Merge "Clean up toolchain_config.bzl a bit"
diff --git a/WORKSPACE b/WORKSPACE
index f040712..2a5927e 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -80,11 +80,6 @@
)
load("//debian:packages.bzl", "generate_repositories_for_debs")
-local_repository(
- name = "com_grail_bazel_toolchain",
- path = "third_party/bazel-toolchain",
-)
-
generate_repositories_for_debs(python_debs)
generate_repositories_for_debs(clang_debs)
@@ -123,6 +118,22 @@
generate_repositories_for_debs(lzma_arm64_debs)
+local_repository(
+ name = "com_grail_bazel_toolchain",
+ path = "third_party/bazel-toolchain",
+)
+
+load("@com_grail_bazel_toolchain//toolchain:rules.bzl", "llvm_toolchain")
+
+llvm_toolchain(
+ name = "llvm_toolchain",
+ distribution = "clang+llvm-13.0.0-x86_64-linux-gnu-ubuntu-16.04.tar.xz",
+ llvm_version = "13.0.0",
+ sysroot = {
+ "linux-x86_64": "@amd64_debian_sysroot//:sysroot_files",
+ },
+)
+
register_toolchains(
"//tools/cpp:cc-toolchain-k8",
"//tools/cpp:cc-toolchain-armhf-debian",
diff --git a/debian/halide.BUILD b/debian/halide.BUILD
index fc43fd0..972df97 100644
--- a/debian/halide.BUILD
+++ b/debian/halide.BUILD
@@ -24,3 +24,12 @@
includes = ["include"],
visibility = ["//visibility:public"],
)
+
+filegroup(
+ name = "build_files",
+ srcs = [
+ "lib/libHalide.a",
+ "tools/GenGen.cpp",
+ ] + glob(["include/*.h"]),
+ visibility = ["//visibility:public"],
+)
diff --git a/y2020/actors/auto_splines.cc b/y2020/actors/auto_splines.cc
index 48da130..0ed59e2 100644
--- a/y2020/actors/auto_splines.cc
+++ b/y2020/actors/auto_splines.cc
@@ -151,6 +151,22 @@
alliance);
}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarSideFender(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ // I drew the spline on the wrong side of the field.
+ if (alliance == aos::Alliance::kBlue) {
+ alliance = aos::Alliance::kRed;
+ } else {
+ alliance = aos::Alliance::kBlue;
+ }
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(far_side_fender_,
+ builder->fbb()),
+ alliance);
+}
+
flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
*builder) {
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index 2dd99b7..e7bef0a 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -30,7 +30,9 @@
target_offset_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
"splines/target_offset_1.json")),
target_offset_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
- "splines/target_offset_2.json")) {}
+ "splines/target_offset_2.json")),
+ far_side_fender_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/9971_to_fender.json")) {}
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
@@ -72,6 +74,11 @@
builder->fbb());
}
+ flatbuffers::Offset<frc971::MultiSpline> FarSideFender(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance);
+
private:
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_1_;
@@ -79,6 +86,7 @@
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_3_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_1_;
aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_2_;
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> far_side_fender_;
};
} // namespace actors
diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 37d1ed7..2f9a8c6 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -5,18 +5,14 @@
#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 "y2020/actors/auto_splines.h"
+#include "y2020/constants.h"
#include "y2020/control_loops/drivetrain/drivetrain_base.h"
DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
-DEFINE_bool(target_aligned, true,
- "If true, run the Infinite Recharge autonomous that starts aligned "
- "with the target");
-DEFINE_bool(target_offset, false,
- "If true, run the Infinite Recharge autonomous that starts offset "
- "from the target");
DEFINE_bool(just_shoot, false,
"If true, run the autonomous that just shoots balls.");
@@ -45,6 +41,9 @@
event_loop->MakeFetcher<aos::JoystickState>("/aos")),
robot_state_fetcher_(event_loop->MakeFetcher<aos::RobotState>("/aos")),
auto_splines_() {
+ practice_robot_ =
+ ::aos::network::GetTeamNumber() == constants::Values::kPracticeTeamNumber;
+
set_max_drivetrain_voltage(12.0);
replan_timer_ = event_loop->AddTimer([this]() { Replan(); });
event_loop->OnRun([this, event_loop]() {
@@ -99,30 +98,32 @@
&auto_splines_, std::placeholders::_1),
SplineDirection::kForward);
starting_position_ = test_spline_->starting_position();
- } else if (FLAGS_target_aligned) {
- target_aligned_splines_ = {
- PlanSpline(std::bind(&AutonomousSplines::TargetAligned1, &auto_splines_,
- std::placeholders::_1, alliance_),
- SplineDirection::kForward),
- PlanSpline(std::bind(&AutonomousSplines::TargetAligned2, &auto_splines_,
- std::placeholders::_1, alliance_),
- SplineDirection::kBackward),
- PlanSpline(std::bind(&AutonomousSplines::TargetAligned3, &auto_splines_,
- std::placeholders::_1, alliance_),
- SplineDirection::kForward)};
- starting_position_ = target_aligned_splines_.value()[0].starting_position();
- CHECK(starting_position_);
- } else if (FLAGS_target_offset) {
- target_offset_splines_ = {
- PlanSpline(std::bind(&AutonomousSplines::TargetOffset1, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kForward),
- PlanSpline(std::bind(&AutonomousSplines::TargetOffset2, &auto_splines_,
- std::placeholders::_1),
- SplineDirection::kBackward)};
- starting_position_ = target_offset_splines_.value()[0].starting_position();
} else {
- starting_position_ = Eigen::Vector3d::Zero();
+ if (practice_robot_) {
+ fender_splines_ = {PlanSpline(
+ std::bind(&AutonomousSplines::FarSideFender, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward)};
+ starting_position_ = fender_splines_.value()[0].starting_position();
+ CHECK(starting_position_);
+ } else {
+ target_aligned_splines_ = {
+ PlanSpline(
+ std::bind(&AutonomousSplines::TargetAligned1, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward),
+ PlanSpline(
+ std::bind(&AutonomousSplines::TargetAligned2, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kBackward),
+ PlanSpline(
+ std::bind(&AutonomousSplines::TargetAligned3, &auto_splines_,
+ std::placeholders::_1, alliance_),
+ SplineDirection::kForward)};
+ starting_position_ =
+ target_aligned_splines_.value()[0].starting_position();
+ CHECK(starting_position_);
+ }
}
is_planned_ = true;
@@ -162,15 +163,14 @@
}
if (FLAGS_spline_auto) {
SplineAuto();
- } else if (FLAGS_target_aligned) {
- TargetAligned();
- } else if (FLAGS_target_offset) {
- TargetOffset();
- } else if (FLAGS_just_shoot) {
- JustShoot();
} else {
- return DriveFwd();
+ if (practice_robot_) {
+ Fender();
+ } else {
+ TargetAligned();
+ }
}
+
return true;
}
@@ -266,6 +266,33 @@
.count();
}
+void AutonomousActor::Fender() {
+ aos::monotonic_clock::time_point start_time = aos::monotonic_clock::now();
+ CHECK(fender_splines_);
+ auto &splines = *fender_splines_;
+
+ // Spin up.
+ set_shooting(false);
+ set_preloading(true);
+ set_shooter_tracking(false);
+ SendSuperstructureGoal();
+
+ if (!splines[0].WaitForPlan()) return;
+ splines[0].Start();
+
+ if (!splines[0].WaitForSplineDistanceRemaining(0.02)) return;
+
+ SendSuperstructureGoal();
+ std::this_thread::sleep_for(chrono::milliseconds(500));
+ ApplyThrottle(0.2);
+ set_shooting(true);
+ SendSuperstructureGoal();
+ LOG(INFO) << "Took "
+ << chrono::duration<double>(aos::monotonic_clock::now() -
+ start_time)
+ .count();
+}
+
void AutonomousActor::JustShoot() {
// shoot pre-loaded balls
set_shooter_tracking(true);
@@ -356,11 +383,17 @@
intake_offset = intake_builder.Finish();
}
+ flatbuffers::Offset<superstructure::ShooterGoal> shooter_offset =
+ superstructure::CreateShooterGoal(*builder.fbb(), 400.0, 200.0);
+
superstructure::Goal::Builder superstructure_builder =
builder.MakeBuilder<superstructure::Goal>();
superstructure_builder.add_intake(intake_offset);
superstructure_builder.add_intake_preloading(preloading_);
+ if (!shooter_tracking_ && shooting_) {
+ superstructure_builder.add_shooter(shooter_offset);
+ }
superstructure_builder.add_roller_voltage(roller_voltage_);
superstructure_builder.add_roller_speed_compensation(
kRollerSpeedCompensation);
diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 1877d58..abf9ea0 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -49,6 +49,7 @@
void ExtendIntake();
void RetractIntake();
void SplineAuto();
+ void Fender();
void SendStartingPosition(const Eigen::Vector3d &start);
void TargetAligned();
void TargetOffset();
@@ -62,6 +63,8 @@
void Replan();
+ bool practice_robot_ = false;
+
double intake_goal_ = 0.0;
double roller_voltage_ = 0.0;
bool shooting_ = false;
@@ -85,6 +88,8 @@
// Max number of splines is 5
std::optional<std::array<SplineHandle, 3>> target_aligned_splines_;
+ std::optional<std::array<SplineHandle, 1>> fender_splines_;
+
std::optional<SplineHandle> barrel_spline_;
std::optional<SplineHandle> slalom_spline_;
std::optional<SplineHandle> test_spline_;
diff --git a/y2020/actors/splines/9971_to_fender.json b/y2020/actors/splines/9971_to_fender.json
new file mode 100644
index 0000000..3481f9d
--- /dev/null
+++ b/y2020/actors/splines/9971_to_fender.json
@@ -0,0 +1 @@
+{"spline_count": 1, "spline_x": [12.5006132329368, 15.51123630601629, 16.379093330114006, 14.017538081600794, 14.180421562227894, 15.536083464584115], "spline_y": [1.9185982114880447, 1.9182820428405384, 1.5882896426835666, 5.210732299124419, 5.779290830601553, 5.779456064593902], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 2.0}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.0}, {"constraint_type": "VOLTAGE", "value": 6.0}]}
diff --git a/y2020/vision/sift/BUILD b/y2020/vision/sift/BUILD
index c2a71fe..c6afc98 100644
--- a/y2020/vision/sift/BUILD
+++ b/y2020/vision/sift/BUILD
@@ -1,6 +1,8 @@
load(":fast_gaussian.bzl", "fast_gaussian")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_py_library", "flatbuffer_ts_library")
+# Note that this file is also used directly by :fast_gaussian_halide_generator,
+# without any dependencies added here.
cc_library(
name = "get_gaussian_kernel",
hdrs = [
@@ -21,23 +23,32 @@
],
)
-cc_binary(
- name = "fast_gaussian_generator",
+sh_binary(
+ name = "fast_gaussian_halide_generator",
srcs = [
+ "fast_gaussian_halide_generator.sh",
+ ],
+ data = [
"fast_gaussian_generator.cc",
+ "get_gaussian_kernel.h",
+ "@amd64_debian_sysroot//:sysroot_files",
+ "@deb_zlib1g_dev_1_2_11_dfsg_1_amd64_deb_repo//file",
+ "@halide_k8//:build_files",
+ "@llvm_toolchain//:all-components-x86_64-linux",
],
- linkopts = [
- "-lpthread",
- "-ldl",
- ],
- target_compatible_with = ["@platforms//os:linux"],
deps = [
- ":get_gaussian_kernel",
- "//third_party:halide",
- "//third_party:halide_gengen",
- # This somehow brings in a zlib that libllvm needs?
- # TODO(Brian): Remove this dependency, it's not really used.
- "//third_party:opencv",
+ "@bazel_tools//tools/bash/runfiles",
+ ],
+)
+
+genrule(
+ name = "run_fast_gaussian_halide_generator",
+ outs = [
+ "fast_gaussian_generator",
+ ],
+ cmd = "$(location :fast_gaussian_halide_generator) $@",
+ tools = [
+ ":fast_gaussian_halide_generator",
],
)
diff --git a/y2020/vision/sift/fast_gaussian_generator.cc b/y2020/vision/sift/fast_gaussian_generator.cc
index aaaea6d..aefb3d9 100644
--- a/y2020/vision/sift/fast_gaussian_generator.cc
+++ b/y2020/vision/sift/fast_gaussian_generator.cc
@@ -1,5 +1,5 @@
#include "Halide.h"
-#include "y2020/vision/sift/get_gaussian_kernel.h"
+#include "get_gaussian_kernel.h"
#define CHECK(x, message, ...) \
do { \
diff --git a/y2020/vision/sift/fast_gaussian_halide_generator.sh b/y2020/vision/sift/fast_gaussian_halide_generator.sh
new file mode 100755
index 0000000..d808296
--- /dev/null
+++ b/y2020/vision/sift/fast_gaussian_halide_generator.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+
+# We need to build code linked against Halide. This means we need to use a
+# compatible ABI. This means we need to use libstdc++, not libc++ like our main
+# toolchains are set up for.
+#
+# Rebuilding Halide itself is only moderately annoying. However, it needs to
+# link against LLVM, which is a much bigger pain to rebuild with libc++.
+#
+# To deal with this problem, this script runs clang hermetically on the
+# appropriate sources.
+
+# --- begin runfiles.bash initialization v2 ---
+# Copy-pasted from the Bazel Bash runfiles library v2.
+set -uo pipefail; f=bazel_tools/tools/bash/runfiles/runfiles.bash
+source "${RUNFILES_DIR:-/dev/null}/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "${RUNFILES_MANIFEST_FILE:-/dev/null}" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$0.runfiles/$f" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ source "$(grep -sm1 "^$f " "$0.exe.runfiles_manifest" | cut -f2- -d' ')" 2>/dev/null || \
+ { echo>&2 "ERROR: cannot find $f"; exit 1; }; f=; set -e
+# --- end runfiles.bash initialization v2 ---
+
+BINARY="$1"
+SOURCE="$(rlocation org_frc971/y2020/vision/sift/fast_gaussian_generator.cc)"
+HALIDE="$(rlocation halide_k8)"
+SYSROOT="$(rlocation amd64_debian_sysroot)"
+ZLIB1G_DEV_AMD64_DEB="$(rlocation deb_zlib1g_dev_1_2_11_dfsg_1_amd64_deb_repo/file/zlib1g-dev_1.2.11.dfsg-1_amd64.deb)"
+
+ZLIB1G_DEV="$(mktemp -d)"
+
+LLVM_TOOLCHAIN="$(dirname "$(dirname "$(rlocation llvm_toolchain_llvm/bin/clang)")")"
+dpkg-deb -x "${ZLIB1G_DEV_AMD64_DEB}" "${ZLIB1G_DEV}"
+TARGET=x86_64-unknown-linux-gnu
+MULTIARCH=x86_64-linux-gnu
+
+export LD_LIBRARY_PATH="${SYSROOT}/usr/lib:${SYSROOT}/lib:${ZLIB1G_DEV}/usr/lib/${MULTIARCH}"
+
+"${LLVM_TOOLCHAIN}/bin/clang++" \
+ -fcolor-diagnostics \
+ -I"${HALIDE}/include" \
+ -nostdinc \
+ -isystem"${SYSROOT}/usr/include/c++/7" \
+ -isystem"${SYSROOT}/usr/include/${MULTIARCH}/c++/7" \
+ -isystem"${SYSROOT}/usr/include/c++/7/backward" \
+ -isystem"${LLVM_TOOLCHAIN}/lib/clang/13.0.0/include" \
+ -isystem"${SYSROOT}/usr/include/${MULTIARCH}" \
+ -isystem"${SYSROOT}/usr/include" \
+ -isystem"${SYSROOT}/include" \
+ "--sysroot=${SYSROOT}" \
+ -resource-dir "${LLVM_TOOLCHAIN}/lib/clang/13.0.0" \
+ -target "${TARGET}" \
+ -fuse-ld=lld \
+ -L"${LLVM_TOOLCHAIN}/lib" \
+ -L"${SYSROOT}/usr/lib" \
+ -L"${SYSROOT}/usr/lib/gcc/${MULTIARCH}/7" \
+ -L"${ZLIB1G_DEV}/usr/lib/${MULTIARCH}" \
+ "${HALIDE}/lib/libHalide.a" \
+ -lstdc++ -lpthread -ldl -lm -lz \
+ "${SOURCE}" \
+ "${HALIDE}/tools/GenGen.cpp" \
+ -ggdb3 \
+ -o "${BINARY}"