2.0.3, inherits@^2.0.4:
+inherits@2, inherits@2.0.4, inherits@^2.0.3, inherits@^2.0.4, inherits@~2.0.3:
version "2.0.4"
resolved "https://registry.yarnpkg.com/inherits/-/inherits-2.0.4.tgz#0fa2c64f932917c3433a0ded55363aae37416b7c"
integrity sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ==
@@ -1516,6 +1843,11 @@
resolved "https://registry.yarnpkg.com/ini/-/ini-2.0.0.tgz#e5fd556ecdd5726be978fa1001862eacb0a94bc5"
integrity sha512-7PnF4oN3CvZF23ADhA5wRaYEQpJ8qygSkbtTXWBeXWXmEVRXK+1ITciHWwHhsjv1TmW0MgacIv6hEi5pX5NQdA==
+ini@^1.3.4:
+ version "1.3.8"
+ resolved "https://registry.yarnpkg.com/ini/-/ini-1.3.8.tgz#a29da425b48806f34767a4efce397269af28432c"
+ integrity sha512-JV/yugV2uzW5iMRSiZAyDtQd+nxtUnjeLt0acNdw98kKLrvuRVyB80tsREOE7yvGVgalhZ6RNXCmEHkUKBKxew==
+
inquirer@8.2.0:
version "8.2.0"
resolved "https://registry.yarnpkg.com/inquirer/-/inquirer-8.2.0.tgz#f44f008dd344bbfc4b30031f45d984e034a3ac3a"
@@ -1548,7 +1880,7 @@
dependencies:
binary-extensions "^2.0.0"
-is-core-module@^2.2.0, is-core-module@^2.8.0:
+is-core-module@^2.8.0, is-core-module@^2.8.1:
version "2.8.1"
resolved "https://registry.yarnpkg.com/is-core-module/-/is-core-module-2.8.1.tgz#f59fdfca701d5879d0a6b100a40aa1560ce27211"
integrity sha512-SdNCUs284hr40hFTFP6l0IfZ/RSrMXF3qgoRHd3/79unUTvrFO/JoXwkGm+5J/Oe3E/b5GsnG330uUNgRpu1PA==
@@ -1597,6 +1929,30 @@
resolved "https://registry.yarnpkg.com/is-number/-/is-number-7.0.0.tgz#7535345b896734d5f80c4d06c50955527a14f12b"
integrity sha512-41Cifkg6e8TylSpdtTpeLVMqvSBEVzTttHvERD741+pnZ8ANv0004MRL43QKPDlK9cGvNp6NZWZUBlbGXYxxng==
+is-path-cwd@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-path-cwd/-/is-path-cwd-1.0.0.tgz#d225ec23132e89edd38fda767472e62e65f1106d"
+ integrity sha1-0iXsIxMuie3Tj9p2dHLmLmXxEG0=
+
+is-path-in-cwd@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/is-path-in-cwd/-/is-path-in-cwd-1.0.1.tgz#5ac48b345ef675339bd6c7a48a912110b241cf52"
+ integrity sha512-FjV1RTW48E7CWM7eE/J2NJvAEEVektecDBVBE5Hh3nM1Jd0kvhHtX68Pr3xsDf857xt3Y4AkwVULK1Vku62aaQ==
+ dependencies:
+ is-path-inside "^1.0.0"
+
+is-path-inside@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/is-path-inside/-/is-path-inside-1.0.1.tgz#8ef5b7de50437a3fdca6b4e865ef7aa55cb48036"
+ integrity sha1-jvW33lBDej/cprToZe96pVy0gDY=
+ dependencies:
+ path-is-inside "^1.0.1"
+
+is-typedarray@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-typedarray/-/is-typedarray-1.0.0.tgz#e479c80858df0c1b11ddda6940f96011fcda4a9a"
+ integrity sha1-5HnICFjfDBsR3dppQPlgEfzaSpo=
+
is-unicode-supported@^0.1.0:
version "0.1.0"
resolved "https://registry.yarnpkg.com/is-unicode-supported/-/is-unicode-supported-0.1.0.tgz#3f26c76a809593b52bfa2ecb5710ed2779b522a7"
@@ -1609,6 +1965,11 @@
dependencies:
is-docker "^2.0.0"
+isarray@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/isarray/-/isarray-1.0.0.tgz#bb935d48582cba168c06834957a54a3e07124f11"
+ integrity sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=
+
isbinaryfile@^4.0.8:
version "4.0.8"
resolved "https://registry.yarnpkg.com/isbinaryfile/-/isbinaryfile-4.0.8.tgz#5d34b94865bd4946633ecc78a026fc76c5b11fcf"
@@ -1619,29 +1980,58 @@
resolved "https://registry.yarnpkg.com/isexe/-/isexe-2.0.0.tgz#e8fbf374dc556ff8947a10dcb0572d633f2cfa10"
integrity sha1-6PvzdNxVb/iUehDcsFctYz8s+hA=
+isstream@~0.1.2:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/isstream/-/isstream-0.1.2.tgz#47e63f7af55afa6f92e1500e690eb8b8529c099a"
+ integrity sha1-R+Y/evVa+m+S4VAOaQ64uFKcCZo=
+
jasmine-core@^3.6.0:
version "3.99.0"
resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-3.99.0.tgz#99a3da0d38ba2de82614d9198b7b1bc1c32a5960"
integrity sha512-+ZDaJlEfRopINQqgE+hvzRyDIQDeKfqqTvF8RzXsvU1yE3pBDRud2+Qfh9WvGgRpuzqxyQJVI6Amy5XQ11r/3w==
-jasmine-core@^4.0.0:
- version "4.0.0"
- resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-4.0.0.tgz#8299ed38a100c47a1d154af63449a40967a7be5c"
- integrity sha512-tq24OCqHElgU9KDpb/8O21r1IfotgjIzalfW9eCmRR40LZpvwXT68iariIyayMwi0m98RDt16aljdbwK0sBMmQ==
+jasmine-core@~2.8.0:
+ version "2.8.0"
+ resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-2.8.0.tgz#bcc979ae1f9fd05701e45e52e65d3a5d63f1a24e"
+ integrity sha1-vMl5rh+f0FcB5F5S5l06XWPxok4=
-jasmine@latest:
- version "4.0.2"
- resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-4.0.2.tgz#6f5ff7fbf6b67f56600235fdb7d299ac52876c4b"
- integrity sha512-YsrgxJQEggxzByYe4j68eQLOiQeSrPDYGv4sHhGBp3c6HHdq+uPXeAQ73kOAQpdLZ3/0zN7x/TZTloqeE1/qIA==
+jasmine-core@~3.10.0:
+ version "3.10.1"
+ resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-3.10.1.tgz#7aa6fa2b834a522315c651a128d940eca553989a"
+ integrity sha512-ooZWSDVAdh79Rrj4/nnfklL3NQVra0BcuhcuWoAwwi+znLDoUeH87AFfeX8s+YeYi6xlv5nveRyaA1v7CintfA==
+
+jasmine@2.8.0:
+ version "2.8.0"
+ resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-2.8.0.tgz#6b089c0a11576b1f16df11b80146d91d4e8b8a3e"
+ integrity sha1-awicChFXax8W3xG4AUbZHU6Lij4=
+ dependencies:
+ exit "^0.1.2"
+ glob "^7.0.6"
+ jasmine-core "~2.8.0"
+
+jasmine@3.10.0:
+ version "3.10.0"
+ resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-3.10.0.tgz#acd3cd560a9d20d8fdad6bd2dd05867d188503f3"
+ integrity sha512-2Y42VsC+3CQCTzTwJezOvji4qLORmKIE0kwowWC+934Krn6ZXNQYljiwK5st9V3PVx96BSiDYXSB60VVah3IlQ==
dependencies:
glob "^7.1.6"
- jasmine-core "^4.0.0"
+ jasmine-core "~3.10.0"
+
+jasminewd2@^2.1.0:
+ version "2.2.0"
+ resolved "https://registry.yarnpkg.com/jasminewd2/-/jasminewd2-2.2.0.tgz#e37cf0b17f199cce23bea71b2039395246b4ec4e"
+ integrity sha1-43zwsX8ZnM4jvqcbIDk5Uka07E4=
js-tokens@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/js-tokens/-/js-tokens-4.0.0.tgz#19203fb59991df98e3a287050d4647cdeaf32499"
integrity sha512-RdJUflcE3cUzKiMqQgsCu06FPu9UdIJO0beYbPhHN4k6apgJtifcoCtT9bcxOpYBtpD2kCM6Sbzg4CausW/PKQ==
+jsbn@~0.1.0:
+ version "0.1.1"
+ resolved "https://registry.yarnpkg.com/jsbn/-/jsbn-0.1.1.tgz#a5e654c2e5a2deb5f201d96cefbca80c0ef2f513"
+ integrity sha1-peZUwuWi3rXyAdls77yoDA7y9RM=
+
jsesc@^2.5.1:
version "2.5.2"
resolved "https://registry.yarnpkg.com/jsesc/-/jsesc-2.5.2.tgz#80564d2e483dacf6e8ef209650a67df3f0c283a4"
@@ -1652,11 +2042,26 @@
resolved "https://registry.yarnpkg.com/json-parse-even-better-errors/-/json-parse-even-better-errors-2.3.1.tgz#7c47805a94319928e05777405dc12e1f7a4ee02d"
integrity sha512-xyFwyhro/JEof6Ghe2iz2NcXoj2sloNsWr/XsERDK/oiPCfaNhl5ONfp+jQdAZRQQ0IJWNzH9zIZF7li91kh2w==
+json-schema-traverse@^0.4.1:
+ version "0.4.1"
+ resolved "https://registry.yarnpkg.com/json-schema-traverse/-/json-schema-traverse-0.4.1.tgz#69f6a87d9513ab8bb8fe63bdb0979c448e684660"
+ integrity sha512-xbbCH5dCYU5T8LcEhhuh7HJ88HXuW3qsI3Y0zOZFKfZEHcpWiHU/Jxzk629Brsab/mMiHQti9wMP+845RPe3Vg==
+
json-schema-traverse@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/json-schema-traverse/-/json-schema-traverse-1.0.0.tgz#ae7bcb3656ab77a73ba5c49bf654f38e6b6860e2"
integrity sha512-NM8/P9n3XjXhIZn1lLhkFaACTOURQXjWhV4BA/RnOv8xvgqtqpAX9IO4mRQxSx1Rlo4tqzeqb0sOlruaOy3dug==
+json-schema@0.4.0:
+ version "0.4.0"
+ resolved "https://registry.yarnpkg.com/json-schema/-/json-schema-0.4.0.tgz#f7de4cf6efab838ebaeb3236474cbba5a1930ab5"
+ integrity sha512-es94M3nTIfsEPisRafak+HDLfHXnKBhV3vU5eqPcS3flIWqcxJWgXHXiey3YrpaNsanY5ei1VoYEbOzijuq9BA==
+
+json-stringify-safe@~5.0.1:
+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/json-stringify-safe/-/json-stringify-safe-5.0.1.tgz#1296a2d58fd45f19a0f6ce01d65701e2c735b6eb"
+ integrity sha1-Epai1Y/UXxmg9s4B1lcB4sc1tus=
+
json5@^2.1.2:
version "2.2.0"
resolved "https://registry.yarnpkg.com/json5/-/json5-2.2.0.tgz#2dfefe720c6ba525d9ebd909950f0515316c89a3"
@@ -1683,14 +2088,34 @@
resolved "https://registry.yarnpkg.com/jsonparse/-/jsonparse-1.3.1.tgz#3f4dae4a91fac315f71062f8521cc239f1366280"
integrity sha1-P02uSpH6wxX3EGL4UhzCOfE2YoA=
-karma-chrome-launcher@latest:
+jsprim@^1.2.2:
+ version "1.4.2"
+ resolved "https://registry.yarnpkg.com/jsprim/-/jsprim-1.4.2.tgz#712c65533a15c878ba59e9ed5f0e26d5b77c5feb"
+ integrity sha512-P2bSOMAc/ciLz6DzgjVlGJP9+BrJWu5UDGK70C2iweC5QBIeFf0ZXRvGjEj2uYgrY2MkAAhsSWHDWlFtEroZWw==
+ dependencies:
+ assert-plus "1.0.0"
+ extsprintf "1.3.0"
+ json-schema "0.4.0"
+ verror "1.10.0"
+
+jszip@^3.1.3:
+ version "3.7.1"
+ resolved "https://registry.yarnpkg.com/jszip/-/jszip-3.7.1.tgz#bd63401221c15625a1228c556ca8a68da6fda3d9"
+ integrity sha512-ghL0tz1XG9ZEmRMcEN2vt7xabrDdqHHeykgARpmZ0BiIctWxM47Vt63ZO2dnp4QYt/xJVLLy5Zv1l/xRdh2byg==
+ dependencies:
+ lie "~3.3.0"
+ pako "~1.0.2"
+ readable-stream "~2.3.6"
+ set-immediate-shim "~1.0.1"
+
+karma-chrome-launcher@3.1.0:
version "3.1.0"
resolved "https://registry.yarnpkg.com/karma-chrome-launcher/-/karma-chrome-launcher-3.1.0.tgz#805a586799a4d05f4e54f72a204979f3f3066738"
integrity sha512-3dPs/n7vgz1rxxtynpzZTvb9y/GIaW8xjAwcIGttLbycqoFtI7yo1NGnQi6oFTherRE+GIhCAHZC4vEqWGhNvg==
dependencies:
which "^1.2.1"
-karma-firefox-launcher@latest:
+karma-firefox-launcher@2.1.2:
version "2.1.2"
resolved "https://registry.yarnpkg.com/karma-firefox-launcher/-/karma-firefox-launcher-2.1.2.tgz#9a38cc783c579a50f3ed2a82b7386186385cfc2d"
integrity sha512-VV9xDQU1QIboTrjtGVD4NCfzIH7n01ZXqy/qpBhnOeGVOkG5JYPEm8kuSd7psHE6WouZaQ9Ool92g8LFweSNMA==
@@ -1698,29 +2123,29 @@
is-wsl "^2.2.0"
which "^2.0.1"
-karma-jasmine@latest:
+karma-jasmine@4.0.1:
version "4.0.1"
resolved "https://registry.yarnpkg.com/karma-jasmine/-/karma-jasmine-4.0.1.tgz#b99e073b6d99a5196fc4bffc121b89313b0abd82"
integrity sha512-h8XDAhTiZjJKzfkoO1laMH+zfNlra+dEQHUAjpn5JV1zCPtOIVWGQjLBrqhnzQa/hrU2XrZwSyBa6XjEBzfXzw==
dependencies:
jasmine-core "^3.6.0"
-karma-requirejs@latest:
+karma-requirejs@1.1.0:
version "1.1.0"
resolved "https://registry.yarnpkg.com/karma-requirejs/-/karma-requirejs-1.1.0.tgz#fddae2cb87d7ebc16fb0222893564d7fee578798"
integrity sha1-/driy4fX68FvsCIok1ZNf+5Xh5g=
-karma-sourcemap-loader@latest:
+karma-sourcemap-loader@0.3.8:
version "0.3.8"
resolved "https://registry.yarnpkg.com/karma-sourcemap-loader/-/karma-sourcemap-loader-0.3.8.tgz#d4bae72fb7a8397328a62b75013d2df937bdcf9c"
integrity sha512-zorxyAakYZuBcHRJE+vbrK2o2JXLFWK8VVjiT/6P+ltLBUGUvqTEkUiQ119MGdOrK7mrmxXHZF1/pfT6GgIZ6g==
dependencies:
graceful-fs "^4.1.2"
-karma@latest:
- version "6.3.11"
- resolved "https://registry.yarnpkg.com/karma/-/karma-6.3.11.tgz#2c2fb09f1a9f52e1a0739adeedace2a68d4c0d34"
- integrity sha512-QGUh4yXgizzDNPLB5nWTvP+wysKexngbyLVWFOyikB661hpa2RZLf5anZQzqliWtAQuYVep0ot0D1U7UQKpsxQ==
+karma@6.3.12:
+ version "6.3.12"
+ resolved "https://registry.yarnpkg.com/karma/-/karma-6.3.12.tgz#fe6347f027385fc16da1a9bb87d766e2d25981c6"
+ integrity sha512-qwIG+oB2YmHx4hjvYSRMNzL3YWAJ9baHaLAxiP7biFNkfpwYTUTtPck0joFpucalNLzMr+7z/FX1uY/kl8DV9A==
dependencies:
body-parser "^1.19.0"
braces "^3.0.2"
@@ -1746,6 +2171,20 @@
ua-parser-js "^0.7.30"
yargs "^16.1.1"
+lie@~3.3.0:
+ version "3.3.0"
+ resolved "https://registry.yarnpkg.com/lie/-/lie-3.3.0.tgz#dcf82dee545f46074daf200c7c1c5a08e0f40f6a"
+ integrity sha512-UaiMJzeWRlEujzAuw5LokY1L5ecNQYZKfmyZ9L7wDHb/p5etKaxXhohBcrw0EYby+G/NA52vRSN4N39dxHAIwQ==
+ dependencies:
+ immediate "~3.0.5"
+
+locate-path@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/locate-path/-/locate-path-5.0.0.tgz#1afba396afd676a6d42504d0a67a3a7eb9f62aa0"
+ integrity sha512-t7hw9pI+WvuwNJXwk5zVHpyhIqzg2qTlklJOf0mVxGSbe3Fp2VieZcduNYjaLDoy6p9uGpQEGWG87WpMKlNq8g==
+ dependencies:
+ p-locate "^4.1.0"
+
lodash@^4.17.21:
version "4.17.21"
resolved "https://registry.yarnpkg.com/lodash/-/lodash-4.17.21.tgz#679591c564c3bffaae8454cf0b3df370c3d6911c"
@@ -1782,6 +2221,11 @@
dependencies:
yallist "^4.0.0"
+lru-cache@^7.4.0:
+ version "7.4.1"
+ resolved "https://registry.yarnpkg.com/lru-cache/-/lru-cache-7.4.1.tgz#afe07e885ef0cd5bf99f62f4fa7545d48746d779"
+ integrity sha512-NCD7/WRlFmADccuHjsRUYqdluYBr//n/O0fesCb/n52FoGcgKh8o4Dpm7YIbZwVcDs8rPBQbCZLmWWsp6m+xGQ==
+
magic-string@0.25.7, magic-string@^0.25.0:
version "0.25.7"
resolved "https://registry.yarnpkg.com/magic-string/-/magic-string-0.25.7.tgz#3f497d6fd34c669c6798dcb821f2ef31f5445051"
@@ -1797,7 +2241,29 @@
pify "^4.0.1"
semver "^5.6.0"
-make-fetch-happen@^9.0.1, make-fetch-happen@^9.1.0:
+make-fetch-happen@^10.0.1:
+ version "10.0.4"
+ resolved "https://registry.yarnpkg.com/make-fetch-happen/-/make-fetch-happen-10.0.4.tgz#309823c7a2b4c947465274220e169112c977b94f"
+ integrity sha512-CiReW6usy3UXby5N46XjWfLPFPq1glugCszh18I0NYJCwr129ZAx9j3Dlv+cRsK0q3VjlVysEzhdtdw2+NhdYA==
+ dependencies:
+ agentkeepalive "^4.2.1"
+ cacache "^15.3.0"
+ http-cache-semantics "^4.1.0"
+ http-proxy-agent "^5.0.0"
+ https-proxy-agent "^5.0.0"
+ is-lambda "^1.0.1"
+ lru-cache "^7.4.0"
+ minipass "^3.1.6"
+ minipass-collect "^1.0.2"
+ minipass-fetch "^2.0.1"
+ minipass-flush "^1.0.5"
+ minipass-pipeline "^1.2.4"
+ negotiator "^0.6.3"
+ promise-retry "^2.0.1"
+ socks-proxy-agent "^6.1.1"
+ ssri "^8.0.1"
+
+make-fetch-happen@^9.1.0:
version "9.1.0"
resolved "https://registry.yarnpkg.com/make-fetch-happen/-/make-fetch-happen-9.1.0.tgz#53085a09e7971433e6765f7971bf63f4e05cb968"
integrity sha512-+zopwDy7DNknmwPQplem5lAZX/eCOzSvSNNcSKm5eVwTkOBzoktEfXsa9L23J/GIRhxRsaxzkPEhrJEpE2F4Gg==
@@ -1829,7 +2295,7 @@
resolved "https://registry.yarnpkg.com/mime-db/-/mime-db-1.51.0.tgz#d9ff62451859b18342d960850dc3cfb77e63fb0c"
integrity sha512-5y8A56jg7XVQx2mbv1lu49NR4dokRnhZYTtL+KGfaa27uq4pSTXkwQkFJl4pkRMyNFz/EtYDSkiiEHx3F7UN6g==
-mime-types@~2.1.24:
+mime-types@^2.1.12, mime-types@~2.1.19, mime-types@~2.1.24:
version "2.1.34"
resolved "https://registry.yarnpkg.com/mime-types/-/mime-types-2.1.34.tgz#5a712f9ec1503511a945803640fafe09d3793c24"
integrity sha512-6cP692WwGIs9XXdOO4++N+7qjqv0rqxxVvJ3VHPh/Sc9mVZcQP+ZGhkKiTvWMQRr2tbHkJP/Yn7Y0npb3ZBs4A==
@@ -1853,7 +2319,7 @@
dependencies:
brace-expansion "^1.1.7"
-minimist@^1.2.5:
+minimist@^1.2.0, minimist@^1.2.5:
version "1.2.5"
resolved "https://registry.yarnpkg.com/minimist/-/minimist-1.2.5.tgz#67d66014b66a6a8aaa0c083c5fd58df4e4e97602"
integrity sha512-FM9nNUYrRBAELZQT3xeZQ7fmMOBg6nWNmJKTcgsJeaLstP/UODVpGsr5OhXhhXg6f+qtJ8uiZ+PUxkDWcgIXLw==
@@ -1865,7 +2331,7 @@
dependencies:
minipass "^3.0.0"
-minipass-fetch@^1.3.0, minipass-fetch@^1.3.2:
+minipass-fetch@^1.3.2, minipass-fetch@^1.4.1:
version "1.4.1"
resolved "https://registry.yarnpkg.com/minipass-fetch/-/minipass-fetch-1.4.1.tgz#d75e0091daac1b0ffd7e9d41629faff7d0c1f1b6"
integrity sha512-CGH1eblLq26Y15+Azk7ey4xh0J/XfJfrCox5LDJiKqI2Q2iwOLOKrlmIaODiSQS8d18jalF6y2K2ePUm0CmShw==
@@ -1876,6 +2342,17 @@
optionalDependencies:
encoding "^0.1.12"
+minipass-fetch@^2.0.1:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/minipass-fetch/-/minipass-fetch-2.0.2.tgz#5ea5fb9a2e24ccd3cfb489563540bb4024fc6c31"
+ integrity sha512-M63u5yWX0yxY1C3DcLVY1xWai0pNM3qa1xCMXFgdejY5F/NTmyzNVHGcBxKerX51lssqxwWWTjpg/ZPuD39gOQ==
+ dependencies:
+ minipass "^3.1.6"
+ minipass-sized "^1.0.3"
+ minizlib "^2.1.2"
+ optionalDependencies:
+ encoding "^0.1.13"
+
minipass-flush@^1.0.5:
version "1.0.5"
resolved "https://registry.yarnpkg.com/minipass-flush/-/minipass-flush-1.0.5.tgz#82e7135d7e89a50ffe64610a787953c4c4cbb373"
@@ -1905,14 +2382,14 @@
dependencies:
minipass "^3.0.0"
-minipass@^3.0.0, minipass@^3.1.0, minipass@^3.1.1, minipass@^3.1.3:
+minipass@^3.0.0, minipass@^3.1.0, minipass@^3.1.1, minipass@^3.1.3, minipass@^3.1.6:
version "3.1.6"
resolved "https://registry.yarnpkg.com/minipass/-/minipass-3.1.6.tgz#3b8150aa688a711a1521af5e8779c1d3bb4f45ee"
integrity sha512-rty5kpw9/z8SX9dmxblFA6edItUmwJgMeYDZRrwlIVN27i8gysGbznJwUggw2V/FVqFSDdWy040ZPS811DYAqQ==
dependencies:
yallist "^4.0.0"
-minizlib@^2.0.0, minizlib@^2.1.1:
+minizlib@^2.0.0, minizlib@^2.1.1, minizlib@^2.1.2:
version "2.1.2"
resolved "https://registry.yarnpkg.com/minizlib/-/minizlib-2.1.2.tgz#e90d3466ba209b932451508a11ce3d3632145931"
integrity sha512-bAxsR8BVfj60DWXHE3u30oHzfl4G7khkSuPW+qvpd7jFRHm7dLxOjUk1EHACJ/hxLY8phGJ0YhYHZo7jil7Qdg==
@@ -1935,7 +2412,7 @@
resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.2.tgz#d09d1f357b443f493382a8eb3ccd183872ae6009"
integrity sha512-sGkPx+VjMtmA6MX27oA4FBFELFCZZ4S4XqeGOXCv68tT+jb3vk/RyaKWP0PTKyWtmLSM0b+adUTEvbs1PEaH2w==
-ms@^2.0.0:
+ms@^2.0.0, ms@^2.1.1:
version "2.1.3"
resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.3.tgz#574c8138ce1d2b5861f0b44579dbadd60c6615b2"
integrity sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==
@@ -1950,6 +2427,11 @@
resolved "https://registry.yarnpkg.com/negotiator/-/negotiator-0.6.2.tgz#feacf7ccf525a77ae9634436a64883ffeca346fb"
integrity sha512-hZXc7K2e+PgeI1eDBe/10Ard4ekbfrrqG8Ep+8Jmf4JID2bNg7NvCPOZN+kfF574pFQI7mum2AUqDidoKqcTOw==
+negotiator@^0.6.3:
+ version "0.6.3"
+ resolved "https://registry.yarnpkg.com/negotiator/-/negotiator-0.6.3.tgz#58e323a72fedc0d6f9cd4d31fe49f51479590ccd"
+ integrity sha512-+EUsqGPLsM+j/zdChZjsnX51g4XrHFOIXwfnCVPGlQk/k5giakcKsuxCObBRu6DSm9opw/O6slWbJdghQM4bBg==
+
node-gyp@^8.2.0:
version "8.4.1"
resolved "https://registry.yarnpkg.com/node-gyp/-/node-gyp-8.4.1.tgz#3d49308fc31f768180957d6b5746845fbd429937"
@@ -2002,7 +2484,7 @@
resolved "https://registry.yarnpkg.com/npm-normalize-package-bin/-/npm-normalize-package-bin-1.0.1.tgz#6e79a41f23fd235c0623218228da7d9c23b8f6e2"
integrity sha512-EPfafl6JL5/rU+ot6P3gRSCpPDW5VmIzX959Ob1+ySFUuuYHWHekXpwdUZcKP5C+DS4GEtdJluwBjnsNDl+fSA==
-npm-package-arg@8.1.5, npm-package-arg@^8.0.0, npm-package-arg@^8.0.1, npm-package-arg@^8.1.2:
+npm-package-arg@8.1.5, npm-package-arg@^8.0.1, npm-package-arg@^8.1.2, npm-package-arg@^8.1.5:
version "8.1.5"
resolved "https://registry.yarnpkg.com/npm-package-arg/-/npm-package-arg-8.1.5.tgz#3369b2d5fe8fdc674baa7f1786514ddc15466e44"
integrity sha512-LhgZrg0n0VgvzVdSm1oiZworPbTxYHUJCgtsJW8mGvlDpxTM1vSJc3m5QZeUkhAHIzbz3VCHd/R4osi1L1Tg/Q==
@@ -2031,17 +2513,17 @@
npm-package-arg "^8.1.2"
semver "^7.3.4"
-npm-registry-fetch@^11.0.0:
- version "11.0.0"
- resolved "https://registry.yarnpkg.com/npm-registry-fetch/-/npm-registry-fetch-11.0.0.tgz#68c1bb810c46542760d62a6a965f85a702d43a76"
- integrity sha512-jmlgSxoDNuhAtxUIG6pVwwtz840i994dL14FoNVZisrmZW5kWd63IUTNv1m/hyRSGSqWjCUp/YZlS1BJyNp9XA==
+npm-registry-fetch@^12.0.0:
+ version "12.0.2"
+ resolved "https://registry.yarnpkg.com/npm-registry-fetch/-/npm-registry-fetch-12.0.2.tgz#ae583bb3c902a60dae43675b5e33b5b1f6159f1e"
+ integrity sha512-Df5QT3RaJnXYuOwtXBXS9BWs+tHH2olvkCLh6jcR/b/u3DvPMlp3J0TvvYwplPKxHMOwfg287PYih9QqaVFoKA==
dependencies:
- make-fetch-happen "^9.0.1"
- minipass "^3.1.3"
- minipass-fetch "^1.3.0"
+ make-fetch-happen "^10.0.1"
+ minipass "^3.1.6"
+ minipass-fetch "^1.4.1"
minipass-json-stream "^1.0.1"
- minizlib "^2.0.0"
- npm-package-arg "^8.0.0"
+ minizlib "^2.1.2"
+ npm-package-arg "^8.1.5"
npmlog@^6.0.0:
version "6.0.0"
@@ -2053,7 +2535,12 @@
gauge "^4.0.0"
set-blocking "^2.0.0"
-object-assign@^4:
+oauth-sign@~0.9.0:
+ version "0.9.0"
+ resolved "https://registry.yarnpkg.com/oauth-sign/-/oauth-sign-0.9.0.tgz#47a7b016baa68b5fa0ecf3dee08a85c679ac6455"
+ integrity sha512-fexhUFFPTGV8ybAtSIGbV6gOkSv8UtRbDBnAyLQw4QPKkgNlsH2ByPGtMUqdWkos6YCRmAqViwgZrJc/mRDzZQ==
+
+object-assign@^4, object-assign@^4.0.1:
version "4.1.1"
resolved "https://registry.yarnpkg.com/object-assign/-/object-assign-4.1.1.tgz#2109adc7965887cfc05cbbd442cac8bfbb360863"
integrity sha1-IQmtx5ZYh8/AXLvUQsrIv7s2CGM=
@@ -2103,11 +2590,25 @@
strip-ansi "^6.0.0"
wcwidth "^1.0.1"
-os-tmpdir@~1.0.2:
+os-tmpdir@~1.0.1, os-tmpdir@~1.0.2:
version "1.0.2"
resolved "https://registry.yarnpkg.com/os-tmpdir/-/os-tmpdir-1.0.2.tgz#bbe67406c79aa85c5cfec766fe5734555dfa1274"
integrity sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ=
+p-limit@^2.2.0:
+ version "2.3.0"
+ resolved "https://registry.yarnpkg.com/p-limit/-/p-limit-2.3.0.tgz#3dd33c647a214fdfffd835933eb086da0dc21db1"
+ integrity sha512-//88mFWSJx8lxCzwdAABTJL2MyWB12+eIY7MDL2SqLmAkeKU9qxRvWuSyTjm3FUmpBEMuFfckAIqEaVGUDxb6w==
+ dependencies:
+ p-try "^2.0.0"
+
+p-locate@^4.1.0:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/p-locate/-/p-locate-4.1.0.tgz#a3428bb7088b3a60292f66919278b7c297ad4f07"
+ integrity sha512-R79ZZ/0wAxKGu3oYMlz8jy/kbhsNrS7SKZ7PxEHBgJ5+F2mtFW2fK2cOtBh1cHYkQsbzFV7I+EoRKe6Yt0oK7A==
+ dependencies:
+ p-limit "^2.2.0"
+
p-map@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/p-map/-/p-map-4.0.0.tgz#bb2f95a5eda2ec168ec9274e06a747c3e2904d2b"
@@ -2115,10 +2616,15 @@
dependencies:
aggregate-error "^3.0.0"
-pacote@12.0.2:
- version "12.0.2"
- resolved "https://registry.yarnpkg.com/pacote/-/pacote-12.0.2.tgz#14ae30a81fe62ec4fc18c071150e6763e932527c"
- integrity sha512-Ar3mhjcxhMzk+OVZ8pbnXdb0l8+pimvlsqBGRNkble2NVgyqOGE3yrCGi/lAYq7E7NRDMz89R1Wx5HIMCGgeYg==
+p-try@^2.0.0:
+ version "2.2.0"
+ resolved "https://registry.yarnpkg.com/p-try/-/p-try-2.2.0.tgz#cb2868540e313d61de58fafbe35ce9004d5540e6"
+ integrity sha512-R4nPAVTAU0B9D35/Gk3uJf/7XYbQcyohSKdvAxIRSNghFl4e71hVoGnBNQz9cWaXxO2I10KTC+3jMdvvoKw6dQ==
+
+pacote@12.0.3:
+ version "12.0.3"
+ resolved "https://registry.yarnpkg.com/pacote/-/pacote-12.0.3.tgz#b6f25868deb810e7e0ddf001be88da2bcaca57c7"
+ integrity sha512-CdYEl03JDrRO3x18uHjBYA9TyoW8gy+ThVcypcDkxPtKlw76e4ejhYB6i9lJ+/cebbjpqPW/CijjqxwDTts8Ow==
dependencies:
"@npmcli/git" "^2.1.0"
"@npmcli/installed-package-contents" "^1.0.6"
@@ -2133,28 +2639,48 @@
npm-package-arg "^8.0.1"
npm-packlist "^3.0.0"
npm-pick-manifest "^6.0.0"
- npm-registry-fetch "^11.0.0"
+ npm-registry-fetch "^12.0.0"
promise-retry "^2.0.1"
read-package-json-fast "^2.0.1"
rimraf "^3.0.2"
ssri "^8.0.1"
tar "^6.1.0"
+pako@~1.0.2:
+ version "1.0.11"
+ resolved "https://registry.yarnpkg.com/pako/-/pako-1.0.11.tgz#6c9599d340d54dfd3946380252a35705a6b992bf"
+ integrity sha512-4hLB8Py4zZce5s4yd9XzopqwVv/yGNhV1Bl8NTmCq1763HeK2+EwVTv+leGeL13Dnh2wfbqowVPXCIO0z4taYw==
+
parseurl@~1.3.3:
version "1.3.3"
resolved "https://registry.yarnpkg.com/parseurl/-/parseurl-1.3.3.tgz#9da19e7bee8d12dff0513ed5b76957793bc2e8d4"
integrity sha512-CiyeOxFT/JZyN5m0z9PfXw4SCBJ6Sygz1Dpl0wqjlhDEGGBP1GnsUVEL0p63hoG1fcj3fHynXi9NYO4nWOL+qQ==
+path-exists@^4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/path-exists/-/path-exists-4.0.0.tgz#513bdbe2d3b95d7762e8c1137efa195c6c61b5b3"
+ integrity sha512-ak9Qy5Q7jYb2Wwcey5Fpvg2KoAc/ZIhLSLOSBmRmygPsGwkVVt0fZa0qrtMz+m6tJTAHfZQ8FnmB4MG4LWy7/w==
+
path-is-absolute@^1.0.0:
version "1.0.1"
resolved "https://registry.yarnpkg.com/path-is-absolute/-/path-is-absolute-1.0.1.tgz#174b9268735534ffbc7ace6bf53a5a9e1b5c5f5f"
integrity sha1-F0uSaHNVNP+8es5r9TpanhtcX18=
-path-parse@^1.0.6, path-parse@^1.0.7:
+path-is-inside@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/path-is-inside/-/path-is-inside-1.0.2.tgz#365417dede44430d1c11af61027facf074bdfc53"
+ integrity sha1-NlQX3t5EQw0cEa9hAn+s8HS9/FM=
+
+path-parse@^1.0.7:
version "1.0.7"
resolved "https://registry.yarnpkg.com/path-parse/-/path-parse-1.0.7.tgz#fbc114b60ca42b30d9daf5858e4bd68bbedb6735"
integrity sha512-LDJzPVEEEPR+y48z93A0Ed0yXb8pAByGWo/k5YYdYgpY2/2EsOsksJrq7lOHxryrVOn1ejG6oAp8ahvOIQD8sw==
+performance-now@^2.1.0:
+ version "2.1.0"
+ resolved "https://registry.yarnpkg.com/performance-now/-/performance-now-2.1.0.tgz#6309f4e0e5fa913ec1c69307ae364b4b377c9e7b"
+ integrity sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns=
+
picocolors@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.0.0.tgz#cb5bdc74ff3f51892236eaf79d68bc44564ab81c"
@@ -2165,11 +2691,33 @@
resolved "https://registry.yarnpkg.com/picomatch/-/picomatch-2.3.1.tgz#3ba3833733646d9d3e4995946c1365a67fb07a42"
integrity sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==
+pify@^2.0.0:
+ version "2.3.0"
+ resolved "https://registry.yarnpkg.com/pify/-/pify-2.3.0.tgz#ed141a6ac043a849ea588498e7dca8b15330e90c"
+ integrity sha1-7RQaasBDqEnqWISY59yosVMw6Qw=
+
pify@^4.0.1:
version "4.0.1"
resolved "https://registry.yarnpkg.com/pify/-/pify-4.0.1.tgz#4b2cd25c50d598735c50292224fd8c6df41e3231"
integrity sha512-uB80kBFb/tfd68bVleG9T5GGsGPjJrLAUpR5PZIrhBnIaRTQRjqdJSsIKkOP6OAIFbj7GOrcudc5pNjZ+geV2g==
+pinkie-promise@^2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/pinkie-promise/-/pinkie-promise-2.0.1.tgz#2135d6dfa7a358c069ac9b178776288228450ffa"
+ integrity sha1-ITXW36ejWMBprJsXh3YogihFD/o=
+ dependencies:
+ pinkie "^2.0.0"
+
+pinkie@^2.0.0:
+ version "2.0.4"
+ resolved "https://registry.yarnpkg.com/pinkie/-/pinkie-2.0.4.tgz#72556b80cfa0d48a974e80e77248e80ed4f7f870"
+ integrity sha1-clVrgM+g1IqXToDnckjoDtT3+HA=
+
+process-nextick-args@~2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/process-nextick-args/-/process-nextick-args-2.0.1.tgz#7820d9b16120cc55ca9ae7792680ae7dba6d7fe2"
+ integrity sha512-3ouUOpQhtgrbOa17J7+uxOTpITYWaGP7/AhoR3+A+/1e9skrzelGi/dXzEYyvbxubEF6Wn2ypscTKiKJFFn1ag==
+
promise-inflight@^1.0.1:
version "1.0.1"
resolved "https://registry.yarnpkg.com/promise-inflight/-/promise-inflight-1.0.1.tgz#98472870bf228132fcbdd868129bad12c3c029e3"
@@ -2202,11 +2750,47 @@
"@types/node" "^10.1.0"
long "^4.0.0"
-punycode@^2.1.0:
+protractor@7.0.0:
+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/protractor/-/protractor-7.0.0.tgz#c3e263608bd72e2c2dc802b11a772711a4792d03"
+ integrity sha512-UqkFjivi4GcvUQYzqGYNe0mLzfn5jiLmO8w9nMhQoJRLhy2grJonpga2IWhI6yJO30LibWXJJtA4MOIZD2GgZw==
+ dependencies:
+ "@types/q" "^0.0.32"
+ "@types/selenium-webdriver" "^3.0.0"
+ blocking-proxy "^1.0.0"
+ browserstack "^1.5.1"
+ chalk "^1.1.3"
+ glob "^7.0.3"
+ jasmine "2.8.0"
+ jasminewd2 "^2.1.0"
+ q "1.4.1"
+ saucelabs "^1.5.0"
+ selenium-webdriver "3.6.0"
+ source-map-support "~0.4.0"
+ webdriver-js-extender "2.1.0"
+ webdriver-manager "^12.1.7"
+ yargs "^15.3.1"
+
+psl@^1.1.28:
+ version "1.8.0"
+ resolved "https://registry.yarnpkg.com/psl/-/psl-1.8.0.tgz#9326f8bcfb013adcc005fdff056acce020e51c24"
+ integrity sha512-RIdOzyoavK+hA18OGGWDqUTsCLhtA7IcZ/6NCs4fFJaHBDab+pDDmDIByWFRQJq2Cd7r1OoQxBGKOaztq+hjIQ==
+
+punycode@^2.1.0, punycode@^2.1.1:
version "2.1.1"
resolved "https://registry.yarnpkg.com/punycode/-/punycode-2.1.1.tgz#b58b010ac40c22c5657616c8d2c2c02c7bf479ec"
integrity sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==
+q@1.4.1:
+ version "1.4.1"
+ resolved "https://registry.yarnpkg.com/q/-/q-1.4.1.tgz#55705bcd93c5f3673530c2c2cbc0c2b3addc286e"
+ integrity sha1-VXBbzZPF82c1MMLCy8DCs63cKG4=
+
+q@^1.4.1:
+ version "1.5.1"
+ resolved "https://registry.yarnpkg.com/q/-/q-1.5.1.tgz#7e32f75b41381291d04611f1bf14109ac00651d7"
+ integrity sha1-fjL3W0E4EpHQRhHxvxQQmsAGUdc=
+
qjobs@^1.2.0:
version "1.2.0"
resolved "https://registry.yarnpkg.com/qjobs/-/qjobs-1.2.0.tgz#c45e9c61800bd087ef88d7e256423bdd49e5d071"
@@ -2217,6 +2801,11 @@
resolved "https://registry.yarnpkg.com/qs/-/qs-6.9.6.tgz#26ed3c8243a431b2924aca84cc90471f35d5a0ee"
integrity sha512-TIRk4aqYLNoJUbd+g2lEdz5kLWIuTMRagAXxl78Q0RiVjAOugHmeKNGdd3cwo/ktpf9aL9epCfFqWDEKysUlLQ==
+qs@~6.5.2:
+ version "6.5.3"
+ resolved "https://registry.yarnpkg.com/qs/-/qs-6.5.3.tgz#3aeeffc91967ef6e35c0e488ef46fb296ab76aad"
+ integrity sha512-qxXIEh4pCGfHICj1mAJQ2/2XVZkjCDTcEgfoSQxc/fYivUZxTkk7L3bDBJSoNrEzXI17oUO5Dp07ktqE5KzczA==
+
range-parser@^1.2.1:
version "1.2.1"
resolved "https://registry.yarnpkg.com/range-parser/-/range-parser-1.2.1.tgz#3cf37023d199e1c24d1a55b84800c2f3e6468031"
@@ -2249,6 +2838,19 @@
string_decoder "^1.1.1"
util-deprecate "^1.0.1"
+readable-stream@~2.3.6:
+ version "2.3.7"
+ resolved "https://registry.yarnpkg.com/readable-stream/-/readable-stream-2.3.7.tgz#1eca1cf711aef814c04f62252a36a62f6cb23b57"
+ integrity sha512-Ebho8K4jIbHAxnuxi7o42OrZgF/ZTNcsZj6nRKyUmkhLFq8CHItp/fy6hQZuZmP/n3yZ9VBUbp4zz/mX8hmYPw==
+ dependencies:
+ core-util-is "~1.0.0"
+ inherits "~2.0.3"
+ isarray "~1.0.0"
+ process-nextick-args "~2.0.0"
+ safe-buffer "~5.1.1"
+ string_decoder "~1.1.1"
+ util-deprecate "~1.0.1"
+
readdirp@~3.6.0:
version "3.6.0"
resolved "https://registry.yarnpkg.com/readdirp/-/readdirp-3.6.0.tgz#74a370bd857116e245b29cc97340cd431a02a6c7"
@@ -2261,6 +2863,32 @@
resolved "https://registry.yarnpkg.com/reflect-metadata/-/reflect-metadata-0.1.13.tgz#67ae3ca57c972a2aa1642b10fe363fe32d49dc08"
integrity sha512-Ts1Y/anZELhSsjMcU605fU9RE4Oi3p5ORujwbIKXfWa+0Zxs510Qrmrce5/Jowq3cHSZSJqBjypxmHarc+vEWg==
+request@^2.87.0:
+ version "2.88.2"
+ resolved "https://registry.yarnpkg.com/request/-/request-2.88.2.tgz#d73c918731cb5a87da047e207234146f664d12b3"
+ integrity sha512-MsvtOrfG9ZcrOwAW+Qi+F6HbD0CWXEh9ou77uOb7FM2WPhwT7smM833PzanhJLsgXjN89Ir6V2PczXNnMpwKhw==
+ dependencies:
+ aws-sign2 "~0.7.0"
+ aws4 "^1.8.0"
+ caseless "~0.12.0"
+ combined-stream "~1.0.6"
+ extend "~3.0.2"
+ forever-agent "~0.6.1"
+ form-data "~2.3.2"
+ har-validator "~5.1.3"
+ http-signature "~1.2.0"
+ is-typedarray "~1.0.0"
+ isstream "~0.1.2"
+ json-stringify-safe "~5.0.1"
+ mime-types "~2.1.19"
+ oauth-sign "~0.9.0"
+ performance-now "^2.1.0"
+ qs "~6.5.2"
+ safe-buffer "^5.1.2"
+ tough-cookie "~2.5.0"
+ tunnel-agent "^0.6.0"
+ uuid "^3.3.2"
+
require-directory@^2.1.1:
version "2.1.1"
resolved "https://registry.yarnpkg.com/require-directory/-/require-directory-2.1.1.tgz#8c64ad5fd30dab1c976e2344ffe7f792a6a6df42"
@@ -2271,7 +2899,12 @@
resolved "https://registry.yarnpkg.com/require-from-string/-/require-from-string-2.0.2.tgz#89a7fdd938261267318eafe14f9c32e598c36909"
integrity sha512-Xf0nWe6RseziFMu+Ap9biiUbmplq6S9/p+7w7YXP/JBHhrUDDUhwa+vANyubuqfZWTveU//DYVGsDG7RKL/vEw==
-requirejs@latest:
+require-main-filename@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/require-main-filename/-/require-main-filename-2.0.0.tgz#d0b329ecc7cc0f61649f62215be69af54aa8989b"
+ integrity sha512-NKN5kMDylKuldxYLSUfrbo5Tuzh4hd+2E8NPPX02mZtn1VuREQToYe/ZdlJy+J3uCpfaiGF05e7B8W0iXbQHmg==
+
+requirejs@2.3.6:
version "2.3.6"
resolved "https://registry.yarnpkg.com/requirejs/-/requirejs-2.3.6.tgz#e5093d9601c2829251258c0b9445d4d19fa9e7c9"
integrity sha512-ipEzlWQe6RK3jkzikgCupiTbTvm4S0/CAU5GlgptkN5SO6F3u0UD0K18wy6ErDqiCyP4J4YYe1HuAShvsxePLg==
@@ -2281,13 +2914,14 @@
resolved "https://registry.yarnpkg.com/requires-port/-/requires-port-1.0.0.tgz#925d2601d39ac485e091cf0da5c6e694dc3dcaff"
integrity sha1-kl0mAdOaxIXgkc8NpcbmlNw9yv8=
-resolve@1.20.0:
- version "1.20.0"
- resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.20.0.tgz#629a013fb3f70755d6f0b7935cc1c2c5378b1975"
- integrity sha512-wENBPt4ySzg4ybFQW2TT1zMQucPK95HSh/nq2CFTZVOGut2+pQvSsgtda4d26YrYcr067wjbmzOG8byDPBX63A==
+resolve@1.22.0:
+ version "1.22.0"
+ resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.22.0.tgz#5e0b8c67c15df57a89bdbabe603a002f21731198"
+ integrity sha512-Hhtrw0nLeSrFQ7phPp4OOcVjLPIeMnRlr5mcnVuMe7M/7eBn98A3hmFRLoFo3DLZkivSYwhRUJTyPyWAk56WLw==
dependencies:
- is-core-module "^2.2.0"
- path-parse "^1.0.6"
+ is-core-module "^2.8.1"
+ path-parse "^1.0.7"
+ supports-preserve-symlinks-flag "^1.0.0"
resolve@^1.19.0:
version "1.21.0"
@@ -2316,6 +2950,13 @@
resolved "https://registry.yarnpkg.com/rfdc/-/rfdc-1.3.0.tgz#d0b7c441ab2720d05dc4cf26e01c89631d9da08b"
integrity sha512-V2hovdzFbOi77/WajaSMXk2OLm+xNIeQdMMuB7icj7bk6zi2F8GGAxigcnDFpJHbNyNcgyJDiP+8nOrY5cZGrA==
+rimraf@^2.2.8, rimraf@^2.5.2, rimraf@^2.5.4:
+ version "2.7.1"
+ resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-2.7.1.tgz#35797f13a7fdadc566142c29d4f07ccad483e3ec"
+ integrity sha512-uWjbaKIK3T1OSVptzX7Nl6PvQ3qAGtKEtVRjRuazjfL3Bx5eI409VZSqgND+4UNnmzLVdPj9FqFJNPqBZFve4w==
+ dependencies:
+ glob "^7.1.3"
+
rimraf@^3.0.0, rimraf@^3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-3.0.2.tgz#f1a5402ba6220ad52cc1282bac1ae3aa49fd061a"
@@ -2323,10 +2964,10 @@
dependencies:
glob "^7.1.3"
-rollup@latest:
- version "2.64.0"
- resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.64.0.tgz#f0f59774e21fbb56de438a37d06a2189632b207a"
- integrity sha512-+c+lbw1lexBKSMb1yxGDVfJ+vchJH3qLbmavR+awDinTDA2C5Ug9u7lkOzj62SCu0PKUExsW36tpgW7Fmpn3yQ==
+rollup@2.66.1:
+ version "2.66.1"
+ resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.66.1.tgz#366b0404de353c4331d538c3ad2963934fcb4937"
+ integrity sha512-crSgLhSkLMnKr4s9iZ/1qJCplgAgrRY+igWv8KhG/AjKOJ0YX/WpmANyn8oxrw+zenF3BXWDLa7Xl/QZISH+7w==
optionalDependencies:
fsevents "~2.3.2"
@@ -2349,21 +2990,43 @@
dependencies:
tslib "^2.1.0"
-safe-buffer@~5.1.1:
- version "5.1.2"
- resolved "https://registry.yarnpkg.com/safe-buffer/-/safe-buffer-5.1.2.tgz#991ec69d296e0313747d59bdfd2b745c35f8828d"
- integrity sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==
-
-safe-buffer@~5.2.0:
+safe-buffer@^5.0.1, safe-buffer@^5.1.2, safe-buffer@~5.2.0:
version "5.2.1"
resolved "https://registry.yarnpkg.com/safe-buffer/-/safe-buffer-5.2.1.tgz#1eaf9fa9bdb1fdd4ec75f58f9cdb4e6b7827eec6"
integrity sha512-rp3So07KcdmmKbGvgaNxQSJr7bGVSVk5S9Eq1F+ppbRo70+YeaDxkw5Dd8NPN+GD6bjnYm2VuPuCXmpuYvmCXQ==
-"safer-buffer@>= 2.1.2 < 3", "safer-buffer@>= 2.1.2 < 3.0.0":
+safe-buffer@~5.1.0, safe-buffer@~5.1.1:
+ version "5.1.2"
+ resolved "https://registry.yarnpkg.com/safe-buffer/-/safe-buffer-5.1.2.tgz#991ec69d296e0313747d59bdfd2b745c35f8828d"
+ integrity sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==
+
+"safer-buffer@>= 2.1.2 < 3", "safer-buffer@>= 2.1.2 < 3.0.0", safer-buffer@^2.0.2, safer-buffer@^2.1.0, safer-buffer@~2.1.0:
version "2.1.2"
resolved "https://registry.yarnpkg.com/safer-buffer/-/safer-buffer-2.1.2.tgz#44fa161b0187b9549dd84bb91802f9bd8385cd6a"
integrity sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg==
+saucelabs@^1.5.0:
+ version "1.5.0"
+ resolved "https://registry.yarnpkg.com/saucelabs/-/saucelabs-1.5.0.tgz#9405a73c360d449b232839919a86c396d379fd9d"
+ integrity sha512-jlX3FGdWvYf4Q3LFfFWS1QvPg3IGCGWxIc8QBFdPTbpTJnt/v17FHXYVAn7C8sHf1yUXo2c7yIM0isDryfYtHQ==
+ dependencies:
+ https-proxy-agent "^2.2.1"
+
+sax@>=0.6.0:
+ version "1.2.4"
+ resolved "https://registry.yarnpkg.com/sax/-/sax-1.2.4.tgz#2816234e2378bddc4e5354fab5caa895df7100d9"
+ integrity sha512-NqVDv9TpANUjFm0N8uM5GxL36UgKi9/atZw+x7YFnQ8ckwFGKrl4xX4yWtrey3UJm5nP1kUbnYgLopqWNSRhWw==
+
+selenium-webdriver@3.6.0, selenium-webdriver@^3.0.1:
+ version "3.6.0"
+ resolved "https://registry.yarnpkg.com/selenium-webdriver/-/selenium-webdriver-3.6.0.tgz#2ba87a1662c020b8988c981ae62cb2a01298eafc"
+ integrity sha512-WH7Aldse+2P5bbFBO4Gle/nuQOdVwpHMTL6raL3uuBj/vPG07k6uzt3aiahu352ONBr5xXh0hDlM3LhtXPOC4Q==
+ dependencies:
+ jszip "^3.1.3"
+ rimraf "^2.5.4"
+ tmp "0.0.30"
+ xml2js "^0.4.17"
+
semver@5.6.0:
version "5.6.0"
resolved "https://registry.yarnpkg.com/semver/-/semver-5.6.0.tgz#7e74256fbaa49c75aa7c7a205cc22799cac80004"
@@ -2376,7 +3039,7 @@
dependencies:
lru-cache "^6.0.0"
-semver@^5.6.0:
+semver@^5.3.0, semver@^5.6.0:
version "5.7.1"
resolved "https://registry.yarnpkg.com/semver/-/semver-5.7.1.tgz#a954f931aeba508d307bbf069eff0c01c96116f7"
integrity sha512-sauaDf/PZdVgrLTNYHRtpXa1iRiKcaebiKQ1BJdpQlWH2lCvexQdX55snPFyK7QzpudqbCI0qXFfOasHdyNDGQ==
@@ -2391,6 +3054,11 @@
resolved "https://registry.yarnpkg.com/set-blocking/-/set-blocking-2.0.0.tgz#045f9782d011ae9a6803ddd382b24392b3d890f7"
integrity sha1-BF+XgtARrppoA93TgrJDkrPYkPc=
+set-immediate-shim@~1.0.1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/set-immediate-shim/-/set-immediate-shim-1.0.1.tgz#4b2b1b27eb808a9f8dcc481a58e5e56f599f3f61"
+ integrity sha1-SysbJ+uAip+NzEgaWOXlb1mfP2E=
+
setprototypeof@1.2.0:
version "1.2.0"
resolved "https://registry.yarnpkg.com/setprototypeof/-/setprototypeof-1.2.0.tgz#66c9a24a73f9fc28cbe66b09fed3d33dcaf1b424"
@@ -2437,7 +3105,7 @@
socket.io-adapter "~2.3.3"
socket.io-parser "~4.0.4"
-socks-proxy-agent@^6.0.0:
+socks-proxy-agent@^6.0.0, socks-proxy-agent@^6.1.1:
version "6.1.1"
resolved "https://registry.yarnpkg.com/socks-proxy-agent/-/socks-proxy-agent-6.1.1.tgz#e664e8f1aaf4e1fb3df945f09e3d94f911137f87"
integrity sha512-t8J0kG3csjA4g6FTbsMOWws+7R7vuRC8aQ/wy3/1OWmsgwA68zs/+cExQ0koSitUDXqhufF/YJr9wtNMZHw5Ew==
@@ -2461,6 +3129,13 @@
buffer-from "^1.0.0"
source-map "^0.6.0"
+source-map-support@~0.4.0:
+ version "0.4.18"
+ resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.4.18.tgz#0286a6de8be42641338594e97ccea75f0a2c585f"
+ integrity sha512-try0/JqxPLF9nOjvSta7tVondkP5dwgyLDjVoyMDlmjugT2lRZ1OfsrYTkCd2hkDnJTKRbO/Rl3orm8vlsUzbA==
+ dependencies:
+ source-map "^0.5.6"
+
source-map-support@~0.5.20:
version "0.5.21"
resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.21.tgz#04fe7c7f9e1ed2d662233c28cb2b35b9f63f6e4f"
@@ -2474,7 +3149,7 @@
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
-source-map@^0.5.0:
+source-map@^0.5.0, source-map@^0.5.6:
version "0.5.7"
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.5.7.tgz#8a039d2d1021d22d1ea14c80d8ea468ba2ef3fcc"
integrity sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=
@@ -2489,6 +3164,21 @@
resolved "https://registry.yarnpkg.com/sourcemap-codec/-/sourcemap-codec-1.4.8.tgz#ea804bd94857402e6992d05a38ef1ae35a9ab4c4"
integrity sha512-9NykojV5Uih4lgo5So5dtw+f0JgJX30KCNI8gwhz2J9A15wD0Ml6tjHKwf6fTSa6fAdVBdZeNOs9eJ71qCk8vA==
+sshpk@^1.7.0:
+ version "1.17.0"
+ resolved "https://registry.yarnpkg.com/sshpk/-/sshpk-1.17.0.tgz#578082d92d4fe612b13007496e543fa0fbcbe4c5"
+ integrity sha512-/9HIEs1ZXGhSPE8X6Ccm7Nam1z8KcoCqPdI7ecm1N33EzAetWahvQWVqLZtaZQ+IDKX4IyA2o0gBzqIMkAagHQ==
+ dependencies:
+ asn1 "~0.2.3"
+ assert-plus "^1.0.0"
+ bcrypt-pbkdf "^1.0.0"
+ dashdash "^1.12.0"
+ ecc-jsbn "~0.1.1"
+ getpass "^0.1.1"
+ jsbn "~0.1.0"
+ safer-buffer "^2.0.2"
+ tweetnacl "~0.14.0"
+
ssri@^8.0.0, ssri@^8.0.1:
version "8.0.1"
resolved "https://registry.yarnpkg.com/ssri/-/ssri-8.0.1.tgz#638e4e439e2ffbd2cd289776d5ca457c4f51a2af"
@@ -2526,6 +3216,20 @@
dependencies:
safe-buffer "~5.2.0"
+string_decoder@~1.1.1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/string_decoder/-/string_decoder-1.1.1.tgz#9cf1611ba62685d7030ae9e4ba34149c3af03fc8"
+ integrity sha512-n/ShnvDi6FHbbVfviro+WojiFzv+s8MPMHBczVePfUpDJLwoLT0ht1l4YwBCbi8pJAveEEdnkHyPyTP/mzRfwg==
+ dependencies:
+ safe-buffer "~5.1.0"
+
+strip-ansi@^3.0.0:
+ version "3.0.1"
+ resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-3.0.1.tgz#6a385fb8853d952d5ff05d0e8aaf94278dc63dcf"
+ integrity sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=
+ dependencies:
+ ansi-regex "^2.0.0"
+
strip-ansi@^6.0.0, strip-ansi@^6.0.1:
version "6.0.1"
resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-6.0.1.tgz#9e26c63d30f53443e9489495b2105d37b67a85d9"
@@ -2533,6 +3237,11 @@
dependencies:
ansi-regex "^5.0.1"
+supports-color@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-2.0.0.tgz#535d045ce6b6363fa40117084629995e9df324c7"
+ integrity sha1-U10EXOa2Nj+kARcIRimZXp3zJMc=
+
supports-color@^5.3.0:
version "5.5.0"
resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-5.5.0.tgz#e2e69a44ac8772f78a1ec0b35b689df6530efc8f"
@@ -2569,7 +3278,7 @@
mkdirp "^1.0.3"
yallist "^4.0.0"
-terser@latest:
+terser@5.10.0:
version "5.10.0"
resolved "https://registry.yarnpkg.com/terser/-/terser-5.10.0.tgz#b86390809c0389105eb0a0b62397563096ddafcc"
integrity sha512-AMmF99DMfEDiRJfxfY5jj5wNH/bYO09cniSqhfoyxc8sFoYIgkJy86G04UoZU5VjlpnplVu0K6Tx6E9b5+DlHA==
@@ -2583,6 +3292,13 @@
resolved "https://registry.yarnpkg.com/through/-/through-2.3.8.tgz#0dd4c9ffaabc357960b1b724115d7e0e86a2e1f5"
integrity sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU=
+tmp@0.0.30:
+ version "0.0.30"
+ resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.30.tgz#72419d4a8be7d6ce75148fd8b324e593a711c2ed"
+ integrity sha1-ckGdSovn1s51FI/YsyTlk6cRwu0=
+ dependencies:
+ os-tmpdir "~1.0.1"
+
tmp@^0.0.33:
version "0.0.33"
resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.33.tgz#6d34335889768d21b2bcda0aa277ced3b1bfadf9"
@@ -2614,6 +3330,14 @@
resolved "https://registry.yarnpkg.com/toidentifier/-/toidentifier-1.0.1.tgz#3be34321a88a820ed1bd80dfaa33e479fbb8dd35"
integrity sha512-o5sSPKEkg/DIQNmH43V0/uerLrpzVedkUh8tGNvaeXpfpuwjKenlSox/2O/BTlZUtEe+JG7s5YhEz608PlAHRA==
+tough-cookie@~2.5.0:
+ version "2.5.0"
+ resolved "https://registry.yarnpkg.com/tough-cookie/-/tough-cookie-2.5.0.tgz#cd9fb2a0aa1d5a12b473bd9fb96fa3dcff65ade2"
+ integrity sha512-nlLsUzgm1kfLXSXfRZMc1KLAugd4hqJHDTvc2hDIwS3mZAfMEuMbc03SujMF+GEcpaX/qboeycw6iO8JwVv2+g==
+ dependencies:
+ psl "^1.1.28"
+ punycode "^2.1.1"
+
tslib@^1.8.1:
version "1.9.3"
resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
@@ -2635,6 +3359,18 @@
dependencies:
tslib "^1.8.1"
+tunnel-agent@^0.6.0:
+ version "0.6.0"
+ resolved "https://registry.yarnpkg.com/tunnel-agent/-/tunnel-agent-0.6.0.tgz#27a5dea06b36b04a0a9966774b290868f0fc40fd"
+ integrity sha1-J6XeoGs2sEoKmWZ3SykIaPD8QP0=
+ dependencies:
+ safe-buffer "^5.0.1"
+
+tweetnacl@^0.14.3, tweetnacl@~0.14.0:
+ version "0.14.5"
+ resolved "https://registry.yarnpkg.com/tweetnacl/-/tweetnacl-0.14.5.tgz#5ae68177f192d4456269d108afa93ff8743f4f64"
+ integrity sha1-WuaBd/GS1EViadEIr6k/+HQ/T2Q=
+
type-fest@^0.21.3:
version "0.21.3"
resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-0.21.3.tgz#d260a24b0198436e133fa26a524a6d65fa3b2e37"
@@ -2648,10 +3384,10 @@
media-typer "0.3.0"
mime-types "~2.1.24"
-typescript@latest:
- version "4.5.4"
- resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.4.tgz#a17d3a0263bf5c8723b9c52f43c5084edf13c2e8"
- integrity sha512-VgYs2A2QIRuGphtzFV7aQJduJ2gyfTljngLzjpfW9FoYZF6xuw1W0vW9ghCKLfcWrCFxK81CSGRAvS1pn4fIUg==
+typescript@4.5.5:
+ version "4.5.5"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.5.tgz#d8c953832d28924a9e3d37c73d729c846c5896f3"
+ integrity sha512-TCTIul70LyWe6IJWT8QSYeA54WQe8EjQFU4wY52Fasj5UKx88LNYKCgBEHcOMOrFF1rKGbD8v/xcNWVUq9SymA==
ua-parser-js@^0.7.30:
version "0.7.31"
@@ -2689,7 +3425,7 @@
dependencies:
punycode "^2.1.0"
-util-deprecate@^1.0.1:
+util-deprecate@^1.0.1, util-deprecate@~1.0.1:
version "1.0.2"
resolved "https://registry.yarnpkg.com/util-deprecate/-/util-deprecate-1.0.2.tgz#450d4dc9fa70de732762fbd2d4a28981419a0ccf"
integrity sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=
@@ -2704,6 +3440,11 @@
resolved "https://registry.yarnpkg.com/uuid/-/uuid-8.3.2.tgz#80d5b5ced271bb9af6c445f21a1a04c606cefbe2"
integrity sha512-+NYs2QeMWy+GWFOEm9xnn6HCDp0l7QBD7ml8zLUmJ+93Q5NF0NocErnwkTkXVFNiX3/fpC6afS8Dhb/gz7R7eg==
+uuid@^3.3.2:
+ version "3.4.0"
+ resolved "https://registry.yarnpkg.com/uuid/-/uuid-3.4.0.tgz#b23e4358afa8a202fe7a100af1f5f883f02007ee"
+ integrity sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==
+
validate-npm-package-name@^3.0.0:
version "3.0.0"
resolved "https://registry.yarnpkg.com/validate-npm-package-name/-/validate-npm-package-name-3.0.0.tgz#5fa912d81eb7d0c74afc140de7317f0ca7df437e"
@@ -2716,6 +3457,15 @@
resolved "https://registry.yarnpkg.com/vary/-/vary-1.1.2.tgz#2299f02c6ded30d4a5961b0b9f74524a18f634fc"
integrity sha1-IpnwLG3tMNSllhsLn3RSShj2NPw=
+verror@1.10.0:
+ version "1.10.0"
+ resolved "https://registry.yarnpkg.com/verror/-/verror-1.10.0.tgz#3a105ca17053af55d6e270c1f8288682e18da400"
+ integrity sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA=
+ dependencies:
+ assert-plus "^1.0.0"
+ core-util-is "1.0.2"
+ extsprintf "^1.2.0"
+
void-elements@^2.0.0:
version "2.0.1"
resolved "https://registry.yarnpkg.com/void-elements/-/void-elements-2.0.1.tgz#c066afb582bb1cb4128d60ea92392e94d5e9dbec"
@@ -2728,6 +3478,36 @@
dependencies:
defaults "^1.0.3"
+webdriver-js-extender@2.1.0:
+ version "2.1.0"
+ resolved "https://registry.yarnpkg.com/webdriver-js-extender/-/webdriver-js-extender-2.1.0.tgz#57d7a93c00db4cc8d556e4d3db4b5db0a80c3bb7"
+ integrity sha512-lcUKrjbBfCK6MNsh7xaY2UAUmZwe+/ib03AjVOpFobX4O7+83BUveSrLfU0Qsyb1DaKJdQRbuU+kM9aZ6QUhiQ==
+ dependencies:
+ "@types/selenium-webdriver" "^3.0.0"
+ selenium-webdriver "^3.0.1"
+
+webdriver-manager@^12.1.7:
+ version "12.1.8"
+ resolved "https://registry.yarnpkg.com/webdriver-manager/-/webdriver-manager-12.1.8.tgz#5e70e73eaaf53a0767d5745270addafbc5905fd4"
+ integrity sha512-qJR36SXG2VwKugPcdwhaqcLQOD7r8P2Xiv9sfNbfZrKBnX243iAkOueX1yAmeNgIKhJ3YAT/F2gq6IiEZzahsg==
+ dependencies:
+ adm-zip "^0.4.9"
+ chalk "^1.1.1"
+ del "^2.2.0"
+ glob "^7.0.3"
+ ini "^1.3.4"
+ minimist "^1.2.0"
+ q "^1.4.1"
+ request "^2.87.0"
+ rimraf "^2.5.2"
+ semver "^5.3.0"
+ xml2js "^0.4.17"
+
+which-module@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/which-module/-/which-module-2.0.0.tgz#d9ef07dce77b9902b8a3a8fa4b31c3e3f7e6e87a"
+ integrity sha1-2e8H3Od7mQK4o6j6SzHD4/fm6Ho=
+
which@^1.2.1:
version "1.3.1"
resolved "https://registry.yarnpkg.com/which/-/which-1.3.1.tgz#a45043d54f5805316da8d62f9f50918d3da70b0a"
@@ -2749,6 +3529,15 @@
dependencies:
string-width "^1.0.2 || 2 || 3 || 4"
+wrap-ansi@^6.2.0:
+ version "6.2.0"
+ resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-6.2.0.tgz#e9393ba07102e6c91a3b221478f0257cd2856e53"
+ integrity sha512-r6lPcBGxZXlIcymEu7InxDMhdW0KDxpLgoFLcguasxCaJ/SOIZwINatK9KY/tf+ZrlywOKU0UDj3ATXUBfxJXA==
+ dependencies:
+ ansi-styles "^4.0.0"
+ string-width "^4.1.0"
+ strip-ansi "^6.0.0"
+
wrap-ansi@^7.0.0:
version "7.0.0"
resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
@@ -2768,6 +3557,24 @@
resolved "https://registry.yarnpkg.com/ws/-/ws-8.2.3.tgz#63a56456db1b04367d0b721a0b80cae6d8becbba"
integrity sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==
+xml2js@^0.4.17:
+ version "0.4.23"
+ resolved "https://registry.yarnpkg.com/xml2js/-/xml2js-0.4.23.tgz#a0c69516752421eb2ac758ee4d4ccf58843eac66"
+ integrity sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==
+ dependencies:
+ sax ">=0.6.0"
+ xmlbuilder "~11.0.0"
+
+xmlbuilder@~11.0.0:
+ version "11.0.1"
+ resolved "https://registry.yarnpkg.com/xmlbuilder/-/xmlbuilder-11.0.1.tgz#be9bae1c8a046e76b31127726347d0ad7002beb3"
+ integrity sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==
+
+y18n@^4.0.0:
+ version "4.0.3"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-4.0.3.tgz#b5f259c82cd6e336921efd7bfd8bf560de9eeedf"
+ integrity sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==
+
y18n@^5.0.5:
version "5.0.8"
resolved "https://registry.yarnpkg.com/y18n/-/y18n-5.0.8.tgz#7f4934d0f7ca8c56f95314939ddcd2dd91ce1d55"
@@ -2778,6 +3585,14 @@
resolved "https://registry.yarnpkg.com/yallist/-/yallist-4.0.0.tgz#9bb92790d9c0effec63be73519e11a35019a3a72"
integrity sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==
+yargs-parser@^18.1.2:
+ version "18.1.3"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-18.1.3.tgz#be68c4975c6b2abf469236b0c870362fab09a7b0"
+ integrity sha512-o50j0JeToy/4K6OZcaQmW6lyXXKhq7csREXcDwk2omFPJEwUNOVtJKvmDr9EI1fAJZUyZcRF7kxGBWmRXudrCQ==
+ dependencies:
+ camelcase "^5.0.0"
+ decamelize "^1.2.0"
+
yargs-parser@^20.2.2:
version "20.2.9"
resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-20.2.9.tgz#2eb7dc3b0289718fc295f362753845c41a0c94ee"
@@ -2788,6 +3603,23 @@
resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-21.0.0.tgz#a485d3966be4317426dd56bdb6a30131b281dc55"
integrity sha512-z9kApYUOCwoeZ78rfRYYWdiU/iNL6mwwYlkkZfJoyMR1xps+NEBX5X7XmRpxkZHhXJ6+Ey00IwKxBBSW9FIjyA==
+yargs@^15.3.1:
+ version "15.4.1"
+ resolved "https://registry.yarnpkg.com/yargs/-/yargs-15.4.1.tgz#0d87a16de01aee9d8bec2bfbf74f67851730f4f8"
+ integrity sha512-aePbxDmcYW++PaqBsJ+HYUFwCdv4LVvdnhBy78E57PIor8/OVvhMrADFFEDh8DHDFRv/O9i3lPhsENjO7QX0+A==
+ dependencies:
+ cliui "^6.0.0"
+ decamelize "^1.2.0"
+ find-up "^4.1.0"
+ get-caller-file "^2.0.1"
+ require-directory "^2.1.1"
+ require-main-filename "^2.0.0"
+ set-blocking "^2.0.0"
+ string-width "^4.2.0"
+ which-module "^2.0.0"
+ y18n "^4.0.0"
+ yargs-parser "^18.1.2"
+
yargs@^16.1.1:
version "16.2.0"
resolved "https://registry.yarnpkg.com/yargs/-/yargs-16.2.0.tgz#1c82bf0f6b6a66eafce7ef30e376f49a12477f66"
