Add empty y2019 constants file
Change-Id: Ie4820d49dbfedd2028d94c3f7a78e3eea786989e
diff --git a/y2019/BUILD b/y2019/BUILD
index 49ae5a5..52c0264 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -1,5 +1,23 @@
+cc_library(
+ name = "constants",
+ srcs = [
+ "constants.cc",
+ ],
+ hdrs = [
+ "constants.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos:once",
+ "//aos/logging",
+ "//aos/mutex",
+ "//aos/network:team_number",
+ "//frc971:constants",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
visibility = ["//visibility:public"],
-)
+)
\ No newline at end of file
diff --git a/y2019/constants.cc b/y2019/constants.cc
new file mode 100644
index 0000000..0851577
--- /dev/null
+++ b/y2019/constants.cc
@@ -0,0 +1,83 @@
+#include "y2019/constants.h"
+
+#include <inttypes.h>
+
+#include <map>
+
+#if __has_feature(address_sanitizer)
+#include "sanitizer/lsan_interface.h"
+#endif
+
+#include "aos/logging/logging.h"
+#include "aos/mutex/mutex.h"
+#include "aos/network/team_number.h"
+#include "aos/once.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+namespace y2019 {
+namespace constants {
+
+const int Values::kZeroingSampleSize;
+
+namespace {
+
+const uint16_t kCompTeamNumber = 971;
+const uint16_t kPracticeTeamNumber = 9971;
+
+const Values *DoGetValuesForTeam(uint16_t team) {
+ Values *const r = new Values();
+
+ switch (team) {
+ // A set of constants for tests.
+ case 1:
+ break;
+
+ case kCompTeamNumber:
+ break;
+
+ case kPracticeTeamNumber:
+ break;
+
+ default:
+ LOG(FATAL, "unknown team #%" PRIu16 "\n", team);
+ }
+
+ return r;
+}
+
+const Values *DoGetValues() {
+ uint16_t team = ::aos::network::GetTeamNumber();
+ LOG(INFO, "creating a Constants for team %" PRIu16 "\n", team);
+ return DoGetValuesForTeam(team);
+}
+
+} // namespace
+
+const Values &GetValues() {
+ static ::aos::Once<const Values> once(DoGetValues);
+ return *once.Get();
+}
+
+const Values &GetValuesForTeam(uint16_t team_number) {
+ static ::aos::Mutex mutex;
+ ::aos::MutexLocker locker(&mutex);
+
+ // IMPORTANT: This declaration has to stay after the mutex is locked to avoid
+ // race conditions.
+ static ::std::map<uint16_t, const Values *> values;
+
+ if (values.count(team_number) == 0) {
+ values[team_number] = DoGetValuesForTeam(team_number);
+#if __has_feature(address_sanitizer)
+ __lsan_ignore_object(values[team_number]);
+#endif
+ }
+ return *values[team_number];
+}
+
+
+} // namespace constants
+} // namespace y2019
diff --git a/y2019/constants.h b/y2019/constants.h
new file mode 100644
index 0000000..e4dda86
--- /dev/null
+++ b/y2019/constants.h
@@ -0,0 +1,37 @@
+#ifndef Y2019_CONSTANTS_H_
+#define Y2019_CONSTANTS_H_
+
+#include <stdint.h>
+#include <math.h>
+
+#include "frc971/constants.h"
+
+namespace y2019 {
+namespace constants {
+
+// Has all of our "constants", except the ones that come from other places. The
+// ones which change between robots are put together with a workable way to
+// retrieve the values for the current robot.
+
+// Everything is in SI units (volts, radians, meters, seconds, etc).
+// Some of these values are related to the conversion between raw values
+// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).
+//
+// All ratios are from the encoder shaft to the output units.
+
+struct Values {
+ static const int kZeroingSampleSize = 200;
+};
+
+// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
+// returns a reference to it.
+const Values &GetValues();
+
+// Creates Values instances for each team number it is called with and returns
+// them.
+const Values &GetValuesForTeam(uint16_t team_number);
+
+} // namespace constants
+} // namespace y2019
+
+#endif // Y2019_CONSTANTS_H_