Merge "Automated intrinsics calibration"
diff --git a/.gitignore b/.gitignore
index 82b963a..8c6aa64 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,10 @@
/bazel-*
/compile_commands.json
+# The `tools/build_rules/apache_runner.py` helper looks for this file by
+# default. We don't want folks to check it in.
+/ldap.json
+
# Hide vagrant's files that unfortunately make it into the source tree when you
# run "vagrant up".
/vm/.vagrant/
diff --git a/WORKSPACE b/WORKSPACE
index 52af239..65395cb 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -7,6 +7,10 @@
python_debs = "files",
)
load(
+ "//debian:apache2.bzl",
+ apache2_debs = "files",
+)
+load(
"//debian:patch.bzl",
patch_debs = "files",
)
@@ -82,6 +86,8 @@
generate_repositories_for_debs(ssh_debs)
+generate_repositories_for_debs(apache2_debs)
+
generate_repositories_for_debs(patch_debs)
generate_repositories_for_debs(pandoc_debs)
@@ -155,13 +161,20 @@
"-Wformat=2",
"-Werror",
"-ggdb3",
- "-DAOS_DEBUG=0",
]
llvm_cxxopts = [
"-std=gnu++17",
]
+llvm_opt_copts = [
+ "-DAOS_DEBUG=0",
+]
+
+llvm_fastbuild_copts = [
+ "-DAOS_DEBUG=0",
+]
+
llvm_dbg_copts = [
"-DAOS_DEBUG=1",
]
@@ -187,9 +200,17 @@
},
dbg_copts = {
"linux-x86_64": llvm_dbg_copts,
- "linux-armv7": llvm_cxxopts,
+ "linux-armv7": llvm_dbg_copts,
+ },
+ fastbuild_copts = {
+ "linux-x86_64": llvm_fastbuild_copts,
+ "linux-armv7": llvm_fastbuild_copts,
},
llvm_version = llvm_version,
+ opt_copts = {
+ "linux-x86_64": llvm_opt_copts,
+ "linux-armv7": llvm_opt_copts,
+ },
standard_libraries = {
"linux-x86_64": "libstdc++-10",
"linux-armv7": "libstdc++-10",
@@ -220,6 +241,8 @@
#"//tools/cpp:cc-toolchain-cortex-m4f-k22",
"//tools/python:python_toolchain",
"//tools/go:noop_go_toolchain",
+ "//tools/rust:rust-toolchain-roborio",
+ "//tools/rust:noop_rust_toolchain",
)
load("//tools/ci:repo_defs.bzl", "ci_configure")
@@ -490,6 +513,13 @@
)
http_archive(
+ name = "apache2",
+ build_file = "@//debian:apache2.BUILD",
+ sha256 = "98b0ad6d911751ba0aa486429e6278f995e7bbabd928c7d3d44c888fa2bf371b",
+ url = "https://www.frc971.org/Build-Dependencies/apache2.tar.gz",
+)
+
+http_archive(
name = "pandoc",
build_file = "@//debian:pandoc.BUILD",
sha256 = "9f7a7adb3974a1f14715054c349ff3edc2909e920dbe3438fca437a83845f3c4",
@@ -752,11 +782,41 @@
# I'm sure there is a better path, but that works...
yarn_install(
name = "npm",
+ frozen_lockfile = True,
package_json = "//:package.json",
symlink_node_modules = False,
yarn_lock = "//:yarn.lock",
)
+http_archive(
+ name = "io_bazel_rules_webtesting",
+ sha256 = "e9abb7658b6a129740c0b3ef6f5a2370864e102a5ba5ffca2cea565829ed825a",
+ urls = ["https://github.com/bazelbuild/rules_webtesting/releases/download/0.3.5/rules_webtesting.tar.gz"],
+)
+
+http_archive(
+ name = "rules_rust",
+ sha256 = "531bdd470728b61ce41cf7604dc4f9a115983e455d46ac1d0c1632f613ab9fc3",
+ strip_prefix = "rules_rust-d8238877c0e552639d3e057aadd6bfcf37592408",
+ urls = [
+ # `main` branch as of 2021-08-23
+ "https://github.com/bazelbuild/rules_rust/archive/d8238877c0e552639d3e057aadd6bfcf37592408.tar.gz",
+ ],
+)
+
+load("@rules_rust//rust:repositories.bzl", "rust_repository_set")
+
+rust_repository_set(
+ name = "rust",
+ edition = "2021",
+ exec_triple = "x86_64-unknown-linux-gnu",
+ extra_target_triples = [
+ "arm-unknown-linux-gnueabi",
+ "armv7-unknown-linux-gnueabihf",
+ ],
+ version = "1.56.1",
+)
+
# Flatbuffers
local_repository(
name = "com_github_google_flatbuffers",
diff --git a/aos/events/logging/log_namer.cc b/aos/events/logging/log_namer.cc
index 9a5d038..b41212c 100644
--- a/aos/events/logging/log_namer.cc
+++ b/aos/events/logging/log_namer.cc
@@ -46,11 +46,33 @@
}
}
-void NewDataWriter::Reboot() {
+void NewDataWriter::Reboot(const UUID &source_node_boot_uuid) {
parts_uuid_ = UUID::Random();
++parts_index_;
reopen_(this);
header_written_ = false;
+ for (State &state : state_) {
+ state.boot_uuid = UUID::Zero();
+ state.oldest_remote_monotonic_timestamp = monotonic_clock::max_time;
+ state.oldest_local_monotonic_timestamp = monotonic_clock::max_time;
+ state.oldest_remote_unreliable_monotonic_timestamp =
+ monotonic_clock::max_time;
+ state.oldest_local_unreliable_monotonic_timestamp =
+ monotonic_clock::max_time;
+ }
+
+ state_[node_index_].boot_uuid = source_node_boot_uuid;
+
+ VLOG(1) << "Rebooted " << filename();
+}
+
+void NewDataWriter::UpdateBoot(const UUID &source_node_boot_uuid) {
+ if (state_[node_index_].boot_uuid != source_node_boot_uuid) {
+ state_[node_index_].boot_uuid = source_node_boot_uuid;
+ if (header_written_) {
+ Reboot(source_node_boot_uuid);
+ }
+ }
}
void NewDataWriter::UpdateRemote(
@@ -77,7 +99,6 @@
rotate = true;
}
-
// Did the unreliable timestamps change?
if (!reliable) {
if (state.oldest_remote_unreliable_monotonic_timestamp >
@@ -113,18 +134,15 @@
const UUID &source_node_boot_uuid,
aos::monotonic_clock::time_point now) {
// Trigger a reboot if we detect the boot UUID change.
- if (state_[node_index_].boot_uuid != source_node_boot_uuid) {
- state_[node_index_].boot_uuid = source_node_boot_uuid;
- if (header_written_) {
- Reboot();
- }
+ UpdateBoot(source_node_boot_uuid);
+ if (!header_written_) {
QueueHeader(MakeHeader());
}
// If the start time has changed for this node, trigger a rotation.
if (log_namer_->monotonic_start_time(node_index_, source_node_boot_uuid) !=
- monotonic_start_time_) {
+ monotonic_start_time_) {
CHECK(header_written_);
Rotate();
}
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index 00e1856..c3fc5d4 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -59,6 +59,11 @@
const UUID &node_boot_uuid,
aos::monotonic_clock::time_point now);
+ // Updates the current boot for the source node. This is useful when you want
+ // to queue a message that may trigger a reboot rotation, but then need to
+ // update the remote timestamps.
+ void UpdateBoot(const UUID &source_node_boot_uuid);
+
// Returns the filename of the writer.
std::string_view filename() const {
return writer ? writer->filename() : "(closed)";
@@ -97,7 +102,7 @@
private:
// Signals that a node has rebooted.
- void Reboot();
+ void Reboot(const UUID &source_node_boot_uuid);
void QueueHeader(
aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> &&header);
diff --git a/aos/events/logging/log_writer.cc b/aos/events/logging/log_writer.cc
index f379ca4..8eaeb73 100644
--- a/aos/events/logging/log_writer.cc
+++ b/aos/events/logging/log_writer.cc
@@ -695,6 +695,20 @@
const auto end = event_loop_->monotonic_now();
RecordCreateMessageTime(start, end, &f);
+ // Timestamps tell us information about what happened too!
+ // Capture any reboots so UpdateRemote is properly recorded.
+ f.contents_writer->UpdateBoot(UUID::FromVector(msg->boot_uuid()));
+
+ // Start with recording info about the data flowing from our node to the
+ // remote.
+ f.contents_writer->UpdateRemote(
+ node_index_, event_loop_->boot_uuid(),
+ monotonic_clock::time_point(
+ chrono::nanoseconds(msg->monotonic_remote_time())),
+ monotonic_clock::time_point(
+ chrono::nanoseconds(msg->monotonic_sent_time())),
+ f.reliable_forwarding);
+
f.contents_writer->QueueMessage(
&fbb, UUID::FromVector(msg->boot_uuid()), end);
}
diff --git a/aos/events/logging/logfile_sorting.cc b/aos/events/logging/logfile_sorting.cc
index 7610295..5000ff9 100644
--- a/aos/events/logging/logfile_sorting.cc
+++ b/aos/events/logging/logfile_sorting.cc
@@ -297,7 +297,7 @@
std::set<std::string> config_sha256_list;
// Map from a observed pair of boots to the associated timestamps.
- // logger_node -> logger_node_boot_uuid -> destination_node index ->
+ // source_node -> source_node_boot_uuid -> destination_node index ->
// destination_boot_uuid -> list of all times from all parts.
absl::btree_map<
std::string,
@@ -544,7 +544,7 @@
}
VLOG(1) << "Parts: " << parts_uuid << ", source boot uuid "
- << source_boot_uuid << " " << parts_index;
+ << source_boot_uuid << " index " << parts_index;
auto it = log_it->second.unsorted_parts.find(
std::pair(parts_uuid, std::string(source_boot_uuid)));
if (it == log_it->second.unsorted_parts.end()) {
@@ -569,12 +569,12 @@
// We've got a newer log with boot_uuids, and oldest timestamps. Fill in
// this->boot_times with the info we have found.
if (HasNewTimestamps(&log_header->message())) {
- auto node_boot_times_it = boot_times.find(logger_node);
+ auto node_boot_times_it = boot_times.find(node);
if (node_boot_times_it == boot_times.end()) {
node_boot_times_it =
boot_times
.emplace(
- logger_node,
+ node,
absl::btree_map<
std::string,
absl::btree_map<
@@ -583,14 +583,15 @@
std::vector<BootPairTimes>>>>())
.first;
}
+
auto source_boot_times_it =
- node_boot_times_it->second.find(std::string(logger_boot_uuid));
+ node_boot_times_it->second.find(std::string(source_boot_uuid));
if (source_boot_times_it == node_boot_times_it->second.end()) {
source_boot_times_it =
node_boot_times_it->second
.emplace(
- logger_boot_uuid,
+ source_boot_uuid,
absl::btree_map<
size_t, absl::btree_map<std::string,
std::vector<BootPairTimes>>>())
@@ -616,6 +617,7 @@
.oldest_remote_unreliable_monotonic_timestamps()
->size());
CHECK(!logger_boot_uuid.empty());
+ CHECK(!source_boot_uuid.empty());
for (size_t node_index = 0; node_index < boot_uuids_size; ++node_index) {
const std::string_view boot_uuid =
log_header->message().boot_uuids()->Get(node_index)->string_view();
@@ -638,7 +640,7 @@
log_header->message()
.oldest_remote_unreliable_monotonic_timestamps()
->Get(node_index)));
- if (boot_uuid.empty() || boot_uuid == logger_boot_uuid) {
+ if (boot_uuid.empty() || boot_uuid == source_boot_uuid) {
CHECK_EQ(oldest_local_monotonic_timestamp, monotonic_clock::max_time);
CHECK_EQ(oldest_remote_monotonic_timestamp,
monotonic_clock::max_time);
@@ -775,31 +777,46 @@
<< *config_sha256_list.begin();
const Configuration *config = config_it->second.get();
- for (const auto &node_boot_times : boot_times) {
- const std::string &logger_node_name = node_boot_times.first;
+ // Map from a observed pair of boots to the associated timestamps.
+ // destination_node -> destination_node_boot_uuid -> source_node ->
+ // source_boot_uuid -> list of all times from all parts.
+ //
+ // This is boot_times but flipped inside out so we can order on destinations
+ // instead of sources for when we have the same destination for 2 different
+ // boots.
+ absl::btree_map<
+ std::string,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string,
+ absl::btree_map<std::string, BootPairTimes>>>>
+ reverse_boot_times;
- // We know nothing about the order of the logger node's boot, but we
+ for (const auto &node_boot_times : boot_times) {
+ const std::string &source_node_name = node_boot_times.first;
+
+ // We know nothing about the order of the source node's boot, but we
// know it happened. If there is only 1 single boot, the constraint
// code will happily mark it as boot 0. Otherwise we'll get the
// appropriate boot count if it can be computed or an error.
//
// Add it to the boots list to kick this off.
auto logger_node_boot_constraints_it =
- boot_constraints.find(logger_node_name);
+ boot_constraints.find(source_node_name);
if (logger_node_boot_constraints_it == boot_constraints.end()) {
logger_node_boot_constraints_it =
boot_constraints
- .insert(std::make_pair(logger_node_name, NodeBootState()))
+ .insert(std::make_pair(source_node_name, NodeBootState()))
.first;
}
- for (const auto &source_boot_time : node_boot_times.second) {
- const std::string &logger_boot_uuid = source_boot_time.first;
- logger_node_boot_constraints_it->second.boots.insert(logger_boot_uuid);
+ for (const auto &destination_boot_time : node_boot_times.second) {
+ const std::string &source_boot_uuid = destination_boot_time.first;
+ logger_node_boot_constraints_it->second.boots.insert(source_boot_uuid);
- for (const auto &source_nodes : source_boot_time.second) {
- const std::string source_node_name =
- config->nodes()->Get(source_nodes.first)->name()->str();
+ for (const auto &destination_nodes : destination_boot_time.second) {
+ const std::string destination_node_name =
+ config->nodes()->Get(destination_nodes.first)->name()->str();
// Now, we have a bunch of remote boots for the same local boot and
// remote node. We want to sort them by observed local time. This will
@@ -807,7 +824,7 @@
// node too so we can check for overlapping boots.
std::vector<std::tuple<std::string, BootPairTimes, BootPairTimes>>
source_boot_times;
- for (const auto &boot_time_list : source_nodes.second) {
+ for (const auto &boot_time_list : destination_nodes.second) {
// Track the first boot time we have evidence of.
BootPairTimes boot_time = boot_time_list.second[0];
// And the last one so we can look for overlapping boots.
@@ -817,13 +834,26 @@
if (next_boot_time.oldest_local_unreliable_monotonic_timestamp !=
aos::monotonic_clock::max_time) {
VLOG(1)
- << "Remote time "
+ << "Unreliable remote time "
<< next_boot_time.oldest_remote_unreliable_monotonic_timestamp
- << " " << boot_time_list.first;
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
VLOG(1)
- << "Local time "
+ << "Unreliable local time "
<< next_boot_time.oldest_local_unreliable_monotonic_timestamp
- << " " << boot_time_list.first;
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
+ }
+ if (next_boot_time.oldest_local_monotonic_timestamp !=
+ aos::monotonic_clock::max_time) {
+ VLOG(1) << "Reliable remote time "
+ << next_boot_time.oldest_remote_monotonic_timestamp
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
+ VLOG(1) << "Reliable local time "
+ << next_boot_time.oldest_local_monotonic_timestamp
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
}
// If we found an existing entry, update the min to be the min of
// all records. This lets us combine info from multiple part files.
@@ -867,6 +897,57 @@
}
source_boot_times.emplace_back(
std::make_tuple(boot_time_list.first, boot_time, max_boot_time));
+
+ // While we are building up the forwards set of constraints, build up
+ // a list of reverse constraints. This gives us a list of boots for
+ // the case when we have 2 logs from different boots, where the remote
+ // is both the same boot.
+
+ auto reverse_destination_node_it =
+ reverse_boot_times.find(destination_node_name);
+ if (reverse_destination_node_it == reverse_boot_times.end()) {
+ reverse_destination_node_it =
+ reverse_boot_times
+ .emplace(
+ destination_node_name,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string, BootPairTimes>>>())
+ .first;
+ }
+
+ auto reverse_destination_node_boot_uuid_it =
+ reverse_destination_node_it->second.find(boot_time_list.first);
+ if (reverse_destination_node_boot_uuid_it ==
+ reverse_destination_node_it->second.end()) {
+ reverse_destination_node_boot_uuid_it =
+ reverse_destination_node_it->second
+ .emplace(boot_time_list.first,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string, BootPairTimes>>())
+ .first;
+ }
+
+ auto reverse_source_node_it =
+ reverse_destination_node_boot_uuid_it->second.find(
+ source_node_name);
+ if (reverse_source_node_it ==
+ reverse_destination_node_boot_uuid_it->second.end()) {
+ reverse_source_node_it =
+ reverse_destination_node_boot_uuid_it->second
+ .emplace(source_node_name,
+ absl::btree_map<std::string, BootPairTimes>())
+ .first;
+ }
+
+ auto reverse_source_node_boot_uuid_it =
+ reverse_source_node_it->second.find(source_boot_uuid);
+ CHECK(reverse_source_node_boot_uuid_it ==
+ reverse_source_node_it->second.end());
+ reverse_source_node_it->second.emplace(source_boot_uuid, boot_time);
}
std::sort(
source_boot_times.begin(), source_boot_times.end(),
@@ -918,17 +999,17 @@
const std::string &fatal_source_boot_uuid =
std::get<0>(fatal_boot_time);
LOG(ERROR) << "Boot " << fatal_boot_id << ", "
- << fatal_source_boot_uuid << " on " << source_node_name
+ << fatal_source_boot_uuid << " on " << destination_node_name
<< " spans ["
<< std::get<1>(fatal_boot_time)
.oldest_local_unreliable_monotonic_timestamp
<< ", "
<< std::get<2>(fatal_boot_time)
.oldest_local_unreliable_monotonic_timestamp
- << "] on logger " << logger_node_name;
+ << "] on source " << destination_node_name;
}
- LOG(FATAL) << "Found overlapping boots on " << source_node_name
- << " logged on " << logger_node_name << ", "
+ LOG(FATAL) << "Found overlapping boots on " << destination_node_name
+ << " source node " << destination_node_name << ", "
<< std::get<1>(boot_time)
.oldest_local_unreliable_monotonic_timestamp
<< " < " << last_boot_time;
@@ -938,11 +1019,11 @@
.oldest_local_unreliable_monotonic_timestamp;
auto source_node_boot_constraints_it =
- boot_constraints.find(source_node_name);
+ boot_constraints.find(destination_node_name);
if (source_node_boot_constraints_it == boot_constraints.end()) {
source_node_boot_constraints_it =
boot_constraints
- .insert(std::make_pair(source_node_name, NodeBootState()))
+ .insert(std::make_pair(destination_node_name, NodeBootState()))
.first;
}
@@ -995,6 +1076,101 @@
}
}
+ // Now, sort the reverse direction so we can handle when we only get
+ // timestamps and need to make sense of the boots.
+ for (const auto &destination_node : reverse_boot_times) {
+ for (const auto &destination_node_boot_uuid : destination_node.second) {
+ for (const auto &source_node : destination_node_boot_uuid.second) {
+ // Now, we need to take all the boots + times and put them in a list to
+ // sort and derive constraints from.
+
+ std::vector<std::pair<std::string, BootPairTimes>>
+ destination_boot_times;
+ for (const auto &source_boot_uuid : source_node.second) {
+ destination_boot_times.emplace_back(source_boot_uuid);
+ }
+
+ std::sort(
+ destination_boot_times.begin(), destination_boot_times.end(),
+ [](const std::pair<std::string, BootPairTimes> &a,
+ const std::pair<std::string, BootPairTimes> &b) {
+ // There are cases where we will only have a reliable timestamp.
+ // In that case, we need to use oldest_remote_monotonic_timestamp.
+ // But, that may result in collisions if the same message gets
+ // forwarded to both boots, so it will have the same timestamp.
+ // Solve that by breaking the tie with the unreliable messages.
+ if (a.second.oldest_remote_monotonic_timestamp ==
+ b.second.oldest_remote_monotonic_timestamp) {
+ CHECK_NE(a.second.oldest_remote_unreliable_monotonic_timestamp,
+ b.second.oldest_remote_unreliable_monotonic_timestamp);
+ return a.second.oldest_remote_unreliable_monotonic_timestamp <
+ b.second.oldest_remote_unreliable_monotonic_timestamp;
+ } else {
+ return a.second.oldest_remote_monotonic_timestamp <
+ b.second.oldest_remote_monotonic_timestamp;
+ }
+ });
+
+ for (size_t boot_id = 0; boot_id < destination_boot_times.size();
+ ++boot_id) {
+ const std::pair<std::string, BootPairTimes> &boot_time =
+ destination_boot_times[boot_id];
+ const std::string &source_boot_uuid = boot_time.first;
+
+ auto destination_node_boot_constraints_it =
+ boot_constraints.find(source_node.first);
+ if (destination_node_boot_constraints_it == boot_constraints.end()) {
+ destination_node_boot_constraints_it =
+ boot_constraints
+ .insert(std::make_pair(source_node.first, NodeBootState()))
+ .first;
+ }
+
+ // Track that this boot happened.
+ destination_node_boot_constraints_it->second.boots.insert(
+ source_boot_uuid);
+ if (boot_id > 0) {
+ const std::pair<std::string, BootPairTimes> &prior_boot_time =
+ destination_boot_times[boot_id - 1];
+ const std::string &prior_boot_uuid = prior_boot_time.first;
+
+ std::map<std::string, std::vector<std::pair<std::string, bool>>>
+ &per_node_boot_constraints =
+ destination_node_boot_constraints_it->second.constraints;
+
+ auto first_per_boot_constraints =
+ per_node_boot_constraints.find(prior_boot_uuid);
+ if (first_per_boot_constraints == per_node_boot_constraints.end()) {
+ first_per_boot_constraints =
+ per_node_boot_constraints
+ .insert(std::make_pair(
+ prior_boot_uuid,
+ std::vector<std::pair<std::string, bool>>()))
+ .first;
+ }
+
+ auto second_per_boot_constraints =
+ per_node_boot_constraints.find(source_boot_uuid);
+ if (second_per_boot_constraints ==
+ per_node_boot_constraints.end()) {
+ second_per_boot_constraints =
+ per_node_boot_constraints
+ .insert(std::make_pair(
+ source_boot_uuid,
+ std::vector<std::pair<std::string, bool>>()))
+ .first;
+ }
+
+ first_per_boot_constraints->second.emplace_back(
+ std::make_pair(source_boot_uuid, true));
+ second_per_boot_constraints->second.emplace_back(
+ std::make_pair(prior_boot_uuid, false));
+ }
+ }
+ }
+ }
+ }
+
return boot_constraints;
}
diff --git a/aos/events/logging/logger.fbs b/aos/events/logging/logger.fbs
index 6d9f7cb..eb70184 100644
--- a/aos/events/logging/logger.fbs
+++ b/aos/events/logging/logger.fbs
@@ -136,6 +136,9 @@
// For all channels sent from a specific node, these vectors hold the
// timestamp of the oldest known message from that node, and the
// corresponding monotonic timestamp for when that was received on our node.
+ //
+ // The local node is the node that this log file is from the perspective of
+ // (field 6)
corrupted_oldest_remote_monotonic_timestamps:[int64] (id: 20, deprecated);
corrupted_oldest_local_monotonic_timestamps:[int64] (id: 21, deprecated);
oldest_remote_monotonic_timestamps:[int64] (id: 24);
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 1f784d3..55bf687 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -2518,6 +2518,244 @@
}
}
+// Tests that we can sort a log which only has timestamps from the remote
+// because the local message_bridge_client failed to connect.
+TEST_P(MultinodeLoggerTest, RemoteRebootOnlyTimestamps) {
+ const UUID pi1_boot0 = UUID::Random();
+ const UUID pi2_boot0 = UUID::Random();
+ const UUID pi2_boot1 = UUID::Random();
+ {
+ CHECK_EQ(pi1_index_, 0u);
+ CHECK_EQ(pi2_index_, 1u);
+
+ time_converter_.set_boot_uuid(pi1_index_, 0, pi1_boot0);
+ time_converter_.set_boot_uuid(pi2_index_, 0, pi2_boot0);
+ time_converter_.set_boot_uuid(pi2_index_, 1, pi2_boot1);
+
+ time_converter_.AddNextTimestamp(
+ distributed_clock::epoch(),
+ {BootTimestamp::epoch(), BootTimestamp::epoch()});
+ const chrono::nanoseconds reboot_time = chrono::milliseconds(10100);
+ time_converter_.AddNextTimestamp(
+ distributed_clock::epoch() + reboot_time,
+ {BootTimestamp::epoch() + reboot_time,
+ BootTimestamp{
+ .boot = 1,
+ .time = monotonic_clock::epoch() + chrono::milliseconds(1323)}});
+ }
+ pi2_->Disconnect(pi1_->node());
+
+ std::vector<std::string> filenames;
+ {
+ LoggerState pi1_logger = MakeLogger(pi1_);
+
+ event_loop_factory_.RunFor(chrono::milliseconds(95));
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi1")->boot_uuid(),
+ pi1_boot0);
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi2")->boot_uuid(),
+ pi2_boot0);
+
+ StartLogger(&pi1_logger);
+
+ event_loop_factory_.RunFor(chrono::milliseconds(10000));
+
+ VLOG(1) << "Reboot now!";
+
+ event_loop_factory_.RunFor(chrono::milliseconds(20000));
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi1")->boot_uuid(),
+ pi1_boot0);
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi2")->boot_uuid(),
+ pi2_boot1);
+ pi1_logger.AppendAllFilenames(&filenames);
+ }
+
+ // Confirm that our new oldest timestamps properly update as we reboot and
+ // rotate.
+ size_t timestamp_file_count = 0;
+ for (const std::string &file : filenames) {
+ std::optional<SizePrefixedFlatbufferVector<LogFileHeader>> log_header =
+ ReadHeader(file);
+ CHECK(log_header);
+
+ if (log_header->message().has_configuration()) {
+ continue;
+ }
+
+ const monotonic_clock::time_point monotonic_start_time =
+ monotonic_clock::time_point(
+ chrono::nanoseconds(log_header->message().monotonic_start_time()));
+ const UUID source_node_boot_uuid = UUID::FromString(
+ log_header->message().source_node_boot_uuid()->string_view());
+
+ ASSERT_TRUE(log_header->message().has_oldest_remote_monotonic_timestamps());
+ ASSERT_EQ(
+ log_header->message().oldest_remote_monotonic_timestamps()->size(), 2u);
+ ASSERT_TRUE(log_header->message().has_oldest_local_monotonic_timestamps());
+ ASSERT_EQ(log_header->message().oldest_local_monotonic_timestamps()->size(),
+ 2u);
+ ASSERT_TRUE(log_header->message()
+ .has_oldest_remote_unreliable_monotonic_timestamps());
+ ASSERT_EQ(log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->size(),
+ 2u);
+ ASSERT_TRUE(log_header->message()
+ .has_oldest_local_unreliable_monotonic_timestamps());
+ ASSERT_EQ(log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->size(),
+ 2u);
+
+ if (log_header->message().node()->name()->string_view() != "pi1") {
+ ASSERT_TRUE(file.find("aos.message_bridge.RemoteMessage") !=
+ std::string::npos);
+
+ const std::optional<SizePrefixedFlatbufferVector<MessageHeader>> msg =
+ ReadNthMessage(file, 0);
+ CHECK(msg);
+
+ EXPECT_TRUE(msg->message().has_monotonic_sent_time());
+ EXPECT_TRUE(msg->message().has_monotonic_remote_time());
+
+ const monotonic_clock::time_point
+ expected_oldest_local_monotonic_timestamps(
+ chrono::nanoseconds(msg->message().monotonic_sent_time()));
+ const monotonic_clock::time_point
+ expected_oldest_remote_monotonic_timestamps(
+ chrono::nanoseconds(msg->message().monotonic_remote_time()));
+
+ EXPECT_NE(expected_oldest_local_monotonic_timestamps,
+ monotonic_clock::min_time);
+ EXPECT_NE(expected_oldest_remote_monotonic_timestamps,
+ monotonic_clock::min_time);
+
+ ++timestamp_file_count;
+ // Since the log file is from the perspective of the other node,
+ const monotonic_clock::time_point oldest_remote_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(
+ 0)));
+ const monotonic_clock::time_point oldest_local_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_local_monotonic_timestamps()->Get(
+ 0)));
+ const monotonic_clock::time_point
+ oldest_remote_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(0)));
+ const monotonic_clock::time_point
+ oldest_local_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(0)));
+ // Confirm that the oldest timestamps match what we expect. Based on what
+ // we are doing, we know that the oldest time is the first message's time.
+ //
+ // This makes the test robust to both the split and combined config tests.
+ switch (log_header->message().parts_index()) {
+ case 0:
+ case 1:
+ EXPECT_EQ(oldest_remote_monotonic_timestamps,
+ expected_oldest_remote_monotonic_timestamps);
+ EXPECT_EQ(oldest_local_monotonic_timestamps,
+ expected_oldest_local_monotonic_timestamps);
+ EXPECT_EQ(oldest_remote_unreliable_monotonic_timestamps,
+ expected_oldest_remote_monotonic_timestamps);
+ EXPECT_EQ(oldest_local_unreliable_monotonic_timestamps,
+ expected_oldest_local_monotonic_timestamps);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+
+ switch (log_header->message().parts_index()) {
+ case 0:
+ EXPECT_EQ(source_node_boot_uuid, pi2_boot0);
+ EXPECT_EQ(monotonic_start_time, monotonic_clock::min_time);
+ break;
+ case 1:
+ EXPECT_EQ(source_node_boot_uuid, pi2_boot1);
+ EXPECT_EQ(monotonic_start_time, monotonic_clock::min_time);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+
+ continue;
+ }
+ EXPECT_EQ(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message().oldest_local_monotonic_timestamps()->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+
+ const monotonic_clock::time_point oldest_remote_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(
+ 1)));
+ const monotonic_clock::time_point oldest_local_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_local_monotonic_timestamps()->Get(1)));
+ const monotonic_clock::time_point
+ oldest_remote_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(1)));
+ const monotonic_clock::time_point
+ oldest_local_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(1)));
+ switch (log_header->message().parts_index()) {
+ case 0:
+ EXPECT_EQ(oldest_remote_monotonic_timestamps,
+ monotonic_clock::max_time);
+ EXPECT_EQ(oldest_local_monotonic_timestamps, monotonic_clock::max_time);
+ EXPECT_EQ(oldest_remote_unreliable_monotonic_timestamps,
+ monotonic_clock::max_time);
+ EXPECT_EQ(oldest_local_unreliable_monotonic_timestamps,
+ monotonic_clock::max_time);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+ }
+
+ EXPECT_TRUE(timestamp_file_count == 2u || timestamp_file_count == 4u);
+
+ // Confirm that we can actually sort the resulting log and read it.
+ {
+ LogReader reader(SortParts(filenames));
+
+ SimulatedEventLoopFactory log_reader_factory(reader.configuration());
+ log_reader_factory.set_send_delay(chrono::microseconds(0));
+
+ // This sends out the fetched messages and advances time to the start of
+ // the log file.
+ reader.Register(&log_reader_factory);
+
+ log_reader_factory.Run();
+
+ reader.Deregister();
+ }
+}
+
// Tests that we properly handle one direction of message_bridge being
// unavailable.
TEST_P(MultinodeLoggerTest, OneDirectionWithNegativeSlope) {
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 72b1cc5..d6419a0 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -1355,7 +1355,10 @@
.boot = next_boot,
.time = timestamp_mappers_[node_a_index]->monotonic_start_time(
next_boot)};
- if (next_start_time < next_node_time) {
+ // If we don't have a start time, it doesn't make sense to solve for it.
+ // Ignore that case.
+ if (next_start_time < next_node_time &&
+ next_start_time.time != monotonic_clock::min_time) {
VLOG(1) << "Candidate for node " << node_a_index
<< " is the next startup time, " << next_start_time;
next_node_time = next_start_time;
diff --git a/build_tests/BUILD b/build_tests/BUILD
index 5d9c3bf..6a81509 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,6 +1,8 @@
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_py_library")
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+load("//tools/build_rules:apache.bzl", "apache_wrapper")
+load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library", "rust_test")
cc_test(
name = "gflags_build_test",
@@ -111,4 +113,37 @@
importpath = "github.com/frc971/971-Robot-Code/build_tests",
target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:private"],
+ deps = ["//build_tests/go_greeter"],
+)
+
+py_binary(
+ name = "dummy_http_server",
+ srcs = ["dummy_http_server.py"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
+
+apache_wrapper(
+ name = "apache_https_demo",
+ binary = ":dummy_http_server",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
+
+rust_library(
+ name = "hello_lib",
+ srcs = ["hello_lib.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+rust_test(
+ name = "hello_lib_test",
+ srcs = ["hello_lib.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [":hello_lib"],
+)
+
+rust_binary(
+ name = "rust_hello",
+ srcs = ["rust_hello.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [":hello_lib"],
)
diff --git a/build_tests/dummy_http_server.py b/build_tests/dummy_http_server.py
new file mode 100644
index 0000000..f65122a
--- /dev/null
+++ b/build_tests/dummy_http_server.py
@@ -0,0 +1,48 @@
+"""This is a dummy server to demonstrate the apache_wrapper() rule.
+
+Don't run this server on its own. Instead run the
+`//build_tests:apache_https_demo` binary.
+
+When you authenticate against Apache via LDAP, this server prints the username
+you authenticated with and the path from the GET request.
+"""
+
+import base64
+from http.server import BaseHTTPRequestHandler, HTTPServer
+import os
+
+def parse_auth(authorization):
+ auth_type, auth_info = authorization.split(" ", maxsplit=1)
+ if auth_type != "Basic":
+ raise ValueError(f"Unknown auth type: {auth_type}")
+ username, _ = base64.b64decode(auth_info).decode().split(":", 1)
+ return username
+
+class Server(BaseHTTPRequestHandler):
+ def _set_response(self):
+ self.send_response(200)
+ self.send_header("Content-type", "text/html")
+ self.end_headers()
+
+ def _write(self, text):
+ self.wfile.write(text.encode("utf-8"))
+
+ def do_GET(self):
+ self._set_response()
+ self._write(f"GET request for {self.path}")
+ self._write("<br/>")
+ username = parse_auth(self.headers["Authorization"])
+ self._write(f"Hello, {username}")
+
+def main():
+ port = int(os.environ["APACHE_WRAPPED_PORT"])
+ server_address = ("", port)
+ httpd = HTTPServer(server_address, Server)
+ try:
+ httpd.serve_forever()
+ except KeyboardInterrupt:
+ pass
+ httpd.server_close()
+
+if __name__ == "__main__":
+ main()
diff --git a/build_tests/go_greeter/BUILD b/build_tests/go_greeter/BUILD
new file mode 100644
index 0000000..b4dbdc0
--- /dev/null
+++ b/build_tests/go_greeter/BUILD
@@ -0,0 +1,16 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library", "go_test")
+
+go_library(
+ name = "go_greeter",
+ srcs = ["greeter.go"],
+ importpath = "github.com/frc971/971-Robot-Code/build_tests/go_greeter",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
+go_test(
+ name = "go_greeter_test",
+ srcs = ["greeter_test.go"],
+ embed = [":go_greeter"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
diff --git a/build_tests/go_greeter/greeter.go b/build_tests/go_greeter/greeter.go
new file mode 100644
index 0000000..53f837a
--- /dev/null
+++ b/build_tests/go_greeter/greeter.go
@@ -0,0 +1,5 @@
+package go_greeter
+
+func Greet(name string) string {
+ return "Hello, " + name
+}
diff --git a/build_tests/go_greeter/greeter_test.go b/build_tests/go_greeter/greeter_test.go
new file mode 100644
index 0000000..207f360
--- /dev/null
+++ b/build_tests/go_greeter/greeter_test.go
@@ -0,0 +1,18 @@
+package go_greeter
+
+import "testing"
+
+func TestGreetings(t *testing.T) {
+ cases := []struct {
+ input, expected string
+ }{
+ {"world", "Hello, world"},
+ {" foobar", "Hello, foobar"},
+ }
+ for _, c := range cases {
+ greeting := Greet(c.input)
+ if greeting != c.expected {
+ t.Errorf("Got %q, but expected %q.", greeting, c.expected)
+ }
+ }
+}
diff --git a/build_tests/hello.go b/build_tests/hello.go
index d2c4e91..2c741a8 100644
--- a/build_tests/hello.go
+++ b/build_tests/hello.go
@@ -1,7 +1,11 @@
package main
-import "fmt"
+import (
+ "fmt"
+
+ "github.com/frc971/971-Robot-Code/build_tests/go_greeter"
+)
func main() {
- fmt.Println("Hello world")
+ fmt.Println(go_greeter.Greet("world"))
}
diff --git a/build_tests/hello_lib.rs b/build_tests/hello_lib.rs
new file mode 100644
index 0000000..6374ce6
--- /dev/null
+++ b/build_tests/hello_lib.rs
@@ -0,0 +1,24 @@
+pub struct Greeter {
+ greeting: String,
+}
+
+impl Greeter {
+ pub fn new(greeting: &str) -> Greeter {
+ Greeter { greeting: greeting.to_string(), }
+ }
+
+ pub fn greet(&self, thing: &str) -> String {
+ format!("{} {}", &self.greeting, thing)
+ }
+}
+
+#[cfg(test)]
+mod test {
+ use super::Greeter;
+
+ #[test]
+ fn test_greeting() {
+ let hello = Greeter::new("Hi");
+ assert_eq!("Hi Rust", hello.greet("Rust"));
+ }
+}
diff --git a/build_tests/rust_hello.rs b/build_tests/rust_hello.rs
new file mode 100644
index 0000000..6c6bf9f
--- /dev/null
+++ b/build_tests/rust_hello.rs
@@ -0,0 +1,21 @@
+extern crate hello_lib;
+
+extern "C" {
+ fn sqrt(x: f64) -> f64;
+}
+
+fn main() {
+ let hello = hello_lib::Greeter::new("Hello");
+ println!("{},\n{}", hello.greet("world"), hello.greet("bazel"));
+
+ let mut numbers = Vec::new();
+ for i in 1..=10 {
+ numbers.push(i);
+ }
+ println!("{:?}", numbers);
+
+ let words = vec!["foo", "bar", "baz"];
+ println!("{:?}", words);
+
+ println!("sqrt(4) = {}", unsafe { sqrt(4.0) });
+}
diff --git a/debian/BUILD b/debian/BUILD
index 0540a28..76bcf28 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -3,6 +3,10 @@
python_debs = "files",
)
load(
+ ":apache2.bzl",
+ apache2_debs = "files",
+)
+load(
":patch.bzl",
patch_debs = "files",
)
@@ -112,6 +116,26 @@
)
download_packages(
+ name = "download_apache2_packages",
+ excludes = [
+ "libaprutil1-dbd-mysql",
+ "libaprutil1-dbd-odbc",
+ "libaprutil1-dbd-pgsql",
+ "libaprutil1-dbd-freetds",
+ "libstdc++6",
+ "lsb-base",
+ "debconf",
+ "libc6-dev",
+ ],
+ force_includes = [
+ "libaprutil1",
+ ],
+ packages = [
+ "apache2",
+ ],
+)
+
+download_packages(
name = "download_python_deps",
excludes = [
"libblas.so.3",
@@ -253,6 +277,12 @@
)
generate_deb_tarball(
+ name = "apache2",
+ files = apache2_debs,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+generate_deb_tarball(
name = "patch",
files = patch_debs,
target_compatible_with = ["@platforms//os:linux"],
diff --git a/debian/apache2.BUILD b/debian/apache2.BUILD
new file mode 100644
index 0000000..7f3f87c
--- /dev/null
+++ b/debian/apache2.BUILD
@@ -0,0 +1,5 @@
+filegroup(
+ name = "all_files",
+ srcs = glob(["**"]),
+ visibility = ["//visibility:public"],
+)
diff --git a/debian/apache2.bzl b/debian/apache2.bzl
new file mode 100644
index 0000000..3d557c9
--- /dev/null
+++ b/debian/apache2.bzl
@@ -0,0 +1,59 @@
+files = {
+ "apache2-bin_2.4.52-1~deb11u2_amd64.deb": "dc0b906cb78fb55238bc1ddda5dac6917cbf1027a4372944e24a1a16aa8c9fdc",
+ "apache2-data_2.4.52-1~deb11u2_all.deb": "8fac5b05668e3d01e97f4ec2e8c52d9b138da0e2109425d6eacbcd005651068e",
+ "apache2-utils_2.4.52-1~deb11u2_amd64.deb": "a164cb0109bfbadb932cbd0a7cf8eeb1b4ed1242bc6e44394f5a343589ddca39",
+ "apache2_2.4.52-1~deb11u2_amd64.deb": "00bd5ca827ea67e0d2a10e6191595b26261f902c66096bd9e2b80fe6b606945a",
+ "debconf_1.5.77_all.deb": "d9ee4dff77aaad12674eed3ccefdcccd332424c9e2ac2ac00a37a1e06c84ab70",
+ "dpkg_1.20.9_amd64.deb": "ac90a4705b36f2d952a4a745ad944b33ff60c5ec69a5f89e4559a89bd0c53e01",
+ "gcc-10-base_10.2.1-6_amd64.deb": "be65535e94f95fbf04b104e8ab36790476f063374430f7dfc6c516cbe2d2cd1e",
+ "init-system-helpers_1.60_all.deb": "43420922c5e3aa747f8854236bf381a35179bba3885b242edb104751dad20644",
+ "libacl1_2.2.53-10_amd64.deb": "aa18d721be8aea50fbdb32cd9a319cb18a3f111ea6ad17399aa4ba9324c8e26a",
+ "libapr1_1.7.0-6+deb11u1_amd64.deb": "b95ce92c2530ba9c3a9af906f6ad27a0894efbefe9f0a2d9f2f91c6bdcdaf874",
+ "libaprutil1-dbd-sqlite3_1.6.1-5_amd64.deb": "18778f0cfc866d6230ab4f14ec3248d214e0f2a6efec5ded409aa6709d2d9255",
+ "libaprutil1-ldap_1.6.1-5_amd64.deb": "902a329ef05b94380ba9f7e413bd53086e096dc20cb0a913a4f346febc1e69e5",
+ "libaprutil1_1.6.1-5_amd64.deb": "d6aa77a54ed7533ea5c00240a677009f1b5d4e85f1607980d51ba35768c2eb39",
+ "libbrotli1_1.0.9-2+b2_amd64.deb": "65ca7d8b03e9dac09c5d544a89dd52d1aeb74f6a19583d32e4ff5f0c77624c24",
+ "libbz2-1.0_1.0.8-4_amd64.deb": "16e27c3ebd97981e70db3733f899963362748f178a62644df69d1f247e741379",
+ "libc6_2.31-13+deb11u2_amd64.deb": "3d9421c3fc0ef0d8ce57c0a149e1f8dbad78aba067f120be9e652af28902e346",
+ "libcrypt1_4.4.18-4_amd64.deb": "f617952df0c57b4ee039448e3941bccd3f97bfff71e9b0f87ca6dae15cb3f5ef",
+ "libcurl4_7.74.0-1.3+deb11u1_amd64.deb": "6f9c494eecc920899bb2c72d1a507a34b3703105778b0b9b9ae9aebdbdffcaab",
+ "libdb5.3_5.3.28+dfsg1-0.8_amd64.deb": "00b9e63e287f45300d4a4f59b6b88e25918443c932ae3e5845d5761ae193c530",
+ "libexpat1_2.2.10-2_amd64.deb": "eda6663f34375a9456c8c701002f1271bc90ac2627b9fb0892474e65eae1b668",
+ "libgcc-s1_10.2.1-6_amd64.deb": "e478f2709d8474165bb664de42e16950c391f30eaa55bc9b3573281d83a29daf",
+ "libgcrypt20_1.8.7-6_amd64.deb": "7a2e0eef8e0c37f03f3a5fcf7102a2e3dc70ba987f696ab71949f9abf36f35ef",
+ "libgdbm-compat4_1.19-2_amd64.deb": "e62caed68b0ffaa03b5fa539d6fdc08c4151f66236d5878949bead0b71b7bb09",
+ "libgdbm6_1.19-2_amd64.deb": "e54cfe4d8b8f209bb7df31a404ce040f7c2f9b1045114a927a7e1061cdf90727",
+ "libgpg-error0_1.38-2_amd64.deb": "16a507fb20cc58b5a524a0dc254a9cb1df02e1ce758a2d8abde0bc4a3c9b7c26",
+ "libicu67_67.1-7_amd64.deb": "2bf5c46254f527865bfd6368e1120908755fa57d83634bd7d316c9b3cfd57303",
+ "libjansson4_2.13.1-1.1_amd64.deb": "7025d03e4ad4177a06692bd8e6edcbdebf7fd3897e5f29b70ae968e17e57f6fa",
+ "liblua5.3-0_5.3.3-1.1+b1_amd64.deb": "98d5a85075a936ff014f639552882914064e46bfbbdc4bc80e80db33a9c77602",
+ "liblz4-1_1.9.3-2_amd64.deb": "79ac6e9ca19c483f2e8effcc3401d723dd9dbb3a4ae324714de802adb21a8117",
+ "liblzma5_5.2.5-2_amd64.deb": "eed58eb6b62208685dbe42a05582e78bd48c8d879d7ae0b61f114265d18824db",
+ "libncurses6_6.2+20201114-2_amd64.deb": "dfe45cb6ab048d1182175df55b007a4a188515c6d764a4dd5a44a0b47b6286a1",
+ "libncursesw6_6.2+20201114-2_amd64.deb": "ee3cd315dfa18865cf888ba6813a552077a4f3d1439dd225e4a0d0fee53aadc2",
+ "libnghttp2-14_1.43.0-1_amd64.deb": "a1a8aae24ced43025c94a9cb0c0eabfb3fc070785de9ee51c9a3a4fe86f0d11e",
+ "libpcre2-8-0_10.36-2_amd64.deb": "d31e4d6c04e847194b36b13ab59c578775aa12f04c48a840922796bd1f5eb32a",
+ "libpcre3_8.39-13_amd64.deb": "48efcf2348967c211cd9408539edf7ec3fa9d800b33041f6511ccaecc1ffa9d0",
+ "libperl5.32_5.32.1-4+deb11u2_amd64.deb": "224cafe65968deb83168113b74dff2d2f13b115a41d99eb209ed3b8f981df0b3",
+ "libprocps8_3.3.17-5_amd64.deb": "0a60017f0229cd4eec95b9f354c68312cc4ca4770ba8c01f545fd9c02b34e8a0",
+ "libpsl5_0.21.0-1.2_amd64.deb": "d716f5b4346ec85bb728f4530abeb1da4a79f696c72d7f774c59ba127c202fa7",
+ "librtmp1_2.4+20151223.gitfa8646d.1-2+b2_amd64.deb": "e1f69020dc2c466e421ec6a58406b643be8b5c382abf0f8989011c1d3df91c87",
+ "libselinux1_3.1-3_amd64.deb": "339f5ede10500c16dd7192d73169c31c4b27ab12130347275f23044ec8c7d897",
+ "libsqlite3-0_3.34.1-3_amd64.deb": "a0b8d3acf4a0483048637637d269be93af48d5c16f6f139f53edd13384ad4686",
+ "libssh2-1_1.9.0-2_amd64.deb": "f730fe45716a206003597819ececeeffe0fff754bdbbd0105425a177aa20a2de",
+ "libssl1.1_1.1.1k-1+deb11u1_amd64.deb": "82e6ded36e4fa4c28dcec00369b36ee242975f4c110f755a970a56d03d410ffb",
+ "libsystemd0_247.3-6_amd64.deb": "8c948d9d97178e6617f549822db2b89e23b1bfa1ee745ffbf0e41b6ee64f8737",
+ "libtinfo6_6.2+20201114-2_amd64.deb": "aeaf942c71ecc0ed081efdead1a1de304dcd513a9fc06791f26992e76986597b",
+ "libuuid1_2.36.1-8_amd64.deb": "94f13f58ac45ae850559e6bfe1a02be72566c66761e628a2599cc85066cb84d3",
+ "libxml2_2.9.10+dfsg-6.7_amd64.deb": "023296a15e1a28607609cb15c7ca0dd8a25160f3e89a0da58368319c7e17d4e0",
+ "libzstd1_1.4.8+dfsg-2.1_amd64.deb": "5dcadfbb743bfa1c1c773bff91c018f835e8e8c821d423d3836f3ab84773507b",
+ "mailcap_3.69_all.deb": "63fa5520f05d2aea5ca23eee95981a5e029608e1186ded4143470c8f84184158",
+ "media-types_4.0.0_all.deb": "f9835dcf3cdbaf163104d4e511c9c4e0f41a56822e147e57f28f749fcbf7d44c",
+ "mime-support_3.66_all.deb": "b964e671e6c47674879a3e54130b6737e8760fbd3da6afcc015faa174af98ba0",
+ "perl-base_5.32.1-4+deb11u2_amd64.deb": "018a3e48e58cbc478d3a4365090fb1daa151769f90f9b45984ec9d056ef96adc",
+ "perl-modules-5.32_5.32.1-4+deb11u2_all.deb": "6fa15be322c3c89ec4a07d704ad58d4a2d1aabf866135a859f6d8d58c59e9df4",
+ "perl_5.32.1-4+deb11u2_amd64.deb": "1cebc4516ed7c240b812c7bdd7e6ea0810f513152717ca17ce139ee0dfbc7b0d",
+ "procps_3.3.17-5_amd64.deb": "ac8edf0517abe09637c36651cb6a59e10948b2879f3af9003b9145b2128a7a08",
+ "tar_1.34+dfsg-1_amd64.deb": "bd8e963c6edcf1c806df97cd73560794c347aa94b9aaaf3b88eea585bb2d2f3c",
+ "zlib1g_1.2.11.dfsg-2_amd64.deb": "af36bf9249db4372a014a21ff2b84cc5a6808e3c878feda652c78e871d5964ad",
+}
diff --git a/debian/download_packages.py b/debian/download_packages.py
index e8caebd..be43120 100755
--- a/debian/download_packages.py
+++ b/debian/download_packages.py
@@ -92,6 +92,9 @@
if package == b'libblas.so.3':
yield b'libblas3'
continue
+ if package == b'debconf-2.0':
+ yield b'debconf'
+ continue
yield package
def download_deps(apt_args, packages, excludes, force_includes):
diff --git a/frc971/imu/ADIS16505.cc b/frc971/imu/ADIS16505.cc
new file mode 100644
index 0000000..4c31cab
--- /dev/null
+++ b/frc971/imu/ADIS16505.cc
@@ -0,0 +1,736 @@
+/**
+ * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <stdio.h>
+
+#include <algorithm>
+#include <cstring>
+
+#include "hardware/dma.h"
+#include "hardware/gpio.h"
+#include "hardware/irq.h"
+#include "hardware/pio.h"
+#include "hardware/pwm.h"
+#include "hardware/spi.h"
+#include "hardware/timer.h"
+#include "pico/binary_info.h"
+#include "pico/bootrom.h"
+#include "pico/double.h"
+#include "pico/stdlib.h"
+#include "quadrature_encoder.pio.h"
+
+// Pinout definitions for the imu
+#define RST_IMU 22
+#define DR_IMU 20
+#define SYNC_IMU 21
+#define DIN_IMU 19
+#define DOUT_IMU 16
+#define SCLK_IMU 18
+#define CS_IMU 17
+
+// Pinout definitions for spi to the pi through the differential drivers
+#define DR_PI 14
+#define MOSI_PI 12
+#define MISO_PI 11
+#define SCK_PI 10
+#define CS_PI 13
+
+// The two drivetrain encoders
+#define ENC1_A 6
+#define ENC1_B 7
+#define ENC2_A 0
+#define ENC2_B 1
+
+// Backup outputs to the roborio
+#define RATE_PWM 2
+#define HEADING_PWM 4
+
+#define PWM_FREQ_HZ 200
+// PWM counts to this before wrapping
+#define PWM_TOP 62499
+
+#define SPI_IMU spi0
+#define SPI_PI spi1
+#define WRITE_BIT 0x8000
+
+// length in half-words of the buffer for communicating with the IMU
+// includes 2 non-data fields
+// the first element is used for recieving zeros while the initial request is
+// made the last element is the checksum
+#define IMU_NUM_ITEMS 17
+
+// length in bytes of the packet to the pi
+#define PI_NUM_ITEMS 42
+
+// number of samples for zeroing the z-gyro axis
+#define YAW_BUF_LEN 5000
+
+#define EXPECTED_PROD_ID 0x4079
+
+// Registers on the ADIS16505
+#define GLOB_CMD 0x68
+#define DIAG_STAT 0x02
+#define FIRM_REV 0x6C
+#define FIRM_DM 0x6E
+#define FIRM_Y 0x70
+#define PROD_ID 0x72
+#define SERIAL_NUM 0x74
+#define FILT_CTRL 0x5C
+#define MSC_CTRL 0x60
+#define DEC_RATE 0x64
+
+// TODO: replace with aos/events/logging/crc32.h
+const uint32_t kCrc32Table[256] = {
+ 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
+ 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+ 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
+ 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+ 0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
+ 0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+ 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
+ 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+ 0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
+ 0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+ 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
+ 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+ 0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
+ 0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+ 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
+ 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+ 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
+ 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+ 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
+ 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+ 0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
+ 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+ 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
+ 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+ 0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
+ 0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+ 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
+ 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+ 0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
+ 0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+ 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
+ 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+ 0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
+ 0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+ 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
+ 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+ 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
+ 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+ 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
+ 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+ 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
+ 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+ 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d};
+
+// Buffer to start a burst read and recive 15 items + checksum
+static uint16_t imu_write_buf[IMU_NUM_ITEMS] = {0x6800, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0};
+// recieves a byte of zeros followed by 15 items + checksum
+static uint16_t imu_data_buffer[IMU_NUM_ITEMS];
+
+static dma_channel_config imu_tx_config;
+static dma_channel_config imu_rx_config;
+static uint imu_dma_tx;
+static uint imu_dma_rx;
+
+// The packet to the pi contains the whole burst read from the IMU (30 bytes)
+// followed by a timestamp, encoder values, and checksum
+// DIAG_STAT, X_GYRO_LOW, X_GYRO_OUT, Y_GYRO_LOW, Y_GYRO_OUT, Z_GYRO_LOW,
+// Z_GYRO_OUT, X_ACCL_LOW, X_ACCL_OUT, Y_ACCL_LOW, Y_ACCL_OUT, Z_ACCL_LOW,
+// Z_ACCL_OUT, TEMP_OUT, DATA_CNTR, TIMESTAMP (32 bit), ENC1_POS, ENC2_POS,
+// CHECKSUM (32-bit)
+
+// the staging buffer gets updated everytime new data is received
+static uint8_t pi_staging_buffer[PI_NUM_ITEMS];
+// the data from the staging buffer is latched into the sending buffer while the
+// pi is reading
+static uint8_t pi_sending_buffer[PI_NUM_ITEMS];
+
+// for now just recieves zeros
+// but is useful because directing the dma to a nullptr messes up the transfer
+// finished interrupt
+static uint8_t pi_recieve_buffer[PI_NUM_ITEMS];
+
+static dma_channel_config pi_tx_config;
+static dma_channel_config pi_rx_config;
+static uint pi_dma_tx;
+static uint pi_dma_rx;
+
+// zeroed yaw from the latest message from the imu
+static double yaw = 0;
+static double yaw_rate = 0;
+
+// TODO: fields for the janky, not encapsulated zeroing function
+static double yaw_rate_offset = 0;
+static bool yaw_zeroed = false;
+
+static int16_t encoder1_count = 0;
+static int16_t encoder2_count = 0;
+
+static uint32_t data_collect_timestamp = 0;
+
+// if we need to reset the imu
+static bool reset_imu = false;
+// number of consectuive checksums that are mismatched or zero
+static uint suspicious_checksums = 0;
+
+// useful debug counters
+static uint imu_reset_count = 0;
+static uint checksum_mismatch_count = 0;
+static uint message_recieved_count = 0;
+static uint message_sent_count = 0;
+// the number of times we had to defer sending new data because another
+// transfer was still in progress
+static uint timing_overrun_count = 0;
+
+// the time it takes from servicing DR_IMU to finishing the transfer to the pi
+static int send_time = 0;
+
+void data_ready();
+void maybe_send_pi_packet();
+
+void gpio_irq_handler(uint gpio, uint32_t events) {
+ if (gpio == DR_IMU && (events & GPIO_IRQ_EDGE_RISE)) {
+ data_ready();
+ }
+}
+
+static inline void cs_select() {
+ gpio_put(CS_IMU, 0); // Active low
+ sleep_us(1);
+}
+
+static inline void cs_deselect() { gpio_put(CS_IMU, 1); }
+
+static uint16_t read_register(uint8_t reg_low) {
+ // For this particular device, we send the device the register we want to read
+ // first, then subsequently read from the device.
+ uint16_t output;
+
+ // The low byte of the register is first in the IMU's memory
+ uint16_t reg = ((uint16_t)reg_low) << 8;
+
+ cs_select();
+ spi_write16_blocking(SPI_IMU, ®, 1);
+ cs_deselect();
+ sleep_us(20); // wait the stall period
+ cs_select();
+ spi_read16_blocking(SPI_IMU, 0x0000, &output, 1);
+ cs_deselect();
+
+ return output;
+}
+
+static void write_register(uint8_t reg, uint16_t value) {
+ uint16_t low_byte = ((uint16_t)value) & 0xFF;
+ uint16_t high_byte = ((uint16_t)value) >> 8;
+
+ uint16_t command = (((uint16_t)reg) << 8) | low_byte | WRITE_BIT;
+
+ cs_select();
+ spi_write16_blocking(SPI_IMU, &command, 1);
+ cs_deselect();
+
+ sleep_us(20); // wait the stall period
+
+ command = ((((uint16_t)reg) + 1) << 8) | high_byte | WRITE_BIT;
+
+ cs_select();
+ spi_write16_blocking(SPI_IMU, &command, 1);
+ cs_deselect();
+}
+
+static void adis16505_reset() {
+ gpio_put(RST_IMU, 0); // Active low
+ sleep_ms(10);
+ gpio_put(RST_IMU, 1); // Active low
+ sleep_ms(310);
+}
+
+static uint32_t calculate_crc32(uint8_t *data, size_t len) {
+ uint32_t crc = 0xFFFFFFFF;
+ for (size_t i = 0; i < len; i++) {
+ crc = kCrc32Table[(crc ^ data[i]) & 0xFF] ^ (crc >> 8);
+ }
+ return crc;
+}
+
+static uint16_t check_checksum(uint16_t *buf) {
+ uint16_t sum = 0;
+ for (int i = 1; i < IMU_NUM_ITEMS - 1; i++) {
+ uint16_t low = buf[i] & 0xff;
+ uint16_t high = (buf[i] >> 8) & 0xff;
+
+ sum += high + low;
+ }
+
+ return sum;
+}
+
+static void zero_yaw(double yaw) {
+ static double yaw_buffer[YAW_BUF_LEN];
+ static int num_items;
+
+ if (num_items < YAW_BUF_LEN) {
+ yaw_buffer[num_items] = yaw;
+ num_items++;
+ } else if (!yaw_zeroed) {
+ double sum = 0;
+ for (int i = 0; i < YAW_BUF_LEN; i++) {
+ sum += yaw_buffer[i];
+ }
+ yaw_rate_offset = -sum / YAW_BUF_LEN;
+ yaw = 0;
+ printf("offset: %f\n", yaw_rate_offset);
+ yaw_zeroed = true;
+ }
+}
+
+void pack_pi_packet() {
+ // zero the buffer
+ for (int i = 0; i < PI_NUM_ITEMS; i++) {
+ pi_staging_buffer[i] = 0;
+ }
+
+ // skip empty item
+ uint8_t *imu_packet = (uint8_t *)(imu_data_buffer + 1);
+ // skip empty item and checksum and convert to bytes
+ const size_t imu_packet_len = (IMU_NUM_ITEMS - 2) * sizeof(uint16_t);
+
+ memcpy(pi_staging_buffer, imu_packet, imu_packet_len);
+ memcpy(pi_staging_buffer + imu_packet_len, &data_collect_timestamp, 4);
+ memcpy(pi_staging_buffer + imu_packet_len + 4, &encoder1_count, 2);
+ memcpy(pi_staging_buffer + imu_packet_len + 6, &encoder2_count, 2);
+
+ // exclude the part of the buffer that will be the checksum
+ uint32_t crc = calculate_crc32(pi_staging_buffer, PI_NUM_ITEMS - 4);
+ memcpy(pi_staging_buffer + imu_packet_len + 8, &crc, 4);
+
+ static_assert(PI_NUM_ITEMS == imu_packet_len +
+ sizeof(data_collect_timestamp) +
+ sizeof(encoder1_count) +
+ sizeof(encoder2_count) + sizeof(crc),
+ "PI_NUM_ITEMS needs to be able to hold the imu message + the "
+ "timestamp + the encoders + the checksum");
+}
+
+void data_ready() {
+ // save timestamp
+ data_collect_timestamp = time_us_32();
+
+ // read encoders
+ quadrature_encoder_request_count(pio0, 0);
+ quadrature_encoder_request_count(pio0, 1);
+
+ cs_select();
+ dma_channel_configure(imu_dma_tx, &imu_tx_config,
+ &spi_get_hw(SPI_IMU)->dr, // write address
+ &imu_write_buf, // read address
+ IMU_NUM_ITEMS, // element count (each element is of
+ // size transfer_data_size)
+ false); // don't start yet
+ dma_channel_configure(imu_dma_rx, &imu_rx_config,
+ &imu_data_buffer, // write address
+ &spi_get_hw(SPI_IMU)->dr, // read address
+ IMU_NUM_ITEMS, // element count (each element is of
+ // size transfer_data_size)
+ false); // don't start yet
+ dma_start_channel_mask((1u << imu_dma_tx) | (1u << imu_dma_rx));
+
+ encoder1_count = quadrature_encoder_fetch_count(pio0, 0);
+ encoder2_count = quadrature_encoder_fetch_count(pio0, 1);
+}
+
+void imu_read_finished() {
+ cs_deselect();
+
+ // TODO: check status and if necessary set flag to reset in main loop
+
+ message_recieved_count++;
+ uint16_t computed_checksum = check_checksum(imu_data_buffer);
+ uint16_t given_checksum = imu_data_buffer[IMU_NUM_ITEMS - 1];
+
+ if (computed_checksum != given_checksum) {
+ checksum_mismatch_count++;
+ for (size_t i = 0; i < IMU_NUM_ITEMS; i++) {
+ // make it clear that this data is bad
+ imu_data_buffer[i] = 0;
+ }
+ // and set an unused bit of DIAG_STAT
+ imu_data_buffer[1] = 1u << 0;
+ } else {
+ static const double dt = 0.0005; // seconds
+ int32_t z_gyro_out;
+ memcpy(&z_gyro_out, imu_data_buffer + 6, 4);
+ yaw_rate = (double)z_gyro_out / 655360.0 + yaw_rate_offset; // degrees
+ 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);
+
+ // 0 to 360
+ uint16_t heading_level = (int16_t)(fmod(yaw, 360) / 360.0 * PWM_TOP);
+ pwm_set_gpio_level(HEADING_PWM, heading_level);
+ }
+
+ // if 5 or more consecutive checksums are zero, then something weird is going
+ // on with the imu
+ if (computed_checksum != given_checksum || computed_checksum == 0 ||
+ given_checksum == 0) {
+ suspicious_checksums++;
+ } else {
+ suspicious_checksums = 0;
+ }
+
+ if (suspicious_checksums >= 5) {
+ reset_imu = true;
+ }
+
+ // fill out message and add it to the queue
+ pack_pi_packet();
+
+ // TODO: this has a sleep in it
+ // stay in sync with the pi by resetting the spi fifos each transfer
+ spi_init(SPI_PI, 2000 * 1000);
+ spi_set_slave(SPI_PI, true);
+ // these settings were the most stable even though the PI is using
+ // polarity 1 and phase 1
+ spi_set_format(SPI_PI, 8, SPI_CPOL_0, SPI_CPHA_1, SPI_MSB_FIRST);
+
+ maybe_send_pi_packet();
+
+ // clear the interrupt
+ dma_hw->ints0 = 1u << imu_dma_rx;
+}
+
+void maybe_send_pi_packet() {
+ // active low; if the pi isn't connected/booted, this will
+ // also look active
+ bool cs_asserted_or_unplugged = !gpio_get(CS_PI);
+
+ if (cs_asserted_or_unplugged) {
+ // the pi is still recieving something else from us
+ timing_overrun_count++;
+ return;
+ }
+
+ memcpy(pi_sending_buffer, pi_staging_buffer, PI_NUM_ITEMS);
+
+ dma_channel_configure(pi_dma_tx, &pi_tx_config,
+ &spi_get_hw(SPI_PI)->dr, // write address
+ &pi_sending_buffer, // read address
+ PI_NUM_ITEMS, // element count (each element is
+ // of size transfer_data_size)
+ false); // don't start yet
+ dma_channel_configure(pi_dma_rx, &pi_rx_config,
+ &pi_recieve_buffer, // write address
+ &spi_get_hw(SPI_PI)->dr, // read address
+ PI_NUM_ITEMS, // element count (each element is of
+ // size transfer_data_size)
+ false); // don't start yet
+
+ // start hardware calculation of the CRC-32; currently calculated in software
+ dma_sniffer_enable(pi_dma_tx, 0x0, true);
+ dma_hw->sniff_data = 0;
+
+ // start both at exactly the same time
+ dma_start_channel_mask((1u << pi_dma_tx) | (1u << pi_dma_rx));
+ gpio_put(DR_PI, 1);
+}
+
+void pi_transfer_finished() {
+ message_sent_count++;
+ gpio_put(DR_PI, 0);
+
+ send_time = time_us_32() - data_collect_timestamp;
+
+ dma_hw->ints1 = 1u << pi_dma_rx;
+}
+
+void setup_adis16505() {
+ gpio_set_irq_enabled(DR_IMU, GPIO_IRQ_EDGE_RISE, false);
+
+ while (true) {
+ adis16505_reset();
+ // See if SPI is working - interrogate the device for its product ID
+ // number, should be 0x4079
+ uint16_t id = read_register(PROD_ID);
+ if (id == EXPECTED_PROD_ID) {
+ printf("Product id: 0x%04x == expected 0x%04x\n", id, EXPECTED_PROD_ID);
+ break;
+ } else {
+ printf("Got 0x%04x for prod id, expected 0x%04x\ntrying again\n", id,
+ EXPECTED_PROD_ID);
+ }
+ }
+
+ uint16_t firmware_revision = read_register(FIRM_REV);
+ uint16_t firmware_day_month = read_register(FIRM_DM);
+ uint16_t firmware_year = read_register(FIRM_Y);
+ uint16_t serial_number = read_register(SERIAL_NUM);
+
+ printf(
+ "Firmware revision: 0x%04x, \nFirmware day month: 0x%04x, \nFirmware "
+ "year: "
+ "0x%04x, \nSerial number: 0x%04x, \n",
+ firmware_revision, firmware_day_month, firmware_year, serial_number);
+
+ // run self test
+ int num_failures = 0;
+ while (true) {
+ write_register(GLOB_CMD, 1u << 2);
+ sleep_ms(24);
+ uint16_t diag_stat = read_register(DIAG_STAT);
+
+ // check the sensor failure bit
+ bool sensor_failure = diag_stat & (1u << 5);
+ printf("Diag stat: 0b%016b, \n", diag_stat);
+
+ if (sensor_failure) {
+ num_failures++;
+ printf("%d failures, trying again\n", num_failures);
+ } else {
+ break;
+ }
+ }
+
+ write_register(FILT_CTRL, 0 /* no filtering */);
+ write_register(
+ MSC_CTRL,
+ (1u << 9) /* enable 32-bit mode for burst reads */ |
+ (0u << 8) /* send gyro and accelerometer data in burst mode */ |
+ (1u << 7) /* enable gyro linear g compensation */ |
+ (1u << 6) /* enable point of percussion alignment */ |
+ (0u << 2) /* internal clock mode */ |
+ (0u << 1) /* sync polarity, doesn't matter */ |
+ (1u << 0) /* data ready is active high */);
+ // Rate of the output will be 2000 / (DEC_RATE + 1) Hz.
+ write_register(DEC_RATE, 0 /* no decimation */);
+
+ sleep_us(200);
+
+ imu_reset_count++;
+
+ gpio_set_irq_enabled_with_callback(DR_IMU, GPIO_IRQ_EDGE_RISE, true,
+ &gpio_irq_handler);
+}
+
+int main() {
+ stdio_init_all();
+
+ // Use 1MHz with the IMU as that is the limit for burst mode.
+ spi_init(SPI_IMU, 1000 * 1000);
+ spi_set_format(SPI_IMU, 16, SPI_CPOL_1, SPI_CPHA_1, SPI_MSB_FIRST);
+ gpio_set_function(DOUT_IMU, GPIO_FUNC_SPI);
+ gpio_set_function(SCLK_IMU, GPIO_FUNC_SPI);
+ gpio_set_function(DIN_IMU, GPIO_FUNC_SPI);
+ // Make the SPI pins available to picotool
+ bi_decl(bi_3pins_with_func(DOUT_IMU, DIN_IMU, SCLK_IMU, GPIO_FUNC_SPI));
+
+ // Chip select is active-low, so we'll initialise it to a driven-high state
+ gpio_init(CS_IMU);
+ gpio_set_dir(CS_IMU, GPIO_OUT);
+ gpio_put(CS_IMU, 1);
+ // Make the CS pin available to picotool
+ bi_decl(bi_1pin_with_name(CS_IMU, "IMU CS"));
+
+ // Reset is active-low, so we'll initialise it to a driven-high state
+ gpio_init(RST_IMU);
+ gpio_set_dir(RST_IMU, GPIO_OUT);
+ gpio_put(RST_IMU, 1);
+ // Make the RST pin available to picotool
+ bi_decl(bi_1pin_with_name(RST_IMU, "IMU RESET"));
+
+ imu_dma_tx = dma_claim_unused_channel(true);
+ imu_dma_rx = dma_claim_unused_channel(true);
+
+ // We set the outbound DMA to transfer from a memory buffer to the SPI
+ // transmit FIFO paced by the SPI TX FIFO DREQ The default is for the read
+ // address to increment every element (in this case 2 bytes - DMA_SIZE_16) and
+ // for the write address to remain unchanged.
+
+ imu_tx_config = dma_channel_get_default_config(imu_dma_tx);
+ channel_config_set_transfer_data_size(&imu_tx_config, DMA_SIZE_16);
+ channel_config_set_dreq(&imu_tx_config, spi_get_dreq(SPI_IMU, true));
+ channel_config_set_read_increment(&imu_tx_config, true);
+ channel_config_set_write_increment(&imu_tx_config, false);
+
+ // We set the inbound DMA to transfer from the SPI receive FIFO to a memory
+ // buffer paced by the SPI RX FIFO DREQ We configure the read address to
+ // remain unchanged for each element, but the write address to increment (so
+ // data is written throughout the buffer)
+ imu_rx_config = dma_channel_get_default_config(imu_dma_rx);
+ channel_config_set_transfer_data_size(&imu_rx_config, DMA_SIZE_16);
+ channel_config_set_dreq(&imu_rx_config, spi_get_dreq(SPI_IMU, false));
+ channel_config_set_read_increment(&imu_rx_config, false);
+ channel_config_set_write_increment(&imu_rx_config, true);
+
+ // Tell the DMA to raise IRQ line 0 when the channel finishes a block
+ dma_channel_set_irq0_enabled(imu_dma_rx, true);
+
+ // Configure the processor to run dma_handler() when DMA IRQ 0 is asserted
+ irq_set_exclusive_handler(DMA_IRQ_0, imu_read_finished);
+ irq_set_enabled(DMA_IRQ_0, true);
+
+ // Use 2MHz with the PI as that is the maximum speed for the pico
+ gpio_set_function(MISO_PI, GPIO_FUNC_SPI);
+ gpio_set_function(MOSI_PI, GPIO_FUNC_SPI);
+ gpio_set_function(SCK_PI, GPIO_FUNC_SPI);
+ gpio_set_function(CS_PI, GPIO_FUNC_SPI);
+ // Make the SPI pins available to picotool
+ bi_decl(bi_3pins_with_func(DOUT_IMU, DIN_IMU, SCLK_IMU, GPIO_FUNC_SPI));
+
+ gpio_init(DR_PI);
+ gpio_set_dir(DR_PI, GPIO_OUT);
+ gpio_put(DR_PI, 0);
+ // Make the CS pin available to picotool
+ bi_decl(bi_1pin_with_name(DR_PI, "DATA READY PI"));
+
+ pi_dma_tx = dma_claim_unused_channel(true);
+ pi_dma_rx = dma_claim_unused_channel(true);
+
+ // We set the outbound DMA to transfer from a memory buffer to the SPI
+ // transmit FIFO paced by the SPI TX FIFO DREQ The default is for the read
+ // address to increment every element (in this case 2 bytes - DMA_SIZE_16) and
+ // for the write address to remain unchanged.
+
+ pi_tx_config = dma_channel_get_default_config(pi_dma_tx);
+ channel_config_set_transfer_data_size(&pi_tx_config, DMA_SIZE_8);
+ channel_config_set_dreq(&pi_tx_config, spi_get_dreq(SPI_PI, true));
+ channel_config_set_read_increment(&pi_tx_config, true);
+ channel_config_set_write_increment(&pi_tx_config, false);
+
+ // We set the inbound DMA to transfer from the SPI receive FIFO to a memory
+ // buffer paced by the SPI RX FIFO DREQ We configure the read address to
+ // remain unchanged for each element, but the write address to increment (so
+ // data is written throughout the buffer)
+ pi_rx_config = dma_channel_get_default_config(pi_dma_rx);
+ channel_config_set_transfer_data_size(&pi_rx_config, DMA_SIZE_8);
+ channel_config_set_dreq(&pi_rx_config, spi_get_dreq(SPI_PI, false));
+ channel_config_set_read_increment(&pi_rx_config, false);
+ channel_config_set_write_increment(&pi_rx_config, true);
+
+ // Tell the DMA to raise IRQ line 1 when the channel finishes a block
+ dma_channel_set_irq1_enabled(pi_dma_rx, true);
+
+ // Configure the processor to run dma_handler() when DMA IRQ 0 is asserted
+ irq_set_exclusive_handler(DMA_IRQ_1, pi_transfer_finished);
+ irq_set_enabled(DMA_IRQ_1, true);
+
+ /* All IRQ priorities are initialized to PICO_DEFAULT_IRQ_PRIORITY by the pico
+ * runtime at startup.
+ *
+ * Handler | Interrupt | Cause of interrupt
+ * --------------------|--------------|---------------------------------------
+ * imu_read_finished | DMA_IRQ_0 | When the dma read from the imu is done
+ * pi_transfer_finished| DMA_IRQ_1 | When the dma read to the pi is
+ * done data_ready | IO_IRQ_BANK0 | On the rising edge of DR_IMU
+ */
+
+ // Tell the GPIOs they are allocated to PWM
+ gpio_set_function(HEADING_PWM, GPIO_FUNC_PWM);
+ gpio_set_function(RATE_PWM, GPIO_FUNC_PWM);
+
+ // Find out which PWM slice is connected to each gpio pin
+ uint heading_slice = pwm_gpio_to_slice_num(HEADING_PWM);
+ uint rate_slice = pwm_gpio_to_slice_num(RATE_PWM);
+
+ /* frequency_pwm = f_sys / ((TOP + 1) * (CSR_PHASE_CORRECT + 1) * (DIV_INT +
+ * DIV_FRAC / 16))
+ *
+ * f_sys = 125 mhz
+ * CSR_PHASE_CORRECT = 0; no phase correct
+ * TARGET_FREQ = 200 hz
+ *
+ * 125 mhz / x = 200 hz * 62500
+ *
+ * TOP = 62499
+ * DIV_INT = 10
+ */
+
+ float divisor = clock_get_hz(clk_sys) / (PWM_TOP + 1) / PWM_FREQ_HZ;
+
+ pwm_config cfg = pwm_get_default_config();
+ pwm_config_set_clkdiv_mode(&cfg, PWM_DIV_FREE_RUNNING);
+ pwm_config_set_clkdiv(&cfg, divisor);
+ pwm_config_set_wrap(&cfg, PWM_TOP);
+
+ pwm_init(heading_slice, &cfg, true);
+ pwm_init(rate_slice, &cfg, true);
+
+ // the two state machine instances use the same program memory from pio0
+ uint offset = pio_add_program(pio0, &quadrature_encoder_program);
+ quadrature_encoder_program_init(pio0, 0, offset, ENC1_A, 0);
+ quadrature_encoder_program_init(pio0, 1, offset, ENC2_A, 0);
+
+ sleep_ms(3 * 1000);
+
+ printf("Hello ADIS16505\n");
+
+ printf(
+ "System clock: %d hz\n"
+ "PWM target frequency: %d hz, PWM clock divisor: "
+ "%f, PWM TOP: %d\n",
+ clock_get_hz(clk_sys), PWM_FREQ_HZ, divisor, PWM_TOP);
+
+ setup_adis16505();
+
+ while (!yaw_zeroed) {
+ dma_channel_wait_for_finish_blocking(imu_dma_rx);
+ sleep_us(100);
+ zero_yaw(yaw_rate);
+ }
+
+ printf("Press q to enter bootloader\n");
+
+ while (1) {
+ dma_channel_wait_for_finish_blocking(imu_dma_rx);
+ // we want the interrupts to happen before or during the sleep so that we
+ // can get a good picture of what's going on without things moving around
+ sleep_us(100);
+
+ if (reset_imu) {
+ printf("Triggered IMU reset, resetting\n");
+ setup_adis16505();
+ reset_imu = false;
+ }
+
+ // debug
+ // one printf is faster than many printfs
+ printf(
+ "Z pos is %f encoder: %d %d\n"
+ "Num failed checksums: %d, Total messages recieved: %d,\n"
+ "Num messages to pi: %d, Timing overrun count: %d,\n"
+ "Send time: %d us, suspicious checksum count: %u,\n"
+ "IMU reset count: %d, checksum: %u,\n",
+ yaw, encoder1_count, encoder2_count, checksum_mismatch_count,
+ message_recieved_count, message_sent_count, timing_overrun_count,
+ send_time, suspicious_checksums, imu_reset_count,
+ imu_data_buffer[IMU_NUM_ITEMS - 1]);
+
+ // allow the user to enter the bootloader without removing power or having
+ // to install a reset button
+ char user_input = getchar_timeout_us(0);
+ if (user_input == 'q') {
+ printf("Going down! entering bootloader\n");
+ reset_usb_boot(0, 0);
+ }
+
+ sleep_ms(50);
+ }
+
+ printf("All good\n");
+ dma_channel_unclaim(imu_dma_rx);
+ dma_channel_unclaim(imu_dma_tx);
+ dma_channel_unclaim(pi_dma_rx);
+ dma_channel_unclaim(pi_dma_tx);
+ return 0;
+}
diff --git a/frc971/imu/CMakeLists.txt b/frc971/imu/CMakeLists.txt
new file mode 100644
index 0000000..e97ba8d
--- /dev/null
+++ b/frc971/imu/CMakeLists.txt
@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.12)
+
+# Pull in SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(ADIS16505_communication C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.0")
+ message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.3.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
+endif()
+
+# Initialize the SDK
+pico_sdk_init()
+
+add_compile_options(-Wall
+ -Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int
+ -Wno-unused-function # we have some for the docs that aren't called
+ -Wno-maybe-uninitialized
+ )
+
+add_executable(pico_imu_board)
+
+pico_generate_pio_header(pico_imu_board ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio)
+
+target_sources(pico_imu_board PRIVATE ADIS16505.cc)
+
+# pull in common dependencies
+target_link_libraries(pico_imu_board
+ pico_stdlib
+ hardware_spi
+ hardware_dma
+ hardware_irq
+ hardware_pwm
+ hardware_pio
+ hardware_timer
+ pico_bootrom
+ pico_double
+ )
+
+# enable usb output, disable uart output
+pico_enable_stdio_usb(pico_imu_board 1)
+pico_enable_stdio_uart(pico_imu_board 1)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(pico_imu_board)
diff --git a/frc971/imu/pico_sdk_import.cmake b/frc971/imu/pico_sdk_import.cmake
new file mode 100644
index 0000000..28efe9e
--- /dev/null
+++ b/frc971/imu/pico_sdk_import.cmake
@@ -0,0 +1,62 @@
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+ set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+ message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+ set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+ message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+ set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+ message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+
+if (NOT PICO_SDK_PATH)
+ if (PICO_SDK_FETCH_FROM_GIT)
+ include(FetchContent)
+ set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+ if (PICO_SDK_FETCH_FROM_GIT_PATH)
+ get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+ endif ()
+ FetchContent_Declare(
+ pico_sdk
+ GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+ GIT_TAG master
+ )
+ if (NOT pico_sdk)
+ message("Downloading Raspberry Pi Pico SDK")
+ FetchContent_Populate(pico_sdk)
+ set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+ endif ()
+ set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+ else ()
+ message(FATAL_ERROR
+ "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+ )
+ endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+ message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+ message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})
diff --git a/frc971/imu/quadrature_encoder.pio b/frc971/imu/quadrature_encoder.pio
new file mode 100644
index 0000000..b2a0b82
--- /dev/null
+++ b/frc971/imu/quadrature_encoder.pio
@@ -0,0 +1,165 @@
+;
+; Copyright (c) 2021 pmarques-dev @ github
+;
+; SPDX-License-Identifier: BSD-3-Clause
+;
+
+.program quadrature_encoder
+
+; this code must be loaded into address 0, but at 29 instructions, it probably
+; wouldn't be able to share space with other programs anyway
+.origin 0
+
+
+; the code works by running a loop that continuously shifts the 2 phase pins into
+; ISR and looks at the lower 4 bits to do a computed jump to an instruction that
+; does the proper "do nothing" | "increment" | "decrement" action for that pin
+; state change (or no change)
+
+; ISR holds the last state of the 2 pins during most of the code. The Y register
+; keeps the current encoder count and is incremented / decremented according to
+; the steps sampled
+
+; writing any non zero value to the TX FIFO makes the state machine push the
+; current count to RX FIFO between 6 to 18 clocks afterwards. The worst case
+; sampling loop takes 14 cycles, so this program is able to read step rates up
+; to sysclk / 14 (e.g., sysclk 125MHz, max step rate = 8.9 Msteps/sec)
+
+
+; 00 state
+ JMP update ; read 00
+ JMP decrement ; read 01
+ JMP increment ; read 10
+ JMP update ; read 11
+
+; 01 state
+ JMP increment ; read 00
+ JMP update ; read 01
+ JMP update ; read 10
+ JMP decrement ; read 11
+
+; 10 state
+ JMP decrement ; read 00
+ JMP update ; read 01
+ JMP update ; read 10
+ JMP increment ; read 11
+
+; to reduce code size, the last 2 states are implemented in place and become the
+; target for the other jumps
+
+; 11 state
+ JMP update ; read 00
+ JMP increment ; read 01
+decrement:
+ ; note: the target of this instruction must be the next address, so that
+ ; the effect of the instruction does not depend on the value of Y. The
+ ; same is true for the "JMP X--" below. Basically "JMP Y--, <next addr>"
+ ; is just a pure "decrement Y" instruction, with no other side effects
+ JMP Y--, update ; read 10
+
+ ; this is where the main loop starts
+.wrap_target
+update:
+ ; we start by checking the TX FIFO to see if the main code is asking for
+ ; the current count after the PULL noblock, OSR will have either 0 if
+ ; there was nothing or the value that was there
+ SET X, 0
+ PULL noblock
+
+ ; since there are not many free registers, and PULL is done into OSR, we
+ ; have to do some juggling to avoid losing the state information and
+ ; still place the values where we need them
+ MOV X, OSR
+ MOV OSR, ISR
+
+ ; the main code did not ask for the count, so just go to "sample_pins"
+ JMP !X, sample_pins
+
+ ; if it did ask for the count, then we push it
+ MOV ISR, Y ; we trash ISR, but we already have a copy in OSR
+ PUSH
+
+sample_pins:
+ ; we shift into ISR the last state of the 2 input pins (now in OSR) and
+ ; the new state of the 2 pins, thus producing the 4 bit target for the
+ ; computed jump into the correct action for this state
+ MOV ISR, NULL
+ IN OSR, 2
+ IN PINS, 2
+ MOV PC, ISR
+
+ ; the PIO does not have a increment instruction, so to do that we do a
+ ; negate, decrement, negate sequence
+increment:
+ MOV X, !Y
+ JMP X--, increment_cont
+increment_cont:
+ MOV Y, !X
+.wrap ; the .wrap here avoids one jump instruction and saves a cycle too
+
+
+
+% c-sdk {
+
+#include "hardware/clocks.h"
+#include "hardware/gpio.h"
+
+// max_step_rate is used to lower the clock of the state machine to save power
+// if the application doesn't require a very high sampling rate. Passing zero
+// will set the clock to the maximum, which gives a max step rate of around
+// 8.9 Msteps/sec at 125MHz
+
+static inline void quadrature_encoder_program_init(PIO pio, uint sm, uint offset, uint pin, int max_step_rate)
+{
+ pio_sm_set_consecutive_pindirs(pio, sm, pin, 2, false);
+ pio_gpio_init(pio, pin);
+ gpio_pull_up(pin);
+
+ pio_sm_config c = quadrature_encoder_program_get_default_config(offset);
+ sm_config_set_in_pins(&c, pin); // for WAIT, IN
+ sm_config_set_jmp_pin(&c, pin); // for JMP
+ // shift to left, autopull disabled
+ sm_config_set_in_shift(&c, false, false, 32);
+ // don't join FIFO's
+ sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE);
+
+ // passing "0" as the sample frequency,
+ if (max_step_rate == 0) {
+ sm_config_set_clkdiv(&c, 1.0);
+ } else {
+ // one state machine loop takes at most 14 cycles
+ float div = (float)clock_get_hz(clk_sys) / (14 * max_step_rate);
+ sm_config_set_clkdiv(&c, div);
+ }
+
+ pio_sm_init(pio, sm, offset, &c);
+ pio_sm_set_enabled(pio, sm, true);
+}
+
+
+// When requesting the current count we may have to wait a few cycles (average
+// ~11 sysclk cycles) for the state machine to reply. If we are reading multiple
+// encoders, we may request them all in one go and then fetch them all, thus
+// avoiding doing the wait multiple times. If we are reading just one encoder,
+// we can use the "get_count" function to request and wait
+
+static inline void quadrature_encoder_request_count(PIO pio, uint sm)
+{
+ pio->txf[sm] = 1;
+}
+
+static inline int32_t quadrature_encoder_fetch_count(PIO pio, uint sm)
+{
+ while (pio_sm_is_rx_fifo_empty(pio, sm))
+ tight_loop_contents();
+ return pio->rxf[sm];
+}
+
+static inline int32_t quadrature_encoder_get_count(PIO pio, uint sm)
+{
+ quadrature_encoder_request_count(pio, sm);
+ return quadrature_encoder_fetch_count(pio, sm);
+}
+
+%}
+
diff --git a/y2020/vision/rootfs/99-usb-mount.rules b/frc971/raspi/rootfs/99-usb-mount.rules
similarity index 100%
rename from y2020/vision/rootfs/99-usb-mount.rules
rename to frc971/raspi/rootfs/99-usb-mount.rules
diff --git a/frc971/raspi/rootfs/README.md b/frc971/raspi/rootfs/README.md
new file mode 100644
index 0000000..a9c7251
--- /dev/null
+++ b/frc971/raspi/rootfs/README.md
@@ -0,0 +1,50 @@
+This modifies a stock debian root filesystem to be able to operate as a vision
+pi. It is not trying to be reproducible, but should be good enough for FRC
+purposes.
+
+The default hostname and IP is pi-971-1, 10.9.71.101.
+ Username pi, password raspberry.
+
+Download 2021-10-30-raspios-bullseye-armhf-lite.img (or any newer
+bullseye version, as a .zip file) from
+`https://www.raspberrypi.org/downloads/raspberry-pi-os/`, extract
+(unzip) the .img file, and edit `modify_rootfs.sh` to point to it.
+
+Run modify_rootfs.sh to build the filesystem (you might need to hit
+return in a spot or two and will need sudo privileges to mount the
+partition):
+ * `modify_root.sh`
+
+VERY IMPORTANT NOTE: Before doing the next step, use `lsblk` to find
+the device and make absolutely sure this isn't your hard drive or
+something else. It will target /dev/sda by default, which in some
+computers is your default hard drive.
+
+After confirming the target device, edit the `make_sd.sh` script to point to the correct IMAGE filename, and run the `make_sd.sh` command,
+which takes the name of the pi as an argument:
+ * `make_sd.sh pi-971-1`
+
+OR, if you want to manually run this, you can deploy the image by
+copying the contents of the image to the SD card. You can do this
+manually, via
+ `dd if=2020-02-13-raspbian-bullseye-lite-frc-mods.img of=/dev/sdX bs=1M`
+
+From there, transfer the SD card to the pi, log in, `sudo` to `root`,
+and run `/root/bin/change_hostname.sh` to change the hostname to the
+actual target.
+
+
+A couple additional notes on setting this up:
+ * You'll likely need to install (`sudo apt install`) the emulation packages `proot` and `qemu-user-static` (or possibly `qemu-arm-static`)
+ * If the modify_root.sh script fails, you may need to manually unmount the image (`sudo umount ${PARTITION}` and `rmdir ${PARTITION}`) before running it again
+ * Don't be clever and try to link to the image file in a different folder. These scripts need access directly to the file and will fail otherwise
+
+
+Things to do once the SD card is complete, and you've booted a PI with it:
+
+ * Download the code:
+ Once this is completed, you can boot the pi with the newly flashed SD
+ card, and download the code to the pi using:
+ `bazel run -c opt --cpu=armv7 //y2022:pi_download_stripped -- PI_IP_ADDR
+
+ where PI_IP_ADDR is the IP address of the target pi, e.g., 10.9.71.101
diff --git a/y2020/vision/rootfs/change_hostname.sh b/frc971/raspi/rootfs/change_hostname.sh
similarity index 100%
rename from y2020/vision/rootfs/change_hostname.sh
rename to frc971/raspi/rootfs/change_hostname.sh
diff --git a/y2020/vision/rootfs/dhcpcd.conf b/frc971/raspi/rootfs/dhcpcd.conf
similarity index 100%
rename from y2020/vision/rootfs/dhcpcd.conf
rename to frc971/raspi/rootfs/dhcpcd.conf
diff --git a/y2020/vision/rootfs/frc971.service b/frc971/raspi/rootfs/frc971.service
similarity index 100%
rename from y2020/vision/rootfs/frc971.service
rename to frc971/raspi/rootfs/frc971.service
diff --git a/y2020/vision/rootfs/logind.conf b/frc971/raspi/rootfs/logind.conf
similarity index 100%
rename from y2020/vision/rootfs/logind.conf
rename to frc971/raspi/rootfs/logind.conf
diff --git a/frc971/raspi/rootfs/make_sd.sh b/frc971/raspi/rootfs/make_sd.sh
new file mode 100755
index 0000000..81f7727
--- /dev/null
+++ b/frc971/raspi/rootfs/make_sd.sh
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+set -e
+
+# Disk image to use for creating SD card
+# NOTE: You MUST run modify_rootfs.sh on this image BEFORE running make_sd.sh
+ORIG_IMAGE="2021-10-30-raspios-bullseye-armhf-lite.img"
+IMAGE=`echo ${ORIG_IMAGE} | sed s/.img/-frc-mods.img/`
+DEVICE="/dev/sda"
+
+if mount | grep "${DEVICE}" >/dev/null ;
+then
+ echo "Overwriting a mounted partition, is ${DEVICE} the sd card?"
+ exit 1
+fi
+
+sudo dd if=${IMAGE} of=${DEVICE} bs=1M status=progress
+
+PARTITION="${IMAGE}.partition"
+
+mkdir -p "${PARTITION}"
+sudo mount "${DEVICE}2" "${PARTITION}"
+
+function target() {
+ HOME=/root/ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" "$@"
+}
+
+if [ "${1}" == "" ]; then
+ echo "No hostname specified, so skipping setting it."
+ echo "You do this manually on the pi by running /root/bin/change_hostname.sh PI_NAME"
+else
+ target /root/bin/change_hostname.sh "${1}"
+fi
+
+echo "Starting a shell for any manual configuration"
+target /bin/bash --rcfile /root/.bashrc
+
+# Put a timestamp on when this card got created and by whom
+TIMESTAMP_FILE="${PARTITION}/home/pi/.DiskFlashedDate.txt"
+date > "${TIMESTAMP_FILE}"
+git rev-parse HEAD >> "${TIMESTAMP_FILE}"
+whoami >> "${TIMESTAMP_FILE}"
+
+# Found I had to do a lazy force unmount ("-l" flag) to make it work reliably
+sudo umount -l "${PARTITION}"
+rmdir "${PARTITION}"
diff --git a/y2020/vision/rootfs/modify_rootfs.sh b/frc971/raspi/rootfs/modify_rootfs.sh
similarity index 77%
rename from y2020/vision/rootfs/modify_rootfs.sh
rename to frc971/raspi/rootfs/modify_rootfs.sh
index 1367314..a340c64 100755
--- a/y2020/vision/rootfs/modify_rootfs.sh
+++ b/frc971/raspi/rootfs/modify_rootfs.sh
@@ -2,8 +2,8 @@
set -xe
-# Full path to Raspberry Pi Buster disk image
-IMAGE="2020-08-20-raspios-buster-armhf-lite.img"
+# Full path to Raspberry Pi Bullseye disk image
+IMAGE="2021-10-30-raspios-bullseye-armhf-lite.img"
BOOT_PARTITION="${IMAGE}.boot_partition"
PARTITION="${IMAGE}.partition"
@@ -34,8 +34,11 @@
if ! grep "gpu_mem=128" "${BOOT_PARTITION}/config.txt"; then
echo "gpu_mem=128" | 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"
-sudo umount "${BOOT_PARTITION}"
+# Seeing a race condition with umount, so doing lazy umount
+sudo umount -l "${BOOT_PARTITION}"
rmdir "${BOOT_PARTITION}"
if mount | grep "${PARTITION}" >/dev/null ;
@@ -86,10 +89,21 @@
target /bin/mkdir -p /home/pi/.ssh/
cat ~/.ssh/id_rsa.pub | target tee /home/pi/.ssh/authorized_keys
+# Downloads and installs our target libraries
target /bin/bash /tmp/target_configure.sh
+# Add a file to show when this image was last modified and by whom
+TIMESTAMP_FILE="${PARTITION}/home/pi/.ImageModifiedDate.txt"
+date > "${TIMESTAMP_FILE}"
+git rev-parse HEAD >> "${TIMESTAMP_FILE}"
+whoami >> "${TIMESTAMP_FILE}"
+
# Run a prompt as root inside the target to poke around and check things.
target /bin/bash --rcfile /root/.bashrc
-sudo umount "${PARTITION}"
+sudo umount -l "${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}
diff --git a/y2020/vision/rootfs/rt.conf b/frc971/raspi/rootfs/rt.conf
similarity index 100%
rename from y2020/vision/rootfs/rt.conf
rename to frc971/raspi/rootfs/rt.conf
diff --git a/y2020/vision/rootfs/sctp.conf b/frc971/raspi/rootfs/sctp.conf
similarity index 100%
rename from y2020/vision/rootfs/sctp.conf
rename to frc971/raspi/rootfs/sctp.conf
diff --git a/y2020/vision/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
similarity index 78%
rename from y2020/vision/rootfs/target_configure.sh
rename to frc971/raspi/rootfs/target_configure.sh
index 9f2e289..3fd4d40 100755
--- a/y2020/vision/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -19,28 +19,29 @@
git \
python3-pip \
cpufrequtils \
- libopencv-calib3d3.2 \
- libopencv-contrib3.2 \
- libopencv-core3.2 \
- libopencv-features2d3.2 \
- libopencv-flann3.2 \
- libopencv-highgui3.2 \
- libopencv-imgcodecs3.2 \
- libopencv-imgproc3.2 \
- libopencv-ml3.2 \
- libopencv-objdetect3.2 \
- libopencv-photo3.2 \
- libopencv-shape3.2 \
- libopencv-stitching3.2 \
- libopencv-superres3.2 \
- libopencv-video3.2 \
- libopencv-videoio3.2 \
- libopencv-videostab3.2 \
- libopencv-viz3.2 \
+ libopencv-calib3d4.5 \
+ libopencv-contrib4.5 \
+ libopencv-core4.5 \
+ libopencv-features2d4.5 \
+ libopencv-flann4.5 \
+ libopencv-highgui4.5 \
+ libopencv-imgcodecs4.5 \
+ libopencv-imgproc4.5 \
+ libopencv-ml4.5 \
+ libopencv-objdetect4.5 \
+ libopencv-photo4.5 \
+ libopencv-shape4.5 \
+ libopencv-stitching4.5 \
+ libopencv-superres4.5 \
+ libopencv-video4.5 \
+ libopencv-videoio4.5 \
+ libopencv-videostab4.5 \
+ libopencv-viz4.5 \
python3-opencv \
libnice10 \
pmount \
- libnice-dev
+ libnice-dev \
+ feh
echo 'GOVERNOR="performance"' > /etc/default/cpufrequtils
diff --git a/y2020/vision/rootfs/usb-mount@.service b/frc971/raspi/rootfs/usb-mount@.service
similarity index 100%
rename from y2020/vision/rootfs/usb-mount@.service
rename to frc971/raspi/rootfs/usb-mount@.service
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
new file mode 100644
index 0000000..1e3ed58
--- /dev/null
+++ b/frc971/vision/BUILD
@@ -0,0 +1,35 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
+
+flatbuffer_cc_library(
+ name = "vision_fbs",
+ srcs = ["vision.fbs"],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "vision_ts_fbs",
+ srcs = ["vision.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "v4l2_reader",
+ srcs = [
+ "v4l2_reader.cc",
+ ],
+ hdrs = [
+ "v4l2_reader.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":vision_fbs",
+ "//aos/events:event_loop",
+ "//aos/scoped:scoped_fd",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/base",
+ ],
+)
diff --git a/y2020/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
similarity index 97%
rename from y2020/vision/v4l2_reader.cc
rename to frc971/vision/v4l2_reader.cc
index 3f24f1e..793d8cd 100644
--- a/y2020/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -1,4 +1,4 @@
-#include "y2020/vision/v4l2_reader.h"
+#include "frc971/vision/v4l2_reader.h"
#include <fcntl.h>
#include <linux/videodev2.h>
@@ -60,8 +60,8 @@
}
bool V4L2Reader::ReadLatestImage() {
- // First, enqueue any old buffer we already have. This is the one which may
- // have been sent.
+ // First, enqueue any old buffer we already have. This is the one which
+ // may have been sent.
if (saved_buffer_) {
EnqueueBuffer(saved_buffer_.index);
saved_buffer_.Clear();
@@ -189,8 +189,8 @@
if (result == 0) {
return;
}
- // Some devices (like Alex's webcam) return this if streaming isn't currently
- // on, unlike what the documentations says should happen.
+ // Some devices (like Alex's webcam) return this if streaming isn't
+ // currently on, unlike what the documentations says should happen.
if (errno == EBUSY) {
return;
}
diff --git a/y2020/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
similarity index 95%
rename from y2020/vision/v4l2_reader.h
rename to frc971/vision/v4l2_reader.h
index b9b3ce4..6f90cec 100644
--- a/y2020/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -1,5 +1,5 @@
-#ifndef Y2020_VISION_V4L2_READER_H_
-#define Y2020_VISION_V4L2_READER_H_
+#ifndef FRC971_VISION_V4L2_READER_H_
+#define FRC971_VISION_V4L2_READER_H_
#include <array>
#include <string>
@@ -9,7 +9,7 @@
#include "aos/events/event_loop.h"
#include "aos/scoped/scoped_fd.h"
-#include "y2020/vision/vision_generated.h"
+#include "frc971/vision/vision_generated.h"
namespace frc971 {
namespace vision {
@@ -119,4 +119,4 @@
} // namespace vision
} // namespace frc971
-#endif // Y2020_VISION_V4L2_READER_H_
+#endif // FRC971_VISION_V4L2_READER_H_
diff --git a/y2020/vision/vision.fbs b/frc971/vision/vision.fbs
similarity index 100%
rename from y2020/vision/vision.fbs
rename to frc971/vision/vision.fbs
diff --git a/go.mod b/go.mod
index fa311ec..7c0e058 100644
--- a/go.mod
+++ b/go.mod
@@ -6,6 +6,7 @@
github.com/buildkite/go-buildkite v2.2.0+incompatible
github.com/golang/protobuf v1.5.2
github.com/google/flatbuffers v2.0.5+incompatible
+ github.com/mattn/go-sqlite3 v1.14.10
google.golang.org/grpc v1.43.0
)
diff --git a/go.sum b/go.sum
index 0db981f..c832e6c 100644
--- a/go.sum
+++ b/go.sum
@@ -53,6 +53,8 @@
github.com/google/go-querystring v1.1.0/go.mod h1:Kcdr2DB4koayq7X8pmAG4sNG59So17icRSOU623lUBU=
github.com/google/uuid v1.1.2/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
github.com/grpc-ecosystem/grpc-gateway v1.16.0/go.mod h1:BDjrQk3hbvj6Nolgz8mAMFbcEtjT1g+wF4CSlocrBnw=
+github.com/mattn/go-sqlite3 v1.14.10 h1:MLn+5bFRlWMGoSRmJour3CL1w/qL96mvipqpwQW/Sfk=
+github.com/mattn/go-sqlite3 v1.14.10/go.mod h1:NyWgC/yNuGj7Q9rpYnZvas74GogHl5/Z4A/KQRfk6bU=
github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
github.com/prometheus/client_model v0.0.0-20190812154241-14fe0d1b01d4/go.mod h1:xMI15A0UPsDsEKsMN9yxemIoYk6Tm2C1GtYGdfGttqA=
github.com/rogpeppe/fastuuid v1.2.0/go.mod h1:jVj6XXZzXRy/MSR5jhDC/2q6DgLz+nrA6LYCDYWNEvQ=
diff --git a/go_deps.bzl b/go_deps.bzl
index 5e215ef..30d0311 100644
--- a/go_deps.bzl
+++ b/go_deps.bzl
@@ -129,6 +129,12 @@
version = "v1.16.0",
)
maybe_override_go_dep(
+ name = "com_github_mattn_go_sqlite3",
+ importpath = "github.com/mattn/go-sqlite3",
+ sum = "h1:MLn+5bFRlWMGoSRmJour3CL1w/qL96mvipqpwQW/Sfk=",
+ version = "v1.14.10",
+ )
+ maybe_override_go_dep(
name = "com_github_pmezard_go_difflib",
importpath = "github.com/pmezard/go-difflib",
sum = "h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=",
diff --git a/motors/RspBuckBoostv3/RspPiPS.pcb b/motors/RspBuckBoostv3/RspPiPS.pcb
new file mode 100644
index 0000000..68e6f62
--- /dev/null
+++ b/motors/RspBuckBoostv3/RspPiPS.pcb
@@ -0,0 +1,2542 @@
+# release: pcb 4.2.0
+
+# To read pcb files, the pcb version (or the git source date) must be >= the file version
+FileVersion[20091103]
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+ ElementLine [-7.8500mm -6.6000mm 7.8500mm -6.6000mm 10.00mil]
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+Element["found" "1206" "C404" "22uF" 82.1976mm 67.7000mm -66.00mil -113.00mil 0 91 ""]
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+ Line[39.5000mm 109.5000mm 32.0000mm 109.5000mm 6.00mil 12.00mil "clearline"]
+ Line[36.0000mm 118.5000mm 36.5000mm 118.0000mm 6.00mil 12.00mil "clearline"]
+ Line[36.0000mm 118.5000mm 36.5000mm 119.0000mm 6.00mil 12.00mil "clearline"]
+ Line[30.5000mm 113.0000mm 129.5000mm 113.0000mm 10.00mil 20.00mil "clearline"]
+ Line[97.5000mm 109.5000mm 97.5000mm 116.5000mm 6.00mil 12.00mil "clearline"]
+ Line[39.5000mm 60.5000mm 33.0000mm 60.5000mm 6.00mil 12.00mil "clearline"]
+ Line[1747.00mil 2432.00mil 44.1466mm 62.0000mm 6.00mil 12.00mil "clearline"]
+ Line[1747.00mil 2432.00mil 32.7728mm 2432.00mil 6.00mil 12.00mil "clearline"]
+ Line[121.0012mm 53.4270mm 121.0012mm 119.9270mm 10.00mil 20.00mil "clearline,lock"]
+ Text[38.0000mm 116.5000mm 0 100 "3.5mm" "clearline"]
+ Text[34.5000mm 120.0000mm 0 100 "0mm" "clearline"]
+ Text[27.0000mm 112.5000mm 0 100 "0mm" "clearline"]
+ Text[96.0000mm 116.5000mm 0 100 "61.5mm" "clearline"]
+ Text[27.5000mm 109.0000mm 0 100 "3.5mm" "clearline"]
+ Text[27.5000mm 56.5000mm 0 100 "56.0mm" "clearline"]
+ Text[27.5000mm 59.5000mm 0 100 "52.5mm" "clearline"]
+ Text[4698.00mil 4739.00mil 0 98 "85mm" "clearline"]
+)
+Layer(4 "ground" "copper")
+(
+)
+Layer(5 "power" "copper")
+(
+)
+Layer(6 "outline" "copper")
+(
+ Line[36.0000mm 60.0000mm 36.0000mm 110.0000mm 6.00mil 12.00mil "clearline"]
+ Line[39.0000mm 113.0000mm 118.0000mm 113.0000mm 6.00mil 12.00mil "clearline"]
+ Line[121.0000mm 110.0000mm 121.0000mm 60.0000mm 6.00mil 12.00mil "clearline"]
+ Line[118.0000mm 57.0000mm 39.0000mm 57.0000mm 6.00mil 12.00mil "clearline"]
+ Arc[39.0000mm 60.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 0.000000 -90.000000 "clearline"]
+ Arc[118.0000mm 60.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil -90.000000 -90.000000 "clearline"]
+ Arc[118.0000mm 110.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 180.000000 -90.000000 "clearline"]
+ Arc[39.0000mm 110.0000mm 3.0000mm 3.0000mm 6.00mil 12.00mil 0.000000 90.000000 "clearline"]
+)
+Layer(7 "bottom silk" "silk")
+(
+ Text[4251.00mil 3616.00mil 2 100 "COM" "clearline,onsolder"]
+ Text[4267.00mil 3770.00mil 2 100 "V_IN" "clearline,onsolder"]
+)
+Layer(8 "top silk" "silk")
+(
+ Line[3455.00mil 4390.00mil 3455.00mil 4065.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[3455.00mil 4065.00mil 3435.00mil 4085.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[3455.00mil 4065.00mil 3475.00mil 4085.00mil 6.00mil 12.00mil "found,clearline"]
+ Line[2345.00mil 2710.00mil 2405.00mil 2710.00mil 10.00mil 20.00mil "clearline"]
+ Line[69.5666mm 77.3662mm 71.0906mm 77.3662mm 10.00mil 20.00mil "clearline"]
+ Line[115.8730mm 102.3768mm 115.8730mm 98.8768mm 6.00mil 12.00mil "clearline"]
+ Line[115.8730mm 98.8768mm 115.3730mm 99.3768mm 6.00mil 12.00mil "clearline"]
+ Line[115.8730mm 98.8768mm 116.3730mm 99.3768mm 6.00mil 12.00mil "clearline"]
+ Line[4235.00mil 2553.00mil 4355.00mil 2553.00mil 6.00mil 12.00mil ""]
+ Line[4355.00mil 2553.00mil 4380.00mil 2578.00mil 6.00mil 12.00mil ""]
+ Line[4270.00mil 2414.00mil 4351.00mil 2414.00mil 6.00mil 12.00mil ""]
+ Line[4351.00mil 2414.00mil 4387.00mil 2450.00mil 6.00mil 12.00mil ""]
+ Text[2305.00mil 3940.00mil 0 100 "+" "clearline"]
+ Text[2660.00mil 3785.00mil 0 100 "+" "clearline"]
+ Text[2915.00mil 4010.00mil 0 100 "+" "clearline"]
+ Text[4062.00mil 3353.00mil 0 100 "+" "clearline"]
+ Text[1925.00mil 2875.00mil 0 100 "+" "clearline"]
+ Text[1710.00mil 4100.00mil 0 100 "V_MID" "clearline"]
+ Text[1540.00mil 4095.00mil 0 100 "COM" "clearline"]
+ Text[1730.00mil 2650.00mil 0 100 "+5V" "clearline"]
+ Text[58.9285mm 72.7982mm 0 100 "+5V" "clearline"]
+ Text[44.5590mm 109.5840mm 0 100 "REV 3" "clearline"]
+ Text[44.4320mm 107.4250mm 0 100 "971 PI4 POWER" "clearline"]
+ Text[37.4750mm 67.2100mm 0 100 "COM" "clearline"]
+ Text[66.6272mm 74.3936mm 0 100 "V_MID" "clearline"]
+ Text[101.8060mm 96.1060mm 0 100 "V_IN" "clearline"]
+ Text[116.8060mm 100.6060mm 0 100 "V_IN" "clearline"]
+ Text[117.0030mm 98.6620mm 0 100 "COM" "clearline"]
+ Text[3473.00mil 2917.00mil 1 97 "U404" "clearline"]
+ Text[4389.00mil 3263.00mil 0 100 "H" "clearline"]
+ Text[4298.00mil 3263.00mil 0 100 "L" "clearline"]
+ Text[4182.00mil 2704.00mil 0 100 "DR" "clearline"]
+ Text[4187.00mil 3177.00mil 0 100 "CS" "clearline"]
+ Text[4164.00mil 2526.00mil 0 100 "5V" "clearline"]
+ Text[4949.00mil 2359.00mil 0 100 "G" "clearline"]
+ Text[4162.00mil 2384.00mil 0 100 "12V" "clearline"]
+ Text[4150.00mil 2469.00mil 0 100 "GND" "clearline"]
+ Text[4152.00mil 2588.00mil 0 100 "GND" "clearline"]
+ Text[4127.00mil 2940.00mil 0 100 "MISO" "clearline"]
+ Text[4156.00mil 3059.00mil 0 100 "SCK" "clearline"]
+ Text[4128.00mil 2822.00mil 0 100 "MOSI" "clearline"]
+ Text[2015.00mil 4315.00mil 0 100 "2022" "clearline"]
+)
+NetList()
+(
+ Net("+3.3V" "(unknown)")
+ (
+ Connect("C401-2")
+ Connect("C402-2")
+ Connect("C403-2")
+ Connect("C404-2")
+ Connect("U401-1")
+ Connect("U402-1")
+ Connect("U403-1")
+ Connect("U404-2")
+ Connect("U404-4")
+ )
+ Net("+5V" "(unknown)")
+ (
+ Connect("C203-2")
+ Connect("C204-1")
+ Connect("C405-2")
+ Connect("J200-2")
+ Connect("J200-4")
+ Connect("J401-2")
+ Connect("L200-2")
+ Connect("R201-2")
+ Connect("TP201-1")
+ Connect("U200-6")
+ Connect("U404-3")
+ )
+ Net("+VMID" "(unknown)")
+ (
+ Connect("C106-2")
+ Connect("C107-2")
+ Connect("C108-1")
+ Connect("C109-1")
+ Connect("C200-1")
+ Connect("C201-2")
+ Connect("D102-4")
+ Connect("D103-4")
+ Connect("R101-1")
+ Connect("R107-2")
+ Connect("R200-2")
+ Connect("TP101-1")
+ Connect("U200-2")
+ )
+ Net("COM" "(unknown)")
+ (
+ Connect("C100-2")
+ Connect("C101-1")
+ Connect("C102-1")
+ Connect("C103-1")
+ Connect("C105-1")
+ Connect("C106-1")
+ Connect("C107-1")
+ Connect("C108-2")
+ Connect("C109-2")
+ Connect("C110-1")
+ Connect("C200-2")
+ Connect("C201-1")
+ Connect("C203-1")
+ Connect("C204-2")
+ Connect("C401-1")
+ Connect("C402-1")
+ Connect("C403-1")
+ Connect("C404-1")
+ Connect("C405-1")
+ Connect("D100-1")
+ Connect("D101-1")
+ Connect("D104-2")
+ Connect("D201-1")
+ Connect("D201-3")
+ Connect("D202-2")
+ Connect("J1-2")
+ Connect("J200-6")
+ Connect("J200-9")
+ Connect("J200-14")
+ Connect("J200-20")
+ Connect("J200-25")
+ Connect("J200-34")
+ Connect("J200-39")
+ Connect("J401-8")
+ Connect("J401-9")
+ Connect("R102-1")
+ Connect("R103-1")
+ Connect("R104-1")
+ Connect("R105-1")
+ Connect("R106-1")
+ Connect("TP102-1")
+ Connect("TP202-1")
+ Connect("U100-6")
+ Connect("U200-4")
+ Connect("U200-8")
+ Connect("U401-4")
+ Connect("U402-4")
+ Connect("U403-4")
+ Connect("U404-1")
+ )
+ Net("CS" "(unknown)")
+ (
+ Connect("J200-24")
+ Connect("U403-3")
+ )
+ Net("DR" "(unknown)")
+ (
+ Connect("J200-32")
+ Connect("U401-2")
+ )
+ Net("MISO" "(unknown)")
+ (
+ Connect("J200-21")
+ Connect("U402-2")
+ )
+ Net("MOSI" "(unknown)")
+ (
+ Connect("J200-19")
+ Connect("U401-3")
+ )
+ Net("SCK" "(unknown)")
+ (
+ Connect("J200-23")
+ Connect("R202-2")
+ Connect("U402-3")
+ )
+ Net("unnamed_net1" "(unknown)")
+ (
+ Connect("R105-2")
+ Connect("U100-4")
+ )
+ Net("unnamed_net2" "(unknown)")
+ (
+ Connect("C104-1")
+ Connect("R103-2")
+ )
+ Net("unnamed_net3" "(unknown)")
+ (
+ Connect("C103-2")
+ Connect("C104-2")
+ Connect("U100-2")
+ )
+ Net("unnamed_net4" "(unknown)")
+ (
+ Connect("C102-2")
+ Connect("D101-2")
+ Connect("R100-1")
+ Connect("R102-2")
+ Connect("U100-1")
+ )
+ Net("unnamed_net5" "(unknown)")
+ (
+ Connect("D103-1")
+ Connect("D103-3")
+ Connect("L100-2")
+ Connect("Q100-5")
+ Connect("Q100-6")
+ Connect("Q100-7")
+ Connect("Q100-8")
+ )
+ Net("unnamed_net6" "(unknown)")
+ (
+ Connect("Q100-1")
+ Connect("Q100-2")
+ Connect("Q100-3")
+ Connect("R106-2")
+ Connect("U100-10")
+ )
+ Net("unnamed_net7" "(unknown)")
+ (
+ Connect("Q100-4")
+ Connect("U100-7")
+ )
+ Net("unnamed_net8" "(unknown)")
+ (
+ Connect("R101-2")
+ Connect("R104-2")
+ Connect("U100-3")
+ )
+ Net("unnamed_net9" "(unknown)")
+ (
+ Connect("C105-2")
+ Connect("U100-5")
+ Connect("U100-8")
+ )
+ Net("unnamed_net10" "(unknown)")
+ (
+ Connect("D104-1")
+ Connect("R107-1")
+ )
+ Net("unnamed_net11" "(unknown)")
+ (
+ Connect("C202-1")
+ Connect("D201-4")
+ Connect("L200-1")
+ Connect("U200-1")
+ )
+ Net("unnamed_net12" "(unknown)")
+ (
+ Connect("C202-2")
+ Connect("U200-3")
+ )
+ Net("unnamed_net13" "(unknown)")
+ (
+ Connect("R200-1")
+ Connect("U200-7")
+ )
+ Net("unnamed_net14" "(unknown)")
+ (
+ Connect("J200-33")
+ Connect("R202-1")
+ )
+ Net("unnamed_net15" "(unknown)")
+ (
+ Connect("D202-1")
+ Connect("R201-1")
+ )
+ Net("unnamed_net16" "(unknown)")
+ (
+ Connect("J401-3")
+ Connect("R401-2")
+ Connect("U401-8")
+ )
+ Net("unnamed_net17" "(unknown)")
+ (
+ Connect("J401-10")
+ Connect("R401-1")
+ Connect("U401-7")
+ )
+ Net("unnamed_net18" "(unknown)")
+ (
+ Connect("J401-5")
+ Connect("R402-2")
+ Connect("U402-8")
+ )
+ Net("unnamed_net19" "(unknown)")
+ (
+ Connect("J401-12")
+ Connect("R402-1")
+ Connect("U402-7")
+ )
+ Net("unnamed_net20" "(unknown)")
+ (
+ Connect("J401-11")
+ Connect("U401-6")
+ )
+ Net("unnamed_net21" "(unknown)")
+ (
+ Connect("J401-4")
+ Connect("U401-5")
+ )
+ Net("unnamed_net22" "(unknown)")
+ (
+ Connect("J401-13")
+ Connect("U402-6")
+ )
+ Net("unnamed_net23" "(unknown)")
+ (
+ Connect("J401-14")
+ Connect("U403-6")
+ )
+ Net("unnamed_net24" "(unknown)")
+ (
+ Connect("J401-6")
+ Connect("U402-5")
+ )
+ Net("unnamed_net25" "(unknown)")
+ (
+ Connect("J401-7")
+ Connect("U403-5")
+ )
+ Net("V_IN" "(unknown)")
+ (
+ Connect("C100-1")
+ Connect("C101-2")
+ Connect("C110-2")
+ Connect("D100-2")
+ Connect("D102-1")
+ Connect("D102-3")
+ Connect("J1-1")
+ Connect("J401-1")
+ Connect("L100-1")
+ Connect("R100-2")
+ Connect("TP100-1")
+ Connect("U100-9")
+ )
+)
diff --git a/motors/RspBuckBoostv3/RspPiPs.gsch2pcb b/motors/RspBuckBoostv3/RspPiPs.gsch2pcb
new file mode 100644
index 0000000..541dd65
--- /dev/null
+++ b/motors/RspBuckBoostv3/RspPiPs.gsch2pcb
@@ -0,0 +1,3 @@
+schematics rspBoost.sch rspBuck-2.sch rspIMU.sch
+output-name RspPiPS
+use-files
diff --git a/motors/RspBuckBoostv3/rspBoost.sch b/motors/RspBuckBoostv3/rspBoost.sch
new file mode 100644
index 0000000..d06553a
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspBoost.sch
@@ -0,0 +1,686 @@
+v 20200319 2
+C 40000 40000 0 0 0 title-B.sym
+C 47300 42500 1 90 0 resistor-1.sym
+{
+T 46900 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 47100 42600 5 10 1 1 90 0 1
+refdes=R105
+T 47100 43000 5 10 0 1 90 0 1
+footprint=0805
+T 47500 42500 5 10 1 1 90 0 1
+value=80.6k 1%
+T 47300 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0780K6L
+T 47300 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 47200 43400 47200 43500 4
+N 47200 43500 47500 43500 4
+N 46300 44100 47500 44100 4
+C 45600 42500 1 90 0 resistor-1.sym
+{
+T 45200 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 45400 42600 5 10 1 1 90 0 1
+refdes=R103
+T 45400 43000 5 10 0 1 90 0 1
+footprint=0805
+T 45800 42600 5 10 1 1 90 0 1
+value=22.0k 1%
+T 45600 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0722KL
+T 45600 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+C 45700 43400 1 90 0 capacitor-1.sym
+{
+T 45000 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45900 43700 5 10 1 1 90 0 1
+refdes=C104
+T 44800 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 45700 43400 5 10 0 0 0 0 1
+footprint=0805
+T 45300 43400 5 10 1 1 90 0 1
+value=6.8nF 10%
+T 45700 43400 5 10 0 0 0 0 1
+pn=C0805C682K5RACTU
+T 45700 43400 5 10 0 0 0 0 1
+mfg=Kemet
+}
+N 45500 44300 45500 44400 4
+N 44800 44400 47500 44400 4
+C 45000 42900 1 90 0 capacitor-1.sym
+{
+T 44300 43100 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45000 43500 5 10 1 1 90 0 1
+refdes=C103
+T 44100 43100 5 10 0 0 90 0 1
+symversion=0.1
+T 45000 42900 5 10 0 0 0 0 1
+footprint=0805
+T 44600 42900 5 10 1 1 90 0 1
+value=22pF 5%
+T 45000 42900 5 10 0 0 0 0 1
+pn=C0805C220J5GACTU
+T 45000 42900 5 10 0 0 0 0 1
+mfg=Kemet
+}
+N 44800 43800 44800 44400 4
+N 44800 42500 44800 42900 4
+N 49800 43500 50000 43500 4
+N 50000 43500 50000 42500 4
+N 50500 42700 50500 42500 4
+N 49800 43800 50500 43800 4
+N 50500 43600 50500 44100 4
+C 44200 42500 1 90 0 resistor-1.sym
+{
+T 43800 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 44000 43000 5 10 0 1 90 0 1
+footprint=0805
+T 44000 42600 5 10 1 1 90 0 1
+refdes=R102
+T 44400 42600 5 10 1 1 90 0 1
+value=10.0k 1%
+T 44200 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0710KL
+T 44200 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 44100 43400 44100 44800 4
+C 44200 44800 1 90 0 resistor-1.sym
+{
+T 43800 45100 5 10 0 0 90 0 1
+device=RESISTOR
+T 44000 45300 5 10 0 1 90 0 1
+footprint=0805
+T 44000 44900 5 10 1 1 90 0 1
+refdes=R100
+T 44400 44900 5 10 1 1 90 0 1
+value=26.1k 1%
+T 44200 44800 5 10 0 0 0 0 1
+pn=RC0805FR-0726K1L
+T 44200 44800 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 44100 44700 47500 44700 4
+C 42400 43400 1 90 0 capacitor-1.sym
+{
+T 41700 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 42200 44100 5 10 1 1 90 0 1
+refdes=C101
+T 41500 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 42400 43400 5 10 0 0 0 0 1
+footprint=0805
+T 42000 43400 5 10 1 1 90 0 1
+value=4.7uF 10%
+T 42400 43400 5 10 0 0 0 0 1
+pn=GRM219R6YA475KA73D
+T 42400 43400 5 10 0 0 0 0 1
+mfg=Murata
+}
+N 42200 42500 42200 43400 4
+N 42200 44300 42200 46200 4
+N 40500 46200 49400 46200 4
+N 47500 45000 47200 45000 4
+N 47200 45000 47200 46200 4
+N 44100 45700 44100 46200 4
+C 40600 44300 1 270 0 capacitor-2.sym
+{
+T 41300 44100 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 40800 44100 5 10 1 1 90 0 1
+refdes=C100
+T 41500 44100 5 10 0 0 270 0 1
+symversion=0.1
+T 40600 43400 5 10 1 1 90 0 1
+value=68uF 25V
+T 40600 44300 5 10 0 0 0 0 1
+footprint=CAP8
+T 40600 44300 5 10 0 0 0 0 1
+pn=870025574003
+T 40600 44300 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+N 40800 44300 40800 46200 4
+N 40800 43400 40800 42500 4
+C 41000 42500 1 180 0 generic-power.sym
+{
+T 40800 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 49900 44000 1 0 0 Si4842DY-1.sym
+{
+T 52000 45200 5 10 0 0 0 0 1
+device=N-MOSFET
+T 51700 45000 5 10 1 1 0 0 1
+refdes=Q100
+T 50900 45050 5 6 1 1 0 0 1
+pinlabel=4
+T 51595 45195 5 10 1 1 0 0 1
+value=Si4842BDY
+T 50700 44600 5 10 0 0 0 0 1
+footprint=SO8
+T 49900 44000 5 10 0 0 0 0 1
+pn=Si4842BDY
+T 49900 44000 5 10 0 0 0 0 1
+mfg=Vishay Siliconix
+}
+N 49800 45000 50800 45000 4
+N 51300 44300 51300 44500 4
+N 51400 44500 51400 44300 4
+N 51300 44300 51500 44300 4
+N 51500 44300 51500 44500 4
+N 51200 45700 51200 45500 4
+N 51200 45700 51500 45700 4
+N 51300 45700 51300 45500 4
+N 51400 45700 51400 45500 4
+N 51500 45500 51500 46200 4
+C 51500 42900 1 90 0 resistor-1.sym
+{
+T 51100 43200 5 10 0 0 90 0 1
+device=RESISTOR
+T 51300 43000 5 10 1 1 90 0 1
+refdes=R106
+T 51300 43400 5 10 0 1 90 0 1
+footprint=1206
+T 51600 43000 5 10 1 1 90 0 1
+value=10 mOhm
+T 51500 42900 5 10 0 0 0 0 1
+pn=WSL1206R0100FEA
+T 51500 42900 5 10 0 0 0 0 1
+mfg=Vishay-Dale
+}
+N 51400 43800 51400 44300 4
+N 51400 44000 50900 44000 4
+N 50900 44000 50900 44400 4
+N 49800 44100 50500 44100 4
+N 49800 44400 50900 44400 4
+C 49400 46100 1 0 0 inductor-1.sym
+{
+T 49600 46600 5 10 0 0 0 0 1
+device=INDUCTOR
+T 49600 46400 5 10 1 1 0 0 1
+refdes=L100
+T 49600 46800 5 10 0 0 0 0 1
+symversion=0.1
+T 49400 46100 5 10 0 0 0 0 1
+footprint=SPM12565XT
+T 49600 46000 5 10 1 1 0 0 1
+value=2.8uH
+T 49400 46100 5 10 0 0 0 0 1
+pn=SPM12565XT-2R8M150
+T 49400 46100 5 10 0 0 0 0 1
+mfg=TDK
+}
+N 50300 46200 51900 46200 4
+N 51400 42500 51400 42900 4
+N 51900 46000 51900 46200 4
+C 53900 44100 1 90 0 capacitor-1.sym
+{
+T 53200 44300 5 10 0 0 90 0 1
+device=CAPACITOR
+T 53600 45200 5 10 1 1 180 0 1
+refdes=C106
+T 53000 44300 5 10 0 0 90 0 1
+symversion=0.1
+T 53900 44100 5 10 0 0 0 0 1
+footprint=0805
+T 53500 44100 5 10 1 1 90 0 1
+value=0.1uF 10%
+T 53900 44100 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 53900 44100 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+}
+N 51400 42700 55500 42700 4
+N 55500 42400 55500 44100 4
+N 54900 44100 54900 42700 4
+N 54900 42700 54300 42700 4
+N 54300 44100 54300 42700 4
+N 53700 44100 53700 42700 4
+N 53700 45000 53700 46200 4
+N 52800 46200 56200 46200 4
+N 54300 45000 54300 46200 4
+N 54900 45000 54900 46200 4
+N 55500 45000 55500 46200 4
+N 46300 46700 53200 46700 4
+N 53200 46700 53200 46200 4
+C 49600 47300 1 0 0 MBRB4030G-1.sym
+{
+T 50800 48400 5 10 0 0 0 0 1
+device=V35PW60-M3/I
+T 49900 47900 5 10 1 1 0 0 1
+refdes=D102
+T 50095 47850 5 10 0 1 0 0 1
+footprint=TO252AE
+T 49595 47150 5 10 1 1 0 0 1
+value=V35PW60-M3/I
+T 49600 47300 5 10 0 0 0 0 1
+pn=V35PW60-M3/I
+T 49600 47300 5 10 0 0 0 0 1
+mfg=Vishay
+}
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+{
+T 56200 46950 5 10 1 1 0 3 1
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+}
+T 50500 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Boost Converter
+T 54000 40100 9 10 1 0 0 0 1
+Scott Berman
+T 41900 40700 9 10 1 0 0 0 4
+Boost converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 10V.
+2A. Input range 4.5V to 20V. Boost active
+4.5V to 10V.
+T 41900 40200 9 10 1 0 0 0 1
+Switching frequency: 300 kHz
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+}
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+device=ZENER_DIODE
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+}
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+}
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+}
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+}
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+{
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+device=POLARIZED_CAPACITOR
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+}
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+{
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+}
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+}
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+}
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+}
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+}
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+{
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+}
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+{
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+}
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+}
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+}
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+}
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+N 41500 44300 41500 46200 4
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+}
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+}
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+}
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+{
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+}
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+footprint=Pad80d40
+}
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+}
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+pn=LG R971-KN-1
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+refdes=D104
+}
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+footprint=0805
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+mfg=Yageo
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+refdes=R107
+T 55200 50400 5 10 1 1 180 0 1
+value=2.00k 1%
+}
+C 55800 48900 1 180 0 generic-power.sym
+{
+T 55600 48650 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55300 50100 55600 50100 4
+N 55600 50100 55600 49800 4
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+{
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+net=+VMID:1
+}
+N 53900 50100 54400 50100 4
+C 41000 49600 1 0 0 connector2-1.sym
+{
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+device=CONNECTOR_2
+T 41000 50400 5 10 1 1 0 0 1
+refdes=J1
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+footprint=1824420000
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+}
diff --git a/motors/RspBuckBoostv3/rspBuck-2.sch b/motors/RspBuckBoostv3/rspBuck-2.sch
new file mode 100644
index 0000000..e8da9fe
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspBuck-2.sch
@@ -0,0 +1,385 @@
+v 20200319 2
+C 40000 40000 0 0 0 title-B.sym
+C 44700 46400 1 0 0 LM2678S-5.0.sym
+{
+T 37000 51000 5 10 0 1 0 0 1
+footprint=TO263-7
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+device=LM2678S
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+refdes=U200
+T 44700 46400 5 10 0 0 0 0 1
+pn=LM2678S-5.0
+T 44700 46400 5 10 0 0 0 0 1
+mfg=Texas Instruments
+}
+C 41900 46700 1 270 0 capacitor-2.sym
+{
+T 42600 46500 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 42000 46800 5 10 1 1 180 0 1
+refdes=C200
+T 42800 46500 5 10 0 0 270 0 1
+symversion=0.1
+T 41900 45800 5 10 1 1 90 0 1
+value=68uF 25V
+T 41900 46700 5 10 0 0 0 0 1
+footprint=CAP8
+T 41900 46700 5 10 0 0 0 0 1
+pn=870025574003
+T 41900 46700 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 50000 46600 1 270 0 capacitor-2.sym
+{
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+device=POLARIZED_CAPACITOR
+T 50900 46200 5 10 1 1 180 0 1
+refdes=C204
+T 50900 46400 5 10 0 0 270 0 1
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+value=330uF 16V
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+footprint=CAP8
+T 50000 46600 5 10 0 0 0 0 1
+pn=RL81C331MDN1KX
+T 50000 46600 5 10 0 0 0 0 1
+mfg=Nichicon
+}
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+{
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+value=13uH
+T 48200 46800 5 10 0 0 0 0 1
+pn=7443551131
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+mfg=Wurth Electronik
+}
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+pn=GMK212BJ104KGHT
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+mfg=Taiyo Yuden
+}
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+pn=C0805C103K3RACTU
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+mfg=Kemet
+}
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+{
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+}
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+{
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+net=COM:1
+}
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+pn=RC0805FR-0710KL
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+}
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+}
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+{
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+net=+5V:1
+}
+T 50400 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Buck Converter
+T 53900 40100 9 10 1 0 0 0 1
+Scott Berman
+T 45800 40900 9 10 1 0 0 0 3
+Buck converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 5V.
+4A. Input range 9V to 20V.
+T 46500 40300 9 10 1 0 0 0 1
+Switching frequency: 260 kHz
+C 53400 42200 1 0 0 header40-2.sym
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+pn=ESQ-120-44-T-D
+}
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+}
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+}
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+}
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+}
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+{
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+}
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+}
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+}
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+}
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+}
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+pn=LG R971-KN-1
+T 48800 43700 5 10 0 0 0 0 1
+mfg=OSRAM
+}
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+T 48600 44100 5 10 0 0 90 0 1
+pn=RC0805FR-07499RL
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+mfg=Yageo
+}
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+}
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+}
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+}
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+net=MOSI:1
+}
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+net=MISO:1
+}
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+}
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+}
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+N 52400 43600 53400 43600 4
+N 52400 45000 52400 45600 4
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+{
+T 52100 44400 5 10 0 0 90 0 1
+device=RESISTOR
+T 52300 44600 5 10 0 1 90 0 1
+footprint=0805
+T 52300 44200 5 10 1 1 90 0 1
+refdes=R202
+T 52700 44200 5 10 1 1 90 0 1
+value=499R 1%
+T 52500 44100 5 10 0 0 0 0 1
+pn=RC0805FR-07499RL
+T 52500 44100 5 10 0 0 0 0 1
+mfg=Yageo
+}
diff --git a/motors/RspBuckBoostv3/rspIMU.sch b/motors/RspBuckBoostv3/rspIMU.sch
new file mode 100644
index 0000000..af6c555
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspIMU.sch
@@ -0,0 +1,347 @@
+v 20130925 2
+C 40000 40000 0 0 0 title-B.sym
+C 49900 49100 1 90 0 resistor-1.sym
+{
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+device=RESISTOR
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+refdes=R401
+T 49900 49200 5 10 1 1 0 0 1
+value=120R
+T 49800 48900 5 10 0 0 0 0 1
+footprint=0805
+T 50400 49200 5 10 0 0 0 0 1
+pn=ESR10EZPF1200
+}
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+{
+T 49500 46900 5 10 0 0 90 0 1
+device=RESISTOR
+T 49600 46800 5 10 1 1 90 0 1
+refdes=R402
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+value=120R
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+pn=ESR10EZPF1200
+}
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+device=CONNECTOR_15
+T 53909 43100 5 10 0 1 0 0 1
+footprint=0430451400
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+{
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+}
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr
new file mode 100644
index 0000000..f4dc95b
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr
@@ -0,0 +1,7502 @@
+G04 start of page 3 for group 3 idx 1 *
+G04 Title: RspPiPS, bottom *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr
new file mode 100644
index 0000000..dd9adaa
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr
@@ -0,0 +1,265 @@
+G04 start of page 9 for group -4062 idx -4062 *
+G04 Title: RspPiPS, soldermask *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr
new file mode 100644
index 0000000..48c0098
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr
@@ -0,0 +1,169 @@
+G04 start of page 13 for group -4014 idx -4014 *
+G04 Title: RspPiPS, bottompaste *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr
new file mode 100644
index 0000000..64cb574
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr
@@ -0,0 +1,367 @@
+G04 start of page 11 for group -4078 idx -4078 *
+G04 Title: RspPiPS, bottomsilk *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr
new file mode 100644
index 0000000..f086c68
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr
@@ -0,0 +1,2133 @@
+G04 start of page 14 for group -3984 idx -3984 *
+G04 Title: RspPiPS, fab *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr
new file mode 100644
index 0000000..1988ed1
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr
@@ -0,0 +1,517 @@
+G04 start of page 5 for group 5 idx 2 *
+G04 Title: RspPiPS, mechanical *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr
new file mode 100644
index 0000000..1012960
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr
@@ -0,0 +1,21 @@
+G04 start of page 4 for group 4 idx 5 *
+G04 Title: RspPiPS, outline *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc
new file mode 100644
index 0000000..472e119
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc
@@ -0,0 +1,160 @@
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr
new file mode 100644
index 0000000..8708888
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr
@@ -0,0 +1,2039 @@
+G04 start of page 2 for group 0 idx 0 *
+G04 Title: RspPiPS, top *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr
new file mode 100644
index 0000000..292a5b0
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr
@@ -0,0 +1,751 @@
+G04 start of page 8 for group -4063 idx -4063 *
+G04 Title: RspPiPS, componentmask *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr
new file mode 100644
index 0000000..dfa2722
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr
@@ -0,0 +1,655 @@
+G04 start of page 12 for group -4015 idx -4015 *
+G04 Title: RspPiPS, toppaste *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr
new file mode 100644
index 0000000..fda9bd1
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr
@@ -0,0 +1,1755 @@
+G04 start of page 10 for group -4079 idx -4079 *
+G04 Title: RspPiPS, topsilk *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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+X268978D02*X268478Y674755D01*
+Y675755D02*Y674755D01*
+Y675755D02*X268978Y676255D01*
+X271978D01*
+X272478Y675755D02*X271978Y676255D01*
+X272478Y675755D02*Y674755D01*
+X271478Y674255D02*X269478Y676255D01*
+X272478Y677955D02*X268478Y679955D01*
+Y677455D01*
+X264400Y748800D02*X265200D01*
+Y745300D01*
+X264700Y744800D02*X265200Y745300D01*
+X264200Y744800D02*X264700D01*
+X263700Y745300D02*X264200Y744800D01*
+X263700Y745800D02*Y745300D01*
+X266400Y748300D02*X266900Y748800D01*
+X268400D01*
+X268900Y748300D01*
+Y747300D01*
+X266400Y744800D02*X268900Y747300D01*
+X266400Y744800D02*X268900D01*
+X270100Y745300D02*X270600Y744800D01*
+X270100Y748300D02*Y745300D01*
+Y748300D02*X270600Y748800D01*
+X271600D01*
+X272100Y748300D01*
+Y745300D01*
+X271600Y744800D02*X272100Y745300D01*
+X270600Y744800D02*X271600D01*
+X270100Y745800D02*X272100Y747800D01*
+X273300Y745300D02*X273800Y744800D01*
+X273300Y748300D02*Y745300D01*
+Y748300D02*X273800Y748800D01*
+X274800D01*
+X275300Y748300D01*
+Y745300D01*
+X274800Y744800D02*X275300Y745300D01*
+X273800Y744800D02*X274800D01*
+X273300Y745800D02*X275300Y747800D01*
+M02*
diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc
new file mode 100644
index 0000000..7667995
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc
@@ -0,0 +1,8 @@
+M48
+INCH
+T86C0.118
+%
+T86
+X045847Y074172
+X045847Y068778
+M30
diff --git a/package.json b/package.json
index 96033c5..f60c6d4 100644
--- a/package.json
+++ b/package.json
@@ -2,13 +2,24 @@
"name": "971-Robot-Code",
"license": "MIT",
"devDependencies": {
+ "@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": "latest",
+ "@bazel/typescript": "4.4.6",
"@bazel/rollup": "latest",
"@bazel/terser": "latest",
"@rollup/plugin-node-resolve": "latest",
"typescript": "latest",
"rollup": "latest",
- "terser": "latest"
+ "terser": "latest",
+ "@babel/cli": "^7.6.0",
+ "@babel/core": "^7.6.0",
+ "zone.js": "^0.11.4"
}
}
diff --git a/scouting/BUILD b/scouting/BUILD
new file mode 100644
index 0000000..8188a20
--- /dev/null
+++ b/scouting/BUILD
@@ -0,0 +1,17 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+
+go_binary(
+ name = "sql_demo",
+ embed = [":scouting_lib"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
+go_library(
+ name = "scouting_lib",
+ srcs = ["sql_demo.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:private"],
+ deps = ["@com_github_mattn_go_sqlite3//:go_default_library"],
+)
diff --git a/scouting/sql_demo.go b/scouting/sql_demo.go
new file mode 100644
index 0000000..561571a
--- /dev/null
+++ b/scouting/sql_demo.go
@@ -0,0 +1,36 @@
+package main
+
+import (
+ "database/sql"
+ "fmt"
+ "strconv"
+
+ _ "github.com/mattn/go-sqlite3"
+)
+
+func main() {
+ var alliancecolour string
+ var teamnumber int
+ var id int
+
+ database, _ := sql.Open("sqlite3", "./bogo.db")
+ statement, _ := database.Prepare("DROP TABLE IF EXISTS robots")
+ statement.Exec()
+ statement, _ = database.Prepare("CREATE TABLE robots (id INTEGER PRIMARY KEY, alliancecolour TEXT, teamnumber TEXT)")
+ statement.Exec()
+ for i := 0; i < 6; i++ {
+ if i < 3 {
+ alliancecolour = "red" + strconv.Itoa(i+1)
+ } else if i >= 3 {
+ alliancecolour = "blue" + strconv.Itoa(i-2)
+ }
+ statement, _ = database.Prepare("INSERT INTO robots (alliancecolour, teamnumber) VALUES (?, ?)")
+ statement.Exec(alliancecolour, "971")
+ }
+ rows, _ := database.Query("SELECT id, alliancecolour, teamnumber FROM robots")
+
+ for rows.Next() {
+ rows.Scan(&id, &alliancecolour, &teamnumber)
+ fmt.Println(alliancecolour + ": " + strconv.Itoa(teamnumber))
+ }
+}
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
new file mode 100644
index 0000000..88cadab
--- /dev/null
+++ b/scouting/www/BUILD
@@ -0,0 +1,57 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_project")
+load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("@npm//@bazel/concatjs:index.bzl", "concatjs_devserver")
+load("@npm//@babel/cli:index.bzl", "babel")
+
+ts_project(
+ name = "app",
+ srcs = glob([
+ "*.ts",
+ "*.ng.html",
+ ]),
+ tsc = "@npm//@angular/compiler-cli/bin:ngc",
+ tsconfig = "//:tsconfig.json",
+ visibility = ["//visibility:public"],
+ deps = [
+ "@npm//@angular/animations",
+ "@npm//@angular/common",
+ "@npm//@angular/compiler",
+ "@npm//@angular/core",
+ "@npm//@angular/platform-browser",
+ ],
+)
+
+rollup_bundle(
+ name = "main_bundle",
+ entry_point = "main.ts",
+ deps = [
+ "app",
+ ],
+)
+
+babel(
+ name = "main_bundle_compiled",
+ args = [
+ "$(execpath :main_bundle)",
+ "--no-babelrc",
+ "--source-maps",
+ "--plugins=@angular/compiler-cli/linker/babel",
+ "--out-dir",
+ "$(@D)",
+ ],
+ data = [
+ ":main_bundle",
+ "@npm//@angular/compiler-cli",
+ ],
+ output_dir = True,
+)
+
+concatjs_devserver(
+ name = "devserver",
+ serving_path = "/main_bundle.js",
+ static_files = [
+ ":index.html",
+ "@npm//:node_modules/zone.js/dist/zone.min.js",
+ ],
+ deps = [":main_bundle_compiled"],
+)
diff --git a/scouting/www/README.md b/scouting/www/README.md
new file mode 100644
index 0000000..f337ae5
--- /dev/null
+++ b/scouting/www/README.md
@@ -0,0 +1,4 @@
+Run using:
+bazel run //scouting/www:devserver
+
+Follow the instructions in the console to access locally.
diff --git a/scouting/www/app.ng.html b/scouting/www/app.ng.html
new file mode 100644
index 0000000..fb9ba26
--- /dev/null
+++ b/scouting/www/app.ng.html
@@ -0,0 +1,3 @@
+<h1>
+ This is an app.
+</h1>
diff --git a/scouting/www/app.ts b/scouting/www/app.ts
new file mode 100644
index 0000000..f6247d3
--- /dev/null
+++ b/scouting/www/app.ts
@@ -0,0 +1,8 @@
+import {Component} from '@angular/core';
+
+@Component({
+ selector: 'my-app',
+ templateUrl: './app.ng.html',
+})
+export class App {
+}
diff --git a/scouting/www/app_module.ts b/scouting/www/app_module.ts
new file mode 100644
index 0000000..3e34a17
--- /dev/null
+++ b/scouting/www/app_module.ts
@@ -0,0 +1,17 @@
+import {NgModule} from '@angular/core';
+import {BrowserModule} from '@angular/platform-browser';
+import {BrowserAnimationsModule} from '@angular/platform-browser/animations';
+
+import {App} from './app';
+
+@NgModule({
+ declarations: [App],
+ imports: [
+ BrowserModule,
+ BrowserAnimationsModule,
+ ],
+ exports: [App],
+ bootstrap: [App],
+})
+export class AppModule {
+}
diff --git a/scouting/www/index.html b/scouting/www/index.html
new file mode 100644
index 0000000..cbe8770
--- /dev/null
+++ b/scouting/www/index.html
@@ -0,0 +1,10 @@
+<html>
+ <head>
+ <base href="/">
+ <script src="./npm/node_modules/zone.js/dist/zone.min.js"></script>
+ </head>
+ <body>
+ <my-app></my-app>
+ <script src="./main_bundle_compiled/main_bundle.js"></script>
+ </body>
+</html>
diff --git a/scouting/www/main.ts b/scouting/www/main.ts
new file mode 100644
index 0000000..e1a4ab5
--- /dev/null
+++ b/scouting/www/main.ts
@@ -0,0 +1,4 @@
+import {platformBrowser} from '@angular/platform-browser';
+import {AppModule} from './app_module';
+
+platformBrowser().bootstrapModule(AppModule);
diff --git a/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl b/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
index 8e49eda..8de828f 100755
--- a/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
+++ b/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
@@ -201,6 +201,15 @@
with_features = [with_feature_set(features = ["opt"])],
),
flag_set(
+ actions = all_compile_actions,
+ flag_groups = ([
+ flag_group(
+ flags = ctx.attr.fastbuild_compile_flags,
+ ),
+ ] if ctx.attr.fastbuild_compile_flags else []),
+ with_features = [with_feature_set(features = ["fastbuild"])],
+ ),
+ flag_set(
actions = [ACTION_NAMES.c_compile],
flag_groups = ([
flag_group(
@@ -255,6 +264,8 @@
opt_feature = feature(name = "opt")
+ fastbuild_feature = feature(name = "fastbuild")
+
sysroot_feature = feature(
name = "sysroot",
enabled = True,
@@ -1218,6 +1229,7 @@
supports_dynamic_linker_feature,
dbg_feature,
opt_feature,
+ fastbuild_feature,
user_compile_flags_feature,
sysroot_feature,
unfiltered_compile_flags_feature,
@@ -1238,6 +1250,7 @@
supports_dynamic_linker_feature,
dbg_feature,
opt_feature,
+ fastbuild_feature,
user_compile_flags_feature,
sysroot_feature,
unfiltered_compile_flags_feature,
@@ -1276,6 +1289,7 @@
"compile_flags": attr.string_list(),
"dbg_compile_flags": attr.string_list(),
"opt_compile_flags": attr.string_list(),
+ "fastbuild_compile_flags": attr.string_list(),
"cxx_flags": attr.string_list(),
"c_flags": attr.string_list(),
"compile_not_cxx_flags": attr.string_list(),
diff --git a/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl b/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
index ccadb7c..e429c40 100644
--- a/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
+++ b/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
@@ -46,6 +46,7 @@
copts,
opt_copts,
dbg_copts,
+ fastbuild_copts,
linkopts,
host_tools_info = {}):
host_os_arch_key = _os_arch_pair(host_os, host_arch)
@@ -157,6 +158,9 @@
"-fdata-sections",
]
+ fastbuild_compile_flags = [
+ ]
+
link_flags = [
"--target=" + target_system_name,
"-lm",
@@ -396,6 +400,7 @@
compile_flags.extend(copts)
dbg_compile_flags.extend(dbg_copts)
opt_compile_flags.extend(opt_copts)
+ fastbuild_compile_flags.extend(fastbuild_copts)
link_flags.extend(linkopts)
# Source: https://cs.opensource.google/bazel/bazel/+/master:tools/cpp/unix_cc_toolchain_config.bzl
@@ -414,6 +419,7 @@
compile_flags = compile_flags,
dbg_compile_flags = dbg_compile_flags,
opt_compile_flags = opt_compile_flags,
+ fastbuild_compile_flags = fastbuild_compile_flags,
cxx_flags = cxx_flags,
c_flags = conlyopts,
compile_not_cxx_flags = compile_not_cxx_flags,
diff --git a/third_party/bazel-toolchain/toolchain/internal/configure.bzl b/third_party/bazel-toolchain/toolchain/internal/configure.bzl
index 6a183fc..2d8124d 100644
--- a/third_party/bazel-toolchain/toolchain/internal/configure.bzl
+++ b/third_party/bazel-toolchain/toolchain/internal/configure.bzl
@@ -131,6 +131,7 @@
copts_dict = rctx.attr.copts,
opt_copts_dict = rctx.attr.opt_copts,
dbg_copts_dict = rctx.attr.dbg_copts,
+ fastbuild_copts_dict = rctx.attr.fastbuild_copts,
linkopts_dict = rctx.attr.linkopts,
)
host_tools_info = dict([
@@ -282,6 +283,7 @@
copts = toolchain_info.copts_dict.get(key, [])
opt_copts = toolchain_info.opt_copts_dict.get(key, [])
dbg_copts = toolchain_info.dbg_copts_dict.get(key, [])
+ fastbuild_copts = toolchain_info.fastbuild_copts_dict.get(key, [])
linkopts = toolchain_info.linkopts_dict.get(key, [])
target_toolchain_root = toolchain_info.toolchain_root
if key in toolchain_info.target_toolchain_roots_dict:
@@ -319,6 +321,7 @@
copts = {copts},
opt_copts = {opt_copts},
dbg_copts = {dbg_copts},
+ fastbuild_copts = {fastbuild_copts},
linkopts = {linkopts},
)
@@ -437,5 +440,6 @@
copts = copts,
opt_copts = opt_copts,
dbg_copts = dbg_copts,
+ fastbuild_copts = fastbuild_copts,
linkopts = linkopts,
)
diff --git a/third_party/bazel-toolchain/toolchain/rules.bzl b/third_party/bazel-toolchain/toolchain/rules.bzl
index f27e387..aad2d37 100644
--- a/third_party/bazel-toolchain/toolchain/rules.bzl
+++ b/third_party/bazel-toolchain/toolchain/rules.bzl
@@ -175,6 +175,13 @@
"({}), ".format(", ".join(_supported_os_arch_keys())) +
"used only with -c dbg."),
),
+ "fastbuild_copts": attr.string_list_dict(
+ mandatory = False,
+ doc = ("Extra flags for compiling C, C++, and assembly files, " +
+ "for each target OS and arch pair you want to support " +
+ "({}), ".format(", ".join(_supported_os_arch_keys())) +
+ "used only with -c fastbuild."),
+ ),
"linkopts": attr.string_list_dict(
mandatory = False,
doc = ("Extra flags to pass to the linker, " +
diff --git a/tools/build_rules/BUILD b/tools/build_rules/BUILD
index cf27ca0..aeb8517 100644
--- a/tools/build_rules/BUILD
+++ b/tools/build_rules/BUILD
@@ -12,3 +12,15 @@
visibility = ["//visibility:public"],
deps = ["@python_jinja2"],
)
+
+py_binary(
+ name = "apache_runner",
+ srcs = ["apache_runner.py"],
+ data = [
+ "apache_template.conf",
+ "@apache2//:all_files",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = ["@python_jinja2"],
+)
diff --git a/tools/build_rules/apache.bzl b/tools/build_rules/apache.bzl
new file mode 100644
index 0000000..9fb2ef5
--- /dev/null
+++ b/tools/build_rules/apache.bzl
@@ -0,0 +1,82 @@
+def _apache_binary_impl(ctx):
+ binary_path = ctx.attr.binary.files_to_run.executable.short_path
+
+ out = ctx.actions.declare_file(ctx.label.name)
+ ctx.actions.write(out, """\
+#!/bin/bash
+
+exec ./tools/build_rules/apache_runner --binary "{}" "$@"
+""".format(binary_path), is_executable = True)
+
+ # Collect files and runfiles for the tools that we're wrapping.
+ files = depset(transitive = [
+ ctx.attr._apache_runner.files,
+ ctx.attr.binary.files,
+ ])
+
+ runfiles = ctx.attr._apache_runner.default_runfiles
+ runfiles = runfiles.merge(ctx.attr.binary.default_runfiles)
+
+ return [
+ DefaultInfo(
+ executable = out,
+ files = files,
+ runfiles = runfiles,
+ ),
+ ]
+
+apache_wrapper = rule(
+ implementation = _apache_binary_impl,
+ attrs = {
+ "binary": attr.label(
+ mandatory = True,
+ executable = True,
+ cfg = "target",
+ doc = "The binary that we're wrapping with LDAP+HTTPS.",
+ ),
+ "_apache_runner": attr.label(
+ default = "@//tools/build_rules:apache_runner",
+ executable = True,
+ cfg = "target",
+ ),
+ },
+ doc = """\
+This rule wraps another web server and provides LDAP and HTTPS support.
+
+It's not intended to be used in production. It's intended to provide team
+members with a way to test their code in a production-like environment. E.g. to
+test whether your server makes use of LDAP credentials correctly.
+
+Write this as a wrapper around another binary like so:
+
+ apache_wrapper(
+ name = "wrapped_server",
+ binary = "//path/to:server_binary",
+ )
+
+Then you can run Apache and the wrapped binary like so:
+
+ $ bazel run :wrapped_server
+
+The wrapped binary can find the port that Apache is wrapping via the
+APACHE_WRAPPED_PORT environment variable.
+
+This rule assumes that you have a file at the root of the workspace called
+"ldap.json". You can customize this path with the `--ldap_info` argument. The
+JSON file has to have these three entries in it:
+
+ {
+ "ldap_bind_dn": "...",
+ "ldap_url": "...",
+ "ldap_password": "..."
+ }
+
+where the "..." values are replaced with the information to connect to an LDAP
+server. If you want to connect to our FRC971 LDAP server, please contact a
+Software mentor. Or ask on the `#coding` Slack channel.
+
+If the default ports of 7000 and 7500 are already taken, you can change them via
+the `--https_port` and `--wrapped_port` arguments.
+""",
+ executable = True,
+)
diff --git a/tools/build_rules/apache_runner.py b/tools/build_rules/apache_runner.py
new file mode 100644
index 0000000..3364216
--- /dev/null
+++ b/tools/build_rules/apache_runner.py
@@ -0,0 +1,121 @@
+"""Starts up Apache to provide HTTPS + LDAP for another web server.
+
+This script is used by the apache_wrapper() rule as the main entrypoint for its
+"executable". This script sets up a minimal Apache environment in a directory
+in /tmp.
+
+Both Apache and the wrapped server binary are started by this script. The
+wrapped server should bind to the port specified by the APACHE_WRAPPED_PORT
+environment variable.
+
+See the documentation for apache_wrapper() for more information.
+"""
+
+import argparse
+import json
+import os
+from pathlib import Path
+import signal
+import subprocess
+import sys
+import tempfile
+
+import jinja2
+
+DUMMY_CERT_ANSWERS = """\
+US
+California
+Mountain View
+FRC971
+Software
+frc971.org
+dummy@frc971.org
+"""
+
+def main(argv):
+ parser = argparse.ArgumentParser()
+ parser.add_argument("--binary", type=str, required=True)
+ parser.add_argument("--https_port", type=int, default=7000)
+ parser.add_argument("--wrapped_port", type=int, default=7500)
+ parser.add_argument(
+ "--ldap_info",
+ type=str,
+ help="JSON file containing 'ldap_bind_dn', 'ldap_url', and 'ldap_password' entries.",
+ default="",
+ )
+ args = parser.parse_args(argv[1:])
+
+ if not args.ldap_info:
+ args.ldap_info = os.path.join(os.environ["BUILD_WORKSPACE_DIRECTORY"], "ldap.json")
+
+ with open("tools/build_rules/apache_template.conf", "r") as file:
+ template = jinja2.Template(file.read())
+
+ with open(args.ldap_info, "r") as file:
+ substitutions = json.load(file)
+
+ for key in ("ldap_bind_dn", "ldap_url", "ldap_password"):
+ if key not in substitutions:
+ raise KeyError(f"The ldap_info JSON file must contain key '{key}'.")
+
+ substitutions.update({
+ "https_port": args.https_port,
+ "wrapped_port": args.wrapped_port,
+ })
+
+ config_text = template.render(substitutions)
+
+ with tempfile.TemporaryDirectory() as temp_dir:
+ temp_dir = Path(temp_dir)
+ with open(temp_dir / "apache2.conf", "w") as file:
+ file.write(config_text)
+
+ # Create a directory for error logs and such.
+ logs_dir = temp_dir / "logs"
+ os.mkdir(logs_dir)
+
+ print("-" * 60)
+ print(f"Logs are in {logs_dir}/")
+ print("-" * 60)
+
+ # Make modules available.
+ modules_path = Path("external/apache2/usr/lib/apache2/modules")
+ os.symlink(modules_path.resolve(), temp_dir / "modules")
+
+ # Generate a testing cert.
+ subprocess.run([
+ "openssl",
+ "req",
+ "-x509",
+ "-nodes",
+ "-days=365",
+ "-newkey=rsa:2048",
+ "-keyout=" + str(temp_dir / "apache-selfsigned.key"),
+ "-out=" + str(temp_dir / "apache-selfsigned.crt"),
+ ],
+ check=True,
+ input=DUMMY_CERT_ANSWERS,
+ text=True,
+ )
+
+ # Start the wrapped binary in the background.
+ # Tell it via the environment what port to listen on.
+ env = os.environ.copy()
+ env["APACHE_WRAPPED_PORT"] = str(args.wrapped_port)
+ wrapped_binary = subprocess.Popen([args.binary], env=env)
+
+ # Start the apache server.
+ env = os.environ.copy()
+ env["LD_LIBRARY_PATH"] = "external/apache2/usr/lib/x86_64-linux-gnu"
+ try:
+ subprocess.run(
+ ["external/apache2/usr/sbin/apache2", "-X", "-d", str(temp_dir)],
+ check=True,
+ env=env,
+ )
+ finally:
+ wrapped_binary.send_signal(signal.SIGINT)
+ wrapped_binary.wait()
+
+if __name__ == "__main__":
+ sys.exit(main(sys.argv))
diff --git a/tools/build_rules/apache_template.conf b/tools/build_rules/apache_template.conf
new file mode 100644
index 0000000..91a8338
--- /dev/null
+++ b/tools/build_rules/apache_template.conf
@@ -0,0 +1,57 @@
+PidFile logs/httpd.pid
+
+ServerTokens Prod
+UseCanonicalName On
+TraceEnable Off
+
+Listen 127.0.0.1:{{ https_port }}
+
+LoadModule mpm_event_module modules/mod_mpm_event.so
+LoadModule authn_core_module modules/mod_authn_core.so
+LoadModule authz_core_module modules/mod_authz_core.so
+LoadModule authz_user_module modules/mod_authz_user.so
+LoadModule auth_basic_module modules/mod_auth_basic.so
+LoadModule authnz_ldap_module modules/mod_authnz_ldap.so
+LoadModule ldap_module modules/mod_ldap.so
+LoadModule proxy_module modules/mod_proxy.so
+LoadModule proxy_http_module modules/mod_proxy_http.so
+LoadModule ssl_module modules/mod_ssl.so
+
+{% raw %}
+ErrorLogFormat "[%{cu}t] [%-m:%-l] %-a %-L %M"
+LogFormat "%h %l %u [%{%Y-%m-%d %H:%M:%S}t.%{usec_frac}t] \"%r\" %>s %b \
+\"%{Referer}i\" \"%{User-Agent}i\"" combined
+{% endraw %}
+
+LogLevel debug
+ErrorLog logs/error.log
+CustomLog logs/access.log combined
+
+LDAPCacheEntries 1024
+LDAPCacheTTL 600
+LDAPTrustedGlobalCert CA_BASE64 "apache-selfsigned.crt"
+LDAPTrustedMode STARTTLS
+LDAPLibraryDebug 7
+LDAPVerifyServerCert OFF
+
+<VirtualHost *:{{ https_port }}>
+ ServerName localhost
+ ServerAdmin root@localhost
+
+ SSLEngine on
+ SSLProxyEngine On
+ SSLCertificateFile apache-selfsigned.crt
+ SSLCertificateKeyFile apache-selfsigned.key
+
+ ProxyPass "/" http://localhost:{{ wrapped_port }}/
+
+ <Location />
+ AuthName "Enter your Robotics 971 credentials"
+ AuthType Basic
+ AuthBasicProvider ldap
+ AuthLDAPBindDN "{{ ldap_bind_dn }}"
+ AuthLDAPBindPassword {{ ldap_password }}
+ AuthLDAPURL "{{ ldap_url }}"
+ Require valid-user
+ </Location>
+</VirtualHost>
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index 17f218e..6ff661a 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -76,6 +76,7 @@
srcs = [
":flags_compiler_inputs",
"//tools/cpp/arm-frc-linux-gnueabi:as",
+ "//tools/cpp/arm-frc-linux-gnueabi:libs",
"//tools/cpp/arm-frc-linux-gnueabi:tool-wrappers",
"@arm_frc_linux_gnueabi_repo//:compiler_pieces",
],
diff --git a/tools/dependency_rewrite b/tools/dependency_rewrite
index 3cafe9b..cc1de8c 100644
--- a/tools/dependency_rewrite
+++ b/tools/dependency_rewrite
@@ -5,6 +5,7 @@
rewrite dl.google.com/(.*) software.frc971.org/Build-Dependencies/dl.google.com/$1
rewrite mirror.bazel.build/(.*) software.frc971.org/Build-Dependencies/mirror.bazel.build/$1
rewrite nodejs.org/(.*) software.frc971.org/Build-Dependencies/nodejs.org/$1
+rewrite static.rust-lang.org/(.*) software.frc971.org/Build-Dependencies/static.rust-lang.org/$1
allow golang.org
allow software.frc971.org
diff --git a/tools/go/go_mirrors.bzl b/tools/go/go_mirrors.bzl
index 9addcef..0e8f394 100644
--- a/tools/go/go_mirrors.bzl
+++ b/tools/go/go_mirrors.bzl
@@ -315,4 +315,11 @@
"strip_prefix": "golang.org/x/xerrors@v0.0.0-20200804184101-5ec99f83aff1",
"version": "v0.0.0-20200804184101-5ec99f83aff1",
},
+ "com_github_mattn_go_sqlite3": {
+ "filename": "com_github_mattn_go_sqlite3__v1.14.10.zip",
+ "importpath": "github.com/mattn/go-sqlite3",
+ "sha256": "3c1e6497b023fc4741bf1bbfb39ae657b99cf44cfb33f5cbf1e88b315d25a306",
+ "strip_prefix": "github.com/mattn/go-sqlite3@v1.14.10",
+ "version": "v1.14.10",
+ },
}
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index bb53ee1..d6a63c7 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -6,6 +6,7 @@
"@platforms//os:linux",
"@platforms//cpu:x86_64",
"//tools/platforms/go:has_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -16,6 +17,7 @@
"@platforms//cpu:armv7",
"//tools/platforms/hardware:raspberry_pi",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -25,6 +27,7 @@
"@platforms//os:linux",
"@platforms//cpu:arm64",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -35,6 +38,7 @@
"@platforms//cpu:armv7",
"//tools/platforms/hardware:roborio",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -44,6 +48,7 @@
"@platforms//os:none",
"//tools/platforms/hardware:cortex_m4f",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:lacks_support",
],
)
@@ -53,6 +58,7 @@
"@platforms//os:none",
"//tools/platforms/hardware:cortex_m0plus",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:lacks_support",
],
)
diff --git a/tools/platforms/rust/BUILD b/tools/platforms/rust/BUILD
new file mode 100644
index 0000000..5b4745f
--- /dev/null
+++ b/tools/platforms/rust/BUILD
@@ -0,0 +1,13 @@
+package(default_visibility = ["//visibility:public"])
+
+constraint_setting(name = "rust_support")
+
+constraint_value(
+ name = "has_support",
+ constraint_setting = ":rust_support",
+)
+
+constraint_value(
+ name = "lacks_support",
+ constraint_setting = ":rust_support",
+)
diff --git a/tools/rehost.sh b/tools/rehost.sh
index 86ca488..3031aba 100755
--- a/tools/rehost.sh
+++ b/tools/rehost.sh
@@ -7,6 +7,11 @@
readonly LOCALPATH="$(basename "${1}")"
+if echo "${1}" | grep --quiet http; then
+ echo "Argument must not include the scheme (remove the https://)" >&2
+ exit 1
+fi
+
set -e
curl -L "https://${1}" -o "${LOCALPATH}"
diff --git a/tools/rust/BUILD b/tools/rust/BUILD
new file mode 100644
index 0000000..a652530
--- /dev/null
+++ b/tools/rust/BUILD
@@ -0,0 +1,73 @@
+load("@rules_rust//rust:toolchain.bzl", "rust_stdlib_filegroup", "rust_toolchain")
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+
+# Similar to the one automatically generated by @rust, but with the correct
+# hardware platform configured.
+toolchain(
+ name = "rust-toolchain-roborio",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
+ target_compatible_with = [
+ "@platforms//os:linux",
+ "//tools/platforms/hardware:roborio",
+ ],
+ toolchain = "@rust//:toolchain_for_arm-unknown-linux-gnueabi_impl",
+ toolchain_type = "@rules_rust//rust:toolchain",
+)
+
+# The remainder of this file exists to create a NOOP toolchain for Rust on
+# platforms that don't support Rust. We can probably get rid of this once
+# https://github.com/bazelbuild/bazel/issues/12897 is fixed.
+
+write_file(
+ name = "noop_error_exit",
+ out = "noop_error_exit.sh",
+ content = [
+ "#!/bin/bash",
+ "echo 'This should never be executed. Something went wrong.' >&2",
+ "echo 'This NOOP Rust toolchain should never be executed. Something went wrong.' >&2",
+ "echo 'Check that your target has `target_compatible_with` set to a platform that supports Rust.' >&2",
+ "exit 1",
+ ],
+ is_executable = True,
+)
+
+rust_stdlib_filegroup(
+ name = "empty_stdlib",
+ srcs = [":noop_error_exit"],
+)
+
+rust_toolchain(
+ name = "noop_rust_toolchain_impl",
+ binary_ext = "",
+ cargo = ":noop_error_exit",
+ clippy_driver = ":noop_error_exit",
+ default_edition = "2021",
+ dylib_ext = ".so",
+ exec_triple = "none",
+ os = "none",
+ rust_doc = ":noop_error_exit",
+ rust_lib = ":empty_stdlib",
+ rustc = ":noop_error_exit",
+ rustc_lib = ":noop_error_exit",
+ rustc_srcs = None,
+ rustfmt = ":noop_error_exit",
+ staticlib_ext = ".a",
+ stdlib_linkflags = [],
+ tags = ["manual"],
+ target_triple = "none",
+)
+
+toolchain(
+ name = "noop_rust_toolchain",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ ],
+ target_compatible_with = [
+ "//tools/platforms/rust:lacks_support",
+ ],
+ toolchain = ":noop_rust_toolchain_impl",
+ toolchain_type = "@rules_rust//rust:toolchain",
+)
diff --git a/y2020/BUILD b/y2020/BUILD
index 95f6f74..ee4e628 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -156,9 +156,9 @@
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -180,12 +180,12 @@
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//aos/network:remote_message_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
+ "//y2020/vision:galactic_search_path_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
- "//aos/network:remote_message_fbs",
- "//y2020/vision:galactic_search_path_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -210,11 +210,11 @@
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//aos/network:remote_message_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
- "//aos/network:remote_message_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index d94de5a..5156b59 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -1,12 +1,4 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
-
-flatbuffer_cc_library(
- name = "vision_fbs",
- srcs = ["vision.fbs"],
- gen_reflections = 1,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
-)
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
flatbuffer_cc_library(
name = "galactic_search_path_fbs",
@@ -16,25 +8,6 @@
visibility = ["//y2020:__subpackages__"],
)
-cc_library(
- name = "v4l2_reader",
- srcs = [
- "v4l2_reader.cc",
- ],
- hdrs = [
- "v4l2_reader.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
- deps = [
- ":vision_fbs",
- "//aos/events:event_loop",
- "//aos/scoped:scoped_fd",
- "@com_github_google_glog//:glog",
- "@com_google_absl//absl/base",
- ],
-)
-
cc_binary(
name = "camera_reader",
srcs = [
@@ -61,13 +34,13 @@
"//y2020:config",
],
target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
+ visibility = ["//y2020:__subpackages__"] + ["//y2022:__subpackages__"],
deps = [
- ":v4l2_reader",
- ":vision_fbs",
"//aos:flatbuffer_merge",
"//aos/events:event_loop",
"//aos/network:team_number",
+ "//frc971/vision:v4l2_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
"//y2020/vision/sift:sift971",
"//y2020/vision/sift:sift_fbs",
@@ -76,13 +49,6 @@
],
)
-flatbuffer_ts_library(
- name = "vision_ts_fbs",
- srcs = ["vision.fbs"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
-)
-
cc_binary(
name = "viewer",
srcs = [
@@ -94,9 +60,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//aos:init",
"//aos/events:shm_event_loop",
+ "//frc971/vision:v4l2_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
"//y2020/vision/sift:sift_fbs",
],
@@ -113,12 +80,12 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//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",
@@ -142,10 +109,10 @@
visibility = ["//y2020:__subpackages__"],
deps = [
":charuco_lib",
- ":vision_fbs",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:vision_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
"//third_party:opencv",
@@ -168,10 +135,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//aos:init",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
],
)
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index 1e28e82..9966a5b 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -9,12 +9,12 @@
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift971.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"
-#include "y2020/vision/v4l2_reader.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_bool(skip_sift, false,
"If true don't run any feature extraction. Just forward images.");
diff --git a/y2020/vision/camera_reader.h b/y2020/vision/camera_reader.h
index c05ebea..37fb5a9 100644
--- a/y2020/vision/camera_reader.h
+++ b/y2020/vision/camera_reader.h
@@ -10,12 +10,12 @@
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift971.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"
-#include "y2020/vision/v4l2_reader.h"
-#include "y2020/vision/vision_generated.h"
namespace frc971 {
namespace vision {
diff --git a/y2020/vision/charuco_lib.cc b/y2020/vision/charuco_lib.cc
index 21bdcc3..0df820b 100644
--- a/y2020/vision/charuco_lib.cc
+++ b/y2020/vision/charuco_lib.cc
@@ -11,11 +11,11 @@
#include "aos/flatbuffers.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/vision_generated.h"
#include "glog/logging.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"
-#include "y2020/vision/vision_generated.h"
DEFINE_uint32(min_targets, 10,
"The mininum number of targets required to match.");
@@ -133,8 +133,7 @@
const monotonic_clock::time_point eof = eof_source_node - offset;
- const monotonic_clock::duration age =
- event_loop_->monotonic_now() - eof;
+ const monotonic_clock::duration age = event_loop_->monotonic_now() - eof;
const double age_double =
std::chrono::duration_cast<std::chrono::duration<double>>(age).count();
if (age > std::chrono::milliseconds(100)) {
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index 1d4de28..c7ef752 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -12,13 +12,13 @@
#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/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
@@ -120,7 +120,7 @@
const Eigen::Quaternion<Scalar> &orientation() const { return orientation_; }
- std::vector<Eigen::Matrix<Scalar, 3, 1> > errors_;
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
// Returns the angular errors for each camera sample.
size_t num_errors() const { return errors_.size(); }
@@ -136,18 +136,18 @@
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());
+ 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> >
+ 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);
+ Eigen::Map<Eigen::Matrix<Scalar, 6, 6>>(input.data() + 10, 6, 6);
return std::make_tuple(q, x_hat, p);
}
@@ -361,8 +361,8 @@
std::vector<double> imu_ratez;
std::vector<double> times_;
- std::vector<Eigen::Matrix<double, 6, 1> > x_hats_;
- std::vector<Eigen::Quaternion<double> > orientations_;
+ 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();
};
diff --git a/y2020/vision/rootfs/README.md b/y2020/vision/rootfs/README.md
deleted file mode 100644
index 0f66864..0000000
--- a/y2020/vision/rootfs/README.md
+++ /dev/null
@@ -1,32 +0,0 @@
-This modifies a stock debian root filesystem to be able to operate as a vision
-pi. It is not trying to be reproducible, but should be good enough for FRC
-purposes.
-
-The default hostname and IP is pi-8971-1, 10.89.71.101.
- Username pi, password raspberry.
-
-Download 2020-08-20-raspios-buster-armhf-lite.img (or any newer buster
-version, as a .zip file) from
-`https://www.raspberrypi.org/downloads/raspberry-pi-os/` (or
-`https://downloads.raspberrypi.org/raspios_lite_armhf/images/` for
-older images), extract (unzip) the .img file, and edit
-`modify_rootfs.sh` to point to it.
-
-Run modify_rootfs.sh to build the filesystem (you might need to hit
-return in a spot or two and will need sudo privileges to mount the
-partition).
-
-After confirming the target device, deploy by copying the contents of the image
-to the SD card.
-
- `dd if=2020-02-13-raspbian-buster-lite.img of=/dev/sdX bs=1M`
-
-Use `lsblk` to find the device and make absolutely sure this isn't your hard
-drive or something else.
-
-From there, log in, `sudo` to `root`, and run `/root/bin/change_hostname.sh` to
-change the hostname to the actual target.
-
-A couple additional notes on setting this up:
- * You'll likely need to install (`sudo apt install`) the emulation packages `proot` and `qemu-user-static` (or possibly `qemu-arm-static`)
- * If the modify_root.sh script fails, you may need to manually unmount the image (`sudo umount ${IMAGE}`) before running it again
diff --git a/y2020/vision/rootfs/make_sd.sh b/y2020/vision/rootfs/make_sd.sh
deleted file mode 100755
index eba47bc..0000000
--- a/y2020/vision/rootfs/make_sd.sh
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/bin/bash
-
-set -e
-
-IMAGE="2020-08-20-raspios-buster-armhf-lite.img"
-DEVICE="/dev/sda"
-
-if mount | grep "${DEVICE}" >/dev/null ;
-then
- echo "Overwriting a mounted partition, is ${DEVICE} the sd card?"
- exit 1
-fi
-
-sudo dd if=${IMAGE} of=${DEVICE} bs=1M status=progress
-
-PARTITION="${IMAGE}.partition"
-
-mkdir -p "${PARTITION}"
-sudo mount "${DEVICE}2" "${PARTITION}"
-
-function target() {
- HOME=/root/ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" "$@"
-}
-
-target /root/bin/change_hostname.sh "${1}"
-
-echo "Starting a shell for any manual configuration"
-target /bin/bash --rcfile /root/.bashrc
-
-sudo umount "${PARTITION}"
diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index b495658..d259ba7 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -192,8 +192,8 @@
deps = [
":sift_training_data_test",
"//aos/testing:googletest",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
- "//y2020/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
],
diff --git a/y2020/vision/tools/python_code/camera_definition.py b/y2020/vision/tools/python_code/camera_definition.py
index 465f7bd..3e3623d 100644
--- a/y2020/vision/tools/python_code/camera_definition.py
+++ b/y2020/vision/tools/python_code/camera_definition.py
@@ -147,8 +147,8 @@
dist_coeffs = np.asarray(calib_dict["dist_coeffs"]).reshape(
(1, 5))
- glog.info("Found calib for " + node_name + ", team #" +
- str(team_number))
+ glog.debug("Found calib for " + node_name + ", team #" +
+ str(team_number))
camera_params = CameraParameters()
camera_params.camera_ext, camera_params.turret_ext = compute_extrinsic_by_pi(
diff --git a/y2020/vision/tools/python_code/camera_param_test.cc b/y2020/vision/tools/python_code/camera_param_test.cc
index 483fe75..a2d3a75 100644
--- a/y2020/vision/tools/python_code/camera_param_test.cc
+++ b/y2020/vision/tools/python_code/camera_param_test.cc
@@ -12,9 +12,9 @@
#include "y2020/vision/tools/python_code/sift_training_data.h"
#endif
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/vision_generated.h"
namespace frc971 {
namespace vision {
diff --git a/y2020/vision/tools/python_code/target_definition.py b/y2020/vision/tools/python_code/target_definition.py
index e518c8c..0266997 100644
--- a/y2020/vision/tools/python_code/target_definition.py
+++ b/y2020/vision/tools/python_code/target_definition.py
@@ -5,6 +5,7 @@
import json
import math
import numpy as np
+import os
import camera_definition
import define_training_data as dtd
@@ -135,8 +136,7 @@
"target_definitions/ideal_power_port_red.json",
"target_definitions/ideal_power_port_blue.json")
training_target_list = TargetData.from_jsons(
- "target_definitions/cc_power_port_red_base_2021-10-29_15-08-50.json",
- "target_definitions/cc_power_port_blue_base_2021-10-29_15-14-21.json")
+ "target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json")
return ideal_target_list, training_target_list
@@ -153,7 +153,10 @@
# otherwise get them directly from the training targets.
for target in (ideal_target_list
if AUTO_PROJECTION else training_target_list):
- glog.debug("\nPreparing target for image %s" % target.image_filename)
+ # TODO<Jim>: Save this info to flatbuffer and publish on start
+ # And then, make this debug message again
+ glog.debug("\nPreparing target for image %s" %
+ os.path.basename(target.image_filename))
target.extract_features(feature_extractor)
target.filter_keypoints_by_polygons()
target.compute_reprojection_maps()
diff --git a/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json b/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json
deleted file mode 100644
index 303838a..0000000
--- a/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image_filename": "test_images/partial_971_power_port_red_nighttime.png", "polygon_list": [[[217, 425], [215, 187], [78, 189], [212, 80], [344, 74], [347, 180], [370, 421]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[282.0, 132.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json
new file mode 100644
index 0000000..d951e13
--- /dev/null
+++ b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json
@@ -0,0 +1 @@
+{"image_filename": "test_images/partial_971_power_port_red_daytime.png", "polygon_list": [[[198, 473], [203, 154], [23, 156], [204, 19], [374, 16], [381, 152], [397, 467]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[290.0, 87.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json
new file mode 100644
index 0000000..82fdd9b
--- /dev/null
+++ b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json
@@ -0,0 +1 @@
+{"image_filename": "test_images/mvhs_power_port_red-2021-11-06.png", "polygon_list": [[[196, 435], [197, 178], [43, 178], [200, 74], [331, 68], [338, 173], [353, 428]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[265.0, 123.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json b/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json
deleted file mode 100644
index 303838a..0000000
--- a/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image_filename": "test_images/partial_971_power_port_red_nighttime.png", "polygon_list": [[[217, 425], [215, 187], [78, 189], [212, 80], [344, 74], [347, 180], [370, 421]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[282.0, 132.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png b/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png
new file mode 100644
index 0000000..918c9cf
--- /dev/null
+++ b/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
deleted file mode 100644
index ec402c0..0000000
--- a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
deleted file mode 100644
index 6f4a54c..0000000
--- a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_VR_sample1.png b/y2020/vision/tools/python_code/test_images/test_VR_sample1.png
deleted file mode 100644
index 86495b2..0000000
--- a/y2020/vision/tools/python_code/test_images/test_VR_sample1.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg b/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg
deleted file mode 100644
index 376149c..0000000
--- a/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png b/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png
deleted file mode 100644
index fb4952e..0000000
--- a/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png b/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png
deleted file mode 100644
index be67176..0000000
--- a/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf b/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf
deleted file mode 100644
index 6bc62f5..0000000
--- a/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf b/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf
deleted file mode 100644
index ad6bed1..0000000
--- a/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png b/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png
deleted file mode 100644
index b635a12..0000000
--- a/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/train_and_match.py b/y2020/vision/tools/python_code/train_and_match.py
index 6250da1..ca67095 100644
--- a/y2020/vision/tools/python_code/train_and_match.py
+++ b/y2020/vision/tools/python_code/train_and_match.py
@@ -52,13 +52,13 @@
# Load feature extractor based on extractor name
# Returns feature extractor object
def load_feature_extractor():
- if FEATURE_EXTRACTOR_NAME is 'SIFT':
+ if FEATURE_EXTRACTOR_NAME == 'SIFT':
# Initiate SIFT detector
feature_extractor = cv2.SIFT_create()
- elif FEATURE_EXTRACTOR_NAME is 'SURF':
+ elif FEATURE_EXTRACTOR_NAME == 'SURF':
# Initiate SURF detector
feature_extractor = cv2.xfeatures2d.SURF_create()
- elif FEATURE_EXTRACTOR_NAME is 'ORB':
+ elif FEATURE_EXTRACTOR_NAME == 'ORB':
# Initiate ORB detector
feature_extractor = cv2.ORB_create()
@@ -78,7 +78,7 @@
kp, des = feature_extractor.detectAndCompute(image_list[i], None)
descriptor_lists.append(des)
keypoint_lists.append(kp)
- elif FEATURE_EXTRACTOR_NAME is 'ORB':
+ elif FEATURE_EXTRACTOR_NAME == 'ORB':
# TODO: Check whether ORB extractor can do detectAndCompute.
# If so, we don't need to have this branch for ORB
for i in range(len(image_list)):
@@ -104,7 +104,7 @@
matcher = cv2.FlannBasedMatcher(index_params, search_params)
matcher.add(descriptor_lists)
matcher.train()
- elif FEATURE_EXTRACTOR_NAME is 'ORB':
+ elif FEATURE_EXTRACTOR_NAME == 'ORB':
# Use FLANN LSH for ORB
FLANN_INDEX_LSH = 6
index_params = dict(
@@ -144,7 +144,7 @@
good_matches_list.append(good_matches)
- elif FEATURE_EXTRACTOR_NAME is 'ORB':
+ elif FEATURE_EXTRACTOR_NAME == 'ORB':
matches = matcher.knnMatch(train_keypoint_lists[0], desc_query, k=2)
good_matches = []
for m in matches:
diff --git a/y2020/vision/viewer.cc b/y2020/vision/viewer.cc
index 2aff3fb..37ff4a3 100644
--- a/y2020/vision/viewer.cc
+++ b/y2020/vision/viewer.cc
@@ -8,8 +8,9 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/time/time.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_bool(show_features, true, "Show the SIFT features that matched.");
diff --git a/y2020/vision/viewer_replay.cc b/y2020/vision/viewer_replay.cc
index 93e531d..a818859 100644
--- a/y2020/vision/viewer_replay.cc
+++ b/y2020/vision/viewer_replay.cc
@@ -6,7 +6,7 @@
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
-#include "y2020/vision/vision_generated.h"
+#include "frc971/vision/vision_generated.h"
DEFINE_string(node, "pi1", "Node name to replay.");
DEFINE_string(image_save_prefix, "/tmp/img",
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 27c0392..8467994 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -15,7 +15,7 @@
"//aos/network:connect_ts_fbs",
"//aos/network:web_proxy_ts_fbs",
"//aos/network/www:proxy",
- "//y2020/vision:vision_ts_fbs",
+ "//frc971/vision:vision_ts_fbs",
"//y2020/vision/sift:sift_ts_fbs",
"@com_github_google_flatbuffers//ts:flatbuffers_ts",
],
diff --git a/y2020/www/image_handler.ts b/y2020/www/image_handler.ts
index b254f2c..661100b 100644
--- a/y2020/www/image_handler.ts
+++ b/y2020/www/image_handler.ts
@@ -4,7 +4,7 @@
import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
import {Long} from 'org_frc971/external/com_github_google_flatbuffers/ts/long';
import * as sift from 'org_frc971/y2020/vision/sift/sift_generated'
-import * as vision from 'org_frc971/y2020/vision/vision_generated';
+import * as vision from 'org_frc971/frc971/vision/vision_generated';
import * as web_proxy from 'org_frc971/aos/network/web_proxy_generated';
import Channel = configuration.aos.Channel;
diff --git a/y2022/BUILD b/y2022/BUILD
index dba5796..2173877 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -1,19 +1,152 @@
load("//frc971:downloader.bzl", "robot_downloader")
load("//aos:config.bzl", "aos_config")
+load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
+ binaries = [
+ "//aos/network:web_proxy_main",
+ ],
data = [
":config",
],
start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:web_proxy_main",
":joystick_reader",
":wpilib_interface",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//y2022/actors:binaries",
"//y2022/control_loops/drivetrain:drivetrain",
"//y2022/control_loops/superstructure:superstructure",
- "//y2022/actors:binaries",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
+ name = "pi_download",
+ binaries = [
+ "//y2022/vision:viewer",
+ ],
+ data = [
+ ":config",
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//aos/network:web_proxy_main",
+ "//y2022/vision:camera_reader",
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
+ target_type = "pi",
+)
+
+aos_config(
+ name = "config",
+ src = "y2022.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//frc971/vision:vision_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":config_logger",
+ ":config_pi1",
+ ":config_pi2",
+ ":config_pi3",
+ ":config_pi4",
+ ":config_pi5",
+ ":config_roborio",
],
)
+[
+ aos_config(
+ name = "config_" + pi,
+ src = "y2022_" + pi + ".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:vision_fbs",
+ "//y2022/vision:target_estimate_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/control_loops/drivetrain:config",
+ "//frc971/input:config",
+ ],
+ )
+ for pi in [
+ "pi1",
+ "pi2",
+ "pi3",
+ "pi4",
+ "pi5",
+ ]
+]
+
+aos_config(
+ name = "config_logger",
+ src = "y2022_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:vision_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/control_loops/drivetrain:config",
+ "//frc971/input:config",
+ ],
+)
+
+aos_config(
+ name = "config_roborio",
+ src = "y2022_roborio.json",
+ flatbuffers = [
+ "//aos/network:remote_message_fbs",
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//y2019/control_loops/drivetrain:target_selector_fbs",
+ "//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_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",
+ ],
+)
+
+[
+ jinja2_template(
+ name = "y2022_pi" + str(num) + ".json",
+ src = "y2022_pi_template.json",
+ parameters = {"NUM": str(num)},
+ target_compatible_with = ["@platforms//os:linux"],
+ )
+ for num in range(1, 6)
+]
+
cc_library(
name = "constants",
srcs = [
@@ -96,21 +229,3 @@
"//y2022/control_loops/superstructure:superstructure_status_fbs",
],
)
-
-aos_config(
- name = "config",
- src = "y2022.json",
- flatbuffers = [
- "//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_status_fbs",
- ],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
- ],
-)
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index e985779..b2c89d1 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -26,7 +26,7 @@
if (output != nullptr && unsafe_goal != nullptr) {
OutputT output_struct;
-
+ output_struct.climber_voltage = unsafe_goal->climber_speed();
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
@@ -36,8 +36,8 @@
status_builder.add_estopped(false);
if (unsafe_goal != nullptr) {
+ status_builder.add_climber_speed(unsafe_goal->climber_speed());
}
-
(void)status->Send(status_builder.Finish());
}
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index 439c0fb..3e0679e 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -3,7 +3,9 @@
namespace y2022.control_loops.superstructure;
table Goal {
-
+ // Voltage of the climber falcon
+ // - is down + is up
+ climber_speed:double (id: 0);
}
root_type Goal;
diff --git a/y2022/control_loops/superstructure/superstructure_output.fbs b/y2022/control_loops/superstructure/superstructure_output.fbs
index e95fbe3..78b2c01 100644
--- a/y2022/control_loops/superstructure/superstructure_output.fbs
+++ b/y2022/control_loops/superstructure/superstructure_output.fbs
@@ -1,7 +1,9 @@
namespace y2022.control_loops.superstructure;
table Output {
-
+ // Voltage of the climber falcon
+ // - is down + is up
+ climber_voltage:double (id: 0);
}
root_type Output;
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index deff2f6..5f8cdc3 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -9,6 +9,10 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+
+ // Goal voltage of the climber falcon
+ // - is down + is up
+ climber_speed:double (id: 2);
}
root_type Status;
\ No newline at end of file
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index e69de29..0105796 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -0,0 +1,105 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+
+cc_binary(
+ name = "camera_reader",
+ srcs = [
+ "camera_reader_main.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":camera_reader_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
+cc_library(
+ name = "camera_reader_lib",
+ srcs = [
+ "camera_reader.cc",
+ ],
+ hdrs = [
+ "camera_reader.h",
+ ],
+ data = [
+ "//y2022:config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":blob_detector_lib",
+ ":target_estimator_lib",
+ "//aos:flatbuffer_merge",
+ "//aos/events:event_loop",
+ "//aos/events:shm_event_loop",
+ "//aos/network:team_number",
+ "//frc971/vision:v4l2_reader",
+ "//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",
+ ],
+)
+
+cc_library(
+ name = "blob_detector_lib",
+ srcs = [
+ "blob_detector.cc",
+ ],
+ hdrs = [
+ "blob_detector.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ "//aos/network:team_number",
+ "//aos/time",
+ "//third_party:opencv",
+ ],
+)
+
+cc_library(
+ name = "target_estimator_lib",
+ srcs = [
+ "target_estimator.cc",
+ ],
+ hdrs = [
+ "target_estimator.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":target_estimate_fbs",
+ "//third_party:opencv",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "target_estimate_fbs",
+ srcs = ["target_estimate.fbs"],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+)
+
+cc_binary(
+ name = "viewer",
+ srcs = [
+ "viewer.cc",
+ ],
+ data = [
+ "//y2022:config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":blob_detector_lib",
+ ":target_estimator_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/vision:vision_fbs",
+ "//third_party:opencv",
+ ],
+)
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
new file mode 100644
index 0000000..8fc70f6
--- /dev/null
+++ b/y2022/vision/blob_detector.cc
@@ -0,0 +1,313 @@
+#include "y2022/vision/blob_detector.h"
+
+#include <cmath>
+#include <optional>
+#include <string>
+
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "opencv2/features2d.hpp"
+#include "opencv2/imgproc.hpp"
+
+DEFINE_uint64(green_delta, 50,
+ "Required difference between green pixels vs. red and blue");
+DEFINE_bool(use_outdoors, false,
+ "If true, change thresholds to handle outdoor illumination");
+
+namespace y2022 {
+namespace vision {
+
+cv::Mat BlobDetector::ThresholdImage(cv::Mat rgb_image) {
+ cv::Mat binarized_image(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
+ for (int row = 0; row < rgb_image.rows; row++) {
+ for (int col = 0; col < rgb_image.cols; col++) {
+ cv::Vec3b pixel = rgb_image.at<cv::Vec3b>(row, col);
+ uint8_t blue = pixel.val[0];
+ uint8_t green = pixel.val[1];
+ uint8_t red = pixel.val[2];
+ // Simple filter that looks for green pixels sufficiently brigher than
+ // red and blue
+ if ((green > blue + FLAGS_green_delta) &&
+ (green > red + FLAGS_green_delta)) {
+ binarized_image.at<uint8_t>(row, col) = 255;
+ } else {
+ binarized_image.at<uint8_t>(row, col) = 0;
+ }
+ }
+ }
+
+ return binarized_image;
+}
+
+std::vector<std::vector<cv::Point>> BlobDetector::FindBlobs(
+ cv::Mat binarized_image) {
+ // find the contours (blob outlines)
+ std::vector<std::vector<cv::Point>> contours;
+ std::vector<cv::Vec4i> hierarchy;
+ cv::findContours(binarized_image, contours, hierarchy, cv::RETR_CCOMP,
+ cv::CHAIN_APPROX_SIMPLE);
+
+ return contours;
+}
+
+std::vector<BlobDetector::BlobStats> BlobDetector::ComputeStats(
+ std::vector<std::vector<cv::Point>> blobs) {
+ 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);
+
+ 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;
+ const double area = moments.m00;
+ const size_t points = blob.size();
+
+ blob_stats.emplace_back(BlobStats{centroid, aspect_ratio, area, 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 {
+ // Translate the point so that the circle orgin can be (0, 0)
+ const auto p_prime = cv::Point2d(p.y - center.y, p.x - center.x);
+ // 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);
+ }
+
+ // Inverted because y-coordinates go backwards
+ bool OnTopHalf(cv::Point2d p) const { return 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) {
+ 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;
+ constexpr double kTapeAspectRatio = 5.0 / 2.0;
+ constexpr double kAspectRatioThreshold = 1.5;
+ constexpr double kMinArea = 10;
+ constexpr size_t kMinPoints = 6;
+
+ // 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
+ // TODO(milind): modify to take into account that blobs will be on the side.
+ if ((stats_it->centroid.y <= kMaxY) &&
+ (std::abs(kTapeAspectRatio - stats_it->aspect_ratio) <
+ kAspectRatioThreshold) &&
+ (stats_it->area >= kMinArea) && (stats_it->points >= kMinPoints)) {
+ filtered_blobs.push_back(*blob_it);
+ filtered_stats.push_back(*stats_it);
+ }
+ blob_it++;
+ stats_it++;
+ }
+
+ // Threshold for mean distance from a blob centroid to a circle.
+ constexpr double kCircleDistanceThreshold = 5.0;
+ std::vector<std::vector<cv::Point>> blob_circle;
+ std::vector<cv::Point2d> centroids;
+
+ // 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.
+ constexpr size_t kMaxFilteredBlobs = 50;
+ if (filtered_blobs.size() > 0 && filtered_blobs.size() <= kMaxFilteredBlobs) {
+ constexpr size_t kRansacIterations = 15;
+ for (size_t i = 0; i < kRansacIterations; i++) {
+ // Pick 3 random blobs and see how many fit on their circle
+ const size_t j = std::rand() % filtered_blobs.size();
+ const size_t k = std::rand() % filtered_blobs.size();
+ const size_t l = std::rand() % filtered_blobs.size();
+
+ // Restart if the random indices clash
+ if ((j == k) || (j == l) || (k == l)) {
+ i--;
+ continue;
+ }
+
+ 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);
+
+ // Make sure that a circle could be created from the points
+ if (!circle) {
+ continue;
+ }
+
+ // Only try to fit points to this circle if all of these are on the top
+ // half, like how the blobs should be
+ if (circle->OnTopHalf(current_centroids[0]) &&
+ circle->OnTopHalf(current_centroids[1]) &&
+ circle->OnTopHalf(current_centroids[2])) {
+ 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->OnTopHalf(filtered_stats[m].centroid) &&
+ (circle->DistanceTo(filtered_stats[m].centroid) <
+ kCircleDistanceThreshold)) {
+ current_blobs.emplace_back(filtered_blobs[m]);
+ current_centroids.emplace_back(filtered_stats[m].centroid);
+ }
+ }
+
+ if (current_blobs.size() > blob_circle.size()) {
+ blob_circle = current_blobs;
+ centroids = current_centroids;
+ }
+ }
+ }
+ }
+
+ cv::Point avg_centroid(-1, -1);
+ if (centroids.size() > 0) {
+ for (auto centroid : centroids) {
+ avg_centroid.x += centroid.x;
+ avg_centroid.y += centroid.y;
+ }
+ avg_centroid.x /= centroids.size();
+ avg_centroid.y /= centroids.size();
+ }
+
+ return {blob_circle, 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) {
+ CHECK_GT(view_image.cols, 0);
+ if (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, filtered_blobs, -1, cv::Scalar(0, 255, 0),
+ cv::FILLED);
+
+ // Draw blob centroids
+ for (auto stats : blob_stats) {
+ cv::circle(view_image, stats.centroid, 2, cv::Scalar(255, 0, 0),
+ cv::FILLED);
+ }
+
+ // Draw average centroid
+ cv::circle(view_image, centroid, 3, cv::Scalar(255, 255, 0), cv::FILLED);
+}
+
+void BlobDetector::ExtractBlobs(
+ cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ std::vector<std::vector<cv::Point>> &filtered_blobs,
+ std::vector<std::vector<cv::Point>> &unfiltered_blobs,
+ std::vector<BlobStats> &blob_stats, cv::Point ¢roid) {
+ auto start = aos::monotonic_clock::now();
+ binarized_image = ThresholdImage(rgb_image);
+ unfiltered_blobs = FindBlobs(binarized_image);
+ blob_stats = ComputeStats(unfiltered_blobs);
+ auto filtered_pair = FilterBlobs(unfiltered_blobs, blob_stats);
+ filtered_blobs = filtered_pair.first;
+ centroid = filtered_pair.second;
+ auto end = aos::monotonic_clock::now();
+ LOG(INFO) << "Blob detection elapsed time: "
+ << std::chrono::duration<double, std::milli>(end - start).count()
+ << " ms";
+ DrawBlobs(blob_image, unfiltered_blobs, filtered_blobs, blob_stats, centroid);
+}
+
+} // namespace vision
+} // namespace y2022
diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
new file mode 100644
index 0000000..f95b217
--- /dev/null
+++ b/y2022/vision/blob_detector.h
@@ -0,0 +1,56 @@
+#ifndef Y2022_BLOB_DETECTOR_H_
+#define Y2022_BLOB_DETECTOR_H_
+
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgproc.hpp>
+
+namespace y2022 {
+namespace vision {
+
+class BlobDetector {
+ public:
+ struct BlobStats {
+ cv::Point centroid;
+ double aspect_ratio;
+ double area;
+ size_t points;
+ };
+
+ BlobDetector() {}
+ // Given an image, threshold it to find "green" pixels
+ // Input: Color image
+ // Output: Grayscale (binarized) image with green pixels set to 255
+ static cv::Mat ThresholdImage(cv::Mat rgb_image);
+
+ // Given binary image, extract blobs
+ static std::vector<std::vector<cv::Point>> FindBlobs(cv::Mat threshold_image);
+
+ // Extract stats for each blob
+ static std::vector<BlobStats> ComputeStats(
+ 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);
+
+ // 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 ExtractBlobs(
+ cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ std::vector<std::vector<cv::Point>> &filtered_blobs,
+ std::vector<std::vector<cv::Point>> &unfiltered_blobs,
+ std::vector<BlobStats> &blob_stats, cv::Point ¢roid);
+};
+} // namespace vision
+} // namespace y2022
+
+#endif // Y2022_BLOB_DETECTOR_H_
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
new file mode 100644
index 0000000..4ac6aad
--- /dev/null
+++ b/y2022/vision/camera_reader.cc
@@ -0,0 +1,103 @@
+#include "y2022/vision/camera_reader.h"
+
+#include <math.h>
+
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_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"
+#include "y2022/vision/blob_detector.h"
+#include "y2022/vision/target_estimator.h"
+
+DEFINE_string(image_png, "", "A set of PNG images");
+
+namespace y2022 {
+namespace vision {
+
+using namespace frc971::vision;
+
+const sift::CameraCalibration *CameraReader::FindCameraCalibration() const {
+ const std::string_view node_name = event_loop_->node()->name()->string_view();
+ const int team_number = aos::network::GetTeamNumber();
+ for (const sift::CameraCalibration *candidate :
+ *training_data_->camera_calibrations()) {
+ if (candidate->node_name()->string_view() != node_name) {
+ continue;
+ }
+ if (candidate->team_number() != team_number) {
+ continue;
+ }
+ return candidate;
+ }
+ LOG(FATAL) << ": Failed to find camera calibration for " << node_name
+ << " on " << team_number;
+}
+
+void CameraReader::ProcessImage(const cv::Mat &image_mat) {
+ // Remember, we're getting YUYV images, so we start by converting to RGB
+
+ // TOOD: Need to code this up for blob detection
+
+ std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
+ std::vector<BlobDetector::BlobStats> blob_stats;
+ cv::Mat binarized_image =
+ cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC1);
+ cv::Mat ret_image =
+ cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC3);
+ cv::Point centroid;
+ BlobDetector::ExtractBlobs(image_mat, binarized_image, ret_image,
+ filtered_blobs, unfiltered_blobs, blob_stats,
+ centroid);
+ TargetEstimateT target = TargetEstimator::EstimateTargetLocation(
+ centroid, CameraIntrinsics(), CameraExtrinsics());
+
+ auto builder = target_estimate_sender_.MakeBuilder();
+ builder.CheckOk(builder.Send(TargetEstimate::Pack(*builder.fbb(), &target)));
+}
+
+void CameraReader::ReadImage() {
+ // Path is for reading from the Disk.
+ if (FLAGS_image_png != "") {
+ std::vector<cv::String> file_list;
+ cv::glob(FLAGS_image_png + "/*.png", file_list, false);
+
+ for (auto file : file_list) {
+ LOG(INFO) << "Reading file " << file;
+ cv::Mat rgb_image = cv::imread(file.c_str());
+ ProcessImage(rgb_image);
+ }
+ event_loop_->Exit();
+ return;
+ }
+ // If we are not reading from the disk, we read the live camera stream.
+ if (!reader_->ReadLatestImage()) {
+ read_image_timer_->Setup(event_loop_->monotonic_now() +
+ std::chrono::milliseconds(10));
+ return;
+ }
+
+ 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];
+ }
+
+ ProcessImage(image_mat);
+
+ reader_->SendLatestImage();
+ read_image_timer_->Setup(event_loop_->monotonic_now());
+}
+
+} // namespace vision
+} // namespace y2022
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
new file mode 100644
index 0000000..78abaa5
--- /dev/null
+++ b/y2022/vision/camera_reader.h
@@ -0,0 +1,93 @@
+#ifndef Y2022_VISION_CAMERA_READER_H_
+#define Y2022_VISION_CAMERA_READER_H_
+
+#include <math.h>
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_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"
+#include "y2022/vision/target_estimate_generated.h"
+
+namespace y2022 {
+namespace vision {
+
+using namespace frc971::vision;
+
+// TODO<Jim/Milind>: Need to add in senders to send out the blob data/stats
+
+class CameraReader {
+ public:
+ CameraReader(aos::ShmEventLoop *event_loop,
+ const sift::TrainingData *training_data, V4L2Reader *reader)
+ : event_loop_(event_loop),
+ training_data_(training_data),
+ camera_calibration_(FindCameraCalibration()),
+ reader_(reader),
+ image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
+ target_estimate_sender_(
+ event_loop->MakeSender<TargetEstimate>("/camera")),
+ read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
+ event_loop->OnRun(
+ [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
+ }
+
+ private:
+ const sift::CameraCalibration *FindCameraCalibration() const;
+
+ // Processes an image (including sending the results).
+ void ProcessImage(const cv::Mat &image);
+
+ // 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())));
+ CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
+ return result;
+ }
+
+ cv::Mat CameraExtrinsics() const {
+ const cv::Mat result(
+ 4, 4, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->fixed_extrinsics()->data()->data())));
+ CHECK_EQ(result.total(),
+ camera_calibration_->fixed_extrinsics()->data()->size());
+ return result;
+ }
+
+ cv::Mat CameraDistCoeffs() const {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
+ return result;
+ }
+
+ aos::ShmEventLoop *const event_loop_;
+ const sift::TrainingData *const training_data_;
+ const sift::CameraCalibration *const camera_calibration_;
+ V4L2Reader *const reader_;
+ aos::Sender<CameraImage> image_sender_;
+ aos::Sender<TargetEstimate> target_estimate_sender_;
+
+ // We schedule this immediately to read an image. Having it on a timer
+ // means other things can run on the event loop in between.
+ aos::TimerHandler *const read_image_timer_;
+};
+
+} // namespace vision
+} // namespace y2022
+#endif // Y2022_VISION_CAMERA_READER_H_
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
new file mode 100644
index 0000000..6f65a6d
--- /dev/null
+++ b/y2022/vision/camera_reader_main.cc
@@ -0,0 +1,51 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#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
+// --override_hostname pi-7971-1 --ignore_timestamps true
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_uint32(exposure, 5, "Exposure time, in 100us increments");
+
+namespace y2022 {
+namespace vision {
+namespace {
+
+using namespace frc971::vision;
+
+void CameraReaderMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ SiftTrainingData());
+ CHECK(training_data.Verify());
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ // First, log the data for future reference.
+ {
+ aos::Sender<sift::TrainingData> training_data_sender =
+ event_loop.MakeSender<sift::TrainingData>("/camera");
+ CHECK_EQ(training_data_sender.Send(training_data),
+ aos::RawSender::Error::kOk);
+ }
+
+ V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
+ v4l2_reader.SetExposure(FLAGS_exposure);
+
+ CameraReader camera_reader(&event_loop, &training_data.message(),
+ &v4l2_reader);
+
+ event_loop.Run();
+}
+
+} // namespace
+} // namespace vision
+} // namespace y2022
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ y2022::vision::CameraReaderMain();
+}
diff --git a/y2022/vision/target_estimate.fbs b/y2022/vision/target_estimate.fbs
new file mode 100644
index 0000000..e22654a
--- /dev/null
+++ b/y2022/vision/target_estimate.fbs
@@ -0,0 +1,14 @@
+namespace y2022.vision;
+
+// 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.
+ angle_to_target:double (id: 1);
+
+ // TODO(milind): add confidence and blob stats
+}
+
+root_type TargetEstimate;
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
new file mode 100644
index 0000000..c51eb08
--- /dev/null
+++ b/y2022/vision/target_estimator.cc
@@ -0,0 +1,31 @@
+#include "y2022/vision/target_estimator.h"
+
+namespace y2022::vision {
+
+TargetEstimateT TargetEstimator::EstimateTargetLocation(
+ cv::Point2i blob_point, const cv::Mat &intrinsics,
+ const cv::Mat &extrinsics) {
+ 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));
+
+ // Blob pitch in camera reference frame
+ const double blob_pitch =
+ std::atan(static_cast<double>(-(blob_point.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);
+
+ TargetEstimateT target;
+ target.angle_to_target =
+ std::atan2(static_cast<double>(blob_point.x - offset.x),
+ static_cast<double>(focal_length.x));
+ target.distance =
+ (depth / std::cos(target.angle_to_target)) + kUpperHubRadius;
+
+ return target;
+}
+
+} // namespace y2022::vision
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
new file mode 100644
index 0000000..4988c3c
--- /dev/null
+++ b/y2022/vision/target_estimator.h
@@ -0,0 +1,26 @@
+#ifndef Y2022_VISION_POSE_ESTIMATOR_H_
+#define Y2022_VISION_POSE_ESTIMATOR_H_
+
+#include "opencv2/imgproc.hpp"
+#include "y2022/vision/target_estimate_generated.h"
+
+namespace y2022::vision {
+
+class TargetEstimator {
+ public:
+ // Computes the location of the target.
+ // blob_point is the mean (x, y) of blob pixels.
+ static TargetEstimateT EstimateTargetLocation(cv::Point2i blob_point,
+ const cv::Mat &intrinsics,
+ const cv::Mat &extrinsics);
+
+ 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;
+};
+
+} // namespace y2022::vision
+
+#endif // Y2022_VISION_POSE_ESTIMATOR_H_
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
new file mode 100644
index 0000000..202b6a0
--- /dev/null
+++ b/y2022/vision/viewer.cc
@@ -0,0 +1,144 @@
+#include <map>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <random>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/time/time.h"
+#include "frc971/vision/vision_generated.h"
+#include "y2022/vision/blob_detector.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(png_dir, "LED_Ring_exp", "Path to a set of images to display.");
+DEFINE_bool(show_features, true, "Show the blobs.");
+
+namespace y2022 {
+namespace vision {
+namespace {
+
+aos::Fetcher<frc971::vision::CameraImage> image_fetcher;
+
+bool DisplayLoop() {
+ int64_t image_timestamp = 0;
+ const frc971::vision::CameraImage *image;
+ // Read next image
+ if (!image_fetcher.FetchNext()) {
+ VLOG(2) << "Couldn't fetch next image";
+ return true;
+ }
+
+ 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;
+
+ // Create color image:
+ cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
+ (void *)image->data()->data());
+ cv::Mat rgb_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+ cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+
+ if (!FLAGS_capture.empty()) {
+ cv::imwrite(FLAGS_capture, rgb_image);
+ return false;
+ }
+
+ cv::Mat binarized_image, ret_image;
+ std::vector<std::vector<cv::Point>> unfiltered_blobs, filtered_blobs;
+ std::vector<BlobDetector::BlobStats> blob_stats;
+ cv::Point centroid;
+ BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
+ filtered_blobs, unfiltered_blobs, blob_stats,
+ centroid);
+
+ LOG(INFO) << image->monotonic_timestamp_ns()
+ << ": # blobs: " << filtered_blobs.size();
+
+ cv::imshow("image", rgb_image);
+ cv::imshow("blobs", ret_image);
+
+ int keystroke = cv::waitKey(1);
+ if ((keystroke & 0xFF) == static_cast<int>('c')) {
+ // Convert again, to get clean image
+ cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+ std::stringstream name;
+ name << "capture-" << aos::realtime_clock::now() << ".png";
+ cv::imwrite(name.str(), rgb_image);
+ LOG(INFO) << "Saved image file: " << name.str();
+ } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return false;
+ }
+ return true;
+}
+
+void ViewerMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ image_fetcher =
+ event_loop.MakeFetcher<frc971::vision::CameraImage>(FLAGS_channel);
+
+ // Run the display loop
+ event_loop.AddPhasedLoop(
+ [&event_loop](int) {
+ if (!DisplayLoop()) {
+ LOG(INFO) << "Calling event_loop Exit";
+ event_loop.Exit();
+ };
+ },
+ ::std::chrono::milliseconds(100));
+
+ event_loop.Run();
+
+ image_fetcher = aos::Fetcher<frc971::vision::CameraImage>();
+}
+
+void ViewerLocal() {
+ std::vector<cv::String> file_list;
+ cv::glob(FLAGS_png_dir + "/*.png", file_list, false);
+ for (auto file : file_list) {
+ LOG(INFO) << "Reading file " << file;
+ cv::Mat rgb_image = cv::imread(file.c_str());
+ std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
+ std::vector<BlobDetector::BlobStats> blob_stats;
+ cv::Mat binarized_image =
+ cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
+ cv::Mat ret_image =
+ cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC3);
+ cv::Point centroid;
+ BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
+ filtered_blobs, unfiltered_blobs, blob_stats,
+ centroid);
+
+ LOG(INFO) << ": # blobs: " << filtered_blobs.size() << " (# removed: "
+ << unfiltered_blobs.size() - filtered_blobs.size() << ")";
+ cv::imshow("image", rgb_image);
+ cv::imshow("blobs", ret_image);
+
+ int keystroke = cv::waitKey(0);
+ if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return;
+ }
+ }
+}
+} // namespace
+} // namespace vision
+} // namespace y2022
+
+// Quick and lightweight viewer for images
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ if (FLAGS_png_dir != "")
+ y2022::vision::ViewerLocal();
+ else
+ y2022::vision::ViewerMain();
+}
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 5f43b70..0ee1e92 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -68,18 +68,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Use ::std::max instead once we have C++14 so that can be
-// constexpr.
-template <typename T>
-constexpr T max(T a, T b) {
- return (a > b) ? a : b;
-}
-
-template <typename T, typename... Rest>
-constexpr T max(T a, T b, T c, Rest... rest) {
- return max(max(a, b), c, rest...);
-}
-
double drivetrain_translate(int32_t in) {
return ((static_cast<double>(in) /
Values::kDrivetrainEncoderCountsPerRevolution()) *
@@ -193,17 +181,33 @@
: ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
event_loop, "/superstructure") {}
+ void set_climber_falcon(
+ ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX> t) {
+ climber_falcon_ = ::std::move(t);
+ climber_falcon_->ConfigSupplyCurrentLimit(
+ {true, Values::kClimberSupplyCurrentLimit(),
+ Values::kClimberSupplyCurrentLimit(), 0});
+ }
+
private:
- void WriteToFalcon(const double voltage,
- ::ctre::phoenix::motorcontrol::can::TalonFX *falcon) {
+ void WriteToFalconCan(const double voltage,
+ ::ctre::phoenix::motorcontrol::can::TalonFX *falcon) {
falcon->Set(
ctre::phoenix::motorcontrol::ControlMode::PercentOutput,
std::clamp(voltage, -kMaxBringupPower, kMaxBringupPower) / 12.0);
}
- void Write(const superstructure::Output & /* output */) override {}
+ void Write(const superstructure::Output &output) override {
+ WriteToFalconCan(output.climber_voltage(), climber_falcon_.get());
+ }
- void Stop() override { AOS_LOG(WARNING, "Superstructure output too old.\n"); }
+ void Stop() override {
+ AOS_LOG(WARNING, "Superstructure output too old.\n");
+ climber_falcon_->Set(ctre::phoenix::motorcontrol::ControlMode::Disabled, 0);
+ }
+
+ ::std::unique_ptr<::ctre::phoenix::motorcontrol::can::TalonFX>
+ climber_falcon_;
};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
@@ -246,6 +250,9 @@
SuperstructureWriter superstructure_writer(&output_event_loop);
+ superstructure_writer.set_climber_falcon(
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
+
AddLoop(&output_event_loop);
RunLoops();
diff --git a/y2022/y2022.json b/y2022/y2022.json
index 4abbd5e..010c675 100644
--- a/y2022/y2022.json
+++ b/y2022/y2022.json
@@ -1,39 +1,23 @@
{
- "channels":
- [
+ "channel_storage_duration": 2000000000,
+ "maps": [
{
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Goal",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Status",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Output",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Position",
- "frequency": 200
- }
- ],
- "applications": [
- {
- "name": "drivetrain"
- },
- {
- "name": "superstructure"
+ "match": {
+ "name": "/aos",
+ "type": "aos.RobotState"
+ },
+ "rename": {
+ "name": "/roborio/aos"
+ }
}
],
"imports": [
- "../frc971/input/robot_state_config.json",
- "../frc971/control_loops/drivetrain/drivetrain_config.json",
- "../frc971/autonomous/autonomous_config.json",
- "../frc971/wpilib/wpilib_config.json"
+ "y2022_roborio.json",
+ "y2022_pi1.json",
+ "y2022_pi2.json",
+ "y2022_pi3.json",
+ "y2022_pi4.json",
+ "y2022_pi5.json",
+ "y2022_logger.json"
]
}
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
new file mode 100644
index 0000000..1c71234
--- /dev/null
+++ b/y2022/y2022_logger.json
@@ -0,0 +1,483 @@
+{
+ "channels": [
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes" : ["roborio"]
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.IMUValuesBatch",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/pi1/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.timing.Report",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "logger",
+ "frequency": 400,
+ "num_senders": 20
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "logger",
+ "frequency": 15,
+ "num_senders": 2,
+ "max_size": 400,
+ "destination_nodes": [
+ {
+ "name": "pi1",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi2",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi3",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi4",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi5",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi5/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/pi1/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "logger"
+ },
+ "rename": {
+ "name": "/logger/aos"
+ }
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "args": ["--rmem=8388608"],
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "image_logger",
+ "executable_name": "logger_main",
+ "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress"],
+ "nodes": [
+ "logger"
+ ]
+ }
+ ],
+ "nodes": [
+ {
+ "name": "logger",
+ "hostname": "logger",
+ "hostnames": [
+ "pi-971-6",
+ "pi-9971-6",
+ "ASchuh-T480s",
+ "aschuh-3950x"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "pi1"
+ },
+ {
+ "name": "pi2"
+ },
+ {
+ "name": "pi3"
+ },
+ {
+ "name": "roborio"
+ },
+ {
+ "name": "pi4"
+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
new file mode 100644
index 0000000..4994a36
--- /dev/null
+++ b/y2022/y2022_pi_template.json
@@ -0,0 +1,278 @@
+{
+ "channels": [
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.timing.Report",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 200,
+ "num_senders": 20
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.Status",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 15,
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio"
+ ],
+ "max_size": 200,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 25,
+ "max_size": 620000,
+ "num_senders": 18
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
+ "type": "y2022.vision.TargetEstimate",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 25,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "camera_reader",
+ "executable_name": "camera_reader",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/aos"
+ }
+ },
+ {
+ "match": {
+ "name": "/camera*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/camera"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "hostname": "pi{{ NUM }}",
+ "hostnames": [
+ "pi-971-{{ NUM }}",
+ "pi-7971-{{ NUM }}",
+ "pi-8971-{{ NUM }}",
+ "pi-9971-{{ NUM }}"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "roborio"
+ }
+ ]
+}
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
new file mode 100644
index 0000000..24144a8
--- /dev/null
+++ b/y2022/y2022_roborio.json
@@ -0,0 +1,456 @@
+{
+ "channels": [
+ {
+ "name": "/roborio/aos",
+ "type": "aos.JoystickState",
+ "source_node": "roborio",
+ "frequency": 75
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.RobotState",
+ "source_node": "roborio",
+ "frequency": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.timing.Report",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "roborio",
+ "frequency": 500,
+ "max_size": 344,
+ "num_senders": 20
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "frequency": 10,
+ "max_size": 400,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "roborio",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "roborio",
+ "frequency": 15,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 200,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi5/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "roborio",
+ "frequency": 15,
+ "num_senders": 2,
+ "max_size": 304,
+ "destination_nodes": [
+ {
+ "name": "pi1",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi2",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi3",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi4",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi5",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Goal",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 512
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Status",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Output",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 224
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Position",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 448
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.IMUValuesBatch",
+ "source_node": "roborio",
+ "frequency": 250,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.sensors.GyroReading",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.sensors.Uid",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.fb.Trajectory",
+ "source_node": "roborio",
+ "max_size": 600000,
+ "frequency": 10,
+ "logger": "NOT_LOGGED",
+ "num_senders": 2,
+ "read_method": "PIN",
+ "num_readers": 10
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.SplineGoal",
+ "source_node": "roborio",
+ "frequency": 10
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Goal",
+ "source_node": "roborio",
+ "max_size": 224,
+ "frequency": 200
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 112,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Output",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 80,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Status",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 1616,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.LocalizerControl",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 96
+ },
+ {
+ "name": "/drivetrain",
+ "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "aos.common.actions.Status",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.Goal",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.AutonomousMode",
+ "source_node": "roborio",
+ "frequency": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "frc971.PDPValues",
+ "source_node": "roborio",
+ "frequency": 55,
+ "max_size": 368
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "frc971.wpilib.PneumaticsToLog",
+ "source_node": "roborio",
+ "frequency": 50
+ }
+ ],
+ "applications": [
+ {
+ "name": "drivetrain",
+ "executable_name": "drivetrain",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "trajectory_generator",
+ "executable_name": "trajectory_generator",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "superstructure",
+ "executable_name": "superstructure",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "joystick_reader",
+ "executable_name": "joystick_reader",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "wpilib_interface",
+ "executable_name": "wpilib_interface",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "autonomous_action",
+ "executable_name": "autonomous_action",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "args": ["--rt_priority=16"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "args": ["--rt_priority=16"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "logger",
+ "executable_name": "logger_main",
+ "args": ["--snappy_compress"],
+ "nodes": [
+ "roborio"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/aos"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "roborio",
+ "hostname": "roborio",
+ "hostnames": [
+ "roboRIO-971-FRC",
+ "roboRIO-6971-FRC",
+ "roboRIO-7971-FRC",
+ "roboRIO-8971-FRC",
+ "roboRIO-9971-FRC"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "pi1"
+ },
+ {
+ "name": "pi2"
+ },
+ {
+ "name": "pi3"
+ },
+ {
+ "name": "pi4"
+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}
diff --git a/yarn.lock b/yarn.lock
index dc90302..7c4ac25 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2,19 +2,1080 @@
# yarn lockfile v1
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+"@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==
dependencies:
- "@bazel/worker" "4.4.6"
+ "@angular-devkit/core" "13.1.4"
+ 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==
+ dependencies:
+ ajv "8.8.2"
+ 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"
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+ dependencies:
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+ jsonc-parser "3.0.0"
+ magic-string "0.25.7"
+ ora "5.4.1"
+ rxjs "6.6.7"
+
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+ version "13.1.3"
+ resolved "https://registry.yarnpkg.com/@angular/animations/-/animations-13.1.3.tgz#2da6ad99602bfb450624a7499d6f81366c3a4519"
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+ dependencies:
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+
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+ resolved "https://registry.yarnpkg.com/@angular/cli/-/cli-13.1.4.tgz#34e6e87d1c6950408167c41293cf2cd5d1e00a2e"
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+ dependencies:
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+ "@yarnpkg/lockfile" "1.1.0"
+ ansi-colors "4.1.1"
+ debug "4.3.3"
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+ npm-pick-manifest "6.1.1"
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+ resolve "1.20.0"
+ semver "7.3.5"
+ symbol-observable "4.0.0"
+ uuid "8.3.2"
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+ dependencies:
+ infer-owner "^1.0.4"
+
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+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/@npmcli/run-script/-/run-script-2.0.0.tgz#9949c0cab415b17aaac279646db4f027d6f1e743"
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+ dependencies:
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+ "@npmcli/promise-spawn" "^1.3.2"
+ node-gyp "^8.2.0"
+ read-package-json-fast "^2.0.1"
+
"@protobufjs/aspromise@^1.1.1", "@protobufjs/aspromise@^1.1.2":
version "1.1.2"
resolved "https://registry.yarnpkg.com/@protobufjs/aspromise/-/aspromise-1.1.2.tgz#9b8b0cc663d669a7d8f6f5d0893a14d348f30fbf"
@@ -106,6 +1244,20 @@
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"
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+ dependencies:
+ "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/schematics" "13.1.4"
+ jsonc-parser "3.0.0"
+
+"@tootallnate/once@1":
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-1.1.2.tgz#ccb91445360179a04e7fe6aff78c00ffc1eeaf82"
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+
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version "0.0.39"
resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
@@ -138,30 +1290,564 @@
dependencies:
"@types/node" "*"
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+ version "1.1.0"
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+
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+ resolved "https://registry.yarnpkg.com/abbrev/-/abbrev-1.1.1.tgz#f8f2c887ad10bf67f634f005b6987fed3179aac8"
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+
+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"
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+ dependencies:
+ debug "4"
+
+agentkeepalive@^4.1.3:
+ version "4.2.0"
+ resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.0.tgz#616ce94ccb41d1a39a45d203d8076fe98713062d"
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+ dependencies:
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+ depd "^1.1.2"
+ humanize-ms "^1.2.1"
+
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+ version "3.1.0"
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+ dependencies:
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+ resolved "https://registry.yarnpkg.com/fs-readdir-recursive/-/fs-readdir-recursive-1.1.0.tgz#e32fc030a2ccee44a6b5371308da54be0b397d27"
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+
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+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/fs.realpath/-/fs.realpath-1.0.0.tgz#1504ad2523158caa40db4a2787cb01411994ea4f"
+ integrity sha1-FQStJSMVjKpA20onh8sBQRmU6k8=
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resolved "https://registry.yarnpkg.com/fsevents/-/fsevents-2.3.2.tgz#8a526f78b8fdf4623b709e0b975c52c24c02fd1a"
@@ -172,11 +1858,94 @@
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+gauge@^4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/gauge/-/gauge-4.0.0.tgz#afba07aa0374a93c6219603b1fb83eaa2264d8f8"
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+ dependencies:
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+ aproba "^1.0.3 || ^2.0.0"
+ color-support "^1.1.2"
+ console-control-strings "^1.0.0"
+ has-unicode "^2.0.1"
+ signal-exit "^3.0.0"
+ string-width "^4.2.3"
+ strip-ansi "^6.0.1"
+ wide-align "^1.1.2"
+
+gensync@^1.0.0-beta.2:
+ version "1.0.0-beta.2"
+ resolved "https://registry.yarnpkg.com/gensync/-/gensync-1.0.0-beta.2.tgz#32a6ee76c3d7f52d46b2b1ae5d93fea8580a25e0"
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+
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+ version "2.0.5"
+ resolved "https://registry.yarnpkg.com/get-caller-file/-/get-caller-file-2.0.5.tgz#4f94412a82db32f36e3b0b9741f8a97feb031f7e"
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+
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@@ -184,33 +1953,656 @@
dependencies:
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+ dependencies:
+ aggregate-error "^3.0.0"
+
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+ version "12.0.2"
+ resolved "https://registry.yarnpkg.com/pacote/-/pacote-12.0.2.tgz#14ae30a81fe62ec4fc18c071150e6763e932527c"
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+ "@npmcli/installed-package-contents" "^1.0.6"
+ "@npmcli/promise-spawn" "^1.2.0"
+ "@npmcli/run-script" "^2.0.0"
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+ chownr "^2.0.0"
+ fs-minipass "^2.1.0"
+ infer-owner "^1.0.4"
+ minipass "^3.1.3"
+ mkdirp "^1.0.3"
+ npm-package-arg "^8.0.1"
+ npm-packlist "^3.0.0"
+ npm-pick-manifest "^6.0.0"
+ npm-registry-fetch "^11.0.0"
+ promise-retry "^2.0.1"
+ read-package-json-fast "^2.0.1"
+ rimraf "^3.0.2"
+ ssri "^8.0.1"
+ tar "^6.1.0"
+
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+ version "6.0.1"
+ resolved "https://registry.yarnpkg.com/parse5/-/parse5-6.0.1.tgz#e1a1c085c569b3dc08321184f19a39cc27f7c30b"
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+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/path-is-absolute/-/path-is-absolute-1.0.1.tgz#174b9268735534ffbc7ace6bf53a5a9e1b5c5f5f"
+ integrity sha1-F0uSaHNVNP+8es5r9TpanhtcX18=
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resolved "https://registry.yarnpkg.com/path-parse/-/path-parse-1.0.7.tgz#fbc114b60ca42b30d9daf5858e4bd68bbedb6735"
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-picomatch@^2.2.2:
+picocolors@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.0.0.tgz#cb5bdc74ff3f51892236eaf79d68bc44564ab81c"
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+picomatch@^2.0.4, picomatch@^2.2.1, picomatch@^2.2.2:
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resolved "https://registry.yarnpkg.com/picomatch/-/picomatch-2.3.1.tgz#3ba3833733646d9d3e4995946c1365a67fb07a42"
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+pify@^4.0.1:
+ version "4.0.1"
+ resolved "https://registry.yarnpkg.com/pify/-/pify-4.0.1.tgz#4b2cd25c50d598735c50292224fd8c6df41e3231"
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+
+promise-inflight@^1.0.1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/promise-inflight/-/promise-inflight-1.0.1.tgz#98472870bf228132fcbdd868129bad12c3c029e3"
+ integrity sha1-mEcocL8igTL8vdhoEputEsPAKeM=
+
+promise-retry@^2.0.1:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/promise-retry/-/promise-retry-2.0.1.tgz#ff747a13620ab57ba688f5fc67855410c370da22"
+ integrity sha512-y+WKFlBR8BGXnsNlIHFGPZmyDf3DFMoLhaflAnyZgV6rG6xu+JwesTo2Q9R6XwYmtmwAFCkAk3e35jEdoeh/3g==
+ dependencies:
+ err-code "^2.0.2"
+ retry "^0.12.0"
+
protobufjs@6.8.8:
version "6.8.8"
resolved "https://registry.yarnpkg.com/protobufjs/-/protobufjs-6.8.8.tgz#c8b4f1282fd7a90e6f5b109ed11c84af82908e7c"
@@ -230,7 +2622,107 @@
"@types/node" "^10.1.0"
long "^4.0.0"
-resolve@^1.19.0:
+punycode@^2.1.0:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/punycode/-/punycode-2.1.1.tgz#b58b010ac40c22c5657616c8d2c2c02c7bf479ec"
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+
+read-package-json-fast@^2.0.1:
+ version "2.0.3"
+ resolved "https://registry.yarnpkg.com/read-package-json-fast/-/read-package-json-fast-2.0.3.tgz#323ca529630da82cb34b36cc0b996693c98c2b83"
+ integrity sha512-W/BKtbL+dUjTuRL2vziuYhp76s5HZ9qQhd/dKfWIZveD0O40453QNyZhC0e63lqZrAQ4jiOapVoeJ7JrszenQQ==
+ dependencies:
+ json-parse-even-better-errors "^2.3.0"
+ npm-normalize-package-bin "^1.0.1"
+
+readable-stream@^3.4.0, readable-stream@^3.6.0:
+ version "3.6.0"
+ resolved "https://registry.yarnpkg.com/readable-stream/-/readable-stream-3.6.0.tgz#337bbda3adc0706bd3e024426a286d4b4b2c9198"
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+ dependencies:
+ inherits "^2.0.3"
+ 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"
+ integrity sha512-hOS089on8RduqdbhvQ5Z37A0ESjsqz6qnRcffsMU3495FuTdqSm+7bhJ29JvIOsBDEEnan5DPu9t3To9VRlMzA==
+ dependencies:
+ picomatch "^2.2.1"
+
+reflect-metadata@^0.1.2:
+ version "0.1.13"
+ resolved "https://registry.yarnpkg.com/reflect-metadata/-/reflect-metadata-0.1.13.tgz#67ae3ca57c972a2aa1642b10fe363fe32d49dc08"
+ integrity sha512-Ts1Y/anZELhSsjMcU605fU9RE4Oi3p5ORujwbIKXfWa+0Zxs510Qrmrce5/Jowq3cHSZSJqBjypxmHarc+vEWg==
+
+regenerate-unicode-properties@^9.0.0:
+ version "9.0.0"
+ resolved "https://registry.yarnpkg.com/regenerate-unicode-properties/-/regenerate-unicode-properties-9.0.0.tgz#54d09c7115e1f53dc2314a974b32c1c344efe326"
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+ dependencies:
+ regenerate "^1.4.2"
+
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+ version "1.4.2"
+ resolved "https://registry.yarnpkg.com/regenerate/-/regenerate-1.4.2.tgz#b9346d8827e8f5a32f7ba29637d398b69014848a"
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+
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+ version "0.13.9"
+ resolved "https://registry.yarnpkg.com/regenerator-runtime/-/regenerator-runtime-0.13.9.tgz#8925742a98ffd90814988d7566ad30ca3b263b52"
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+
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+ version "0.14.5"
+ resolved "https://registry.yarnpkg.com/regenerator-transform/-/regenerator-transform-0.14.5.tgz#c98da154683671c9c4dcb16ece736517e1b7feb4"
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+ dependencies:
+ "@babel/runtime" "^7.8.4"
+
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+ version "4.8.0"
+ resolved "https://registry.yarnpkg.com/regexpu-core/-/regexpu-core-4.8.0.tgz#e5605ba361b67b1718478501327502f4479a98f0"
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+ dependencies:
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+ regenerate-unicode-properties "^9.0.0"
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+ regjsparser "^0.7.0"
+ unicode-match-property-ecmascript "^2.0.0"
+ unicode-match-property-value-ecmascript "^2.0.0"
+
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+ version "0.5.2"
+ resolved "https://registry.yarnpkg.com/regjsgen/-/regjsgen-0.5.2.tgz#92ff295fb1deecbf6ecdab2543d207e91aa33733"
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+
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+ version "0.7.0"
+ resolved "https://registry.yarnpkg.com/regjsparser/-/regjsparser-0.7.0.tgz#a6b667b54c885e18b52554cb4960ef71187e9968"
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+ dependencies:
+ jsesc "~0.5.0"
+
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+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/require-directory/-/require-directory-2.1.1.tgz#8c64ad5fd30dab1c976e2344ffe7f792a6a6df42"
+ integrity sha1-jGStX9MNqxyXbiNE/+f3kqam30I=
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+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/require-from-string/-/require-from-string-2.0.2.tgz#89a7fdd938261267318eafe14f9c32e598c36909"
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+
+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==
+ dependencies:
+ is-core-module "^2.2.0"
+ path-parse "^1.0.6"
+
+resolve@^1.14.2, resolve@^1.19.0:
version "1.21.0"
resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.21.0.tgz#b51adc97f3472e6a5cf4444d34bc9d6b9037591f"
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@@ -239,18 +2731,131 @@
path-parse "^1.0.7"
supports-preserve-symlinks-flag "^1.0.0"
+restore-cursor@^3.1.0:
+ version "3.1.0"
+ resolved "https://registry.yarnpkg.com/restore-cursor/-/restore-cursor-3.1.0.tgz#39f67c54b3a7a58cea5236d95cf0034239631f7e"
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+ dependencies:
+ onetime "^5.1.0"
+ signal-exit "^3.0.2"
+
+retry@^0.12.0:
+ version "0.12.0"
+ resolved "https://registry.yarnpkg.com/retry/-/retry-0.12.0.tgz#1b42a6266a21f07421d1b0b54b7dc167b01c013b"
+ integrity sha1-G0KmJmoh8HQh0bC1S33BZ7AcATs=
+
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+ version "3.0.2"
+ resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-3.0.2.tgz#f1a5402ba6220ad52cc1282bac1ae3aa49fd061a"
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+ dependencies:
+ glob "^7.1.3"
+
rollup@latest:
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- resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.60.2.tgz#3f45ace36a9b10b4297181831ea0719922513463"
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+ version "2.64.0"
+ resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.64.0.tgz#f0f59774e21fbb56de438a37d06a2189632b207a"
+ integrity sha512-+c+lbw1lexBKSMb1yxGDVfJ+vchJH3qLbmavR+awDinTDA2C5Ug9u7lkOzj62SCu0PKUExsW36tpgW7Fmpn3yQ==
optionalDependencies:
fsevents "~2.3.2"
+run-async@^2.4.0:
+ version "2.4.1"
+ resolved "https://registry.yarnpkg.com/run-async/-/run-async-2.4.1.tgz#8440eccf99ea3e70bd409d49aab88e10c189a455"
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+ dependencies:
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+
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+ dependencies:
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+
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+ version "5.1.2"
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+
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+ version "5.2.1"
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+semver@7.0.0:
+ version "7.0.0"
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+ dependencies:
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+ resolved "https://registry.yarnpkg.com/socks-proxy-agent/-/socks-proxy-agent-6.1.1.tgz#e664e8f1aaf4e1fb3df945f09e3d94f911137f87"
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+ dependencies:
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+ debug "^4.3.1"
+ socks "^2.6.1"
+
+socks@^2.6.1:
+ version "2.6.1"
+ resolved "https://registry.yarnpkg.com/socks/-/socks-2.6.1.tgz#989e6534a07cf337deb1b1c94aaa44296520d30e"
+ integrity sha512-kLQ9N5ucj8uIcxrDwjm0Jsqk06xdpBjGNQtpXy4Q8/QY2k+fY7nZH8CARy+hkbG+SGAovmzzuauCpBlb8FrnBA==
+ dependencies:
+ ip "^1.1.5"
+ smart-buffer "^4.1.0"
+
source-map-support@0.5.9:
version "0.5.9"
resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.9.tgz#41bc953b2534267ea2d605bccfa7bfa3111ced5f"
@@ -266,20 +2871,91 @@
buffer-from "^1.0.0"
source-map "^0.6.0"
+source-map@0.7.3, source-map@~0.7.2:
+ version "0.7.3"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
+ integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
+
+source-map@^0.5.0:
+ version "0.5.7"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.5.7.tgz#8a039d2d1021d22d1ea14c80d8ea468ba2ef3fcc"
+ integrity sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=
+
source-map@^0.6.0:
version "0.6.1"
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.6.1.tgz#74722af32e9614e9c287a8d0bbde48b5e2f1a263"
-source-map@~0.7.2:
- version "0.7.3"
- resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
- integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
+sourcemap-codec@^1.4.4, sourcemap-codec@^1.4.8:
+ version "1.4.8"
+ resolved "https://registry.yarnpkg.com/sourcemap-codec/-/sourcemap-codec-1.4.8.tgz#ea804bd94857402e6992d05a38ef1ae35a9ab4c4"
+ integrity sha512-9NykojV5Uih4lgo5So5dtw+f0JgJX30KCNI8gwhz2J9A15wD0Ml6tjHKwf6fTSa6fAdVBdZeNOs9eJ71qCk8vA==
+
+ssri@^8.0.0, ssri@^8.0.1:
+ version "8.0.1"
+ resolved "https://registry.yarnpkg.com/ssri/-/ssri-8.0.1.tgz#638e4e439e2ffbd2cd289776d5ca457c4f51a2af"
+ integrity sha512-97qShzy1AiyxvPNIkLWoGua7xoQzzPjQ0HAH4B0rWKo7SZ6USuPcrUiAFrws0UH8RrbWmgq3LMTObhPIHbbBeQ==
+ dependencies:
+ minipass "^3.1.1"
+
+"string-width@^1.0.2 || 2 || 3 || 4", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3:
+ version "4.2.3"
+ resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010"
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+ dependencies:
+ emoji-regex "^8.0.0"
+ is-fullwidth-code-point "^3.0.0"
+ strip-ansi "^6.0.1"
+
+string_decoder@^1.1.1:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/string_decoder/-/string_decoder-1.3.0.tgz#42f114594a46cf1a8e30b0a84f56c78c3edac21e"
+ integrity sha512-hkRX8U1WjJFd8LsDJ2yQ/wWWxaopEsABU1XfkM8A+j0+85JAGppt16cr1Whg6KIbb4okU6Mql6BOj+uup/wKeA==
+ dependencies:
+ safe-buffer "~5.2.0"
+
+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"
+ integrity sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==
+ dependencies:
+ ansi-regex "^5.0.1"
+
+supports-color@^5.3.0:
+ version "5.5.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-5.5.0.tgz#e2e69a44ac8772f78a1ec0b35b689df6530efc8f"
+ integrity sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==
+ dependencies:
+ has-flag "^3.0.0"
+
+supports-color@^7.1.0:
+ version "7.2.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-7.2.0.tgz#1b7dcdcb32b8138801b3e478ba6a51caa89648da"
+ integrity sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==
+ dependencies:
+ has-flag "^4.0.0"
supports-preserve-symlinks-flag@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz#6eda4bd344a3c94aea376d4cc31bc77311039e09"
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+symbol-observable@4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/symbol-observable/-/symbol-observable-4.0.0.tgz#5b425f192279e87f2f9b937ac8540d1984b39205"
+ integrity sha512-b19dMThMV4HVFynSAM1++gBHAbk2Tc/osgLIBZMKsyqh34jb2e8Os7T6ZW/Bt3pJFdBTd2JwAnAAEQV7rSNvcQ==
+
+tar@^6.0.2, tar@^6.1.0, tar@^6.1.2:
+ version "6.1.11"
+ resolved "https://registry.yarnpkg.com/tar/-/tar-6.1.11.tgz#6760a38f003afa1b2ffd0ffe9e9abbd0eab3d621"
+ integrity sha512-an/KZQzQUkZCkuoAA64hM92X0Urb6VpRhAFllDzz44U2mcD5scmT3zBc4VgVpkugF580+DQn8eAFSyoQt0tznA==
+ dependencies:
+ chownr "^2.0.0"
+ fs-minipass "^2.0.0"
+ minipass "^3.0.0"
+ minizlib "^2.1.1"
+ mkdirp "^1.0.3"
+ yallist "^4.0.0"
+
terser@latest:
version "5.10.0"
resolved "https://registry.yarnpkg.com/terser/-/terser-5.10.0.tgz#b86390809c0389105eb0a0b62397563096ddafcc"
@@ -289,10 +2965,44 @@
source-map "~0.7.2"
source-map-support "~0.5.20"
+through@^2.3.6:
+ version "2.3.8"
+ resolved "https://registry.yarnpkg.com/through/-/through-2.3.8.tgz#0dd4c9ffaabc357960b1b724115d7e0e86a2e1f5"
+ integrity sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU=
+
+tmp@^0.0.33:
+ version "0.0.33"
+ resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.33.tgz#6d34335889768d21b2bcda0aa277ced3b1bfadf9"
+ integrity sha512-jRCJlojKnZ3addtTOjdIqoRuPEKBvNXcGYqzO6zWZX8KfKEpnGY5jfggJQ3EjKuu8D4bJRr0y+cYJFmYbImXGw==
+ dependencies:
+ os-tmpdir "~1.0.2"
+
+to-fast-properties@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/to-fast-properties/-/to-fast-properties-2.0.0.tgz#dc5e698cbd079265bc73e0377681a4e4e83f616e"
+ integrity sha1-3F5pjL0HkmW8c+A3doGk5Og/YW4=
+
+to-regex-range@^5.0.1:
+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/to-regex-range/-/to-regex-range-5.0.1.tgz#1648c44aae7c8d988a326018ed72f5b4dd0392e4"
+ integrity sha512-65P7iz6X5yEr1cwcgvQxbbIw7Uk3gOy5dIdtZ4rDveLqhrdJP+Li/Hx6tyK0NEb+2GCyneCMJiGqrADCSNk8sQ==
+ dependencies:
+ is-number "^7.0.0"
+
tslib@^1.8.1:
version "1.9.3"
resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
+tslib@^1.9.0:
+ version "1.14.1"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.14.1.tgz#cf2d38bdc34a134bcaf1091c41f6619e2f672d00"
+ integrity sha512-Xni35NKzjgMrwevysHTCArtLDpPvye8zV/0E4EyYn43P7/7qvQwPh9BGkHewbMulVntbigmcT7rdX3BNo9wRJg==
+
+tslib@^2.0.0, tslib@^2.1.0, tslib@^2.3.0:
+ version "2.3.1"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.3.1.tgz#e8a335add5ceae51aa261d32a490158ef042ef01"
+ integrity sha512-77EbyPPpMz+FRFRuAFlWMtmgUWGe9UOG2Z25NqCwiIjRhOf5iKGuzSe5P2w1laq+FkRy4p+PCuVkJSGkzTEKVw==
+
tsutils@3.21.0:
version "3.21.0"
resolved "https://registry.yarnpkg.com/tsutils/-/tsutils-3.21.0.tgz#b48717d394cea6c1e096983eed58e9d61715b623"
@@ -300,7 +3010,143 @@
dependencies:
tslib "^1.8.1"
+type-fest@^0.21.3:
+ version "0.21.3"
+ resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-0.21.3.tgz#d260a24b0198436e133fa26a524a6d65fa3b2e37"
+ integrity sha512-t0rzBq87m3fVcduHDUFhKmyyX+9eo6WQjZvf51Ea/M0Q7+T374Jp1aUiyUl0GKxp8M/OETVHSDvmkyPgvX+X2w==
+
typescript@latest:
- version "4.5.2"
- resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.2.tgz#8ac1fba9f52256fdb06fb89e4122fa6a346c2998"
- integrity sha512-5BlMof9H1yGt0P8/WF+wPNw6GfctgGjXp5hkblpyT+8rkASSmkUKMXrxR0Xg8ThVCi/JnHQiKXeBaEwCeQwMFw==
+ version "4.5.4"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.4.tgz#a17d3a0263bf5c8723b9c52f43c5084edf13c2e8"
+ integrity sha512-VgYs2A2QIRuGphtzFV7aQJduJ2gyfTljngLzjpfW9FoYZF6xuw1W0vW9ghCKLfcWrCFxK81CSGRAvS1pn4fIUg==
+
+unicode-canonical-property-names-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-canonical-property-names-ecmascript/-/unicode-canonical-property-names-ecmascript-2.0.0.tgz#301acdc525631670d39f6146e0e77ff6bbdebddc"
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+
+unicode-match-property-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-match-property-ecmascript/-/unicode-match-property-ecmascript-2.0.0.tgz#54fd16e0ecb167cf04cf1f756bdcc92eba7976c3"
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+ dependencies:
+ unicode-canonical-property-names-ecmascript "^2.0.0"
+ unicode-property-aliases-ecmascript "^2.0.0"
+
+unicode-match-property-value-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-match-property-value-ecmascript/-/unicode-match-property-value-ecmascript-2.0.0.tgz#1a01aa57247c14c568b89775a54938788189a714"
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+
+unicode-property-aliases-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-property-aliases-ecmascript/-/unicode-property-aliases-ecmascript-2.0.0.tgz#0a36cb9a585c4f6abd51ad1deddb285c165297c8"
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+
+unique-filename@^1.1.1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/unique-filename/-/unique-filename-1.1.1.tgz#1d69769369ada0583103a1e6ae87681b56573230"
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+ dependencies:
+ unique-slug "^2.0.0"
+
+unique-slug@^2.0.0:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/unique-slug/-/unique-slug-2.0.2.tgz#baabce91083fc64e945b0f3ad613e264f7cd4e6c"
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+ dependencies:
+ imurmurhash "^0.1.4"
+
+uri-js@^4.2.2:
+ version "4.4.1"
+ resolved "https://registry.yarnpkg.com/uri-js/-/uri-js-4.4.1.tgz#9b1a52595225859e55f669d928f88c6c57f2a77e"
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+ dependencies:
+ punycode "^2.1.0"
+
+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=
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+
+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"
+ integrity sha1-X6kS2B630MdK/BQN5zF/DKffQ34=
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+ resolved "https://registry.yarnpkg.com/wcwidth/-/wcwidth-1.0.1.tgz#f0b0dcf915bc5ff1528afadb2c0e17b532da2fe8"
+ integrity sha1-8LDc+RW8X/FSivrbLA4XtTLaL+g=
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+ resolved "https://registry.yarnpkg.com/which/-/which-2.0.2.tgz#7c6a8dd0a636a0327e10b59c9286eee93f3f51b1"
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+ dependencies:
+ isexe "^2.0.0"
+
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+ version "1.1.5"
+ resolved "https://registry.yarnpkg.com/wide-align/-/wide-align-1.1.5.tgz#df1d4c206854369ecf3c9a4898f1b23fbd9d15d3"
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+ dependencies:
+ string-width "^1.0.2 || 2 || 3 || 4"
+
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+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
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+ dependencies:
+ ansi-styles "^4.0.0"
+ string-width "^4.1.0"
+ strip-ansi "^6.0.0"
+
+wrappy@1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
+ integrity sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=
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+ version "5.0.8"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-5.0.8.tgz#7f4934d0f7ca8c56f95314939ddcd2dd91ce1d55"
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+
+yallist@^4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/yallist/-/yallist-4.0.0.tgz#9bb92790d9c0effec63be73519e11a35019a3a72"
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+
+yargs-parser@^21.0.0:
+ version "21.0.0"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-21.0.0.tgz#a485d3966be4317426dd56bdb6a30131b281dc55"
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+
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+ version "17.3.1"
+ resolved "https://registry.yarnpkg.com/yargs/-/yargs-17.3.1.tgz#da56b28f32e2fd45aefb402ed9c26f42be4c07b9"
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+ dependencies:
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+ escalade "^3.1.1"
+ get-caller-file "^2.0.5"
+ require-directory "^2.1.1"
+ string-width "^4.2.3"
+ y18n "^5.0.5"
+ yargs-parser "^21.0.0"
+
+zone.js@^0.11.4:
+ version "0.11.4"
+ resolved "https://registry.yarnpkg.com/zone.js/-/zone.js-0.11.4.tgz#0f70dcf6aba80f698af5735cbb257969396e8025"
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+ dependencies:
+ tslib "^2.0.0"
