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",
+    ],
+)