Rename y2023_bot4 to y2024_swerve
Signed-off-by: Nikolai Sohmers <nikolai@sohmers.com>
Change-Id: I5ba424d229862bbf571de74cbb516260909d1d70
diff --git a/y2024_swerve/BUILD b/y2024_swerve/BUILD
new file mode 100644
index 0000000..53f98b8
--- /dev/null
+++ b/y2024_swerve/BUILD
@@ -0,0 +1,232 @@
+load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
+load("//frc971:downloader.bzl", "robot_downloader")
+load("//aos:config.bzl", "aos_config")
+load("//aos/util:config_validator_macro.bzl", "config_validator_test")
+
+config_validator_test(
+ name = "config_validator_test",
+ config = "//y2024_swerve:aos_config",
+)
+
+robot_downloader(
+ binaries = [
+ "//aos/network:web_proxy_main",
+ "//aos/events/logging:log_cat",
+ "//aos/events:aos_timing_report_streamer",
+ ],
+ data = [
+ ":aos_config",
+ ":swerve_publisher_output_json",
+ "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix6_tools_athena//:shared_libraries",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ ":wpilib_interface",
+ ":swerve_publisher",
+ "//frc971/can_logger",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
+ name = "pi_download",
+ binaries = [
+ "//aos/util:foxglove_websocket",
+ "//aos/events:aos_timing_report_streamer",
+ "//aos/events/logging:log_cat",
+ "//y2023/rockpi:imu_main",
+ "//frc971/image_streamer:image_streamer",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ "//aos/events/logging:logger_main",
+ ],
+ data = [
+ ":aos_config",
+ "//frc971/rockpi:rockpi_config.json",
+ ],
+ start_binaries = [
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
+ target_type = "pi",
+)
+
+filegroup(
+ name = "swerve_publisher_output_json",
+ srcs = [
+ "swerve_drivetrain_output.json",
+ ],
+ visibility = ["//y2024_swerve:__subpackages__"],
+)
+
+cc_library(
+ name = "constants",
+ srcs = ["constants.cc"],
+ hdrs = [
+ "constants.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/network:team_number",
+ "//frc971:constants",
+ ],
+)
+
+static_flatbuffer(
+ name = "drivetrain_position_fbs",
+ srcs = ["drivetrain_position.fbs"],
+ deps = ["//frc971/control_loops:control_loops_fbs"],
+)
+
+static_flatbuffer(
+ name = "drivetrain_can_position_fbs",
+ srcs = ["drivetrain_can_position.fbs"],
+ deps = ["//frc971/control_loops:can_talonfx_fbs"],
+)
+
+cc_binary(
+ name = "swerve_publisher",
+ srcs = ["swerve_publisher_main.cc"],
+ deps = [
+ ":swerve_publisher_lib",
+ "//aos/events:shm_event_loop",
+ "@com_github_gflags_gflags//:gflags",
+ ],
+)
+
+cc_library(
+ name = "swerve_publisher_lib",
+ srcs = ["swerve_publisher_lib.cc"],
+ hdrs = ["swerve_publisher_lib.h"],
+ deps = [
+ "//aos:init",
+ "//aos/events:event_loop",
+ "//frc971/control_loops/drivetrain/swerve:swerve_drivetrain_output_fbs",
+ "@com_github_google_glog//:glog",
+ ],
+)
+
+cc_test(
+ name = "swerve_publisher_lib_test",
+ srcs = [
+ "swerve_publisher_lib_test.cc",
+ ],
+ data = [
+ ":aos_config",
+ ":swerve_publisher_output_json",
+ ],
+ deps = [
+ ":swerve_publisher_lib",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_binary(
+ name = "wpilib_interface",
+ srcs = ["wpilib_interface.cc"],
+ target_compatible_with = ["//tools/platforms/hardware:roborio"],
+ deps = [
+ ":constants",
+ ":drivetrain_can_position_fbs",
+ ":drivetrain_position_fbs",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/wpilib:can_sensor_reader",
+ "//frc971/wpilib:sensor_reader",
+ "//frc971/wpilib:talonfx",
+ "//frc971/wpilib:wpilib_robot_base",
+ "//frc971/wpilib/swerve:swerve_drivetrain_writer",
+ ],
+)
+
+aos_config(
+ name = "aos_config",
+ src = "y2024_swerve.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//frc971/input:robot_state_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":config_imu",
+ ":config_logger",
+ ":config_roborio",
+ ],
+)
+
+aos_config(
+ name = "config_roborio",
+ src = "y2024_swerve_roborio.json",
+ flatbuffers = [
+ ":drivetrain_position_fbs",
+ ":drivetrain_can_position_fbs",
+ "//frc971:can_configuration_fbs",
+ "//aos/network:remote_message_fbs",
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//frc971/control_loops/drivetrain/swerve:swerve_drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain/swerve:swerve_drivetrain_position_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+ "//frc971/can_logger:can_logging_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/autonomous:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ "//frc971/wpilib:aos_config",
+ ],
+)
+
+aos_config(
+ name = "config_imu",
+ src = "y2024_swerve_imu.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//frc971/vision:target_map_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ ],
+)
+
+aos_config(
+ name = "config_logger",
+ src = "y2024_swerve_logger.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//frc971/vision:calibration_fbs",
+ "//frc971/vision:target_map_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ ],
+)