Merge "Change match structure in db"
diff --git a/WORKSPACE b/WORKSPACE
index aa92b7e..2b3531c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -750,9 +750,9 @@
deps = ["@//third_party/allwpilib/wpimath"],
)
""",
- sha256 = "d9d6c48df9318cf106237a44bf7ad95e4092618bc3ab731092e9b733cacb1ffc",
+ sha256 = "7ffc54bf40814a5c101ea3159af15215f15087298cfc2ae65826f987ccf65499",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.1/api-cpp-23.0.1-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.5/api-cpp-23.0.5-headers.zip",
],
)
@@ -774,9 +774,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "3d228fdf8565de5411a739fa2670d4ef5390acb15ceb4d3cbef8c76b5adc7682",
+ sha256 = "1e8a487cb538388de437d04985512533a9dea79e6c56ee0f319c5eb80260fcab",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.1/api-cpp-23.0.1-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.5/api-cpp-23.0.5-linuxathena.zip",
],
)
@@ -789,9 +789,9 @@
hdrs = glob(['ctre/**/*.h', 'ctre/**/*.hpp']),
)
""",
- sha256 = "74d79bb3e739d9d6b87311656b0530aaefc211952cc647a3d57776a0cee9efce",
+ sha256 = "51c52dfce4c2491887a7b7380e2f17e93a4092b6ac9f60d716738447a8ebedd7",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.1/tools-23.0.1-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.5/tools-23.0.5-headers.zip",
],
)
@@ -813,9 +813,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "1791b35fdf76aa08ad120e4d689d9440bd386542f63f5c44e4047a06e2e05b9a",
+ sha256 = "9fb137321745c1eff63bdcfe486806afb46ede11ea4d4c59461320845698cc1e",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.1/tools-23.0.1-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.5/tools-23.0.5-linuxathena.zip",
],
)
@@ -1345,3 +1345,23 @@
strip_prefix = "schemas-7a3e077b88142ac46bb4e2616f83dc029b45352e/schemas/flatbuffer",
url = "https://github.com/foxglove/schemas/archive/7a3e077b88142ac46bb4e2616f83dc029b45352e.tar.gz",
)
+
+# This contains the *compiled* foxglove studio. This can be reproduced by:
+# 1. Cloning https://github.com/foxglove/studio
+# 2. Building the code (yarn web:build:prod)
+# 3. tar'ing the web/.webpack folder
+# These files can be hosted locally to provide an offline foxglove server.
+# Foxglove may be served on any port and may be nested at a subpath
+# (e.g., at hostname:8000/foxglove behind a proxy).
+http_archive(
+ name = "foxglove_studio",
+ build_file_content = """
+filegroup(
+ name = "foxglove_studio",
+ srcs = glob(["**"]),
+ visibility = ["//visibility:public"],
+)""",
+ sha256 = "629b150e4c71679e1ac30b8a2dfa558a04bbcca7ad0edd61bd6878d3b243edb6",
+ url =
+ "https://www.frc971.org/Build-Dependencies/foxglove-d6b00825.tar.gz",
+)
diff --git a/aos/BUILD b/aos/BUILD
index b8468bd..0792e67 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -411,9 +411,11 @@
],
data = [
":json_to_flatbuffer_fbs_reflection_out",
+ ":json_to_flatbuffer_test_spaces.json",
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
+ ":flatbuffer_merge",
":json_to_flatbuffer",
":json_to_flatbuffer_fbs",
"//aos/testing:googletest",
diff --git a/aos/containers/resizeable_buffer.h b/aos/containers/resizeable_buffer.h
index 4a4038c..ed0d23e 100644
--- a/aos/containers/resizeable_buffer.h
+++ b/aos/containers/resizeable_buffer.h
@@ -11,18 +11,21 @@
// Kind of like a subset of vector<uint8_t>, but with less destructor calls.
// When building unoptimized, especially with sanitizers, the vector<uint8_t>
// version ends up being really slow in tests.
-class ResizeableBuffer {
+//
+// F is the allocator used for reallocating the memory used by the buffer.
+template <class F>
+class AllocatorResizeableBuffer {
public:
- ResizeableBuffer() = default;
+ AllocatorResizeableBuffer() = default;
- ResizeableBuffer(const ResizeableBuffer &other) { *this = other; }
- ResizeableBuffer(ResizeableBuffer &&other) { *this = std::move(other); }
- ResizeableBuffer &operator=(const ResizeableBuffer &other) {
+ AllocatorResizeableBuffer(const AllocatorResizeableBuffer &other) { *this = other; }
+ AllocatorResizeableBuffer(AllocatorResizeableBuffer &&other) { *this = std::move(other); }
+ AllocatorResizeableBuffer &operator=(const AllocatorResizeableBuffer &other) {
resize(other.size());
memcpy(storage_.get(), other.storage_.get(), size());
return *this;
}
- ResizeableBuffer &operator=(ResizeableBuffer &&other) {
+ AllocatorResizeableBuffer &operator=(AllocatorResizeableBuffer &&other) {
std::swap(storage_, other.storage_);
std::swap(size_, other.size_);
std::swap(capacity_, other.capacity_);
@@ -93,7 +96,7 @@
void Allocate(size_t new_capacity) {
void *const old = storage_.release();
- storage_.reset(CHECK_NOTNULL(realloc(old, new_capacity)));
+ storage_.reset(CHECK_NOTNULL(F::Realloc(old, capacity_, new_capacity)));
capacity_ = new_capacity;
}
@@ -101,6 +104,18 @@
size_t size_ = 0, capacity_ = 0;
};
+// An allocator which just uses realloc to allocate.
+class Reallocator {
+ public:
+ static void *Realloc(void *old, size_t /*old_size*/, size_t new_capacity) {
+ return realloc(old, new_capacity);
+ }
+};
+
+// A resizable buffer which uses realloc when it needs to grow to attempt to
+// avoid full coppies.
+class ResizeableBuffer : public AllocatorResizeableBuffer<Reallocator> {};
+
} // namespace aos
#endif // AOS_CONTAINERS_RESIZEABLE_BUFFER_H_
diff --git a/aos/events/logging/buffer_encoder.cc b/aos/events/logging/buffer_encoder.cc
index 4b3ccf3..5c1d4b2 100644
--- a/aos/events/logging/buffer_encoder.cc
+++ b/aos/events/logging/buffer_encoder.cc
@@ -9,34 +9,32 @@
namespace aos::logger {
-DummyEncoder::DummyEncoder(size_t max_buffer_size) {
- // TODO(austin): This is going to end up writing > 128k chunks, not 128k
- // chunks exactly. If we really want to, we could make it always write 128k
- // chunks by only exposing n * 128k chunks as we go. This might improve write
- // performance, then again, it might have no effect if the kernel is combining
- // writes...
- constexpr size_t kWritePageSize = 128 * 1024;
+DummyEncoder::DummyEncoder(size_t /*max_message_size*/, size_t buffer_size) {
// Round up to the nearest page size.
- input_buffer_.reserve(
- ((max_buffer_size + kWritePageSize - 1) / kWritePageSize) *
- kWritePageSize);
+ input_buffer_.reserve(buffer_size);
return_queue_.resize(1);
}
-bool DummyEncoder::HasSpace(size_t request) const {
- return request + input_buffer_.size() < input_buffer_.capacity();
+size_t DummyEncoder::space() const {
+ return input_buffer_.capacity() - input_buffer_.size();
}
-void DummyEncoder::Encode(Copier *copy) {
- DCHECK(HasSpace(copy->size()));
+bool DummyEncoder::HasSpace(size_t request) const { return request <= space(); }
+
+size_t DummyEncoder::Encode(Copier *copy, size_t start_byte) {
const size_t input_buffer_initial_size = input_buffer_.size();
- input_buffer_.resize(input_buffer_initial_size + copy->size());
- const size_t written_size = copy->Copy(
- input_buffer_.data() + input_buffer_initial_size, 0, copy->size());
- DCHECK_EQ(written_size, copy->size());
+ size_t expected_write_size =
+ std::min(input_buffer_.capacity() - input_buffer_initial_size,
+ copy->size() - start_byte);
+ input_buffer_.resize(input_buffer_initial_size + expected_write_size);
+ const size_t written_size =
+ copy->Copy(input_buffer_.data() + input_buffer_initial_size, start_byte,
+ expected_write_size + start_byte);
total_bytes_ += written_size;
+
+ return written_size;
}
void DummyEncoder::Clear(const int n) {
diff --git a/aos/events/logging/buffer_encoder.h b/aos/events/logging/buffer_encoder.h
index 34de00a..ed5bef6 100644
--- a/aos/events/logging/buffer_encoder.h
+++ b/aos/events/logging/buffer_encoder.h
@@ -30,7 +30,7 @@
size_t size_;
};
- // Coppies a span. The span must have a longer lifetime than the coppier is
+ // Copies a span. The span must have a longer lifetime than the coppier is
// being used.
class SpanCopier : public Copier {
public:
@@ -55,12 +55,13 @@
// the output needs to be flushed.
virtual bool HasSpace(size_t request) const = 0;
- // Encodes and enqueues the given data encoder.
- virtual void Encode(Copier *copy) = 0;
+ // Returns the space available.
+ virtual size_t space() const = 0;
- // If this returns true, the encoder may be bypassed by writing directly to
- // the file.
- virtual bool may_bypass() const { return false; }
+ // Encodes and enqueues the given data encoder. Starts at the start byte
+ // (which must be a multiple of 8 bytes), and goes as far as it can. Returns
+ // the amount encoded.
+ virtual size_t Encode(Copier *copy, size_t start_byte) = 0;
// Finalizes the encoding process. After this, queue_size() represents the
// full extent of data which will be written to this file.
@@ -90,7 +91,7 @@
// and queues it up as is.
class DummyEncoder final : public DataEncoder {
public:
- DummyEncoder(size_t max_buffer_size);
+ DummyEncoder(size_t max_message_size, size_t buffer_size = 128 * 1024);
DummyEncoder(const DummyEncoder &) = delete;
DummyEncoder(DummyEncoder &&other) = delete;
DummyEncoder &operator=(const DummyEncoder &) = delete;
@@ -98,8 +99,8 @@
~DummyEncoder() override = default;
bool HasSpace(size_t request) const final;
- void Encode(Copier *copy) final;
- bool may_bypass() const final { return true; }
+ size_t space() const final;
+ size_t Encode(Copier *copy, size_t start_byte) final;
void Finish() final {}
void Clear(int n) final;
absl::Span<const absl::Span<const uint8_t>> queue() final;
@@ -112,7 +113,21 @@
private:
size_t total_bytes_ = 0;
- ResizeableBuffer input_buffer_;
+ // A class which uses aligned_alloc to allocate sector aligned blocks of
+ // memory.
+ class AlignedReallocator {
+ public:
+ static void *Realloc(void *old, size_t old_size, size_t new_capacity) {
+ void *new_memory = std::aligned_alloc(512, new_capacity);
+ if (old) {
+ memcpy(new_memory, old, old_size);
+ free(old);
+ }
+ return new_memory;
+ }
+ };
+
+ AllocatorResizeableBuffer<AlignedReallocator> input_buffer_;
std::vector<absl::Span<const uint8_t>> return_queue_;
};
diff --git a/aos/events/logging/buffer_encoder_param_test.h b/aos/events/logging/buffer_encoder_param_test.h
index 9e7882d..6085779 100644
--- a/aos/events/logging/buffer_encoder_param_test.h
+++ b/aos/events/logging/buffer_encoder_param_test.h
@@ -45,7 +45,7 @@
<< encoder->queued_bytes() << ", encoding " << buffer.size();
DetachedBufferCopier coppier(std::move(buffer));
- encoder->Encode(&coppier);
+ encoder->Encode(&coppier, 0);
}
return result;
}
diff --git a/aos/events/logging/buffer_encoder_test.cc b/aos/events/logging/buffer_encoder_test.cc
index 5f3ecab..d5e2e5d 100644
--- a/aos/events/logging/buffer_encoder_test.cc
+++ b/aos/events/logging/buffer_encoder_test.cc
@@ -13,9 +13,12 @@
class DummyEncoderTest : public BufferEncoderBaseTest {};
+constexpr size_t kEncoderBufferSize = 4 * 1024 * 1024;
+
// Tests that buffers are concatenated without being modified.
TEST_F(DummyEncoderTest, QueuesBuffersAsIs) {
- DummyEncoder encoder(BufferEncoderBaseTest::kMaxMessageSize);
+ DummyEncoder encoder(BufferEncoderBaseTest::kMaxMessageSize,
+ kEncoderBufferSize);
const auto expected = CreateAndEncode(100, &encoder);
std::vector<uint8_t> data = Flatten(expected);
@@ -26,7 +29,8 @@
// Tests that buffers are concatenated without being modified.
TEST_F(DummyEncoderTest, CoppiesBuffersAsIs) {
- DummyEncoder encoder(BufferEncoderBaseTest::kMaxMessageSize);
+ DummyEncoder encoder(BufferEncoderBaseTest::kMaxMessageSize,
+ kEncoderBufferSize);
const auto expected = CreateAndEncode(100, &encoder);
std::vector<uint8_t> data = Flatten(expected);
@@ -108,7 +112,8 @@
INSTANTIATE_TEST_SUITE_P(
Dummy, BufferEncoderTest,
::testing::Combine(::testing::Values([](size_t max_buffer_size) {
- return std::make_unique<DummyEncoder>(max_buffer_size);
+ return std::make_unique<DummyEncoder>(
+ max_buffer_size, kEncoderBufferSize);
}),
::testing::Values([](std::string_view filename) {
return std::make_unique<DummyDecoder>(filename);
diff --git a/aos/events/logging/log_namer.cc b/aos/events/logging/log_namer.cc
index c0c7c73..86d813f 100644
--- a/aos/events/logging/log_namer.cc
+++ b/aos/events/logging/log_namer.cc
@@ -14,6 +14,8 @@
#include "flatbuffers/flatbuffers.h"
#include "glog/logging.h"
+DECLARE_int32(flush_size);
+
namespace aos {
namespace logger {
@@ -568,7 +570,12 @@
EventLoop *event_loop, const Node *node)
: LogNamer(configuration, event_loop, node),
base_name_(base_name),
- old_base_name_() {}
+ old_base_name_(),
+ encoder_factory_([](size_t max_message_size) {
+ // TODO(austin): For slow channels, can we allocate less memory?
+ return std::make_unique<DummyEncoder>(max_message_size,
+ FLAGS_flush_size);
+ }) {}
MultiNodeLogNamer::~MultiNodeLogNamer() {
if (!ran_out_of_space_) {
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index 4e8c990..07edeac 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -491,10 +491,7 @@
std::vector<std::string> all_filenames_;
std::string temp_suffix_;
- std::function<std::unique_ptr<DataEncoder>(size_t)> encoder_factory_ =
- [](size_t max_message_size) {
- return std::make_unique<DummyEncoder>(max_message_size);
- };
+ std::function<std::unique_ptr<DataEncoder>(size_t)> encoder_factory_;
std::string extension_;
// Storage for statistics from previously-rotated DetachedBufferWriters.
diff --git a/aos/events/logging/logfile_utils.cc b/aos/events/logging/logfile_utils.cc
index 0918545..02a9fdd 100644
--- a/aos/events/logging/logfile_utils.cc
+++ b/aos/events/logging/logfile_utils.cc
@@ -64,6 +64,10 @@
"corrupt message found by MessageReader be silently ignored, "
"providing access to all uncorrupted messages in a logfile.");
+DEFINE_bool(direct, false,
+ "If true, write using O_DIRECT and write 512 byte aligned blocks "
+ "whenever possible.");
+
namespace aos::logger {
namespace {
@@ -81,7 +85,10 @@
DetachedBufferWriter::DetachedBufferWriter(std::string_view filename,
std::unique_ptr<DataEncoder> encoder)
- : filename_(filename), encoder_(std::move(encoder)) {
+ : filename_(filename),
+ encoder_(std::move(encoder)),
+ supports_odirect_(FLAGS_direct) {
+ iovec_.reserve(10);
if (!util::MkdirPIfSpace(filename, 0777)) {
ran_out_of_space_ = true;
} else {
@@ -92,10 +99,38 @@
PCHECK(fd_ != -1) << ": Failed to open " << this->filename()
<< " for writing";
VLOG(1) << "Opened " << this->filename() << " for writing";
+
+ flags_ = fcntl(fd_, F_GETFL, 0);
+ PCHECK(flags_ >= 0) << ": Failed to get flags for " << this->filename();
+
+ EnableDirect();
}
}
}
+void DetachedBufferWriter::EnableDirect() {
+ if (supports_odirect_ && !ODirectEnabled()) {
+ const int new_flags = flags_ | O_DIRECT;
+ // Track if we failed to set O_DIRECT. Note: Austin hasn't seen this call
+ // fail. The write call tends to fail instead.
+ if (fcntl(fd_, F_SETFL, new_flags) == -1) {
+ PLOG(WARNING) << "Failed to set O_DIRECT on " << filename();
+ supports_odirect_ = false;
+ } else {
+ VLOG(1) << "Enabled O_DIRECT on " << filename();
+ flags_ = new_flags;
+ }
+ }
+}
+
+void DetachedBufferWriter::DisableDirect() {
+ if (supports_odirect_ && ODirectEnabled()) {
+ flags_ = flags_ & (~O_DIRECT);
+ PCHECK(fcntl(fd_, F_SETFL, flags_) != -1) << ": Failed to disable O_DIRECT";
+ VLOG(1) << "Disabled O_DIRECT on " << filename();
+ }
+}
+
DetachedBufferWriter::~DetachedBufferWriter() {
Close();
if (ran_out_of_space_) {
@@ -126,10 +161,14 @@
std::swap(total_write_count_, other.total_write_count_);
std::swap(total_write_messages_, other.total_write_messages_);
std::swap(total_write_bytes_, other.total_write_bytes_);
+ std::swap(last_synced_bytes_, other.last_synced_bytes_);
+ std::swap(supports_odirect_, other.supports_odirect_);
+ std::swap(flags_, other.flags_);
+ std::swap(last_flush_time_, other.last_flush_time_);
return *this;
}
-void DetachedBufferWriter::CopyMessage(DataEncoder::Copier *coppier,
+void DetachedBufferWriter::CopyMessage(DataEncoder::Copier *copier,
aos::monotonic_clock::time_point now) {
if (ran_out_of_space_) {
// We don't want any later data to be written after space becomes
@@ -138,12 +177,23 @@
return;
}
- if (!encoder_->HasSpace(coppier->size())) {
- Flush();
- CHECK(encoder_->HasSpace(coppier->size()));
- }
+ const size_t message_size = copier->size();
+ size_t overall_bytes_written = 0;
- encoder_->Encode(coppier);
+ // Keep writing chunks until we've written it all. If we end up with a
+ // partial write, this means we need to flush to disk.
+ do {
+ const size_t bytes_written = encoder_->Encode(copier, overall_bytes_written);
+ CHECK(bytes_written != 0);
+
+ overall_bytes_written += bytes_written;
+ if (overall_bytes_written < message_size) {
+ VLOG(1) << "Flushing because of a partial write, tried to write "
+ << message_size << " wrote " << overall_bytes_written;
+ Flush(now);
+ }
+ } while (overall_bytes_written < message_size);
+
FlushAtThreshold(now);
}
@@ -153,7 +203,7 @@
}
encoder_->Finish();
while (encoder_->queue_size() > 0) {
- Flush();
+ Flush(monotonic_clock::max_time);
}
if (close(fd_) == -1) {
if (errno == ENOSPC) {
@@ -166,7 +216,8 @@
VLOG(1) << "Closed " << filename();
}
-void DetachedBufferWriter::Flush() {
+void DetachedBufferWriter::Flush(aos::monotonic_clock::time_point now) {
+ last_flush_time_ = now;
if (ran_out_of_space_) {
// We don't want any later data to be written after space becomes available,
// so refuse to write anything more once we've dropped data because we ran
@@ -186,23 +237,110 @@
}
iovec_.clear();
- const size_t iovec_size = std::min<size_t>(queue.size(), IOV_MAX);
+ size_t iovec_size = std::min<size_t>(queue.size(), IOV_MAX);
iovec_.resize(iovec_size);
size_t counted_size = 0;
+
+ // Ok, we now need to figure out if we were aligned, and if we were, how much
+ // of the data we are being asked to write is aligned.
+ //
+ // The file is aligned if it is a multiple of kSector in length. The data is
+ // aligned if it's memory is kSector aligned, and the length is a multiple of
+ // kSector in length.
+ bool aligned = (total_write_bytes_ % kSector) == 0;
+ size_t write_index = 0;
for (size_t i = 0; i < iovec_size; ++i) {
- iovec_[i].iov_base = const_cast<uint8_t *>(queue[i].data());
- iovec_[i].iov_len = queue[i].size();
- counted_size += iovec_[i].iov_len;
+ iovec_[write_index].iov_base = const_cast<uint8_t *>(queue[i].data());
+
+ // Make sure the address is aligned, or give up. This should be uncommon,
+ // but is always possible.
+ if ((reinterpret_cast<size_t>(iovec_[write_index].iov_base) &
+ (kSector - 1)) != 0) {
+ aligned = false;
+ }
+
+ // Now, see if the length is a multiple of kSector. The goal is to figure
+ // out if/how much memory we can write out with O_DIRECT so that only the
+ // last little bit is done with non-direct IO to keep it fast.
+ iovec_[write_index].iov_len = queue[i].size();
+ if ((iovec_[write_index].iov_len % kSector) != 0) {
+ VLOG(1) << "Unaligned length on " << filename();
+ // If we've got over a sector of data to write, write it out with O_DIRECT
+ // and then continue writing the rest unaligned.
+ if (aligned && iovec_[write_index].iov_len > kSector) {
+ const size_t aligned_size =
+ iovec_[write_index].iov_len & (~(kSector - 1));
+ VLOG(1) << "Was aligned, writing last chunk rounded from "
+ << queue[i].size() << " to " << aligned_size;
+ iovec_[write_index].iov_len = aligned_size;
+
+ WriteV(iovec_.data(), i + 1, true, counted_size + aligned_size);
+
+ // Now, everything before here has been written. Make an iovec out of
+ // the last bytes, and keep going.
+ iovec_size -= write_index;
+ iovec_.resize(iovec_size);
+ write_index = 0;
+ counted_size = 0;
+
+ iovec_[write_index].iov_base =
+ const_cast<uint8_t *>(queue[i].data() + aligned_size);
+ iovec_[write_index].iov_len = queue[i].size() - aligned_size;
+ }
+ aligned = false;
+ }
+ VLOG(1) << "Writing " << iovec_[write_index].iov_len << " to "
+ << filename();
+ counted_size += iovec_[write_index].iov_len;
+ ++write_index;
+ }
+
+ // Either write the aligned data if it is all aligned, or write the rest
+ // unaligned if we wrote aligned up above.
+ WriteV(iovec_.data(), iovec_.size(), aligned, counted_size);
+
+ encoder_->Clear(iovec_size);
+}
+
+size_t DetachedBufferWriter::WriteV(struct iovec *iovec_data, size_t iovec_size,
+ bool aligned, size_t counted_size) {
+ // Configure the file descriptor to match the mode we should be in. This is
+ // safe to over-call since it only does the syscall if needed.
+ if (aligned) {
+ EnableDirect();
+ } else {
+ DisableDirect();
}
const auto start = aos::monotonic_clock::now();
- const ssize_t written = writev(fd_, iovec_.data(), iovec_.size());
+ const ssize_t written = writev(fd_, iovec_data, iovec_size);
+
+ if (written > 0) {
+ // Flush asynchronously and force the data out of the cache.
+ sync_file_range(fd_, total_write_bytes_, written, SYNC_FILE_RANGE_WRITE);
+ if (last_synced_bytes_ != 0) {
+ // Per Linus' recommendation online on how to do fast file IO, do a
+ // blocking flush of the previous write chunk, and then tell the kernel to
+ // drop the pages from the cache. This makes sure we can't get too far
+ // ahead.
+ sync_file_range(fd_, last_synced_bytes_,
+ total_write_bytes_ - last_synced_bytes_,
+ SYNC_FILE_RANGE_WAIT_BEFORE | SYNC_FILE_RANGE_WRITE |
+ SYNC_FILE_RANGE_WAIT_AFTER);
+ posix_fadvise(fd_, last_synced_bytes_,
+ total_write_bytes_ - last_synced_bytes_,
+ POSIX_FADV_DONTNEED);
+
+ last_synced_bytes_ = total_write_bytes_;
+ }
+ }
+
const auto end = aos::monotonic_clock::now();
HandleWriteReturn(written, counted_size);
- encoder_->Clear(iovec_size);
-
UpdateStatsForWrite(end - start, written, iovec_size);
+
+ return written;
}
void DetachedBufferWriter::HandleWriteReturn(ssize_t write_return,
@@ -211,7 +349,7 @@
ran_out_of_space_ = true;
return;
}
- PCHECK(write_return >= 0) << ": write failed";
+ PCHECK(write_return >= 0) << ": write failed, got " << write_return;
if (write_return < static_cast<ssize_t>(write_size)) {
// Sometimes this happens instead of ENOSPC. On a real filesystem, this
// never seems to happen in any other case. If we ever want to log to a
@@ -260,13 +398,14 @@
// Flush if we are at the max number of iovs per writev, because there's no
// point queueing up any more data in memory. Also flush once we have enough
// data queued up or if it has been long enough.
- while (encoder_->queued_bytes() > static_cast<size_t>(FLAGS_flush_size) ||
+ while (encoder_->space() == 0 ||
+ encoder_->queued_bytes() > static_cast<size_t>(FLAGS_flush_size) ||
encoder_->queue_size() >= IOV_MAX ||
now > last_flush_time_ +
chrono::duration_cast<chrono::nanoseconds>(
chrono::duration<double>(FLAGS_flush_period))) {
- last_flush_time_ = now;
- Flush();
+ VLOG(1) << "Chose to flush at " << now << ", last " << last_flush_time_;
+ Flush(now);
}
}
diff --git a/aos/events/logging/logfile_utils.h b/aos/events/logging/logfile_utils.h
index 4e38feb..50f6b40 100644
--- a/aos/events/logging/logfile_utils.h
+++ b/aos/events/logging/logfile_utils.h
@@ -44,11 +44,30 @@
// This class manages efficiently writing a sequence of detached buffers to a
// file. It encodes them, queues them up, and batches the write operation.
+//
+// There are a couple over-arching constraints on writing to keep track of.
+// 1) The kernel is both faster and more efficient at writing large, aligned
+// chunks with O_DIRECT set on the file. The alignment needed is specified
+// by kSector and is file system dependent.
+// 2) Not all encoders support generating round multiples of kSector of data.
+// Rather than burden the API for detecting when that is the case, we want
+// DetachedBufferWriter to be as efficient as it can at writing what given.
+// 3) Some files are small and not updated frequently. They need to be
+// flushed or we will lose data on power off. It is most efficient to write
+// as much as we can aligned by kSector and then fall back to the non direct
+// method when it has been flushed.
+// 4) Not all filesystems support O_DIRECT, and different sizes may be optimal
+// for different machines. The defaults should work decently anywhere and
+// be tuneable for faster systems.
class DetachedBufferWriter {
public:
// Marker struct for one of our constructor overloads.
struct already_out_of_space_t {};
+ // Size of an aligned sector used to detect when the data is aligned enough to
+ // use O_DIRECT instead.
+ static constexpr size_t kSector = 512u;
+
DetachedBufferWriter(std::string_view filename,
std::unique_ptr<DataEncoder> encoder);
// Creates a dummy instance which won't even open a file. It will act as if
@@ -134,12 +153,13 @@
private:
// Performs a single writev call with as much of the data we have queued up as
- // possible.
+ // possible. now is the time we flushed at, to be recorded in
+ // last_flush_time_.
//
// This will normally take all of the data we have queued up, unless an
// encoder has spit out a big enough chunk all at once that we can't manage
// all of it.
- void Flush();
+ void Flush(aos::monotonic_clock::time_point now);
// write_return is what write(2) or writev(2) returned. write_size is the
// number of bytes we expected it to write.
@@ -154,6 +174,21 @@
// the current time. It just needs to be close.
void FlushAtThreshold(aos::monotonic_clock::time_point now);
+ // Enables O_DIRECT on the open file if it is supported. Cheap to call if it
+ // is already enabled.
+ void EnableDirect();
+ // Disables O_DIRECT on the open file if it is supported. Cheap to call if it
+ // is already disabld.
+ void DisableDirect();
+
+ // Writes a chunk of iovecs. aligned is true if all the data is kSector byte
+ // aligned and multiples of it in length, and counted_size is the sum of the
+ // sizes of all the chunks of data. Returns the size of data written.
+ size_t WriteV(struct iovec *iovec_data, size_t iovec_size, bool aligned,
+ size_t counted_size);
+
+ bool ODirectEnabled() { return !!(flags_ & O_DIRECT); }
+
std::string filename_;
std::unique_ptr<DataEncoder> encoder_;
@@ -172,6 +207,10 @@
int total_write_count_ = 0;
int total_write_messages_ = 0;
int total_write_bytes_ = 0;
+ int last_synced_bytes_ = 0;
+
+ bool supports_odirect_ = true;
+ int flags_ = 0;
aos::monotonic_clock::time_point last_flush_time_ =
aos::monotonic_clock::min_time;
diff --git a/aos/events/logging/logger_main.cc b/aos/events/logging/logger_main.cc
index 81b4e3f..f0582dc 100644
--- a/aos/events/logging/logger_main.cc
+++ b/aos/events/logging/logger_main.cc
@@ -32,6 +32,8 @@
DEFINE_int32(xz_compression_level, 9, "Compression level for the LZMA Encoder");
#endif
+DECLARE_int32(flush_size);
+
int main(int argc, char *argv[]) {
gflags::SetUsageMessage(
"This program provides a simple logger binary that logs all SHMEM data "
@@ -53,14 +55,15 @@
if (FLAGS_snappy_compress) {
log_namer->set_extension(aos::logger::SnappyDecoder::kExtension);
log_namer->set_encoder_factory([](size_t max_message_size) {
- return std::make_unique<aos::logger::SnappyEncoder>(max_message_size);
+ return std::make_unique<aos::logger::SnappyEncoder>(max_message_size,
+ FLAGS_flush_size);
});
#ifdef LZMA
} else if (FLAGS_xz_compress) {
log_namer->set_extension(aos::logger::LzmaEncoder::kExtension);
log_namer->set_encoder_factory([](size_t max_message_size) {
return std::make_unique<aos::logger::LzmaEncoder>(
- max_message_size, FLAGS_xz_compression_level);
+ max_message_size, FLAGS_xz_compression_level, FLAGS_flush_size);
});
#endif
}
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 18c8aa1..cdf080b 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -557,7 +557,7 @@
}},
{SnappyDecoder::kExtension,
[](size_t max_message_size) {
- return std::make_unique<SnappyEncoder>(max_message_size);
+ return std::make_unique<SnappyEncoder>(max_message_size, 32768);
}},
#ifdef LZMA
{LzmaDecoder::kExtension,
diff --git a/aos/events/logging/lzma_encoder.cc b/aos/events/logging/lzma_encoder.cc
index 3959727..f354638 100644
--- a/aos/events/logging/lzma_encoder.cc
+++ b/aos/events/logging/lzma_encoder.cc
@@ -88,19 +88,22 @@
LzmaEncoder::~LzmaEncoder() { lzma_end(&stream_); }
-void LzmaEncoder::Encode(Copier *copy) {
+size_t LzmaEncoder::Encode(Copier *copy, size_t start_byte) {
const size_t copy_size = copy->size();
// LZMA compresses the data as it goes along, copying the compressed results
// into another buffer. So, there's no need to store more than one message
// since lzma is going to take it from here.
CHECK_LE(copy_size, input_buffer_.size());
- CHECK_EQ(copy->Copy(input_buffer_.data(), 0, copy_size), copy_size);
+ CHECK_EQ(copy->Copy(input_buffer_.data(), start_byte, copy_size - start_byte),
+ copy_size - start_byte);
stream_.next_in = input_buffer_.data();
stream_.avail_in = copy_size;
RunLzmaCode(LZMA_RUN);
+
+ return copy_size - start_byte;
}
void LzmaEncoder::Finish() { RunLzmaCode(LZMA_FINISH); }
diff --git a/aos/events/logging/lzma_encoder.h b/aos/events/logging/lzma_encoder.h
index bbd739a..b4964fb 100644
--- a/aos/events/logging/lzma_encoder.h
+++ b/aos/events/logging/lzma_encoder.h
@@ -37,7 +37,8 @@
// space.
return true;
}
- void Encode(Copier *copy) final;
+ size_t space() const final { return input_buffer_.capacity(); }
+ size_t Encode(Copier *copy, size_t start_byte) final;
void Finish() final;
void Clear(int n) final;
absl::Span<const absl::Span<const uint8_t>> queue() final;
diff --git a/aos/events/logging/snappy_encoder.cc b/aos/events/logging/snappy_encoder.cc
index 1b80fe0..0e96092 100644
--- a/aos/events/logging/snappy_encoder.cc
+++ b/aos/events/logging/snappy_encoder.cc
@@ -43,12 +43,15 @@
void SnappyEncoder::Finish() { EncodeCurrentBuffer(); }
-void SnappyEncoder::Encode(Copier *copy) {
+size_t SnappyEncoder::Encode(Copier *copy, size_t start_byte) {
+ CHECK_EQ(start_byte, 0u);
buffer_source_.Append(copy);
if (buffer_source_.Available() >= chunk_size_) {
EncodeCurrentBuffer();
}
+
+ return copy->size();
}
void SnappyEncoder::EncodeCurrentBuffer() {
diff --git a/aos/events/logging/snappy_encoder.h b/aos/events/logging/snappy_encoder.h
index d3edbe5..d698ee1 100644
--- a/aos/events/logging/snappy_encoder.h
+++ b/aos/events/logging/snappy_encoder.h
@@ -16,9 +16,9 @@
// Encodes buffers using snappy.
class SnappyEncoder final : public DataEncoder {
public:
- explicit SnappyEncoder(size_t max_message_size, size_t chunk_size = 32768);
+ explicit SnappyEncoder(size_t max_message_size, size_t chunk_size = 128 * 1024);
- void Encode(Copier *copy) final;
+ size_t Encode(Copier *copy, size_t start_byte) final;
void Finish() final;
void Clear(int n) final;
@@ -28,6 +28,7 @@
// Since the output always mallocs space, we have infinite output space.
return true;
}
+ size_t space() const final { return buffer_source_.space(); }
size_t total_bytes() const final { return total_bytes_; }
size_t queue_size() const final { return queue_.size(); }
@@ -35,6 +36,7 @@
class DetachedBufferSource : public snappy::Source {
public:
DetachedBufferSource(size_t buffer_size);
+ size_t space() const { return data_.capacity() - data_.size(); }
size_t Available() const final;
const char *Peek(size_t *length) final;
void Skip(size_t n) final;
diff --git a/aos/events/logging/timestamp_plot.cc b/aos/events/logging/timestamp_plot.cc
index 1239eb2..ddc8381 100644
--- a/aos/events/logging/timestamp_plot.cc
+++ b/aos/events/logging/timestamp_plot.cc
@@ -48,9 +48,13 @@
std::string_view node1, std::string_view node2, bool flip) {
std::vector<double> samplefile12_t;
std::vector<double> samplefile12_o;
+ const std::string path = SampleFile(node1, node2);
- const std::string file =
- aos::util::ReadFileToStringOrDie(SampleFile(node1, node2));
+ if (!aos::util::PathExists(path)) {
+ return {};
+ }
+
+ const std::string file = aos::util::ReadFileToStringOrDie(path);
bool first = true;
std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
samplefile12_t.reserve(lines.size());
@@ -91,7 +95,8 @@
for (size_t j = 0; j < i; ++j) {
const std::string_view node1 = nodes[j];
const std::string_view node2 = nodes[i];
- if (aos::util::PathExists(SampleFile(node1, node2))) {
+ if (aos::util::PathExists(SampleFile(node1, node2)) ||
+ aos::util::PathExists(SampleFile(node2, node1))) {
result.emplace_back(node1, node2);
LOG(INFO) << "Found pairing " << node1 << ", " << node2;
}
@@ -152,9 +157,13 @@
std::string_view node1, std::string_view node2, bool flip) {
std::vector<double> samplefile12_t;
std::vector<double> samplefile12_o;
+ const std::string path = absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv");
- const std::string file = aos::util::ReadFileToStringOrDie(
- absl::StrCat("/tmp/timestamp_noncausal_", node1, "_", node2, ".csv"));
+ if (!aos::util::PathExists(path)) {
+ return {};
+ }
+
+ const std::string file = aos::util::ReadFileToStringOrDie(path);
bool first = true;
std::vector<std::string_view> lines = absl::StrSplit(file, '\n');
samplefile12_t.reserve(lines.size());
@@ -306,9 +315,14 @@
NodePlotter plotter;
if (FLAGS_all) {
- for (std::pair<std::string, std::string> ab : NodeConnections()) {
+ const std::vector<std::pair<std::string, std::string>> connections =
+ NodeConnections();
+ for (std::pair<std::string, std::string> ab : connections) {
plotter.AddNodes(ab.first, ab.second);
}
+ if (connections.size() == 0) {
+ LOG(WARNING) << "No connections found, is something wrong?";
+ }
} else {
CHECK_EQ(argc, 3);
diff --git a/aos/json_to_flatbuffer.h b/aos/json_to_flatbuffer.h
index d5e1039..6eab22a 100644
--- a/aos/json_to_flatbuffer.h
+++ b/aos/json_to_flatbuffer.h
@@ -109,10 +109,8 @@
template <typename T>
inline FlatbufferDetachedBuffer<T> JsonFileToFlatbuffer(
const std::string_view path) {
- std::ifstream t{std::string(path)};
- std::istream_iterator<char> start(t), end;
- std::string result(start, end);
- return FlatbufferDetachedBuffer<T>(JsonToFlatbuffer<T>(result));
+ return FlatbufferDetachedBuffer<T>(
+ JsonToFlatbuffer<T>(util::ReadFileToStringOrDie(path)));
}
// Parses a file as a binary flatbuffer or dies.
diff --git a/aos/json_to_flatbuffer_test.cc b/aos/json_to_flatbuffer_test.cc
index 6772826..fddb431 100644
--- a/aos/json_to_flatbuffer_test.cc
+++ b/aos/json_to_flatbuffer_test.cc
@@ -1,5 +1,6 @@
#include "aos/json_to_flatbuffer.h"
+#include "aos/flatbuffer_merge.h"
#include "aos/json_to_flatbuffer_generated.h"
#include "aos/testing/path.h"
#include "flatbuffers/minireflect.h"
@@ -301,5 +302,20 @@
ConfigurationTypeTable()));
}
+TEST_F(JsonToFlatbufferTest, SpacedData) {
+ EXPECT_TRUE(CompareFlatBuffer(
+ FlatbufferDetachedBuffer<VectorOfStrings>(
+ JsonToFlatbuffer<VectorOfStrings>(R"json({
+ "str": [
+ "f o o",
+ "b a r",
+ "foo bar",
+ "bar foo"
+ ]
+})json")),
+ JsonFileToFlatbuffer<VectorOfStrings>(
+ ArtifactPath("aos/json_to_flatbuffer_test_spaces.json"))));
+}
+
} // namespace testing
} // namespace aos
diff --git a/aos/json_to_flatbuffer_test_spaces.json b/aos/json_to_flatbuffer_test_spaces.json
new file mode 100644
index 0000000..c864037
--- /dev/null
+++ b/aos/json_to_flatbuffer_test_spaces.json
@@ -0,0 +1,8 @@
+{
+ "str": [
+ "f o o",
+ "b a r",
+ "foo bar",
+ "bar foo"
+ ]
+}
diff --git a/aos/network/BUILD b/aos/network/BUILD
index 4794838..f05a75e 100644
--- a/aos/network/BUILD
+++ b/aos/network/BUILD
@@ -482,6 +482,7 @@
exclude = ["www/**/*"],
),
target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
)
cc_binary(
diff --git a/aos/network/www/BUILD b/aos/network/www/BUILD
index 03f41a5..81b9e16 100644
--- a/aos/network/www/BUILD
+++ b/aos/network/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//aos:config.bzl", "aos_config")
exports_files(["styles.css"])
@@ -13,7 +12,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "proxy",
srcs = [
"config_handler.ts",
@@ -31,7 +30,7 @@
],
)
-ts_library(
+ts_project(
name = "main",
srcs = [
"main.ts",
@@ -68,7 +67,7 @@
visibility = ["//aos:__subpackages__"],
)
-ts_library(
+ts_project(
name = "reflection_test_main",
srcs = [
"reflection_test_main.ts",
@@ -83,7 +82,7 @@
],
)
-ts_library(
+ts_project(
name = "reflection_ts",
srcs = ["reflection.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -96,7 +95,7 @@
],
)
-ts_library(
+ts_project(
name = "colors",
srcs = [
"colors.ts",
@@ -105,7 +104,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "plotter",
srcs = [
"plotter.ts",
@@ -115,7 +114,7 @@
deps = [":colors"],
)
-ts_library(
+ts_project(
name = "aos_plotter",
srcs = [
"aos_plotter.ts",
@@ -134,7 +133,7 @@
],
)
-ts_library(
+ts_project(
name = "demo_plot",
srcs = [
"demo_plot.ts",
diff --git a/aos/network/www/aos_plotter.ts b/aos/network/www/aos_plotter.ts
index cd2e131..13bf343 100644
--- a/aos/network/www/aos_plotter.ts
+++ b/aos/network/www/aos_plotter.ts
@@ -23,11 +23,11 @@
// The demo_plot.ts script has a basic example of using this library, with all
// the required boilerplate, as well as some extra examples about how to
// add axis labels and the such.
-import {Channel, Configuration} from 'org_frc971/aos/configuration_generated';
-import {Line, Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {SubscriberRequest, ChannelRequest, TransferMethod} from 'org_frc971/aos/network/web_proxy_generated';
-import {Parser, Table} from 'org_frc971/aos/network/www/reflection'
+import {Channel, Configuration} from '../../configuration_generated';
+import {Line, Plot, Point} from './plotter';
+import {Connection} from './proxy';
+import {SubscriberRequest, ChannelRequest, TransferMethod} from '../web_proxy_generated';
+import {Parser, Table} from './reflection'
import {Schema} from 'flatbuffers_reflection/reflection_generated';
import {ByteBuffer} from 'flatbuffers';
diff --git a/aos/network/www/config_handler.ts b/aos/network/www/config_handler.ts
index a7c2149..fba7be3 100644
--- a/aos/network/www/config_handler.ts
+++ b/aos/network/www/config_handler.ts
@@ -1,6 +1,6 @@
import {ByteBuffer} from 'flatbuffers';
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Configuration} from '../../configuration_generated';
+import {Connection} from './proxy';
import {Parser, Table} from './reflection'
diff --git a/aos/network/www/demo_plot.ts b/aos/network/www/demo_plot.ts
index ecd4da6..b586411 100644
--- a/aos/network/www/demo_plot.ts
+++ b/aos/network/www/demo_plot.ts
@@ -12,9 +12,9 @@
// This example shows how to:
// (a) Make use of the AosPlotter to plot a shmem message as a time-series.
// (b) Define your own custom plot with whatever data you want.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from './aos_plotter';
+import {Plot, Point} from './plotter';
+import * as proxy from './proxy';
import Connection = proxy.Connection;
diff --git a/aos/network/www/ping_handler.ts b/aos/network/www/ping_handler.ts
index 60e7c4a..224e432 100644
--- a/aos/network/www/ping_handler.ts
+++ b/aos/network/www/ping_handler.ts
@@ -1,4 +1,4 @@
-import {Ping} from 'org_frc971/aos/events/ping_generated';
+import {Ping} from '../../events/ping_generated';
import {ByteBuffer} from 'flatbuffers';
export function HandlePing(data: Uint8Array) {
diff --git a/aos/network/www/plotter.ts b/aos/network/www/plotter.ts
index 17bffa3..536322f 100644
--- a/aos/network/www/plotter.ts
+++ b/aos/network/www/plotter.ts
@@ -1,4 +1,5 @@
-import * as Colors from 'org_frc971/aos/network/www/colors';
+import * as Colors from './colors';
+
// Multiplies all the values in the provided array by scale.
function scaleVec(vec: number[], scale: number): number[] {
const scaled: number[] = [];
diff --git a/aos/network/www/proxy.ts b/aos/network/www/proxy.ts
index 0bda8b9..99a9a18 100644
--- a/aos/network/www/proxy.ts
+++ b/aos/network/www/proxy.ts
@@ -1,6 +1,6 @@
import {Builder, ByteBuffer, Offset} from 'flatbuffers';
-import {Channel as ChannelFb, Configuration} from 'org_frc971/aos/configuration_generated';
-import {ChannelRequest as ChannelRequestFb, ChannelState, MessageHeader, Payload, SdpType, SubscriberRequest, TransferMethod, WebSocketIce, WebSocketMessage, WebSocketSdp} from 'org_frc971/aos/network/web_proxy_generated';
+import {Channel as ChannelFb, Configuration} from '../../configuration_generated';
+import {ChannelRequest as ChannelRequestFb, ChannelState, MessageHeader, Payload, SdpType, SubscriberRequest, TransferMethod, WebSocketIce, WebSocketMessage, WebSocketSdp} from '../web_proxy_generated';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
// There is one handler for each DataChannel, it maintains the state of
diff --git a/aos/network/www/reflection_test_main.ts b/aos/network/www/reflection_test_main.ts
index 8fb041e..092c9c2 100644
--- a/aos/network/www/reflection_test_main.ts
+++ b/aos/network/www/reflection_test_main.ts
@@ -1,6 +1,6 @@
import {Builder, ByteBuffer} from 'flatbuffers';
-import {Configuration} from 'org_frc971/aos/configuration_generated'
-import {BaseType, Configuration as TestTable, FooStruct, Location, Map, VectorOfStrings, VectorOfVectorOfString} from 'org_frc971/aos/json_to_flatbuffer_generated'
+import {Configuration} from '../../configuration_generated'
+import {BaseType, Configuration as TestTable, FooStruct, Location, Map, VectorOfStrings, VectorOfVectorOfString} from '../../json_to_flatbuffer_generated'
import {Connection} from './proxy';
import {Parser, Table} from './reflection'
diff --git a/aos/starter/BUILD b/aos/starter/BUILD
index 5690bda..8d3f4f5 100644
--- a/aos/starter/BUILD
+++ b/aos/starter/BUILD
@@ -226,6 +226,9 @@
srcs = [
"irq_affinity.cc",
],
+ data = [
+ "//aos/starter:rockpi_config.json",
+ ],
visibility = ["//visibility:public"],
deps = [
":irq_affinity_lib",
diff --git a/aos/starter/irq_affinity.cc b/aos/starter/irq_affinity.cc
index 3f32ec9..5c70e9e 100644
--- a/aos/starter/irq_affinity.cc
+++ b/aos/starter/irq_affinity.cc
@@ -14,6 +14,8 @@
DEFINE_string(user, "",
"Starter runs as though this user ran a SUID binary if set.");
+DEFINE_string(irq_config, "rockpi_config.json",
+ "File path of rockpi configuration");
namespace aos {
@@ -265,117 +267,10 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
- // TODO(austin): File instead of hard-coded JSON.
aos::FlatbufferDetachedBuffer<aos::starter::IrqAffinityConfig>
irq_affinity_config =
- aos::JsonToFlatbuffer<aos::starter::IrqAffinityConfig>(
- R"json({
- "irqs": [
- {
- "name": "ttyS2",
- "affinity": [1]
- },
- {
- "name": "dw-mci",
- "affinity": [1]
- },
- {
- "name": "mmc1",
- "affinity": [1]
- },
- {
- "name": "rkisp1",
- "affinity": [2]
- },
- {
- "name": "ff3c0000.i2c",
- "affinity": [2]
- },
- {
- "name": "ff3d0000.i2c",
- "affinity": [2]
- },
- {
- "name": "ff6e0000.dma-controller",
- "affinity": [0]
- },
- {
- "name": "ff1d0000.spi",
- "affinity": [0]
- },
- {
- "name": "eth0",
- "affinity": [1]
- }
- ],
- "kthreads": [
- {
- "name": "irq/*-ff940000.hdmi",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-rockchip_usb2phy",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-mmc0",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-mmc1",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-fe320000.mmc cd",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-vc4 crtc",
- "scheduler": "SCHEDULER_OTHER"
- },
- {
- "name": "irq/*-rkisp1",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 60,
- "affinity": [2]
- },
- {
- "name": "irq/*-ff3c0000.i2c",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 51,
- "affinity": [2]
- },
- {
- "name": "irq/*-adis16505",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 59,
- "affinity": [0]
- },
- {
- "name": "irq/*-ff6e0000.dma-controller",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 59,
- "affinity": [0]
- },
- {
- "name": "spi0",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 57,
- "affinity": [0]
- },
- {
- "name": "irq/*-eth0",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 10,
- "affinity": [1]
- },
- {
- "name": "irq/*-rockchip_thermal",
- "scheduler": "SCHEDULER_FIFO",
- "priority": 1
- }
- ]
-})json");
+ aos::JsonFileToFlatbuffer<aos::starter::IrqAffinityConfig>(
+ FLAGS_irq_config);
aos::ShmEventLoop shm_event_loop(&config.message());
diff --git a/aos/starter/rockpi_config.json b/aos/starter/rockpi_config.json
new file mode 100644
index 0000000..d4cbaae
--- /dev/null
+++ b/aos/starter/rockpi_config.json
@@ -0,0 +1,107 @@
+{
+ "irqs": [
+ {
+ "name": "ttyS2",
+ "affinity": [1]
+ },
+ {
+ "name": "dw-mci",
+ "affinity": [1]
+ },
+ {
+ "name": "mmc1",
+ "affinity": [1]
+ },
+ {
+ "name": "rkisp1",
+ "affinity": [2]
+ },
+ {
+ "name": "ff3c0000.i2c",
+ "affinity": [2]
+ },
+ {
+ "name": "ff3d0000.i2c",
+ "affinity": [2]
+ },
+ {
+ "name": "ff6e0000.dma-controller",
+ "affinity": [0]
+ },
+ {
+ "name": "ff1d0000.spi",
+ "affinity": [0]
+ },
+ {
+ "name": "eth0",
+ "affinity": [1]
+ }
+ ],
+ "kthreads": [
+ {
+ "name": "irq/*-ff940000.hdmi",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-rockchip_usb2phy",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-mmc0",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-mmc1",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-fe320000.mmc cd",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-vc4 crtc",
+ "scheduler": "SCHEDULER_OTHER"
+ },
+ {
+ "name": "irq/*-rkisp1",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 60,
+ "affinity": [2]
+ },
+ {
+ "name": "irq/*-ff3c0000.i2c",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 51,
+ "affinity": [2]
+ },
+ {
+ "name": "irq/*-adis16505",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 59,
+ "affinity": [0]
+ },
+ {
+ "name": "irq/*-ff6e0000.dma-controller",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 59,
+ "affinity": [0]
+ },
+ {
+ "name": "spi0",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 57,
+ "affinity": [0]
+ },
+ {
+ "name": "irq/*-eth0",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 10,
+ "affinity": [1]
+ },
+ {
+ "name": "irq/*-rockchip_thermal",
+ "scheduler": "SCHEDULER_FIFO",
+ "priority": 1
+ }
+ ]
+}
diff --git a/aos/util/foxglove_websocket.cc b/aos/util/foxglove_websocket.cc
index 26092bc..715ba13 100644
--- a/aos/util/foxglove_websocket.cc
+++ b/aos/util/foxglove_websocket.cc
@@ -3,8 +3,14 @@
#include "aos/util/foxglove_websocket_lib.h"
#include "gflags/gflags.h"
-DEFINE_string(config, "/app/aos_config.json", "Path to the config.");
+DEFINE_string(config, "aos_config.json", "Path to the config.");
DEFINE_uint32(port, 8765, "Port to use for foxglove websocket server.");
+DEFINE_string(mode, "flatbuffer", "json or flatbuffer serialization.");
+DEFINE_bool(fetch_pinned_channels, true,
+ "Set this to allow foxglove_websocket to make fetchers on channels "
+ "with a read_method of PIN (see aos/configuration.fbs; PIN is an "
+ "enum value). Having this enabled will cause foxglove to consume "
+ "extra shared memory resources.");
int main(int argc, char *argv[]) {
gflags::SetUsageMessage(
@@ -40,7 +46,14 @@
aos::ShmEventLoop event_loop(&config.message());
- aos::FoxgloveWebsocketServer server(&event_loop, FLAGS_port);
+ aos::FoxgloveWebsocketServer server(
+ &event_loop, FLAGS_port,
+ FLAGS_mode == "flatbuffer"
+ ? aos::FoxgloveWebsocketServer::Serialization::kFlatbuffer
+ : aos::FoxgloveWebsocketServer::Serialization::kJson,
+ FLAGS_fetch_pinned_channels
+ ? aos::FoxgloveWebsocketServer::FetchPinnedChannels::kYes
+ : aos::FoxgloveWebsocketServer::FetchPinnedChannels::kNo);
event_loop.Run();
}
diff --git a/aos/util/foxglove_websocket_lib.cc b/aos/util/foxglove_websocket_lib.cc
index b4d262a..1cc3a8a 100644
--- a/aos/util/foxglove_websocket_lib.cc
+++ b/aos/util/foxglove_websocket_lib.cc
@@ -1,17 +1,13 @@
#include "aos/util/foxglove_websocket_lib.h"
#include "aos/util/mcap_logger.h"
+#include "aos/flatbuffer_merge.h"
+#include "absl/strings/escaping.h"
#include "gflags/gflags.h"
DEFINE_uint32(sorting_buffer_ms, 100,
"Amount of time to buffer messages to sort them before sending "
"them to foxglove.");
-DEFINE_bool(fetch_pinned_channels, false,
- "Set this to allow foxglove_websocket to make fetchers on channels "
- "with a read_method of PIN (see aos/configuration.fbs; PIN is an "
- "enum value). By default, we don't make fetchers for "
- "these channels since using up a fetcher slot on PIN'd channels "
- "can have side-effects.");
namespace {
// Period at which to poll the fetchers for all the channels.
@@ -19,21 +15,38 @@
} // namespace
namespace aos {
-FoxgloveWebsocketServer::FoxgloveWebsocketServer(aos::EventLoop *event_loop,
- uint32_t port)
- : event_loop_(event_loop), server_(port, "aos_foxglove") {
+FoxgloveWebsocketServer::FoxgloveWebsocketServer(
+ aos::EventLoop *event_loop, uint32_t port, Serialization serialization,
+ FetchPinnedChannels fetch_pinned_channels)
+ : event_loop_(event_loop),
+ serialization_(serialization),
+ fetch_pinned_channels_(fetch_pinned_channels),
+ server_(port, "aos_foxglove") {
for (const aos::Channel *channel :
*event_loop_->configuration()->channels()) {
const bool is_pinned = (channel->read_method() == ReadMethod::PIN);
if (aos::configuration::ChannelIsReadableOnNode(channel,
event_loop_->node()) &&
- (!is_pinned || FLAGS_fetch_pinned_channels)) {
+ (!is_pinned || fetch_pinned_channels_ == FetchPinnedChannels::kYes)) {
+ const FlatbufferDetachedBuffer<reflection::Schema> schema =
+ RecursiveCopyFlatBuffer(channel->schema());
const ChannelId id =
- server_.addChannel(foxglove::websocket::ChannelWithoutId{
- .topic = channel->name()->str() + " " + channel->type()->str(),
- .encoding = "json",
- .schemaName = channel->type()->str(),
- .schema = JsonSchemaForFlatbuffer({channel->schema()}).dump()});
+ (serialization_ == Serialization::kJson)
+ ? server_.addChannel(foxglove::websocket::ChannelWithoutId{
+ .topic =
+ channel->name()->str() + " " + channel->type()->str(),
+ .encoding = "json",
+ .schemaName = channel->type()->str(),
+ .schema =
+ JsonSchemaForFlatbuffer({channel->schema()}).dump()})
+ : server_.addChannel(foxglove::websocket::ChannelWithoutId{
+ .topic =
+ channel->name()->str() + " " + channel->type()->str(),
+ .encoding = "flatbuffer",
+ .schemaName = channel->type()->str(),
+ .schema = absl::Base64Escape(
+ {reinterpret_cast<const char *>(schema.span().data()),
+ schema.span().size()})});
CHECK(fetchers_.count(id) == 0);
fetchers_[id] =
FetcherState{.fetcher = event_loop_->MakeRawFetcher(channel)};
@@ -100,11 +113,20 @@
while (!fetcher_times.empty()) {
const ChannelId channel = fetcher_times.begin()->second;
FetcherState *fetcher = &fetchers_[channel];
- server_.sendMessage(
- channel, fetcher_times.begin()->first.time_since_epoch().count(),
- aos::FlatbufferToJson(
- fetcher->fetcher->channel()->schema(),
- static_cast<const uint8_t *>(fetcher->fetcher->context().data)));
+ switch (serialization_) {
+ case Serialization::kJson:
+ server_.sendMessage(
+ channel, fetcher_times.begin()->first.time_since_epoch().count(),
+ aos::FlatbufferToJson(fetcher->fetcher->channel()->schema(),
+ static_cast<const uint8_t *>(
+ fetcher->fetcher->context().data)));
+ break;
+ case Serialization::kFlatbuffer:
+ server_.sendMessage(
+ channel, fetcher_times.begin()->first.time_since_epoch().count(),
+ {static_cast<const char *>(fetcher->fetcher->context().data),
+ fetcher->fetcher->context().size});
+ }
fetcher_times.erase(fetcher_times.begin());
fetcher->sent_current_message = true;
if (fetcher->fetcher->FetchNext()) {
diff --git a/aos/util/foxglove_websocket_lib.h b/aos/util/foxglove_websocket_lib.h
index 8160653..9be2f61 100644
--- a/aos/util/foxglove_websocket_lib.h
+++ b/aos/util/foxglove_websocket_lib.h
@@ -14,7 +14,19 @@
// See foxglove_websocket.cc for some usage notes.
class FoxgloveWebsocketServer {
public:
- FoxgloveWebsocketServer(aos::EventLoop *event_loop, uint32_t port);
+ // Whether to serialize the messages into the MCAP file as JSON or
+ // flatbuffers.
+ enum class Serialization {
+ kJson,
+ kFlatbuffer,
+ };
+ enum class FetchPinnedChannels {
+ kYes,
+ kNo,
+ };
+ FoxgloveWebsocketServer(aos::EventLoop *event_loop, uint32_t port,
+ Serialization serialization,
+ FetchPinnedChannels fetch_pinned_channels);
~FoxgloveWebsocketServer();
private:
@@ -33,6 +45,8 @@
};
aos::EventLoop *event_loop_;
+ const Serialization serialization_;
+ const FetchPinnedChannels fetch_pinned_channels_;
foxglove::websocket::Server server_;
// A map of fetchers for every single channel that could be subscribed to.
std::map<ChannelId, FetcherState> fetchers_;
diff --git a/aos/util/mcap_logger.cc b/aos/util/mcap_logger.cc
index 96a9b60..40e55f0 100644
--- a/aos/util/mcap_logger.cc
+++ b/aos/util/mcap_logger.cc
@@ -309,7 +309,7 @@
CHECK(channel->has_schema());
const FlatbufferDetachedBuffer<reflection::Schema> schema =
- CopyFlatBuffer(channel->schema());
+ RecursiveCopyFlatBuffer(channel->schema());
// Write out the schema (we don't bother deduplicating schema types):
string_builder_.Reset();
diff --git a/build_tests/BUILD b/build_tests/BUILD
index ea05c0b..bfdd76e 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,10 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_go_library", "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")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("@npm//@bazel/concatjs:index.bzl", "karma_web_test_suite")
load("//tools/build_rules:autocxx.bzl", "autocxx_library")
cc_test(
@@ -161,28 +160,11 @@
deps = [":hello_lib"],
)
-ts_library(
+ts_project(
name = "build_tests_ts",
srcs = ["basic.ts"],
)
-ts_library(
- name = "ts_test",
- testonly = True,
- srcs = ["basic_test.ts"],
- deps = [
- ":build_tests_ts",
- "@npm//@types/jasmine",
- ],
-)
-
-karma_web_test_suite(
- name = "karma",
- testonly = True,
- target_compatible_with = ["@platforms//os:linux"],
- deps = [":ts_test"],
-)
-
rust_library(
name = "rust_in_cc_rs",
srcs = ["rust_in_cc.rs"],
diff --git a/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_pcb b/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_pcb
index b802c62..e4cd64d 100644
--- a/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_pcb
+++ b/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_pcb
@@ -1,1739 +1,1950 @@
-(kicad_pcb (version 20211014) (generator pcbnew)
-
- (general
- (thickness 1.6)
- )
-
- (paper "A4")
- (layers
- (0 "F.Cu" signal)
- (31 "B.Cu" signal)
- (32 "B.Adhes" user "B.Adhesive")
- (33 "F.Adhes" user "F.Adhesive")
- (34 "B.Paste" user)
- (35 "F.Paste" user)
- (36 "B.SilkS" user "B.Silkscreen")
- (37 "F.SilkS" user "F.Silkscreen")
- (38 "B.Mask" user)
- (39 "F.Mask" user)
- (40 "Dwgs.User" user "User.Drawings")
- (41 "Cmts.User" user "User.Comments")
- (42 "Eco1.User" user "User.Eco1")
- (43 "Eco2.User" user "User.Eco2")
- (44 "Edge.Cuts" user)
- (45 "Margin" user)
- (46 "B.CrtYd" user "B.Courtyard")
- (47 "F.CrtYd" user "F.Courtyard")
- (48 "B.Fab" user)
- (49 "F.Fab" user)
- (50 "User.1" user)
- (51 "User.2" user)
- (52 "User.3" user)
- (53 "User.4" user)
- (54 "User.5" user)
- (55 "User.6" user)
- (56 "User.7" user)
- (57 "User.8" user)
- (58 "User.9" user)
- )
-
- (setup
- (stackup
- (layer "F.SilkS" (type "Top Silk Screen"))
- (layer "F.Paste" (type "Top Solder Paste"))
- (layer "F.Mask" (type "Top Solder Mask") (thickness 0.01))
- (layer "F.Cu" (type "copper") (thickness 0.035))
- (layer "dielectric 1" (type "core") (thickness 1.51) (material "FR4") (epsilon_r 4.5) (loss_tangent 0.02))
- (layer "B.Cu" (type "copper") (thickness 0.035))
- (layer "B.Mask" (type "Bottom Solder Mask") (thickness 0.01))
- (layer "B.Paste" (type "Bottom Solder Paste"))
- (layer "B.SilkS" (type "Bottom Silk Screen"))
- (copper_finish "None")
- (dielectric_constraints no)
- )
- (pad_to_mask_clearance 0)
- (pcbplotparams
- (layerselection 0x00010fc_ffffffff)
- (disableapertmacros false)
- (usegerberextensions false)
- (usegerberattributes true)
- (usegerberadvancedattributes true)
- (creategerberjobfile true)
- (svguseinch false)
- (svgprecision 6)
- (excludeedgelayer true)
- (plotframeref false)
- (viasonmask false)
- (mode 1)
- (useauxorigin false)
- (hpglpennumber 1)
- (hpglpenspeed 20)
- (hpglpendiameter 15.000000)
- (dxfpolygonmode true)
- (dxfimperialunits true)
- (dxfusepcbnewfont true)
- (psnegative false)
- (psa4output false)
- (plotreference true)
- (plotvalue true)
- (plotinvisibletext false)
- (sketchpadsonfab false)
- (subtractmaskfromsilk false)
- (outputformat 1)
- (mirror false)
- (drillshape 1)
- (scaleselection 1)
- (outputdirectory "")
- )
- )
-
- (net 0 "")
- (net 1 "GND")
- (net 2 "Net-(D1-Pad2)")
- (net 3 "unconnected-(J1-Pad1)")
- (net 4 "+5V")
- (net 5 "unconnected-(J1-Pad3)")
- (net 6 "unconnected-(J1-Pad4)")
- (net 7 "/B")
- (net 8 "unconnected-(J1-Pad6)")
- (net 9 "/A")
- (net 10 "unconnected-(J1-Pad8)")
- (net 11 "/PWM")
- (net 12 "/AIN")
-
- (footprint "MAG-encoder:70555-0002" locked (layer "F.Cu")
- (tedit 0) (tstamp 20e48fe7-e840-4c95-a369-6b8092caabaf)
- (at 167.156451 104.14 -90)
- (property "MFG" "MOLEX")
- (property "MFG P/N" "0705550002")
- (property "Sheetfile" "MAG_encoder_adapter.kicad_sch")
- (property "Sheetname" "")
- (path "/a6d1f198-2614-4f02-b7f0-0ebc8e97578a")
- (attr through_hole)
- (fp_text reference "J2" (at 9.398 -0.229549 180) (layer "F.SilkS") hide
- (effects (font (size 1 1) (thickness 0.15)))
- (tstamp a851e690-5629-4e1a-b59d-d04472f6f54f)
- )
- (fp_text value "POT" (at 2.54 -3.81 90) (layer "F.SilkS") hide
- (effects (font (size 1 1) (thickness 0.15)))
- (tstamp 7a045c36-091c-4f0b-9422-d6aa6e1c01f7)
- )
- (fp_text user "Copyright 2021 Accelerated Designs. All rights reserved." (at 0 0 90) (layer "Cmts.User")
- (effects (font (size 0.127 0.127) (thickness 0.002)))
- (tstamp ef4e5697-0c44-446d-ae11-9c81f0baec44)
- )
- (fp_line (start 1.715623 -0.777) (end 1.27 -0.777) (layer "F.SilkS") (width 0.12) (tstamp 8129e5fb-98e4-443a-86eb-4986039435cc))
- (fp_line (start -3.3147 -0.777) (end -3.3147 7.95205) (layer "F.SilkS") (width 0.12) (tstamp 893c88ed-be27-4ba3-a7d4-5d065ebc0c54))
- (fp_line (start 4.255623 -0.777) (end 3.364377 -0.777) (layer "F.SilkS") (width 0.12) (tstamp b2499b76-6c27-4cb9-b14a-eddbbfc947f4))
- (fp_line (start -1.27 -0.777) (end -3.3147 -0.777) (layer "F.SilkS") (width 0.12) (tstamp c18ee5a7-d781-495d-b16a-18f7b9951011))
- (fp_line (start 8.3947 -0.777) (end 5.904377 -0.777) (layer "F.SilkS") (width 0.12) (tstamp e04f8020-edeb-499b-87fa-96866a9e0479))
- (fp_line (start 8.3947 7.95205) (end 8.3947 -0.777) (layer "F.SilkS") (width 0.12) (tstamp e87c2e3d-b042-4914-a6d2-9a3e30eaae10))
- (fp_poly (pts
- (xy 0 -1.27)
- (xy -0.635 -2.54)
- (xy 0.635 -2.54)
- ) (layer "F.SilkS") (width 0.12) (fill solid) (tstamp 65a88997-2236-4f9e-aeda-6eea7a98f0f9))
- (fp_line (start 8.2677 -0.65) (end 8.2677 -11.5951) (layer "Cmts.User") (width 0.1) (tstamp 05659bf4-5e27-40c1-b52b-7483619da301))
- (fp_line (start -3.1877 -11.2141) (end -2.9337 -11.3411) (layer "Cmts.User") (width 0.1) (tstamp 05b49973-6ab0-448a-b629-ff880ff05d54))
- (fp_line (start 0 0) (end 11.1887 0) (layer "Cmts.User") (width 0.1) (tstamp 0a22100c-a470-4de3-b97b-56eff027a744))
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+(kicad_pcb (version 20211014) (generator pcbnew)
+
+ (general
+ (thickness 1.6)
+ )
+
+ (paper "A4")
+ (layers
+ (0 "F.Cu" signal)
+ (31 "B.Cu" signal)
+ (32 "B.Adhes" user "B.Adhesive")
+ (33 "F.Adhes" user "F.Adhesive")
+ (34 "B.Paste" user)
+ (35 "F.Paste" user)
+ (36 "B.SilkS" user "B.Silkscreen")
+ (37 "F.SilkS" user "F.Silkscreen")
+ (38 "B.Mask" user)
+ (39 "F.Mask" user)
+ (40 "Dwgs.User" user "User.Drawings")
+ (41 "Cmts.User" user "User.Comments")
+ (42 "Eco1.User" user "User.Eco1")
+ (43 "Eco2.User" user "User.Eco2")
+ (44 "Edge.Cuts" user)
+ (45 "Margin" user)
+ (46 "B.CrtYd" user "B.Courtyard")
+ (47 "F.CrtYd" user "F.Courtyard")
+ (48 "B.Fab" user)
+ (49 "F.Fab" user)
+ (50 "User.1" user)
+ (51 "User.2" user)
+ (52 "User.3" user)
+ (53 "User.4" user)
+ (54 "User.5" user)
+ (55 "User.6" user)
+ (56 "User.7" user)
+ (57 "User.8" user)
+ (58 "User.9" user)
+ )
+
+ (setup
+ (stackup
+ (layer "F.SilkS" (type "Top Silk Screen"))
+ (layer "F.Paste" (type "Top Solder Paste"))
+ (layer "F.Mask" (type "Top Solder Mask") (thickness 0.01))
+ (layer "F.Cu" (type "copper") (thickness 0.035))
+ (layer "dielectric 1" (type "core") (thickness 1.51) (material "FR4") (epsilon_r 4.5) (loss_tangent 0.02))
+ (layer "B.Cu" (type "copper") (thickness 0.035))
+ (layer "B.Mask" (type "Bottom Solder Mask") (thickness 0.01))
+ (layer "B.Paste" (type "Bottom Solder Paste"))
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diff --git a/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_sch b/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_sch
index ed3ed0b..be69fad 100644
--- a/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_sch
+++ b/circuit_boards/connector_boards/MAG_encoder_adapter/MAG_encoder_adapter.kicad_sch
@@ -1,987 +1,981 @@
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+ (path "/014e8c36-32b1-4c25-92d8-67829df95144"
+ (reference "J3") (unit 1) (value "RIO") (footprint "mag:705550005")
+ )
+ (path "/01b86c7a-bf18-4712-ae4d-dc895521505c"
+ (reference "R1") (unit 1) (value "2.0k 1%") (footprint "Resistor_SMD:R_0805_2012Metric")
+ )
+ )
+)
diff --git a/circuit_boards/connector_boards/MAG_encoder_adapter/fp-info-cache b/circuit_boards/connector_boards/MAG_encoder_adapter/fp-info-cache
index 719c290..bb49545 100644
--- a/circuit_boards/connector_boards/MAG_encoder_adapter/fp-info-cache
+++ b/circuit_boards/connector_boards/MAG_encoder_adapter/fp-info-cache
@@ -1,4 +1,4 @@
-20386315559996539
+20900769646486925
Audio_Module
Reverb_BTDR-1H
Digital Reverberation Unit, http://www.belton.co.kr/inc/downfile.php?seq=17&file=pdf (footprint from http://www.uk-electronic.de/PDF/BTDR-1.pdf)
@@ -84,6 +84,13 @@
2
2
Battery
+BatteryHolder_Keystone_1057_1x2032
+SMT (Auto-In/Ultra-Low) Holder for 2032 Cell, 33.2 x 23.9mm, 2mm height above PCB, https://www.keyelco.com/userAssets/file/M65p4.pdf
+Keystone type 1057 coin cell holder
+0
+2
+2
+Battery
BatteryHolder_Keystone_1058_1x2032
http://www.keyelco.com/product-pdf.cfm?p=14028
Keystone type 1058 coin cell retainer
@@ -1546,6 +1553,13 @@
0
4
2
+Button_Switch_SMD
+SW_Tactile_SPST_NO_Straight_CK_PTS636Sx25SMTRLFS
+Tactile switch, SPST, 6.0x3.5 mm, H2.5 mm, straight, NO, gull wing leads: https://www.ckswitches.com/media/2779/pts636.pdf
+switch tactile SPST 1P1T straight NO SMTR C&K
+0
+2
+2
Button_Switch_THT
KSA_Tactile_SPST
KSA http://www.ckswitches.com/media/1457/ksa_ksl.pdf
@@ -1932,8 +1946,8 @@
7
3
Button_Switch_THT
-SW_E-Switch_EG1271_DPDT
-E-Switch sub miniature slide switch, EG series, DPDT, http://spec_sheets.e-switch.com/specs/P040047.pdf
+SW_E-Switch_EG1271_SPDT
+E-Switch sub miniature slide switch, EG series, SPDT, http://spec_sheets.e-switch.com/specs/P040047.pdf
switch DPDT
0
6
@@ -2156,6 +2170,13 @@
8
6
Button_Switch_THT
+SW_SPST_Omron_B3F-315x_Angled
+tactile switch, 7.3mm x 6.25mm x 7.4mm, right angle, https://omronfs.omron.com/en_US/ecb/products/pdf/en-b3f.pdf
+tactile switch Omron B3F right angle through hole
+0
+4
+2
+Button_Switch_THT
SW_Slide_1P2T_CK_OS102011MS2Q
CuK miniature slide switch, OS series, SPDT, https://www.ckswitches.com/media/1428/os.pdf
switch SPDT
@@ -2248,7 +2269,7 @@
2
Buzzer_Beeper
Buzzer_Mallory_AST1109MLTRQ
-Mallory low-profile piezo buzzer, https://www.mspindy.com/specifications/AST1109MLTRQ.pdf
+Mallory low-profile piezo buzzer, https://mspindy.com/spec-sheets/AST1109MLTRQ.pdf
buzzer piezo
0
2
@@ -2856,6 +2877,13 @@
2
2
Capacitor_SMD
+CP_Elec_CAP-XX_DMF3Zxxxxxxxx3D
+5.5V, 470mF supercapacitor, 45mohm, -40ºC to +70ºC, https://www.cap-xx.com/wp-content/uploads/datasheets/CAP-XX-DMF470mF-Datasheet.pdf
+supercap
+0
+3
+3
+Capacitor_SMD
C_0201_0603Metric
Capacitor SMD 0201 (0603 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: https://www.vishay.com/docs/20052/crcw0201e3.pdf), generated with kicad-footprint-generator
capacitor
@@ -6244,6 +6272,13 @@
2
2
Connector
+Banana_Cliff_FCR7350x_S16N-PC_Horizontal
+Cliff single 4mm shrouded banana panel socket, through-hole, horizontal, https://www.cliffuk.co.uk/products/testleads/sockets/S16NPC.pdf
+cliff 4mm socket jack banana
+0
+1
+1
+Connector
Banana_Jack_1Pin
Single banana socket, footprint - 6mm drill
banana socket
@@ -6467,6 +6502,27 @@
0
2
2
+Connector_AMASS
+AMASS_XT60IPW-M_1x03_P7.20mm_Horizontal
+Connector XT60 Horizontal PCB Male, https://www.bto.pl/pdf/08988/XT60IPW-M3.pdf
+RC Connector XT60
+0
+5
+3
+Connector_AMASS
+AMASS_XT60PW-F_1x02_P7.20mm_Horizontal
+Connector XT60 Horizontal PCB Female, https://www.tme.eu/en/Document/9b8d0c5eb7094295f3d3112c214d3ade/XT60PW%20SPEC.pdf
+RC Connector XT60
+0
+4
+2
+Connector_AMASS
+AMASS_XT60PW-M_1x02_P7.20mm_Horizontal
+Connector XT60 Horizontal PCB Female, https://www.tme.eu/en/Document/9b8d0c5eb7094295f3d3112c214d3ade/XT60PW%20SPEC.pdf
+RC Connector XT60
+0
+4
+2
Connector_Amphenol
Amphenol_M8S-03PMMR-SF8001
M8 Male connector for panel, 90° PCB mount (https://www.amphenolltw.com/2012download/2D%20PDF/03_M%20Series%20Sensor%20Connectors/M8S-XXPMMR-SF8001.pdf)
@@ -6538,6 +6594,20 @@
5
5
Connector_Audio
+Jack_3.5mm_CUI_SJ2-3593D-SMT_Horizontal
+3.5 mm, Stereo, Right Angle, Surface Mount (SMT), Audio Jack Connector (https://www.cuidevices.com/product/resource/sj2-359x-smt.pdf)
+3.5mm audio cui horizontal jack stereo
+0
+5
+5
+Connector_Audio
+Jack_3.5mm_KoreanHropartsElec_PJ-320D-4A_Horizontal
+Korean Hroparts Elec PJ-320D-4A (https://datasheet.lcsc.com/lcsc/1810121716_Korean-Hroparts-Elec-PJ-320D-4A_C95562.pdf)
+smt female jack horizontal
+0
+4
+4
+Connector_Audio
Jack_3.5mm_Ledino_KB3SPRS_Horizontal
https://www.reichelt.de/index.html?ACTION=7&LA=3&OPEN=0&INDEX=0&FILENAME=C160%252FKB3SPRS.pdf
jack stereo TRS
@@ -7442,7 +7512,7 @@
4
Connector_Audio
Jack_XLR_Neutrik_NC3MAFH-PH_Horizontal
-A Series, Chassis connector H female (A series layout), horizontal PCB mount, https://www.neutrik.com/en/product/nc4mafh-ph
+A Series, Chassis connector H female (A series layout), mates with Phoenix MSTB2,5/3-ST, horizontal PCB mount, https://www.neutrik.com/en/product/nc3mafh-ph
neutrik xlr a
0
3
@@ -7477,7 +7547,7 @@
4
Connector_Audio
Jack_XLR_Neutrik_NC3MAMH-PH_Horizontal
-A Series, Chassis connector Phoenix H male (A series layout), horizontal PCB mount, https://www.neutrik.com/en/product/nc4mamh-ph
+A Series, Chassis connector Phoenix H male (A series layout), mates with Phoenix MSTB 2,5/3-ST, horizontal PCB mount, https://www.neutrik.com/en/product/nc3mamh-ph
neutrik xlr a
0
3
@@ -7973,6 +8043,13 @@
3
3
Connector_BarrelJack
+BarrelJack_Kycon_KLDX-0202-xC_Horizontal
+DC Barrel Jack 2mm or 2.5mm center pin, https://www.kycon.com/Pub_Eng_Draw/KLDX-0202-AC%20&%20BC.pdf
+power jack 2mm 2.5mm KLDX-0202-BC KLDX-0202-AC
+0
+3
+3
+Connector_BarrelJack
BarrelJack_SwitchcraftConxall_RAPC10U_Horizontal
DC Power Jack, 13A, 24V, Panel Mount,Through-hole, https://www.switchcraft.com/Drawings/RAPC10U_CD.pdf
barreljack switchcraftconxall dc power
@@ -8064,6 +8141,13 @@
14
11
Connector_Card
+microSD_HC_Molex_47219-2001
+1.10mm Pitch microSD Card Connector, Hinge Type, https://www.molex.com/pdm_docs/sd/472192001_sd.pdf
+Micro SD
+0
+12
+9
+Connector_Card
microSD_HC_Molex_104031-0811
1.10mm Pitch microSD Memory Card Connector, Surface Mount, Push-Pull Type, 1.42mm Height, with Detect Switch (https://www.molex.com/pdm_docs/sd/1040310811_sd.pdf)
microSD SD molex
@@ -8085,6 +8169,13 @@
14
7
Connector_Coaxial
+BNC_Amphenol_031-5539_Vertical
+BNC coaxial connector vertical, Amphenol 031-71059, https://www.amphenolrf.com/library/download/link/link_id/594427/parent/031-5539/
+BNC Amphenol Vertical
+0
+4
+2
+Connector_Coaxial
BNC_Amphenol_031-6575_Horizontal
dual independently isolated BNC plug (https://www.amphenolrf.com/downloads/dl/file/id/2980/product/644/031_6575_customer_drawing.pdf)
Dual BNC Amphenol Horizontal
@@ -9884,6 +9975,20 @@
81
81
Connector_FFC-FPC
+Jushuo_AFC07-S06FCA-00_1x6-1MP_P0.50_Horizontal
+Jushuo AFC07, FFC/FPC connector, AFC07-S06FCA-00, 6 Pins per row (https://datasheet.lcsc.com/lcsc/1811040204_JUSHUO-AFC07-S32FCC-00_C11061.pdf)
+connector jushuo horizontal
+0
+8
+7
+Connector_FFC-FPC
+Jushuo_AFC07-S24FCA-00_1x24-1MP_P0.50_Horizontal
+Jushuo AFC07, FFC/FPC connector, AFC07-S24FCA-00, 24 Pins per row (https://datasheet.lcsc.com/lcsc/1811040204_JUSHUO-AFC07-S32FCC-00_C11061.pdf)
+connector jushuo horizontal
+0
+26
+25
+Connector_FFC-FPC
Molex_52559-3652_2x18-1MP_P0.5mm_Vertical
Molex 0.50mm Pitch Easy-On Type FFC/FPC, 52559-3652, 36 Circuits (https://www.molex.com/pdm_docs/sd/525593652_sd.pdf)
connector Molex top entry
@@ -10199,6 +10304,13 @@
53
52
Connector_FFC-FPC
+Omron_XF2M-4015-1A_1x40-1MP_P0.5mm_Horizontal
+Omron FPC connector, 40 top-side contacts, 0.5mm pitch, SMT, https://omronfs.omron.com/en_US/ecb/products/pdf/en-xf2m.pdf
+omron fpc xf2m
+0
+42
+41
+Connector_FFC-FPC
TE_0-1734839-5_1x05-1MP_P0.5mm_Horizontal
TE FPC connector, 05 top-side contacts, 0.5mm pitch, SMT, https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F1734839%7FC%7Fpdf%7FEnglish%7FENG_CD_1734839_C_C_1734839.pdf%7F4-1734839-0
te fpc 1734839
@@ -10906,6 +11018,13 @@
14
13
Connector_HDMI
+HDMI_A_Amphenol_10029449-x01xLF_Horizontal
+HDMI Type A connector, Amphenol 10029449-001TLF 10029449-001RLF 10029449-101TLF 10029449-101RLF, Right Angle(https://cdn.amphenol-icc.com/media/wysiwyg/files/drawing/10029449.pdf)
+hdmi right angle
+0
+23
+20
+Connector_HDMI
HDMI_A_Contact_Technology_HDMI-19APL2_Horizontal
HDMI Contact Technology Type A http://www.contactswitch.com/en/download.aspx?id=1449
HDMI Contact Technology Type A
@@ -12649,6 +12768,13 @@
6
6
Connector_IDC
+IDC-Header_2x03_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x03, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x03 2.54mm double row
+0
+6
+6
+Connector_IDC
IDC-Header_2x04_P2.54mm_Horizontal
Through hole IDC box header, 2x04, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole horizontal IDC box header THT 2x04 2.54mm double row
@@ -12663,6 +12789,13 @@
8
8
Connector_IDC
+IDC-Header_2x04_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x04, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x04 2.54mm double row
+0
+8
+8
+Connector_IDC
IDC-Header_2x05-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x05, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x05 2.54mm double row
@@ -12747,6 +12880,13 @@
10
10
Connector_IDC
+IDC-Header_2x05_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x05, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x05 2.54mm double row
+0
+10
+10
+Connector_IDC
IDC-Header_2x06-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x06, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x06 2.54mm double row
@@ -12831,6 +12971,13 @@
12
12
Connector_IDC
+IDC-Header_2x06_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x06, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x06 2.54mm double row
+0
+12
+12
+Connector_IDC
IDC-Header_2x07-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x07, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x07 2.54mm double row
@@ -12922,6 +13069,13 @@
14
14
Connector_IDC
+IDC-Header_2x07_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x07, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x07 2.54mm double row
+0
+14
+14
+Connector_IDC
IDC-Header_2x08-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x08, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x08 2.54mm double row
@@ -13006,6 +13160,13 @@
16
16
Connector_IDC
+IDC-Header_2x08_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x08, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x08 2.54mm double row
+0
+16
+16
+Connector_IDC
IDC-Header_2x10-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x10, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x10 2.54mm double row
@@ -13090,6 +13251,13 @@
20
20
Connector_IDC
+IDC-Header_2x10_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x10, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x10 2.54mm double row
+0
+20
+20
+Connector_IDC
IDC-Header_2x12-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x12, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x12 2.54mm double row
@@ -13174,6 +13342,13 @@
24
24
Connector_IDC
+IDC-Header_2x12_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x12, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x12 2.54mm double row
+0
+24
+24
+Connector_IDC
IDC-Header_2x13-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x13, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x13 2.54mm double row
@@ -13258,6 +13433,13 @@
26
26
Connector_IDC
+IDC-Header_2x13_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x13, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x13 2.54mm double row
+0
+26
+26
+Connector_IDC
IDC-Header_2x15-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x15, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x15 2.54mm double row
@@ -13510,6 +13692,13 @@
40
40
Connector_IDC
+IDC-Header_2x20_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x20, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x20 2.54mm double row
+0
+40
+40
+Connector_IDC
IDC-Header_2x25-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x25, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x25 2.54mm double row
@@ -13594,6 +13783,13 @@
50
50
Connector_IDC
+IDC-Header_2x25_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x25, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x25 2.54mm double row
+0
+50
+50
+Connector_IDC
IDC-Header_2x30-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x30, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x30 2.54mm double row
@@ -13678,6 +13874,13 @@
60
60
Connector_IDC
+IDC-Header_2x30_P2.54mm_Vertical_SMD
+SMD IDC box header, 2x30, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, https://www.tme.eu/Document/4baa0e952ce73e37bc68cf730b541507/T821M114A1S100CEU-B.pdf
+SMD vertical IDC box header 2x30 2.54mm double row
+0
+60
+60
+Connector_IDC
IDC-Header_2x32-1MP_P2.54mm_Latch6.5mm_Vertical
Through hole IDC header, 2x32, 2.54mm pitch, DIN 41651 / IEC 60603-13, double rows, 6.5mm latches, mounting holes, https://docs.google.com/spreadsheets/d/16SsEcesNF15N3Lb4niX7dcUr-NY5_MFPQhobNuNppn4/edit#gid=0
Through hole vertical IDC header THT 2x32 2.54mm double row
@@ -45437,6 +45640,20 @@
36
36
Connector_TE-Connectivity
+TE_440054-2_1x02_P2.00mm_Vertical
+TE Connectivity, HDI, Wire-to-Board, Fully Shrouded, Vertical Header: https://www.te.com/usa-en/product-440054-2.datasheet.pdf
+connector header hdr horizontal vertical shrouded fully-shrounded 440054-2 2-440054-2 4-440054-2 6-440054-2 2-440054-6 4-440054-6 6-440054-6
+0
+2
+2
+Connector_TE-Connectivity
+TE_440055-2_1x02_P2.00mm_Horizontal
+TE Connectivity, HDI, Wire-to-Board, Fully Shrouded, Header: https://www.te.com/usa-en/product-440055-2.datasheet.pdf
+connector header hdr horizontal right-angle shrouded fully-shrounded 440055-2 2-440055-2 4-440055-2 6-440055-2 8-440055-2
+0
+2
+2
+Connector_TE-Connectivity
TE_826576-2_1x02_P3.96mm_Vertical
TE, 826576-2, 2 Pins (https://www.te.com/commerce/DocumentDelivery/DDEController?Action=srchrtrv&DocNm=826576&DocType=Customer+Drawing&DocLang=English), generated with kicad-footprint-generator
connector TE 826576 vertical
@@ -45486,6 +45703,41 @@
9
9
Connector_TE-Connectivity
+TE_2834006-1_1x01_P4.0mm_Horizontal
+TE Connectivity Buchanan WireMate connector, Poke-In series, 1-way, 4.0mm pitch, AWG18-22 (0.3255-0.823mm2), https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F2834006%7FB6%7Fpdf%7FEnglish%7FENG_CD_2834006_B6.pdf%7F2834006-1
+wire connector
+0
+2
+1
+Connector_TE-Connectivity
+TE_2834006-2_1x02_P4.0mm_Horizontal
+TE Connectivity Buchanan WireMate connector, Poke-In series, 2-way, 4.0mm pitch, AWG18-22 (0.3255-0.823mm2), https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F2834006%7FB6%7Fpdf%7FEnglish%7FENG_CD_2834006_B6.pdf%7F2834006-1
+wire connector
+0
+4
+2
+Connector_TE-Connectivity
+TE_2834006-3_1x03_P4.0mm_Horizontal
+TE Connectivity Buchanan WireMate connector, Poke-In series, 3-way, 4.0mm pitch, AWG18-22 (0.3255-0.823mm2), https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F2834006%7FB6%7Fpdf%7FEnglish%7FENG_CD_2834006_B6.pdf%7F2834006-1
+wire connector
+0
+6
+3
+Connector_TE-Connectivity
+TE_2834006-4_1x04_P4.0mm_Horizontal
+TE Connectivity Buchanan WireMate connector, Poke-In series, 4-way, 4.0mm pitch, AWG18-22 (0.3255-0.823mm2), https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F2834006%7FB6%7Fpdf%7FEnglish%7FENG_CD_2834006_B6.pdf%7F2834006-1
+wire connector
+0
+8
+4
+Connector_TE-Connectivity
+TE_2834006-5_1x05_P4.0mm_Horizontal
+TE Connectivity Buchanan WireMate connector, Poke-In series, 5-way, 4.0mm pitch, AWG18-22 (0.3255-0.823mm2), https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F2834006%7FB6%7Fpdf%7FEnglish%7FENG_CD_2834006_B6.pdf%7F2834006-1
+wire connector
+0
+10
+5
+Connector_TE-Connectivity
TE_5767171-1_2x19_P0.635mm_Vertical
PCB Mount Receptacle, Vertical, Board-to-Board, 38 Position, 24.003mm / .64mm [.945in] Centerline, Header Only, Palladium Nickel (https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Customer+Drawing%7F5767171%7FB2%7Fpdf%7FEnglish%7FENG_CD_5767171_B2.pdf%7F5767171-1#page=2)
mictor38 receptacle board-to-board
@@ -45731,6 +45983,13 @@
11
10
Connector_USB
+USB3_A_Receptacle_Wuerth_692122030100
+USB 3.0, type A, right angle (https://www.we-online.com/katalog/datasheet/692122030100.pdf)
+USB 3.0 type A right angle Würth
+0
+11
+10
+Connector_USB
USB3_Micro-B_Connfly_DS1104-01
Micro USB B receptable with flange, bottom-mount, SMD, right-angle (http://en.connfly.com/static/upload/file/pdf/DS1104-01.pdf)
USB 3.0 Micro B SMD right angle
@@ -45864,6 +46123,20 @@
28
25
Connector_USB
+USB_C_Receptacle_CNCTech_C-ARA1-AK51X
+USB Type-C 3.0 Receptacle, 24-pin, right angle (source: https://www.cnctech.us/pdfs/C-ARA1-AK512.pdf)
+USB C Type-C Receptacle Hybrid CNCTech C-ARA1-AK51X
+0
+32
+25
+Connector_USB
+USB_C_Receptacle_G-Switch_GT-USB-7010ASV
+USB Type C, right-angle, SMT, https://datasheet.lcsc.com/lcsc/2204071530_G-Switch-GT-USB-7010ASV_C2988369.pdf
+USB C Type-C Receptacle SMD
+0
+20
+17
+Connector_USB
USB_C_Receptacle_GCT_USB4085
USB 2.0 Type C Receptacle, https://gct.co/Files/Drawings/USB4085.pdf
USB Type-C Receptacle Through-hole Right angle
@@ -45871,6 +46144,13 @@
20
17
Connector_USB
+USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal
+USB 2.0 Type C Receptacle, GCT, 16P, top mounted, horizontal, 5A: https://gct.co/files/drawings/usb4105.pdf
+USB C Type-C Receptacle SMD USB 2.0 16P 16C USB4105-15-A USB4105-15-A-060 USB4105-15-A-120 USB4105-GF-A USB4105-GF-A-060 USB4105-GF-A-120
+0
+20
+17
+Connector_USB
USB_C_Receptacle_GCT_USB4115-03-C
USB TYPE C, VERT RCPT PCB, SMT, https://gct.co/files/drawings/usb4115.pdf
USB C Type-C Receptacle SMD
@@ -45878,6 +46158,13 @@
28
25
Connector_USB
+USB_C_Receptacle_GCT_USB4135-GF-A_6P_TopMnt_Horizontal
+USB Type C Receptacle, GCT, power-only, 6P, top mounted, horizontal, 3A: https://gct.co/files/drawings/usb4135.pdf
+USB C Type-C Receptacle SMD USB Power-only Charging-only 6P 6C USB4135-GF-A
+0
+10
+7
+Connector_USB
USB_C_Receptacle_HRO_TYPE-C-31-M-12
USB Type-C receptacle for USB 2.0 and PD, http://www.krhro.com/uploads/soft/180320/1-1P320120243.pdf
usb usb-c 2.0 pd
@@ -45906,6 +46193,13 @@
28
25
Connector_USB
+USB_C_Receptacle_Molex_105450-0101
+USB 3.0 3.1 3.2 4.0 Type-C receptable, through-hole mount, SMD, right-angle (https://www.molex.com/pdm_docs/sd/1054500101_sd.pdf)
+USB C Type-C USB3 receptacle SMD
+0
+28
+25
+Connector_USB
USB_C_Receptacle_Palconn_UTC16-G
http://www.palpilot.com/wp-content/uploads/2017/05/UTC027-GKN-OR-Rev-A.pdf
USB C Type-C Receptacle USB2.0
@@ -48301,8 +48595,8 @@
6
Connector_Wire
SolderWirePad_1x01_SMD_1x2mm
-Wire Pad, Square, SMD Pad, 5mm x 10mm,
-MesurementPoint Square SMDPad 5mmx10mm
+Wire Pad, Square, SMD Pad, 1mm x 2mm,
+MesurementPoint Square SMDPad 1mmx2mm
0
1
1
@@ -48454,6 +48748,13 @@
4
4
Converter_ACDC
+Converter_ACDC_Murata_BAC05SxxDC_THT
+ACDC-Converter, Murata, 5W, ClassB, https://www.murata.com/products/productdata/8809982558238/KAC-BAC05.pdf
+switching power supply tht
+0
+5
+5
+Converter_ACDC
Converter_ACDC_RECOM_RAC01-xxSGB_THT
https://www.recom-power.com/pdf/Powerline-AC-DC/RAC01-GB.pdf
recom power ac dc rac01xxgb rac01-05sgb rac01-12sgb
@@ -48769,6 +49070,20 @@
25
25
Converter_DCDC
+Converter_DCDC_Silvertel_Ag54xx
+DCDC-Converter, 30W POE, Silvertel, pitch 2.54mm, package size 62x19.5x14mm, https://silvertel.com/images/datasheets/Ag5400-datasheet-high%20Efficiency-30W-Power-Over-Ethernet-Plus-Module-PoE+PD.pdf
+DCDC-Converter Silvertel Ag5405 Ag5412 Ag5424 single output POE
+0
+10
+10
+Converter_DCDC
+Converter_DCDC_Silvertel_Ag5810
+DCDC-Converter, 60W POE, Silvertel, pitch 2.54mm, package size 69.98x30x15.64mm, https://silvertel.com/images/datasheets/Ag5810-datasheet-IEEE802_3bt-Power-over-Ethernet-4-pair-PD.pdf
+DCDC-Converter Silvertel Ag5810 single output POE
+0
+163
+13
+Converter_DCDC
Converter_DCDC_TRACO_TDN_5-xxxxWISM_SMD
Traco TDN 5WISM Series, 5W, SMD (https://assets.tracopower.com/20200225170127/TDN5WISM/documents/tdn5wism-datasheet.pdf#page=3)
dcdc traco 5w smd
@@ -49574,6 +49889,13 @@
2
2
Crystal
+Crystal_SMD_Abracon_ABM8AIG-4Pin_3.2x2.5mm
+Abracon Miniature Ceramic Smd Crystal ABM8AIG https://abracon.com/AIGcrystals/ABM8AIG.pdf, 3.2x2.5mm^2 package
+SMD SMT crystal
+0
+4
+4
+Crystal
Crystal_SMD_Abracon_ABM8G-4Pin_3.2x2.5mm
Abracon Miniature Ceramic Smd Crystal ABM8G http://www.abracon.com/Resonators/ABM8G.pdf, 3.2x2.5mm^2 package
SMD SMT crystal
@@ -50428,6 +50750,20 @@
2
2
Diode_SMD
+D_MicroSMP_AK
+Diode MicroSMP (DO-219AD), large-pad cathode, https://www.vishay.com/docs/89020/mss1p3l.pdf
+Diode MicroSMP (DO-219AD)
+0
+2
+2
+Diode_SMD
+D_MicroSMP_KA
+Diode MicroSMP (DO-219AD), large-pad anode, https://www.vishay.com/docs/89457/msmp6a.pdf
+Diode MicroSMP (DO-219AD)
+0
+2
+2
+Diode_SMD
D_MiniMELF
Diode Mini-MELF (SOD-80)
Diode Mini-MELF (SOD-80)
@@ -50728,6 +51064,13 @@
0
2
2
+Diode_SMD
+Nexperia_DSN0603-2_0.6x0.3mm_P0.4mm
+SOD962-2 silicon, leadless ultra small package; 2 terminals; 0.4 mm pitch; 0.6 mm x 0.3 mm x 0.3 mm body (https://assets.nexperia.com/documents/package-information/SOD962-2.pdf https://www.nexperia.com/packages/SOD962-2.html)
+TVS protection diodes
+0
+2
+2
Diode_THT
D_5KPW_P7.62mm_Vertical_AnodeUp
Diode, 5KPW series, Axial, Vertical, pin pitch=7.62mm, , length*diameter=9*8mm^2, , http://www.diodes.com/_files/packages/8686949.gif
@@ -51394,6 +51737,13 @@
5
5
Diode_THT
+Diode_Bridge_DIGITRON_KBPC_T
+Single phase, Bridge rectifier, 28.614x28.614mm, case KBPC_T(FP), https://www.digitroncorp.com/Digitron/media/Files/Datasheets/KBPC15005-SERIES.pdf
+diode module
+0
+4
+4
+Diode_THT
Diode_Bridge_DIP-4_W5.08mm_P2.54mm
4-lead dip package for diode bridges, row spacing 5.08mm, pin-spacing 2.54mm, see http://www.vishay.com/docs/88898/b2m.pdf
DIL DIP PDIP 5.08mm 2.54
@@ -51408,6 +51758,20 @@
4
4
Diode_THT
+Diode_Bridge_GeneSiC_KBPC_T
+Single phase, Bridge rectifier, 28.55x28.55mm, case KBPC_T(FP), https://www.diodemodule.com/bridge-rectifier/kbpc/kbpc1501t.pdf
+diode module
+0
+4
+4
+Diode_THT
+Diode_Bridge_GeneSiC_KBPC_W
+Single phase, Bridge Rectifier, 28.55x28.55mm, case KBPC_W(WP), https://www.diodemodule.com/bridge-rectifier/kbpc/kbpc15005w.pdf
+diode module
+0
+4
+4
+Diode_THT
Diode_Bridge_IXYS_GUFP
Three phase, Bridge, Rectifier
diode module
@@ -51730,6 +52094,13 @@
10
10
Display
+NHD-C12832A1Z-FSRGB
+128x32 LCD with RGB backlight https://www.newhavendisplay.com/specs/NHD-C12832A1Z-FSRGB-FBW-3V.pdf
+lcd rgb st7565
+0
+21
+21
+Display
OLED-128O064D
128x64 OLED display
display oled
@@ -52290,6 +52661,13 @@
8
8
Filter
+Filter_SAW_Epcos_DCC6C_3x3mm
+EPCOS/TDK Electronics/Qualcomm DCC6c SAW filter package based on EPCOS app note 93 (https://www.catagle.com/45-2/PDF_AN93.htm)
+SAW filter 6-pin
+0
+6
+6
+Filter
Filter_Schaffner_FN405
Compact PCB mounting EMI filter (https://www.schaffner.com/de/produkte/download/product/datasheet/fn-405-pcb-mounting-filter/)
EMI filter
@@ -52738,6 +53116,13 @@
2
2
Fuse
+Fuse_Bourns_TBU-CA
+Bourns TBU-CA Fuse, 2 Pin (https://www.bourns.com/data/global/pdfs/TBU-CA.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+Bourns Fuse NoLead
+0
+3
+3
+Fuse
Fuse_Littelfuse-LVR100
Littelfuse, resettable fuse, PTC, polyswitch LVR100, Ih 1A http://www.littelfuse.com/~/media/electronics/datasheets/resettable_ptcs/littelfuse_ptc_lvr_catalog_datasheet.pdf.pdf
LVR100 PTC resettable polyswitch
@@ -52815,6 +53200,139 @@
4
2
Fuse
+Fuseholder_Clip-5x20mm_Bel_FC-203-22_Lateral_P17.80x5.00mm_D1.17mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Lateral, Horizontal, Bel FC-203-22, https://www.belfuse.com/resources/datasheets/circuitprotection/ds-cp-0672-fuse-clips-series.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Eaton_1A5601-01_Inline_P20.80x6.76mm_D1.70mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Eaton 1A5601-01, https://www.eaton.com/content/dam/eaton/products/electronic-components/resources/data-sheet/eaton-1axxxx-pcb-fuse-clips-atc-atm-blade-data-sheet.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Keystone_3512P_Inline_P23.62x7.27mm_D1.02x2.41x1.02x1.57mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Keystone 3512P, http://www.keyelco.com/product-pdf.cfm?p=1386
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Keystone_3512_Inline_P23.62x7.27mm_D1.02x1.57mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Keystone 3512, http://www.keyelco.com/product-pdf.cfm?p=356
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Keystone_3517_Inline_P23.11x6.76mm_D1.70mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Keystone 3517, http://www.keyelco.com/product-pdf.cfm?p=354
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Keystone_3518P_Inline_P23.11x6.76mm_D2.44x1.70mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Keystone 3518P, http://www.keyelco.com/product-pdf.cfm?p=1387
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_100_Inline_P20.50x4.60mm_D1.30mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 100, https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_100_445_030_520_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_111_Inline_P20.00x5.00mm_D1.05mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 111, https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_111_519_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_111_Lateral_P18.80x5.00mm_D1.17mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 111 (501 and 506), https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_111_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_445-030_Inline_P20.50x5.20mm_D1.30mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 445/030, https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_100_445_030_520_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_519_Inline_P20.60x5.00mm_D1.00mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 519, https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_111_519_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_520_Inline_P20.50x5.80mm_D1.30mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 520, https://m.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_100_445_030_520_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Littelfuse_521_Lateral_P17.00x5.00mm_D1.30mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 521, https://www.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_520_521_102071_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Schurter_CQM_Inline_P20.60x5.00mm_D1.00mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Schurter CQM (0752), https://www.schurter.com/en/datasheet/typ_CQM.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-5x20mm_Schurter_OG_Lateral_P15.00x5.00mm_D1.3mm_Horizontal
+Fuseholder Clips, 5x20mm Cylinder Fuse, Pins Inline, Horizontal, Schurter OG, https://ch.schurter.com/en/datasheet/typ_OG__Clip__5x20.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-6.3x32mm_Littelfuse_102_122_Inline_P34.21x7.62mm_D1.98mm_Horizontal
+Fuseholder Clips, 6.3x32mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 102/122 Straight Leads, https://www.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_102_122_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-6.3x32mm_Littelfuse_102_Inline_P34.21x7.62mm_D2.54mm_Horizontal
+Fuseholder Clips, 6.3x32mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 102 Bowed Leads, https://www.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_102_122_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-6.3x32mm_Littelfuse_122_Inline_P34.21x7.62mm_D2.54mm_Horizontal
+Fuseholder Clips, 6.3x32mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 122 Bowed Leads, https://www.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_102_122_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
+Fuseholder_Clip-6.3x32mm_Littelfuse_102071_Inline_P34.70x7.60mm_D2.00mm_Horizontal
+Fuseholder Clips, 6.3x32mm Cylinder Fuse, Pins Inline, Horizontal, Littelfuse 102071, https://www.littelfuse.com/~/media/electronics/datasheets/fuse_clips/littelfuse_fuse_clip_520_521_102071_datasheet.pdf.pdf
+fuse clip open
+0
+4
+2
+Fuse
Fuseholder_Cylinder-5x20mm_Bulgin_FX0456_Vertical_Closed
Fuseholder, 5x20, closed, vertical, Bulgin, FX0456, https://www.bulgin.com/products/pub/media/bulgin/data/Fuseholders.pdf
Fuseholder 5x20 closed vertical Bulgin FX0456 Sicherungshalter
@@ -53347,6 +53865,13 @@
2
2
Inductor_SMD
+L_Abracon_ASPI-4030S
+smd shielded power inductor 4x4x3mm, Abracon ASPI-4030S, https://abracon.com/Magnetics/power/ASPI-4030S.pdf
+inductor abracon smd shielded
+0
+2
+2
+Inductor_SMD
L_Bourns-SRN1060
Bourns SRN1060 series SMD inductor https://www.bourns.com/docs/Product-Datasheets/SRN1060.pdf
Bourns SRN1060 SMD inductor
@@ -53431,6 +53956,13 @@
2
2
Inductor_SMD
+L_Bourns_SRP1038C_10.0x10.0mm
+Bourns SRP1038C series SMD inductor http://www.bourns.com/docs/Product-Datasheets/SRP1038C.pdf
+Bourns SRP1038C SMD inductor
+0
+2
+2
+Inductor_SMD
L_Bourns_SRP1245A
Bourns SRP1245A series SMD inductor http://www.bourns.com/docs/Product-Datasheets/SRP1245A.pdf
Bourns SRP1245A SMD inductor
@@ -53487,6 +54019,20 @@
2
2
Inductor_SMD
+L_Coilcraft_LPS3010
+Shielded Power Inductor SMD 3x3x1mm, Coilcraft LPS3010, https://www.coilcraft.com/pdfs/lps3010.pdf
+inductor low profile
+0
+2
+2
+Inductor_SMD
+L_Coilcraft_LPS3314
+SMD Inductor, 3.3x3.3x1.4mm, Coilcraft LPS3314, https://www.coilcraft.com/pdfs/lps3314.pdf
+L Coilcraft LPS3314
+0
+2
+2
+Inductor_SMD
L_Coilcraft_LPS4018
SMD Inductor Coilcraft LPS4018 https://www.coilcraft.com/pdfs/lps4018.pdf
L Coilcraft LPS4018
@@ -53606,6 +54152,55 @@
2
2
Inductor_SMD
+L_Ferrocore_DLG-0302
+Ferrocore DLG-0302 unshielded SMD power inductor, 3.0x2.8x2.5mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-0302
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-0403
+ Ferrocore DLG-0403 unshielded SMD power inductor, 4.5x4.0x3.2mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-0403
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-0504
+Ferrocore DLG-0504 unshielded SMD power inductor, 5.8x5.2x4.5mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-0504
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-0703
+Ferrocore DLG-0703 unshielded SMD power inductor, 7.8x7.0x3.5mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-0703
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-0705
+Ferrocore DLG-0705 unshielded SMD power inductor, 7.8x7.0x5.0mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-0705
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-1004
+Ferrocore DLG-1004 unshielded SMD power inductor, 10.0x9.0x4.0mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-1004
+0
+2
+2
+Inductor_SMD
+L_Ferrocore_DLG-1005
+Ferrocore DLG-1005 unshielded SMD power inductor, 10.0x9.0x5.4mm, https://www.tme.eu/Document/bda580f72a60a2225c2f6576c2740ae1/dlg-0504.pdf
+smd inductor dlg-1005
+0
+2
+2
+Inductor_SMD
L_Murata_DEM35xxC
https://www.murata.com/~/media/webrenewal/products/inductor/chip/tokoproducts/wirewoundferritetypeforpl/m_dem3518c.ashx
Inductor SMD DEM35xxC
@@ -53872,6 +54467,13 @@
2
2
Inductor_SMD
+L_Pulse_P059x
+1:1, Power Inductor, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/p0599nl
+inductor coil choke
+0
+4
+4
+Inductor_SMD
L_Pulse_PA4320
Inductor SMD Pulse PA4320 http://productfinder.pulseeng.com/products/datasheets/P787.pdf
Inductor SMD Pulse PA4320
@@ -53886,6 +54488,13 @@
2
2
Inductor_SMD
+L_Pulse_PA4349
+Shielded Molded High Current Power Inductors 23.5x22mm, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/pa4349.104anlt
+Shielded Molded High Current Power Inductor
+0
+2
+2
+Inductor_SMD
L_Sagami_CER1242B
Inductor, Sagami, h=4.5mm, http://www.sagami-elec.co.jp/file/CER1242B-CER1257B-CER1277B.pdf
inductor sagami cer12xxb smd
@@ -53949,9 +54558,128 @@
2
2
Inductor_SMD
-L_Sunlord_MWSA0518_5.4x5.2mm
-Inductor, Sunlord, MWSA0518, 5.4mmx5.2mm
-inductor Sunlord smd
+L_Sunlord_MWSA04xxS
+Inductor, Sunlord, MWSA04xxS, 4.4mmx4.2mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA05xxS
+Inductor, Sunlord, MWSA05xxS, 5.4mmx5.2mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA06xxS
+Inductor, Sunlord, MWSA06xxS, 7.0mmx6.6mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA08xxS
+Inductor, Sunlord, MWSA08xxS, 8.2mmx8.8mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA12xxS
+Inductor, Sunlord, MWSA12xxS, 13.45mmx12.8mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA17xxS
+Inductor, Sunlord, MWSA17xxS, 17.15mmx17.15mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA22xxS
+Inductor, Sunlord, MWSA22xxS, 22.0mmx23.5mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA1003S
+Inductor, Sunlord, MWSA1003S, 11.5mmx10.0mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA1004S
+Inductor, Sunlord, MWSA1004S, 11.0mmx10.0mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_MWSA1005S
+Inductor, Sunlord, MWSA1005S, 11.5mmx10.0mm, https://sunlordinc.com/Download.aspx?file=L1VwbG9hZEZpbGVzL1BERl9DYXQvMjAyMjExMTUxNDQ4MDU0NTQucGRm&lan=en
+Inductor inductor mwsa-s
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA30xxS
+Inductor, Sunlord, SWPA30xxS, 3.0mmx3.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA40xxS
+Inductor, Sunlord, SWPA40xxS, 4.0mmx4.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA60xxS
+Inductor, Sunlord, SWPA60xxS, 6.0mmx6.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA80xxS
+Inductor, Sunlord, SWPA80xxS, 8.0mmx8.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA2520xxS
+Inductor, Sunlord, SWPA2520xxS, 2.5mmx2.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA5012S
+Inductor, Sunlord, SWPA5012S, 5.0mmx5.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA5020S
+Inductor, Sunlord, SWPA5020S, 5.0mmx5.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
+0
+2
+2
+Inductor_SMD
+L_Sunlord_SWPA5040S
+Inductor, Sunlord, SWPA5040S, 5.0mmx5.0mm, https://www.sunlordinc.com/UploadFiles/PDF_Cat/20120704094224784.pdf
+Inductor inductor swpa
0
2
2
@@ -54061,6 +54789,27 @@
2
2
Inductor_SMD
+L_TDK_VLS6045EX_VLS6045AF
+Inductor,TDK, VLS-6045, 6x6x4.5mm, https://product.tdk.com/system/files/dam/doc/product/inductor/inductor/smd/catalog/inductor_commercial_power_vls6045ex_en.pdf
+inductor TDK VLS SMD VLS6045EF VLS6045AF
+0
+2
+2
+Inductor_SMD
+L_TaiTech_TMPC1265_13.5x12.5mm
+Tai Tech TMPC1265 series SMD inductor https://datasheet.lcsc.com/lcsc/2009171439_TAI-TECH-TMPC1265HP-100MG-D_C305223.pdf, 13.5x12.5x6.2mm
+Tai Tech TMPC1265 SMD inductor
+0
+2
+2
+Inductor_SMD
+L_Taiyo-Yuden_BK_Array_1206_3216Metric
+Ferrite Bead Array 4x0603, Taiyo Yuden BK Series (see https://www.yuden.co.jp/productdata/catalog/mlci09_e.pdf)
+ferrite bead array
+0
+8
+8
+Inductor_SMD
L_Taiyo-Yuden_MD-1616
Inductor, Taiyo Yuden, MD series, Taiyo-Yuden_MD-1616, 1.6mmx1.6mm
inductor taiyo-yuden md smd
@@ -54669,6 +55418,34 @@
0
2
2
+Inductor_SMD_Wurth
+L_Wurth_WE-LQSH-2010
+Semi-Shielded High Saturation Power Inductor, body 2x1.6mm, https://www.we-online.com/catalog/en/WE-LQSH#/articles/WE-LQSH-2010
+SMT
+0
+2
+2
+Inductor_SMD_Wurth
+L_Wurth_WE-LQSH-2512
+Semi-Shielded High Saturation Power Inductor, body 2.5x2mm, https://www.we-online.com/catalog/en/WE-LQSH#/articles/WE-LQSH-2512
+SMT
+0
+2
+2
+Inductor_SMD_Wurth
+L_Wurth_WE-LQSH-3012
+Semi-Shielded High Saturation Power Inductor, body 3x3mm, https://www.we-online.com/catalog/en/WE-LQSH#/articles/WE-LQSH-3012
+SMT
+0
+2
+2
+Inductor_SMD_Wurth
+L_Wurth_WE-LQSH-4020
+Semi-Shielded High Saturation Power Inductor, body 4x4mm, https://www.we-online.com/catalog/en/WE-LQSH#/articles/WE-LQSH-4020
+SMT
+0
+2
+2
Inductor_THT
Choke_EPCOS_B82722A
Current-Compensated Ring Core Double Chokes, EPCOS, B82722A, 22.3mmx22.7mm, https://en.tdk.eu/inf/30/db/ind_2008/b82722a_j.pdf
@@ -55342,6 +56119,48 @@
2
2
Inductor_THT
+L_CommonMode_PulseElectronics_PH9455x105NL_1
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
+L_CommonMode_PulseElectronics_PH9455x155NL_1
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
+L_CommonMode_PulseElectronics_PH9455x205NL_1
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
+L_CommonMode_PulseElectronics_PH9455x405NL_1
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
+L_CommonMode_PulseElectronics_PH9455x705NL_1
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
+L_CommonMode_PulseElectronics_PH9455xxx6NL_2
+common mode, inductor, filter, https://productfinder.pulseelectronics.com/api/open/product-attachments/datasheet/ph9455.105nl
+cmode choke dual
+0
+4
+4
+Inductor_THT
L_CommonMode_Toroid_Vertical_L19.3mm_W10.8mm_Px6.35mm_Py15.24mm_Bourns_8100
L_CommonMode_Toroid, Vertical series, Radial, pin pitch=6.35*15.24mm^2, , length*width=19.304*10.795mm^2, Bourns, 8100, http://datasheet.octopart.com/8120-RC-Bourns-datasheet-10228452.pdf
L_CommonMode_Toroid Vertical series Radial pin pitch 6.35*15.24mm^2 length 19.304mm width 10.795mm Bourns 8100
@@ -56433,6 +57252,76 @@
0
2
2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-2012_LeadDiameter1.2mm
+Shielded High Current Inductor, body 17x22mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-2012-ROUND
+THT
+0
+2
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-2012_LeadDiameter1.5mm
+Shielded High Current Inductor, body 17x22mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-2012-ROUND
+THT
+0
+2
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-2504
+Shielded High Current Inductor, body 22x25.7mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT_SIZE_2504
+THT
+0
+2
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3521
+Shielded High Current Inductor, body 21.5x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3521
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3533_LeadDiameter1.8mm
+Shielded High Current Inductor, body 34.5x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3533-ROUND
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3533_LeadDiameter2.0mm
+Shielded High Current Inductor, body 34.5x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3533-ROUND
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3540_LeadDiameter0.8mm
+Shielded High Current Inductor, body 41x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3540
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3540_LeadDiameter1.3mm
+Shielded High Current Inductor, body 41x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3540
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3540_LeadDiameter1.5mm
+Shielded High Current Inductor, body 41x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3540
+THT
+0
+4
+2
+Inductor_THT_Wurth
+L_Wurth_WE-HCFT-3540_LeadDiameter2.0mm
+Shielded High Current Inductor, body 41x36mm, https://www.we-online.com/catalog/en/WE-HCFT#/articles/WE-HCFT-3540
+THT
+0
+4
+2
Jumper
SolderJumper-2_P1.3mm_Bridged2Bar_Pad1.0x1.5mm
SMD Solder Jumper, 1x1.5mm Pads, 0.3mm gap, bridged with 2 copper strips
@@ -56889,6 +57778,13 @@
4
4
LED_SMD
+LED_Kingbright_APDA3020VBCD
+LED, SMD, APDA3020VBC/D, https://www.kingbrightusa.com/images/catalog/SPEC/APDA3020VBC-D.pdf
+LED APDA3020VBC/D Kingbright
+0
+2
+2
+LED_SMD
LED_Kingbright_APFA3010_3x1.5mm_Horizontal
LED RGB, APFA3010, http://www.kingbrightusa.com/images/catalog/SPEC/APFA3010LSEEZGKQBKC.pdf
LED RGB APFA3010 KINGBRIGHT 3x1.5mm
@@ -56952,8 +57848,29 @@
4
2
LED_SMD
-LED_PLCC-2
-LED PLCC-2 SMD package
+LED_PLCC-2_3.4x3.0mm_AK
+LED PLCC-2 SMD package, orientation marker at anode, https://dammedia.osram.info/media/resource/hires/osram-dam-5824137/SFH%204257_EN.pdf
+LED PLCC-2 SMD TOPLED
+0
+2
+2
+LED_SMD
+LED_PLCC-2_3.4x3.0mm_KA
+LED PLCC-2 SMD package, orientation marker at cathode, https://dammedia.osram.info/media/resource/hires/osram-dam-6035009/SFH%204253_EN.pdf
+LED PLCC-2 SMD TOPLED
+0
+2
+2
+LED_SMD
+LED_PLCC-2_3x2mm_AK
+LED, SMD, PLCC-2, 3.0 x 2.0mm, orientation marker at anode, https://media.digikey.com/pdf/Data%20Sheets/CREE%20Power/CLM3A-BKW,GKW.pdf
+LED PLCC-2 SMD
+0
+2
+2
+LED_SMD
+LED_PLCC-2_3x2mm_KA
+LED, SMD, PLCC-2, 3.0 x 2.0mm, orientation marker at cathode, https://optoelectronics.liteon.com/upload/download/DS22-2009-0099/LTW-M670ZVS-M5_0906.pdf
LED PLCC-2 SMD
0
2
@@ -57057,6 +57974,13 @@
4
4
LED_SMD
+LED_WS2812B-2020_PLCC4_2.0x2.0mm
+Addressable RGB LED NeoPixel Nano, 12 mA, https://cdn-shop.adafruit.com/product-files/4684/4684_WS2812B-2020_V1.3_EN.pdf
+LED RGB NeoPixel Nano 2020
+0
+4
+4
+LED_SMD
LED_WS2812B_PLCC4_5.0x5.0mm_P3.2mm
https://cdn-shop.adafruit.com/datasheets/WS2812B.pdf
LED RGB NeoPixel
@@ -57910,6 +58834,13 @@
0
16
16
+Motors
+Vybronics_VZ30C1T8219732L
+Vibration motor, 2.3-3.2V, 14000rpm, 0.7G, https://www.vybronics.com/wp-content/uploads/datasheet-files/Vybronics-VZ30C1T8219732L-datasheet.pdf
+vibration motor Vybronics
+0
+12
+3
MountingEquipment
DINRailAdapter_3xM3_PhoenixContact_1201578
https://www.phoenixcontact.com/online/portal/us?uri=pxc-oc-itemdetail:pid=1201578&library=usen&tab=1
@@ -60403,6 +61334,13 @@
4
4
OptoDevice
+Everlight_ITR9608-F
+Fork-type photointerrupter (https://everlighteurope.com/index.php?controller=attachment&id_attachment=5389)
+Photointerrupter infrared LED
+0
+4
+4
+OptoDevice
Finder_34.81
Relay SPST, Finder Type 34.81 (opto relays/coupler), vertical/standing form, see https://gfinder.findernet.com/public/attachments/34/EN/S34USAEN.pdf
Relay SPST Finder
@@ -60522,6 +61460,13 @@
3
3
OptoDevice
+Lightpipe_Bivar_RLP1-400-650
+1-way, 2.8mm lightpipe, 10mm lens output height, 17mm protrusion, https://www.bivar.com/parts_content/Datasheets/RLP1-XXX-XXX.pdf
+planar light pipe 1 way 3mm
+0
+0
+0
+OptoDevice
Lightpipe_Dialight_515-1064F
https://www.dialightsignalsandcomponents.com/515-optopipe-light-pipe-trilevel-2-5mm-rnd-flat-diff-lens-press-fit/#tab-resources
lightpipe triple tower right angle 3mm
@@ -60606,6 +61551,20 @@
4
4
OptoDevice
+Osram_BP104-SMD
+PhotoDiode, plastic SMD DIL, 4.5x4mm, area: 2.2x2.2mm, https://dammedia.osram.info/media/resource/hires/osram-dam-5989350/BP%20104%20FAS_EN.pdf
+PhotoDiode plastic SMD DIL
+0
+6
+2
+OptoDevice
+Osram_BPW34S-SMD
+PhotoDiode, plastic SMD DIL, 4.5x4mm, area: 2.65x2.65mm, https://dammedia.osram.info/media/resource/hires/osram-dam-5488319/BPW%2034%20S_EN.pdf
+PhotoDiode plastic SMD DIL
+0
+6
+2
+OptoDevice
Osram_BPW82
PhotoDiode, BPW82, RM2.54
PhotoDiode BPW82 RM2.54
@@ -60648,11 +61607,25 @@
2
2
OptoDevice
-Osram_SMD-DIL2_4.5x4.0mm
-PhotoDiode, plastic SMD DIL, 4.5x4mm²
+Osram_SFH2201
+PhotoDiode, Clear Silicone, Osram TOPLED, 4x5.09mm, area: 2.85x2.85mm, Orientation mark at cathode, https://dammedia.osram.info/media/resource/hires/osram-dam-25688470/SFH%202201%20A01_EN.pdf
+PhotoDiode silicone
+0
+6
+2
+OptoDevice
+Osram_SFH2430
+PhotoDiode, plastic SMD DIL, 4.5x4mm, area: 2.65x2.65mm, https://dammedia.osram.info/media/resource/hires/osram-dam-5467144/SFH%202430_EN.pdf
PhotoDiode plastic SMD DIL
0
+6
2
+OptoDevice
+Osram_SFH2440
+PhotoDiode, plastic SMD DIL, 4.5x4mm, area: 2.65x2.65mm, https://dammedia.osram.info/media/resource/hires/osram-dam-5467146/SFH%202440_EN.pdf
+PhotoDiode plastic SMD DIL
+0
+6
2
OptoDevice
Osram_SMD-SmartDIL
@@ -61292,6 +62265,13 @@
28
28
Package_BGA
+Analog_BGA-49_6.25x6.25mm_Layout7x7_P0.8mm_Ball0.5mm_Pad0.4mm
+Analog BGA-49, 6.25x6.25mm, 49 Ball, 7x7 Layout, 0.8mm Pitch, https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/ltc-legacy-bga/05081600_0_bga49.pdf https://www.analog.com/media/en/technical-documentation/product-information/assembly-considerations-for-umodule-bga-lga-package.pdf
+BGA 49 0.8
+0
+49
+49
+Package_BGA
BGA-9_1.6x1.6mm_Layout3x3_P0.5mm
BGA-9, http://www.ti.com/lit/ds/symlink/bq27421-g1.pdf
BGA-9
@@ -61467,6 +62447,13 @@
324
324
Package_BGA
+BGA-324_15.0x15.0mm_Layout18x18_P0.8mm_Ball0.45mm_Pad0.4mm_NSMD
+BGA-324, 15x15mm, 324 Ball, 18x18 Layout, 0.8mm Pitch, https://colognechip.com/docs/ds1001-gatemate1-datasheet-2022-05.pdf#page=92
+BGA 324 0.8 GateMate FPGA
+0
+324
+324
+Package_BGA
BGA-324_19.0x19.0mm_Layout18x18_P1.0mm_Ball0.5mm_Pad0.4mm_NSMD
BGA-324, https://www.altera.com/content/dam/altera-www/global/en_US/pdfs/literature/packaging/04r00233-03.pdf
BGA-324
@@ -61698,6 +62685,69 @@
96
96
Package_BGA
+NXP_VFBGA-42_2.6x3mm_Layout6x7_P0.4mm_Ball0.25mm_Pad0.24mm
+NXP VFBGA-42, 3.0x2.6mm, 42 Ball, 6x7 Layout, 0.4mm Pitch, https://www.nxp.com/docs/en/package-information/SOT1963-1.pdf
+BGA 42 0.4
+0
+42
+42
+Package_BGA
+ST_LFBGA-354_16x16mm_Layout19x19_P0.8mm
+ST LFBGA-354, 16.0x16.0mm, 354 Ball, 19x19 Layout, 0.8mm Pitch, https://www.st.com/resource/en/datasheet/stm32mp151a.pdf
+BGA 354 0.8
+0
+354
+354
+Package_BGA
+ST_LFBGA-448_18x18mm_Layout22x22_P0.8mm
+ST LFBGA-448, 18.0x18.0mm, 448 Ball, 22x22 Layout, 0.8mm Pitch, https://www.st.com/resource/en/datasheet/stm32mp151a.pdf
+BGA 448 0.8
+0
+448
+448
+Package_BGA
+ST_TFBGA-225_13x13mm_Layout15x15_P0.8mm
+ST TFBGA-225, 13.0x13.0mm, 225 Ball, 15x15 Layout, 0.8mm Pitch, https://www.st.com/resource/en/datasheet/stm32h7b3ri.pdf
+BGA 225 0.8
+0
+225
+225
+Package_BGA
+ST_TFBGA-257_10x10mm_Layout19x19_P0.5mmP0.65mm
+ST TFBGA-257, 10.0x10.0mm, 257 Ball, 19x19 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stm32mp151a.pdf
+BGA 257 0.5
+0
+257
+257
+Package_BGA
+ST_TFBGA-361_12x12mm_Layout23x23_P0.5mmP0.65mm
+ST TFBGA-361, 12.0x12.0mm, 361 Ball, 23x23 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stm32mp151a.pdf
+BGA 361 0.5
+0
+361
+361
+Package_BGA
+ST_UFBGA-73_5x5mm_Layout9x9_P0.5mm
+ST UFBGA-73, 5.0x5.0mm, 73 Ball, 9x9 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stm32wl54jc.pdf
+BGA 73 0.5
+0
+73
+73
+Package_BGA
+ST_UFBGA-121_6x6mm_Layout11x11_P0.5mm
+ST UFBGA-121, 6.0x6.0mm, 121 Ball, 11x11 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stm32g473pb.pdf
+BGA 121 0.5
+0
+121
+121
+Package_BGA
+ST_UFBGA-129_7x7mm_Layout13x13_P0.5mm
+ST UFBGA-129, 7.0x7.0mm, 129 Ball, 13x13 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stm32wb55vc.pdf
+BGA 129 0.5
+0
+129
+129
+Package_BGA
ST_uTFBGA-36_3.6x3.6mm_Layout6x6_P0.5mm
ST uTFBGA-36, 0.25mm pad, 3.6x3.6mm, 36 Ball, 6x6 Layout, 0.5mm Pitch, https://www.st.com/resource/en/datasheet/stulpi01a.pdf
BGA 36 0.5
@@ -61761,6 +62811,20 @@
12
6
Package_BGA
+Texas_DSBGA-6_0.95x1.488mm_Layout2x3_P0.4mm
+Texas Instruments, DSBGA, area grid, YBG pad definition, 0.95x1.488mm, 6 Ball, 2x3 Layout, 0.4mm Pitch, https://www.ti.com/lit/ml/mxbg419/mxbg419.pdf, https://www.ti.com/lit/ds/symlink/tmp117.pdf
+BGA 6 0.4
+0
+6
+6
+Package_BGA
+Texas_DSBGA-6_0.704x1.054mm_Layout2x3_P0.35mm
+Texas Instruments, DSBGA-6, 0.704x1.054mm, NSMD, YKA pad definition, 0.704x1.054mm, 6 Ball, 2x3 Layout, 0.35mm Pitch, https://www.ti.com/lit/ml/mxbg383/mxbg383.pdf, https://www.ti.com/lit/ds/symlink/tps62800.pdf
+BGA 6 0.35
+0
+6
+6
+Package_BGA
Texas_DSBGA-8_0.9x1.9mm_Layout2x4_P0.5mm
Texas Instruments, DSBGA, 0.9x1.9mm, 8 bump 2x4 (perimeter) array, NSMD pad definition (http://www.ti.com/lit/ds/symlink/txb0102.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf)
Texas Instruments DSBGA BGA YZP R-XBGA-N8
@@ -61768,6 +62832,13 @@
16
8
Package_BGA
+Texas_DSBGA-8_0.705x1.468mm_Layout2x4_P0.4mm
+Texas Instruments, DSBGA, area grid, YBJ0008 pad definition, 1.468x0.705mm, 8 Ball, 2x4 Layout, 0.4mm Pitch, https://www.ti.com/lit/gpn/ina234
+BGA 8 0.4
+0
+8
+8
+Package_BGA
Texas_DSBGA-8_1.43x1.41mm_Layout3x3_P0.5mm
Texas Instruments, DSBGA, 1.43x1.41mm, 8 bump 3x3 (perimeter) array, NSMD pad definition (http://www.ti.com/lit/ds/symlink/lmc555.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf)
Texas Instruments DSBGA BGA YZP R-XBGA-N8
@@ -61790,19 +62861,26 @@
9
Package_BGA
Texas_DSBGA-10_1.36x1.86mm_Layout3x4_P0.5mm
-Texas Instruments, DSBGA, 1.36x1.86mm, 10 bump 3x4 (perimeter) array, NSMD pad definition (http://www.ti.com/lit/ds/symlink/txs0104e.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf)
-Texas Instruments DSBGA BGA
+Texas Instruments, DSBGA, area grid, YZP, YZP0010, 1.86x1.36mm, 10 Ball, 3x4 Layout, 0.5mm Pitch, http://www.ti.com/lit/ds/symlink/ts3a24159.pdf
+BGA 10 0.5
0
20
10
Package_BGA
Texas_DSBGA-12_1.36x1.86mm_Layout3x4_P0.5mm
-Texas Instruments, DSBGA, 1.36x1.86mm, 12 bump 3x4 (area) array, NSMD pad definition (http://www.ti.com/lit/ds/symlink/txs0104e.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf)
-Texas Instruments DSBGA BGA
+Texas Instruments, DSBGA, area grid, YZT, 1.86x1.36mm, 12 Ball, 3x4 Layout, 0.5mm Pitch, http://www.ti.com/lit/ds/symlink/txb0104.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf
+BGA 12 0.5 R-XBGA-N12
0
24
12
Package_BGA
+Texas_DSBGA-16_2.39x2.39mm_Layout4x4_P0.5mm
+Texas Instruments, DSBGA, area grid, YZF, YZF0016, 2.39x2.39mm, 16 Ball, 4x4 Layout, 0.5mm Pitch, https://www.ti.com/lit/ds/symlink/dac80508.pdf
+BGA 16 0.5
+0
+32
+16
+Package_BGA
Texas_DSBGA-28_1.9x3.0mm_Layout4x7_P0.4mm
Texas Instruments, DSBGA, 3.0x1.9x0.625mm, 28 ball 7x4 area grid, NSMD pad definition (http://www.ti.com/lit/ds/symlink/bq51050b.pdf, http://www.ti.com/lit/an/snva009ag/snva009ag.pdf)
BGA 28 0.4
@@ -62300,6 +63378,20 @@
12
5
Package_CSP
+Analog_LFCSP-UQ-10_1.3x1.6mm_P0.4mm
+Analog LFCSP-UQ, 10 Pin (https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/lfcspcp/cp_10_10.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+Analog LFCSP-UQ NoLead
+0
+10
+10
+Package_CSP
+LFCSP-6-1EP_2x2mm_P0.65mm_EP1x1.6mm
+LFCSP, 6 Pin (https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/lfcspcp/cp_6_3.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+LFCSP NoLead
+0
+11
+7
+Package_CSP
LFCSP-8-1EP_3x2mm_P0.5mm_EP1.6x1.65mm
LFCSP 8pin Pitch 0.5mm, http://www.analog.com/media/en/package-pcb-resources/package/57080735642908cp_8_4.pdf
LFCSP 8pin thermal pad 3x2mm Pitch 0.5mm
@@ -62496,6 +63588,20 @@
59
33
Package_CSP
+LFCSP-32-1EP_5x5mm_P0.5mm_EP3.5x3.5mm
+LFCSP, 32 Pin (https://www.analog.com/media/en/package-pcb-resources/package/3416438741201015623cp_32_4.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+LFCSP NoLead
+0
+37
+33
+Package_CSP
+LFCSP-32-1EP_5x5mm_P0.5mm_EP3.5x3.5mm_ThermalVias
+LFCSP, 32 Pin (https://www.analog.com/media/en/package-pcb-resources/package/3416438741201015623cp_32_4.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+LFCSP NoLead
+0
+47
+33
+Package_CSP
LFCSP-32-1EP_5x5mm_P0.5mm_EP3.6x3.6mm
LFCSP, 32 Pin (https://www.analog.com/media/en/technical-documentation/data-sheets/ADV7280.PDF#page=28), generated with kicad-footprint-generator ipc_noLead_generator.py
LFCSP NoLead
@@ -62615,6 +63721,34 @@
35
35
Package_CSP
+Nexperia_WLCSP-15_6-3-6_2.37x1.17mm_Layout6x3_P0.4mm
+Nexperia wafer level chip-size package; 15 bumps (6-3-6), 2.37x1.17mm, 15 Ball, 6x3 Layout, 0.4mm Pitch, https://assets.nexperia.com/documents/data-sheet/PCMFXUSB3S_SER.pdf
+CSP 15 0.4
+0
+15
+15
+Package_CSP
+ST_WLCSP-18_1.86x2.14mm_P0.4mm_Stagger
+ST WLCSP-18, ST Die ID 466, 1.86x2.14mm, 18 Ball, X-staggered 7x5 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g031y8.pdf
+CSP 18 0.4
+0
+18
+18
+Package_CSP
+ST_WLCSP-20_1.94x2.40mm_Layout4x5_P0.4mm
+ST WLCSP-20, ST die ID 456, 1.94x2.4mm, 20 Ball, 4x5 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g051f8.pdf#page=102
+CSP 20 0.4
+0
+20
+20
+Package_CSP
+ST_WLCSP-25_2.30x2.48mm_Layout5x5_P0.4mm
+ST WLCSP-25, ST die ID 460, 2.3x2.48mm, 25 Ball, 5x5 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g071eb.pdf
+CSP 25 0.4
+0
+25
+25
+Package_CSP
ST_WLCSP-25_Die425
WLCSP-25, 5x5 raster, 2.097x2.493mm package, pitch 0.4mm; see section 7.6 of http://www.st.com/resource/en/datasheet/stm32l031f6.pdf
BGA 25 0.4
@@ -62636,6 +63770,13 @@
25
25
Package_CSP
+ST_WLCSP-36_2.58x3.07mm_Layout6x6_P0.4mm
+ST WLCSP-36, ST die ID 464, 2.58x3.07mm, 36 Ball, 6x6 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32l412t8.pdf
+CSP 36 0.4
+0
+36
+36
+Package_CSP
ST_WLCSP-36_Die417
WLCSP-36, 6x6 raster, 2.61x2.88mm package, pitch 0.4mm; see section 7.4 of http://www.st.com/resource/en/datasheet/stm32l052t8.pdf
BGA 36 0.4
@@ -62664,6 +63805,20 @@
36
36
Package_CSP
+ST_WLCSP-49_3.15x3.13mm_Layout7x7_P0.4mm
+ST WLCSP-49, ST die ID 468, 3.15x3.13mm, 49 Ball, 7x7 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g431c6.pdf
+CSP 49 0.4
+0
+49
+49
+Package_CSP
+ST_WLCSP-49_3.30x3.38mm_Layout7x7_P0.4mm_Offcenter
+ST WLCSP-49, off-center ball grid, ST die ID 494, 3.3x3.38mm, 49 Ball, 7x7 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32wb15cc.pdf#page=119
+CSP 49 0.4
+0
+49
+49
+Package_CSP
ST_WLCSP-49_Die423
WLCSP-49, 7x7 raster, 2.965x2.965mm package, pitch 0.4mm; see section 7.1 of http://www.st.com/resource/en/datasheet/stm32f401vc.pdf
BGA 49 0.4
@@ -62720,6 +63875,13 @@
49
49
Package_CSP
+ST_WLCSP-52_3.09x3.15mm_P0.4mm_Stagger
+ST WLCSP-52, ST die ID 467, 3.09x3.15mm, 52 Ball, X-staggered 13x8 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g0b1ne.pdf#page=136
+CSP 52 0.4
+0
+52
+52
+Package_CSP
ST_WLCSP-63_Die427
WLCSP-63, 7x9 raster, 3.228x4.164mm package, pitch 0.4mm; see section 7.6 of http://www.st.com/resource/en/datasheet/stm32l151cc.pdf
BGA 63 0.4
@@ -62727,6 +63889,13 @@
63
63
Package_CSP
+ST_WLCSP-64_3.56x3.52mm_Layout8x8_P0.4mm
+ST WLCSP-64, ST die ID 479, 3.56x3.52mm, 64 Ball, 8x8 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g491re.pdf
+CSP 64 0.4
+0
+64
+64
+Package_CSP
ST_WLCSP-64_Die414
WLCSP-64, 8x8 raster, 4.466x4.395mm package, pitch 0.5mm; see section 6.3 of http://www.st.com/resource/en/datasheet/stm32f103ze.pdf
BGA 64 0.5
@@ -62797,6 +63966,20 @@
72
72
Package_CSP
+ST_WLCSP-81_4.02x4.27mm_Layout9x9_P0.4mm
+ST WLCSP-81, ST die ID 469, 4.02x4.27mm, 81 Ball, 9x9 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32g483me.pdf
+CSP 81 0.4
+0
+81
+81
+Package_CSP
+ST_WLCSP-81_4.36x4.07mm_Layout9x9_P0.4mm
+ST WLCSP-81, ST die ID 472, 4.36x4.07mm, 81 Ball, 9x9 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32l562ce.pdf
+CSP 81 0.4
+0
+81
+81
+Package_CSP
ST_WLCSP-81_Die415
WLCSP-81, 9x9 raster, 4.4084x3.7594mm package, pitch 0.4mm; see section 7.4 of http://www.st.com/resource/en/datasheet/stm32l476me.pdf
BGA 81 0.4
@@ -62818,6 +64001,13 @@
81
81
Package_CSP
+ST_WLCSP-90_4.20x3.95mm_P0.4mm_Stagger
+ST WLCSP-90, ST die ID 482, 4.2x3.95mm, 90 Ball, X-staggered 18x10 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32u575og.pdf#page=306
+CSP 90 0.4
+0
+90
+90
+Package_CSP
ST_WLCSP-90_Die413
WLCSP-90, 10x9 raster, 4.223x3.969mm package, pitch 0.4mm; see section 6.1 of http://www.st.com/resource/en/datasheet/stm32f405og.pdf
BGA 90 0.4
@@ -62825,6 +64015,20 @@
90
90
Package_CSP
+ST_WLCSP-100_4.40x4.38mm_Layout10x10_P0.4mm_Offcenter
+ST WLCSP-100, off-center ball grid, ST die ID 495, 4.4x4.38mm, 100 Ball, 10x10 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32wb55vc.pdf
+CSP 100 0.4
+0
+100
+100
+Package_CSP
+ST_WLCSP-100_4.437x4.456mm_Layout10x10_P0.4mm
+ST WLCSP-100, ST die ID 471, 4.437x4.456mm, 100 Ball, 10x10 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32l4p5ve.pdf
+CSP 100 0.4
+0
+100
+100
+Package_CSP
ST_WLCSP-100_Die422
WLCSP-100, 10x10 raster, 4.201x4.663mm package, pitch 0.4mm; see section 7.4 of http://www.st.com/resource/en/datasheet/stm32f302vc.pdf
BGA 100 0.4
@@ -62860,6 +64064,27 @@
104
104
Package_CSP
+ST_WLCSP-115_3.73x4.15mm_P0.35mm_Stagger
+ST WLCSP-115, ST die ID 483, 3.73x4.15mm, 115 Ball, Y-staggered 11x21 Layout, 0.35mm Pitch, https://www.st.com/resource/en/datasheet/stm32h725vg.pdf
+CSP 115 0.35
+0
+115
+115
+Package_CSP
+ST_WLCSP-115_4.63x4.15mm_P0.4mm_Stagger
+ST WLCSP-115, ST die ID 461, 4.63x4.15mm, 115 Ball, X-staggered 21x11 Layout, 0.4mm Pitch, https://www.st.com/resource/en/datasheet/stm32l496wg.pdf
+CSP 115 0.4
+0
+115
+115
+Package_CSP
+ST_WLCSP-132_4.57x4.37mm_Layout12x11_P0.35mm
+ST WLCSP-132, ST die ID 480, 4.57x4.37mm, 132 Ball, 12x11 Layout, 0.35mm Pitch, https://www.st.com/resource/en/datasheet/stm32h7a3ai.pdf
+CSP 132 0.35
+0
+132
+132
+Package_CSP
ST_WLCSP-143_Die419
WLCSP-143, 11x13 raster, 4.521x5.547mm package, pitch 0.4mm; see section 7.2 of http://www.st.com/resource/en/datasheet/stm32f429ng.pdf
BGA 143 0.4
@@ -62881,6 +64106,13 @@
144
144
Package_CSP
+ST_WLCSP-156_4.96x4.64mm_Layout13x12_P0.35mm
+ST WLCSP-156, ST die ID 450, 4.96x4.64mm, 156 Ball, 13x12 Layout, 0.35mm Pitch, https://www.st.com/resource/en/datasheet/stm32h747xi.pdf
+CSP 156 0.35
+0
+156
+156
+Package_CSP
ST_WLCSP-168_Die434
WLCSP-168, 12x14 raster, 4.891x5.692mm package, pitch 0.4mm; see section 6.3 of http://www.st.com/resource/en/datasheet/stm32f469ni.pdf
BGA 168 0.4
@@ -63868,6 +65100,13 @@
28
28
Package_DFN_QFN
+OnSemi_XDFN-10_1.35x2.2mm_P0.4mm
+10-Lead Plastic XDFN (1.35mm x 2.2mm) (see https://www.onsemi.com/pdf/datasheet/emi8132-d.pdf)
+OnSemi XDFN-10 0.4
+0
+10
+10
+Package_DFN_QFN
OnSemi_XDFN4-1EP_1.0x1.0mm_EP0.52x0.52mm
XDFN4 footprint (as found on the https://www.onsemi.com/pub/Collateral/NCP115-D.PDF)
OnSemi XDFN4
@@ -65051,6 +66290,20 @@
66
57
Package_DFN_QFN
+QFN-56-1EP_7x7mm_P0.4mm_EP4x4mm
+QFN, 56 Pin (https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf#page=41), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+66
+57
+Package_DFN_QFN
+QFN-56-1EP_7x7mm_P0.4mm_EP4x4mm_ThermalVias
+QFN, 56 Pin (https://www.espressif.com/sites/default/files/documentation/esp32-s2_datasheet_en.pdf#page=41), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+71
+57
+Package_DFN_QFN
QFN-56-1EP_7x7mm_P0.4mm_EP5.6x5.6mm
QFN, 56 Pin (http://www.cypress.com/file/416486/download#page=40), generated with kicad-footprint-generator ipc_noLead_generator.py
QFN NoLead
@@ -65338,6 +66591,20 @@
111
69
Package_DFN_QFN
+QFN-68-1EP_8x8mm_P0.4mm_EP6.4x6.4mm
+QFN, 68 Pin (https://www.st.com/resource/en/datasheet/stm32h725ze.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+85
+69
+Package_DFN_QFN
+QFN-68-1EP_8x8mm_P0.4mm_EP6.4x6.4mm_ThermalVias
+QFN, 68 Pin (https://www.st.com/resource/en/datasheet/stm32h725ze.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+111
+69
+Package_DFN_QFN
QFN-72-1EP_10x10mm_P0.5mm_EP6x6mm
QFN, 72 Pin (http://ww1.microchip.com/downloads/en/DeviceDoc/00001682C.pdf#page=70), generated with kicad-footprint-generator ipc_noLead_generator.py
QFN NoLead
@@ -65366,6 +66633,20 @@
103
77
Package_DFN_QFN
+QFN-76-1EP_9x9mm_P0.4mm_EP5.81x6.31mm
+QFN, 76 Pin (https://ftdichip.com/wp-content/uploads/2020/07/DS_FT600Q-FT601Q-IC-Datasheet.pdf#page=27), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+78
+77
+Package_DFN_QFN
+QFN-76-1EP_9x9mm_P0.4mm_EP5.81x6.31mm_ThermalVias
+QFN, 76 Pin (https://ftdichip.com/wp-content/uploads/2020/07/DS_FT600Q-FT601Q-IC-Datasheet.pdf#page=27), generated with kicad-footprint-generator ipc_noLead_generator.py
+QFN NoLead
+0
+103
+77
+Package_DFN_QFN
Qorvo_DFN-8-1EP_2x2mm_P0.5mm
DFN 8 2x2mm, 0.5mm http://www.qorvo.com/products/d/da000896
DFN 0.5 Qorvo 2x2mm
@@ -65548,6 +66829,20 @@
31
17
Package_DFN_QFN
+TQFN-20-1EP_4x4mm_P0.5mm_EP2.9x2.9mm
+TQFN, 20 Pin (https://pdfserv.maximintegrated.com/package_dwgs/21-100172.PDF), generated with kicad-footprint-generator ipc_noLead_generator.py
+TQFN NoLead
+0
+25
+21
+Package_DFN_QFN
+TQFN-20-1EP_4x4mm_P0.5mm_EP2.9x2.9mm_ThermalVias
+TQFN, 20 Pin (https://pdfserv.maximintegrated.com/package_dwgs/21-100172.PDF), generated with kicad-footprint-generator ipc_noLead_generator.py
+TQFN NoLead
+0
+35
+21
+Package_DFN_QFN
TQFN-20-1EP_5x5mm_P0.65mm_EP3.1x3.1mm
TQFN, 20 Pin (https://pdfserv.maximintegrated.com/package_dwgs/21-0140.PDF (T2055-3)), generated with kicad-footprint-generator ipc_noLead_generator.py
TQFN NoLead
@@ -65576,6 +66871,20 @@
35
21
Package_DFN_QFN
+TQFN-24-1EP_4x4mm_P0.5mm_EP2.1x2.1mm
+TQFN, 24 Pin (https://pdfserv.maximintegrated.com/package_dwgs/21-0139.PDF), generated with kicad-footprint-generator ipc_noLead_generator.py
+TQFN NoLead
+0
+29
+25
+Package_DFN_QFN
+TQFN-24-1EP_4x4mm_P0.5mm_EP2.1x2.1mm_ThermalVias
+TQFN, 24 Pin (https://pdfserv.maximintegrated.com/package_dwgs/21-0139.PDF), generated with kicad-footprint-generator ipc_noLead_generator.py
+TQFN NoLead
+0
+39
+25
+Package_DFN_QFN
TQFN-24-1EP_4x4mm_P0.5mm_EP2.8x2.8mm_PullBack
TQFN, 24 Pin (https://ams.com/documents/20143/36005/AS1115_DS000206_1-00.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
TQFN NoLead
@@ -65730,6 +67039,13 @@
10
10
Package_DFN_QFN
+Texas_R-PUQFN-N12
+Texas_R-PUQFN-N12 http://www.ti.com/lit/ds/symlink/txb0104.pdf
+Texas_R-PUQFN-N12
+0
+13
+12
+Package_DFN_QFN
Texas_R-PWQFN-N28_EP2.1x3.1mm
QFN, 28 Pin (http://www.ti.com/lit/ds/symlink/tps51363.pdf#page=29), generated with kicad-footprint-generator ipc_noLead_generator.py
QFN NoLead
@@ -65786,6 +67102,20 @@
31
17
Package_DFN_QFN
+Texas_RGY_R-PVQFN-N16_EP2.05x2.55mm
+QFN, 16 Pin (https://www.ti.com/lit/ds/symlink/ts5v330.pdf#page=28)
+QFN NoLead
+0
+21
+17
+Package_DFN_QFN
+Texas_RGY_R-PVQFN-N16_EP2.05x2.55mm_ThermalVias
+QFN, 16 Pin (https://www.ti.com/lit/ds/symlink/ts5v330.pdf#page=28)
+QFN NoLead
+0
+27
+18
+Package_DFN_QFN
Texas_RGY_R-PVQFN-N24_EP2.05x3.1mm
QFN, 24 Pin (http://www.ti.com/lit/ds/symlink/bq24133.pdf#page=40)
QFN NoLead
@@ -65835,13 +67165,6 @@
94
33
Package_DFN_QFN
-Texas_R_PUQFN-N12
-Texas_R_PUQFN-N12 http://www.ti.com/lit/ds/symlink/txb0104.pdf
-Texas_R_PUQFN-N12
-0
-13
-12
-Package_DFN_QFN
Texas_S-PDSO-N10_EP1.2x2mm
DFN, 10 Pin (http://www.ti.com/lit/ds/symlink/tps7a91.pdf#page=30), generated with kicad-footprint-generator ipc_noLead_generator.py
DFN NoLead
@@ -66668,6 +67991,20 @@
8
8
Package_DFN_QFN
+WDFN-10-1EP_3x3mm_P0.5mm_EP1.8x2.5mm
+WDFN, 10 Pin (https://www.onsemi.com/pdf/datasheet/nis5420-d.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+WDFN NoLead
+0
+15
+11
+Package_DFN_QFN
+WDFN-10-1EP_3x3mm_P0.5mm_EP1.8x2.5mm_ThermalVias
+WDFN, 10 Pin (https://www.onsemi.com/pdf/datasheet/nis5420-d.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+WDFN NoLead
+0
+22
+11
+Package_DFN_QFN
WDFN-12-1EP_3x3mm_P0.45mm_EP1.7x2.5mm
WDFN, 12 Pin (https://www.diodes.com/assets/Datasheets/PAM2306.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
WDFN NoLead
@@ -68845,6 +70182,13 @@
20
20
Package_LGA
+AMS_OLGA-8_2x3.1mm_P0.8mm
+AMS OLGA, 8 Pin (https://ams.com/documents/20143/36005/AS7341_DS000504_3-00.pdf/#page=63)
+AMS OLGA NoLead
+0
+8
+8
+Package_LGA
Bosch_LGA-8_2.5x2.5mm_P0.65mm_ClockwisePinNumbering
LGA-8
lga land grid array
@@ -68902,7 +70246,7 @@
14
Package_LGA
LGA-14_3x2.5mm_P0.5mm_LayoutBorder3x4y
-LGA, 14 Pin (http://www.st.com/resource/en/datasheet/lsm6ds3.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
+LGA, 14 Pin (https://www.st.com/resource/en/datasheet/lsm6ds3tr-c.pdf), generated with kicad-footprint-generator ipc_noLead_generator.py
LGA NoLead
0
14
@@ -68978,6 +70322,13 @@
10
10
Package_LGA
+ST_HLGA-10_2x2mm_P0.5mm_LayoutBorder3x2y
+ST HLGA, 10 Pin (https://www.st.com/resource/en/datasheet/lps22hh.pdf#page=55), generated with kicad-footprint-generator ipc_noLead_generator.py
+ST HLGA NoLead
+0
+10
+10
+Package_LGA
Texas_SIL0008D_MicroSiP-8-1EP_2.8x3mm_P0.65mm_EP1.1x1.9mm
Texas SIL0008D MicroSiP, 8 Pin (http://www.ti.com/lit/ds/symlink/tps82130.pdf#page=19), generated with kicad-footprint-generator ipc_noLead_generator.py
Texas MicroSiP NoLead
@@ -69958,6 +71309,20 @@
31
25
Package_SO
+HTSSOP-24-1EP_4.4x7.8mm_P0.65mm_EP3.4x7.8mm_Mask2.4x2.98mm
+HTSSOP, 24 Pin (https://www.ti.com/lit/ds/symlink/tlc5949.pdf#page=49), generated with kicad-footprint-generator ipc_gullwing_generator.py
+HTSSOP SO
+0
+27
+25
+Package_SO
+HTSSOP-24-1EP_4.4x7.8mm_P0.65mm_EP3.4x7.8mm_Mask2.4x2.98mm_ThermalVias
+HTSSOP, 24 Pin (https://www.ti.com/lit/ds/symlink/tlc5949.pdf#page=49), generated with kicad-footprint-generator ipc_gullwing_generator.py
+HTSSOP SO
+0
+49
+25
+Package_SO
HTSSOP-24-1EP_4.4x7.8mm_P0.65mm_EP3.4x7.8mm_Mask2.4x4.68mm
HTSSOP, 24 Pin (http://www.ti.com/lit/ds/symlink/tps703.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py
HTSSOP SO
@@ -70092,7 +71457,7 @@
9
Package_SO
Infineon_PG-DSO-12-9
-Infineon PG-DSO 12 pin, exposed pad: 4.5x8.1mm, with thermal vias (https://www.infineon.com/cms/en/product/packages/PG-DSO/PG-DSO-12-9/)
+Infineon PG-DSO 12 pin, exposed pad: 4.5x8.1mm, (https://www.infineon.com/cms/en/product/packages/PG-DSO/PG-DSO-12-9/)
PG-DSO
0
23
@@ -70106,7 +71471,7 @@
13
Package_SO
Infineon_PG-DSO-12-11
-Infineon PG-DSO 12 pin, exposed pad: 4.5x8.1mm, with thermal vias (https://www.infineon.com/cms/en/product/packages/PG-DSO/PG-DSO-12-11/)
+Infineon PG-DSO 12 pin, exposed pad: 4.5x8.1mm, (https://www.infineon.com/cms/en/product/packages/PG-DSO/PG-DSO-12-11/)
PG-DSO
0
23
@@ -71331,8 +72696,8 @@
32
Package_SO
TSOP-I-32_18.4x8mm_P0.5mm
-TSOP I, 32 pins, 18.4x8mm body (https://www.micron.com/~/media/documents/products/technical-note/nor-flash/tn1225_land_pad_design.pdf, http://www.fujitsu.com/downloads/MICRO/fma/pdfmcu/f32pm25.pdf)
-TSOP I 32
+TSOP-I, 32 Pin (https://www.jedec.org/standards-documents/docs/mo-142-d variation BD), generated with kicad-footprint-generator ipc_gullwing_generator.py
+TSOP-I SO
0
32
32
@@ -71394,8 +72759,8 @@
48
Package_SO
TSOP-I-48_18.4x12mm_P0.5mm
-TSOP I, 32 pins, 18.4x8mm body (https://www.micron.com/~/media/documents/products/technical-note/nor-flash/tn1225_land_pad_design.pdf)
-TSOP I 32
+TSOP-I, 48 Pin (https://www.jedec.org/standards-documents/docs/mo-142-d variation DD), generated with kicad-footprint-generator ipc_gullwing_generator.py
+TSOP-I SO
0
48
48
@@ -71415,8 +72780,8 @@
56
Package_SO
TSOP-I-56_18.4x14mm_P0.5mm
-TSOP I, 32 pins, 18.4x8mm body (https://www.micron.com/~/media/documents/products/technical-note/nor-flash/tn1225_land_pad_design.pdf)
-TSOP I 32
+TSOP-I, 56 Pin (https://www.jedec.org/standards-documents/docs/mo-142-d variation EC), generated with kicad-footprint-generator ipc_gullwing_generator.py
+TSOP-I SO
0
56
56
@@ -72086,6 +73451,13 @@
17
9
Package_SON
+Infineon_PG-TDSON-8_6.15x5.15mm
+Infineon, PG-TDSON-8, 6.15x5.15x1mm, https://www.infineon.com/dgdl/Infineon-BSC520N15NS3_-DS-v02_02-en.pdf?fileId=db3a30432239cccd0122eee57d9b21a4
+Infineon OptiMOS
+0
+21
+5
+Package_SON
Infineon_PG-TISON-8-2
Infineon, PG-TISON-8-2, 5x6x1.15mm, 1.27mm Pitch, Exposed Paddle, https://www.infineon.com/cms/en/product/packages/PG-TISON/PG-TISON-8-2/
tison
@@ -72226,6 +73598,13 @@
39
11
Package_SON
+Texas_S-PWSON-N8_EP1.2x2mm
+WSON, 8 Pin, TI DRG, (http://www.ti.com/lit/ds/symlink/lp2951.pdf#page=27), generated with kicad-footprint-generator ipc_noLead_generator.py
+WSON NoLead
+0
+11
+9
+Package_SON
Texas_S-PWSON-N10
3x3mm Body, 0.5mm Pitch, S-PWSON-N10, DSC, http://www.ti.com/lit/ds/symlink/tps63060.pdf
0.5 S-PWSON-N10 DSC
@@ -72450,6 +73829,13 @@
13
9
Package_SON
+WSON-8-1EP_8x6mm_P1.27mm_EP3.4x4.3mm
+WSON, 8 Pin (https://datasheet.lcsc.com/lcsc/2204011730_GigaDevice-Semicon-Beijing-GD5F1GQ4UFYIGR_C2986324.pdf (page 44)), generated with kicad-footprint-generator ipc_noLead_generator.py
+WSON NoLead
+0
+13
+9
+Package_SON
WSON-10-1EP_2.5x2.5mm_P0.5mm_EP1.2x2mm
WSON, 10 Pin (http://www.ti.com/lit/gpn/tps63030#page=24), generated with kicad-footprint-generator ipc_noLead_generator.py
WSON NoLead
@@ -72639,6 +74025,13 @@
12
8
Package_TO_SOT_SMD
+Infineon_PG-TSFP-3-1
+Infineon_PG-TSFP-3-1, https://www.infineon.com/dgdl/TSFP-3-1,-2-Package_Overview.pdf?fileId=db3a30431936bc4b0119539929863d46
+TSFP-3
+0
+3
+3
+Package_TO_SOT_SMD
LFPAK33
LFPAK33 SOT-1210 https://assets.nexperia.com/documents/outline-drawing/SOT1210.pdf
LFPAK33 SOT-1210
@@ -72758,6 +74151,13 @@
3
3
Package_TO_SOT_SMD
+SOT-23-3
+SOT, 3 Pin (https://www.jedec.org/sites/default/files/docs/Mo-178D.PDF inferred 3-pin variant), generated with kicad-footprint-generator ipc_gullwing_generator.py
+SOT TO_SOT_SMD
+0
+3
+3
+Package_TO_SOT_SMD
SOT-23-5
SOT, 5 Pin (https://www.jedec.org/sites/default/files/docs/Mo-178c.PDF variant AA), generated with kicad-footprint-generator ipc_gullwing_generator.py
SOT TO_SOT_SMD
@@ -73402,6 +74802,20 @@
6
6
Package_TO_SOT_SMD
+Texas_NDW-7_TabPin4
+NDW0007A SMD package, http://www.ti.com/lit/ml/mmsf024/mmsf024.pdf
+NDW NDW
+0
+12
+7
+Package_TO_SOT_SMD
+Texas_NDW-7_TabPin8
+NDW0007A SMD package, http://www.ti.com/lit/ml/mmsf024/mmsf024.pdf
+NDW NDW
+0
+12
+8
+Package_TO_SOT_SMD
Texas_NDY0011A
TO-PMOD-11 11-pin switching regulator package, http://www.ti.com/lit/ml/mmsf025/mmsf025.pdf
Texas TO-PMOD NDY00011A
@@ -76132,6 +77546,13 @@
22
22
RF_GPS
+Quectel_L70-R
+Quectel L70-R, (https://www.quectel.com/product/gps-only-l70-r)
+GPS Quectel L70-R
+0
+18
+18
+RF_GPS
Quectel_L80-R
Quectel L80-R GPS Module, Patch on Top, https://www.quectel.com/UploadImage/Downlad/Quectel_L80-R_Hardware_Design_V1.2.pdf
quectel GPS GNSS
@@ -76216,6 +77637,13 @@
188
94
RF_GSM
+Quectel_BG96
+Quectel BG96 Cellular GSM 2G Module https://www.quectel.com/download/quectel_bg96_hardware_design_v1-4
+Quectel BG96 Cellular GSM 2G Module
+0
+204
+102
+RF_GSM
Quectel_M95
Quad-Band GSM/GPRS module, 19.9x23.6x2.65mm, https://www.quectel.com/UploadImage/Downlad/M95_Hardware_Design_V1.3.pdf
GSM Module M95
@@ -76605,14 +78033,14 @@
Single 2.4 GHz Wi-Fi and Bluetooth combo chip https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32_datasheet_en.pdf
Single 2.4 GHz Wi-Fi and Bluetooth combo chip
0
-39
+60
39
RF_Module
ESP32-WROOM-32U
Single 2.4 GHz Wi-Fi and Bluetooth combo chip with U.FL connector, https://www.espressif.com/sites/default/files/documentation/esp32-wroom-32d_esp32-wroom-32u_datasheet_en.pdf
Single 2.4 GHz Wi-Fi and Bluetooth combo chip
0
-39
+60
39
RF_Module
Garmin_M8-35_9.8x14.0mm_Layout6x6_P1.5mm
@@ -78924,6 +80352,48 @@
0
5
4
+Rotary_Encoder
+RotaryEncoder_Bourns_Horizontal_PEC09-2xxxF-Nxxxx
+Bourns rotary encoder, PEC09, without switch, horizontal shaft, https://www.bourns.com/products/encoders/contacting-encoders/product/PEC09
+rotary encoder
+0
+3
+3
+Rotary_Encoder
+RotaryEncoder_Bourns_Horizontal_PEC09-2xxxF-Sxxxx
+Bourns rotary encoder, PEC09, with switch, horizontal shaft, https://www.bourns.com/products/encoders/contacting-encoders/product/PEC09
+rotary encoder
+0
+5
+5
+Rotary_Encoder
+RotaryEncoder_Bourns_Horizontal_PEC12R-2xxxF-Nxxxx
+Bourns rotary encoder, PEC12R, without switch, horizontal shaft, https://www.bourns.com/docs/product-datasheets/pec12r.pdf
+rotary encoder
+0
+5
+4
+Rotary_Encoder
+RotaryEncoder_Bourns_Horizontal_PEC12R-2xxxF-Sxxxx
+Bourns rotary encoder, PEC12R, with switch, horizontal shaft, https://www.bourns.com/docs/product-datasheets/pec12r.pdf
+rotary encoder
+0
+7
+6
+Rotary_Encoder
+RotaryEncoder_Bourns_Vertical_PEC12R-3xxxF-Nxxxx
+Bourns rotary encoder, PEC12R, without switch, vertical shaft, https://www.bourns.com/docs/product-datasheets/pec12r.pdf
+rotary encoder
+0
+5
+4
+Rotary_Encoder
+RotaryEncoder_Bourns_Vertical_PEC12R-3xxxF-Sxxxx
+Bourns rotary encoder, PEC12R, with switch, vertical shaft, https://www.bourns.com/docs/product-datasheets/pec12r.pdf
+rotary encoder
+0
+7
+6
Sensor
Aosong_DHT11_5.5x12.0_P2.54mm
Temperature and humidity module, http://akizukidenshi.com/download/ds/aosong/DHT11.pdf
@@ -78932,7 +80402,7 @@
4
4
Sensor
-Avago_ADPS-9960
+Avago_APDS-9960
Digital Proximity, Ambient Light, RGB and Gesture Sensor (https://docs.broadcom.com/doc/AV02-4191EN)
DFN Sensor optical IR
0
@@ -79275,6 +80745,13 @@
10
5
Sensor_Humidity
+Sensirion_DFN-4_1.5x1.5mm_P0.8mm_SHT4x_NoCentralPad
+Sensirion, SHT40, SHT41, SHT45, DFN, 4 Pin (https://sensirion.com/media/documents/33FD6951/624C4357/Datasheet_SHT4x.pdf)
+DFN NoLead
+0
+4
+4
+Sensor_Humidity
Sensirion_DFN-8-1EP_2.5x2.5mm_P0.5mm_EP1.1x1.7mm
Sensirion DFN-8 SHT3x-DIS (https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/2_Humidity_Sensors/Datasheets/Sensirion_Humidity_Sensors_SHT3x_Datasheet_digital.pdf)
sensirion dfn nolead
@@ -79337,6 +80814,13 @@
0
14
14
+Sensor_Pressure
+TE_MS5837-xxBA
+https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Data+Sheet%7FMS5837-30BA%7FB1%7Fpdf%7FEnglish%7FENG_DS_MS5837-30BA_B1.pdf%7FCAT-BLPS0017
+MS5837 Ultra-small gel-filled pressure sensor with stainless steel cap
+0
+4
+4
Sensor_Voltage
LEM_LV25-P
LEM LV25-P Voltage transducer, https://www.lem.com/sites/default/files/products_datasheets/lv_25-p.pdf
@@ -84651,6 +86135,13 @@
16
16
Transformer_SMD
+Transformer_Ethernet_Bourns_PT61020EL
+10/100/1000 Base-T Transformer Module, PT61020EL (https://www.bourns.com/pdfs/PT61020.pdf)
+Gigabit PoE Ethernet Transformer Single
+0
+24
+24
+Transformer_SMD
Transformer_Ethernet_HALO_TG111-MSC13
Transformer Ethernet SMD, https://www.haloelectronics.com/pdf/discrete-genesus.pdf
Transformer Ethernet SMD
@@ -85182,6 +86673,13 @@
0
10
10
+Transformer_THT
+Transformer_Wuerth_760871131
+Transformer, horizontal core with bobbin, 14 pin, 2.49 mm pitch, 20 mm row spacing, 25x22.2x16mm https://www.we-online.com/catalog/datasheet/760871131.pdf
+transformer flyback
+0
+14
+14
Transistor_Power_Module
Infineon_AG-ECONO2
28-lead TH, EconoPACK 2, same as Littelfuse_Package_H_XN2MM, https://www.infineon.com/dgdl/Infineon-FS75R07N2E4-DS-v02_00-en_de.pdf?fileId=db3a30432f5008fe012f52f916333979
@@ -86022,3 +87520,17 @@
0
2
2
+Varistor
+RV_Rect_V25S440P_L26.5mm_W8.2mm_P12.7mm
+Varistor, V25S440P, https://www.littelfuse.com/media?resourcetype=datasheets&itemid=b410c42c-51d1-460e-b1d9-d105d93c9679&filename=littelfuse-varistor-ultramov25s-datasheet
+varistor
+0
+2
+2
+mag
+705550005
+
+
+0
+8
+8
diff --git a/circuit_boards/connector_boards/MAG_encoder_adapter/fp-lib-table b/circuit_boards/connector_boards/MAG_encoder_adapter/fp-lib-table
index 8f92c5a..e40e3d4 100644
--- a/circuit_boards/connector_boards/MAG_encoder_adapter/fp-lib-table
+++ b/circuit_boards/connector_boards/MAG_encoder_adapter/fp-lib-table
@@ -1,3 +1,4 @@
-(fp_lib_table
- (lib (name "MAG-encoder")(type "KiCad")(uri "C:/Users/yaelz/Downloads/ul_70555-0036/KiCAD/2022-08-20_21-58-39/footprints.pretty/MAG-encoder.pretty")(options "")(descr ""))
-)
+(fp_lib_table
+ (lib (name "MAG-encoder")(type "KiCad")(uri "C:/Users/yaelz/Downloads/ul_70555-0036/KiCAD/2022-08-20_21-58-39/footprints.pretty/MAG-encoder.pretty")(options "")(descr ""))
+ (lib (name "mag")(type "KiCad")(uri "${KIPRJMOD}/mag.pretty")(options "")(descr ""))
+)
diff --git a/circuit_boards/connector_boards/RRIB2/3dModels/705410001.stp b/circuit_boards/connector_boards/RRIB2/3dModels/705410001.stp
new file mode 100644
index 0000000..eea3954
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/3dModels/705410001.stp
@@ -0,0 +1,3505 @@
+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION((''),'2;1');
+FILE_NAME('705410001','2014-04-18T',('me'),(''),
+'PRO/ENGINEER BY PARAMETRIC TECHNOLOGY CORPORATION, 2011490',
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diff --git a/circuit_boards/connector_boards/RRIB2/Components/cd_roborio.pdf b/circuit_boards/connector_boards/RRIB2/Components/cd_roborio.pdf
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Cu.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Cu.gbr
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+D13*
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+X17145000Y81280000D03*
+D13*
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Mask.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Mask.gbr
new file mode 100644
index 0000000..4fb2ce5
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Mask.gbr
@@ -0,0 +1,894 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Silkscreen.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Silkscreen.gbr
new file mode 100644
index 0000000..e8b1558
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-B_Silkscreen.gbr
@@ -0,0 +1,1335 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-Edge_Cuts.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-Edge_Cuts.gbr
new file mode 100644
index 0000000..05fdde3
--- /dev/null
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Cu.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Cu.gbr
new file mode 100644
index 0000000..b921718
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Cu.gbr
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+D14*
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+%TO.N,/GND*%
+X38735000Y50800000D03*
+D13*
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Mask.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Mask.gbr
new file mode 100644
index 0000000..368a0fd
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Mask.gbr
@@ -0,0 +1,894 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Silkscreen.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Silkscreen.gbr
new file mode 100644
index 0000000..941d241
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-F_Silkscreen.gbr
@@ -0,0 +1,20584 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In1_Cu.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In1_Cu.gbr
new file mode 100644
index 0000000..62c047b
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In1_Cu.gbr
@@ -0,0 +1,46032 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,6.0.8-f2edbf62ab~116~ubuntu20.04.1*%
+%TF.CreationDate,2022-12-16T17:31:30-08:00*%
+%TF.ProjectId,RRIB2,52524942-322e-46b6-9963-61645f706362,V1.0*%
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+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 6.0.8-f2edbf62ab~116~ubuntu20.04.1) date 2022-12-16 17:31:30*
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diff --git a/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In2_Cu.gbr b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In2_Cu.gbr
new file mode 100644
index 0000000..67510b7
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/Gerbers/RRIB2-In2_Cu.gbr
@@ -0,0 +1,50655 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pcb b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pcb
new file mode 100644
index 0000000..12bcc03
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pcb
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+ (43 "Eco2.User" user "User.Eco2")
+ (44 "Edge.Cuts" user)
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+ (53 "User.4" user)
+ (54 "User.5" user)
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+ (56 "User.7" user)
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+ (layer "B.Cu" (type "copper") (thickness 0.035))
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+ (layer "B.Paste" (type "Bottom Solder Paste"))
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+ (copper_finish "None")
+ (dielectric_constraints no)
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+ (pad_to_mask_clearance 0)
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+ (mirror false)
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+ (scaleselection 1)
+ (outputdirectory "Gerbers/")
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+ )
+
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+ (net 2 "/5V0")
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+ (net 4 "/DIO1")
+ (net 5 "/DIO2")
+ (net 6 "/DIO3")
+ (net 7 "/DIO4")
+ (net 8 "/DIO5")
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+ (net 12 "/DIO9")
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+ (net 14 "/DIO23")
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+ (net 48 "/PWM2")
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+ (net 51 "/PWM5")
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+ (net 62 "/SCLK")
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_prl b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_prl
new file mode 100644
index 0000000..e3eaf6b
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_prl
@@ -0,0 +1,75 @@
+{
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+ "active_layer_preset": "",
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+ "net_color_mode": 1,
+ "opacity": {
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+ "selection_filter": {
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+ "footprints": true,
+ "graphics": true,
+ "keepouts": true,
+ "lockedItems": true,
+ "otherItems": true,
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+ "vias": true,
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+ "meta": {
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+}
diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pro b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pro
new file mode 100644
index 0000000..1ecf0a4
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_pro
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+{
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_sch b/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_sch
new file mode 100644
index 0000000..ec9798f
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+ (reference "J56") (unit 1) (value "RR_AIN3") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/dacf3316-9f5c-435e-8ba4-567e227ea596"
+ (reference "J57") (unit 1) (value "PWM0") (footprint "RRIB2:70541-0002")
+ )
+ (path "/79a7cead-703c-463a-8cfa-f5bd428792d7"
+ (reference "J58") (unit 1) (value "PWM1") (footprint "RRIB2:70541-0002")
+ )
+ (path "/1a9eb94f-fb30-4609-a4ce-46c7bae4c7b3"
+ (reference "J59") (unit 1) (value "PWM2") (footprint "RRIB2:70541-0002")
+ )
+ (path "/62faf734-d6c1-4ef5-a65a-cb250ddaec7b"
+ (reference "J60") (unit 1) (value "PWM3") (footprint "RRIB2:70541-0002")
+ )
+ (path "/f0d64961-6b72-46c6-95da-9e2ace7def8d"
+ (reference "J61") (unit 1) (value "PWM4") (footprint "RRIB2:70541-0002")
+ )
+ (path "/ff89756c-083d-4434-8700-f2f4cd369446"
+ (reference "J62") (unit 1) (value "PWM5") (footprint "RRIB2:70541-0002")
+ )
+ (path "/fdfc2946-e248-4b9e-8ab0-374605322311"
+ (reference "J63") (unit 1) (value "PWM6") (footprint "RRIB2:70541-0002")
+ )
+ (path "/4a9a9631-42de-4254-b7b4-24659a74c4ea"
+ (reference "J64") (unit 1) (value "PWM7") (footprint "RRIB2:70541-0002")
+ )
+ (path "/258aefa8-9466-4dac-814b-3141ca8e0786"
+ (reference "J65") (unit 1) (value "PWM8") (footprint "RRIB2:70541-0002")
+ )
+ (path "/9781a9f8-4d6c-4546-b326-e7ca942c3cb3"
+ (reference "J66") (unit 1) (value "PWM9") (footprint "RRIB2:70541-0002")
+ )
+ (path "/a994c2d0-8fa7-4637-bc21-b105505142e8"
+ (reference "J67") (unit 1) (value "RR_PWM0") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/506c2342-154e-4d48-bbe0-47012092438a"
+ (reference "J68") (unit 1) (value "RR_PWM1") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/e42f1c73-9dc1-40cd-8c5d-e779a802cc64"
+ (reference "J69") (unit 1) (value "RR_PWM2") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/a5e6589e-3ddc-4cad-ba98-cea303848cdc"
+ (reference "J70") (unit 1) (value "RR_PWM3") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/593d7f97-b1b8-4fa0-9a74-e6a4ba4cea34"
+ (reference "J71") (unit 1) (value "RR_PWM4") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/966083ec-c031-443a-b0cb-70a3c72d3a03"
+ (reference "J72") (unit 1) (value "RR_PWM5") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/25b2bd46-4514-41d7-9098-49be265b279e"
+ (reference "J73") (unit 1) (value "RR_PWM6") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/b6a0451b-d492-4e0b-b201-9ced05d1a319"
+ (reference "J74") (unit 1) (value "RR_PWM7") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/0f6ed954-6625-4cdd-9215-4854520f102a"
+ (reference "J75") (unit 1) (value "RR_PWM8") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/aece571e-cdcc-4f7f-81af-b8cbf7f9dd98"
+ (reference "J76") (unit 1) (value "RR_PWM9") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/06b99614-c6c7-4dce-84a8-6fd679bc655b"
+ (reference "J77") (unit 1) (value "RSL") (footprint "RRIB2:70541-0001")
+ )
+ (path "/c64ea987-31c8-4b52-87a4-a4ccae1d10c9"
+ (reference "J78") (unit 1) (value "RS232") (footprint "RRIB2:70541-0002")
+ )
+ (path "/04c51723-3584-4b30-b5eb-c030b60cc775"
+ (reference "J79") (unit 1) (value "I2C") (footprint "RRIB2:70541-0003")
+ )
+ (path "/d1b81c50-df51-45fe-87c4-e499ccf00902"
+ (reference "J80") (unit 1) (value "SPI0") (footprint "RRIB2:70541-0006")
+ )
+ (path "/907d1e88-f17f-4e70-b5f9-dd136a4d1881"
+ (reference "J81") (unit 1) (value "SPI1") (footprint "RRIB2:70541-0006")
+ )
+ (path "/49530a71-a98c-4e13-bd04-9a3edb93251e"
+ (reference "J82") (unit 1) (value "SPI2") (footprint "RRIB2:70541-0006")
+ )
+ (path "/e7ea8486-174e-4e57-b7ed-2815345038e5"
+ (reference "J83") (unit 1) (value "SPI3") (footprint "RRIB2:70541-0006")
+ )
+ (path "/bc3c869b-bcf6-4a3c-8e67-4f000ecc392e"
+ (reference "J84") (unit 1) (value "RR_RSL") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x02_P2.54mm_Vertical")
+ )
+ (path "/575270b5-bf94-4796-9cd0-3b69a4ba4d2c"
+ (reference "J85") (unit 1) (value "RR_RS-232") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical")
+ )
+ (path "/cab680b5-009d-4011-acc1-b95ab61b589e"
+ (reference "J86") (unit 1) (value "RR_I2C") (footprint "Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical")
+ )
+ (path "/1e58ffc7-8d50-4250-bea4-a79ddbf6a0f0"
+ (reference "J87") (unit 1) (value "RR_MXP") (footprint "Connector_PinSocket_2.54mm:PinSocket_2x17_P2.54mm_Vertical")
+ )
+ (path "/995fff9d-4464-486e-adae-f0ceeade687b"
+ (reference "J88") (unit 1) (value "RR_SPI") (footprint "Connector_PinSocket_2.54mm:PinSocket_2x05_P2.54mm_Vertical")
+ )
+ )
+)
diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2.step b/circuit_boards/connector_boards/RRIB2/RRIB2.step
new file mode 100644
index 0000000..784a027
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2.step
@@ -0,0 +1,278821 @@
+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION(('KiCad electronic assembly'),'2;1');
+FILE_NAME('RRIB2.step','2022-10-01T14:09:07',('Pcbnew'),('Kicad'),
+ 'Open CASCADE STEP processor 7.5','KiCad to STEP converter','Unknown'
+ );
+FILE_SCHEMA(('AUTOMOTIVE_DESIGN { 1 0 10303 214 1 1 1 1 }'));
+ENDSEC;
+DATA;
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+#2 = APPLICATION_CONTEXT(
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+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#171548 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#171571 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171573 = DEFINITIONAL_REPRESENTATION('',(#171574),#171578);
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+#171576 = VECTOR('',#171577,1.);
+#171577 = DIRECTION('',(1.,0.));
+#171578 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171580 = EDGE_LOOP('',(#171581));
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+#171601 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171607 = DIRECTION('',(1.,0.));
+#171608 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#171631 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171637 = DIRECTION('',(1.,0.));
+#171638 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+#171661 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#171668 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#171691 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171698 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#171714 = CARTESIAN_POINT('',(-23.73096202587,-31.17630482027));
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+#171720 = CARTESIAN_POINT('',(-23.73096202587,-31.17630482027));
+#171721 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171725 = CARTESIAN_POINT('',(0.,2.526));
+#171726 = VECTOR('',#171727,1.);
+#171727 = DIRECTION('',(1.,0.));
+#171728 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#171730 = EDGE_LOOP('',(#171731));
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+#173701 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#173708 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#173731 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#173738 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#173761 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#173768 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#173791 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#173798 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#173821 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#173828 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#173851 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#173856 = VECTOR('',#173857,1.);
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+#173858 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+ ) );
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+#181088 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181111 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181113 = DEFINITIONAL_REPRESENTATION('',(#181114),#181118);
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+#181115 = CARTESIAN_POINT('',(0.,2.526));
+#181116 = VECTOR('',#181117,1.);
+#181117 = DIRECTION('',(1.,0.));
+#181118 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181141 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181143 = DEFINITIONAL_REPRESENTATION('',(#181144),#181148);
+#181144 = LINE('',#181145,#181146);
+#181145 = CARTESIAN_POINT('',(0.,2.526));
+#181146 = VECTOR('',#181147,1.);
+#181147 = DIRECTION('',(1.,0.));
+#181148 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181149 = FACE_BOUND('',#181150,.F.);
+#181150 = EDGE_LOOP('',(#181151));
+#181151 = ORIENTED_EDGE('',*,*,#181152,.T.);
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+#181162 = DEFINITIONAL_REPRESENTATION('',(#181163),#181171);
+#181163 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#181164,#181165,#181166,
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181171 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181172 = PCURVE('',#166693,#181173);
+#181173 = DEFINITIONAL_REPRESENTATION('',(#181174),#181178);
+#181174 = LINE('',#181175,#181176);
+#181175 = CARTESIAN_POINT('',(0.,2.526));
+#181176 = VECTOR('',#181177,1.);
+#181177 = DIRECTION('',(1.,0.));
+#181178 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181179 = FACE_BOUND('',#181180,.F.);
+#181180 = EDGE_LOOP('',(#181181));
+#181181 = ORIENTED_EDGE('',*,*,#181182,.T.);
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+#181191 = PCURVE('',#152978,#181192);
+#181192 = DEFINITIONAL_REPRESENTATION('',(#181193),#181201);
+#181193 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#181194,#181195,#181196,
+ #181197,#181198,#181199,#181200),.UNSPECIFIED.,.T.,.F.)
+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181200 = CARTESIAN_POINT('',(20.091037974123,10.198695179723));
+#181201 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181203 = DEFINITIONAL_REPRESENTATION('',(#181204),#181208);
+#181204 = LINE('',#181205,#181206);
+#181205 = CARTESIAN_POINT('',(0.,2.526));
+#181206 = VECTOR('',#181207,1.);
+#181207 = DIRECTION('',(1.,0.));
+#181208 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181210 = EDGE_LOOP('',(#181211));
+#181211 = ORIENTED_EDGE('',*,*,#181212,.T.);
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+#181223 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#181224,#181225,#181226,
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181230 = CARTESIAN_POINT('',(25.310737974123,9.436695179723));
+#181231 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181233 = DEFINITIONAL_REPRESENTATION('',(#181234),#181238);
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+#181236 = VECTOR('',#181237,1.);
+#181237 = DIRECTION('',(1.,0.));
+#181238 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181240 = EDGE_LOOP('',(#181241));
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
+.UNSPECIFIED.) CURVE() GEOMETRIC_REPRESENTATION_ITEM()
+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181260 = CARTESIAN_POINT('',(27.850737974123,9.436695179723));
+#181261 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181263 = DEFINITIONAL_REPRESENTATION('',(#181264),#181268);
+#181264 = LINE('',#181265,#181266);
+#181265 = CARTESIAN_POINT('',(0.,2.526));
+#181266 = VECTOR('',#181267,1.);
+#181267 = DIRECTION('',(1.,0.));
+#181268 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181269 = FACE_BOUND('',#181270,.F.);
+#181270 = EDGE_LOOP('',(#181271));
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+#181280 = DIRECTION('',(1.,0.,-0.));
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+#181282 = DEFINITIONAL_REPRESENTATION('',(#181283),#181291);
+#181283 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#181284,#181285,#181286,
+ #181287,#181288,#181289,#181290),.UNSPECIFIED.,.T.,.F.)
+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
+ 2.094395102393,4.188790204786,6.28318530718,8.377580409573),
+.UNSPECIFIED.) CURVE() GEOMETRIC_REPRESENTATION_ITEM()
+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
+ '') );
+#181284 = CARTESIAN_POINT('',(30.390737974123,9.436695179723));
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+#181290 = CARTESIAN_POINT('',(30.390737974123,9.436695179723));
+#181291 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181292 = PCURVE('',#166833,#181293);
+#181293 = DEFINITIONAL_REPRESENTATION('',(#181294),#181298);
+#181294 = LINE('',#181295,#181296);
+#181295 = CARTESIAN_POINT('',(0.,2.526));
+#181296 = VECTOR('',#181297,1.);
+#181297 = DIRECTION('',(1.,0.));
+#181298 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
+#181299 = FACE_BOUND('',#181300,.F.);
+#181300 = EDGE_LOOP('',(#181301));
+#181301 = ORIENTED_EDGE('',*,*,#181302,.T.);
+#181302 = EDGE_CURVE('',#181303,#181303,#181305,.T.);
+#181303 = VERTEX_POINT('',#181304);
+#181304 = CARTESIAN_POINT('',(39.2811,73.66,1.684));
+#181305 = SURFACE_CURVE('',#181306,(#181311,#181322),.PCURVE_S1.);
+#181306 = CIRCLE('',#181307,0.5461);
+#181307 = AXIS2_PLACEMENT_3D('',#181308,#181309,#181310);
+#181308 = CARTESIAN_POINT('',(38.735,73.66,1.684));
+#181309 = DIRECTION('',(0.,0.,1.));
+#181310 = DIRECTION('',(1.,0.,-0.));
+#181311 = PCURVE('',#152978,#181312);
+#181312 = DEFINITIONAL_REPRESENTATION('',(#181313),#181321);
+#181313 = ( BOUNDED_CURVE() B_SPLINE_CURVE(2,(#181314,#181315,#181316,
+ #181317,#181318,#181319,#181320),.UNSPECIFIED.,.T.,.F.)
+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181568 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#181598 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181621 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181628 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181658 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181681 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181688 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181711 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181718 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181748 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181771 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181778 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181838 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181868 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181898 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+#181921 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#181928 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+RATIONAL_B_SPLINE_CURVE((1.,0.5,1.,0.5,1.,0.5,1.)) REPRESENTATION_ITEM(
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+#181951 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181958 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181981 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#181988 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+B_SPLINE_CURVE_WITH_KNOTS((1,2,2,2,2,1),(-2.094395102393,0.,
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+#182011 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
+ ) );
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+#182018 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
+PARAMETRIC_REPRESENTATION_CONTEXT() REPRESENTATION_CONTEXT('2D SPACE',''
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+#182708 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#183308 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#183331 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#183421 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+#183428 = ( GEOMETRIC_REPRESENTATION_CONTEXT(2)
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+ #197397,#197404,#197411,#197418,#197425,#197432,#197439,#197446,
+ #197453,#197460,#197467,#197474,#197481,#197488,#197495,#197502,
+ #197509,#197516,#197523,#197530,#197537,#197544,#197551,#197558,
+ #197565,#197572,#197579,#197586,#197593,#197600,#197607,#197614,
+ #197621,#197628,#197635,#197642,#197649,#197656,#197663,#197670,
+ #197677,#197684,#197691,#197698,#197705,#197712,#197719,#197726,
+ #197733,#197740,#197747,#197754,#197761,#197768,#197775,#197782,
+ #197789,#197796,#197803,#197810,#197817,#197824,#197831,#197838,
+ #197845,#197852,#197859,#197866,#197873,#197880,#197887,#197894,
+ #197901,#197908,#197915,#197922,#197929,#197936,#197943,#197950,
+ #197957,#197964,#197971,#197978,#197985,#197992,#197999,#198006,
+ #198013,#198020,#198027,#198034,#198041,#198048,#198055,#198062,
+ #198069,#198076,#198083,#198090,#198097,#198104,#198111,#198118,
+ #198125,#198132,#198139,#198146,#198153,#198160,#198167,#198174,
+ #198181,#198188,#198195,#198202,#198209,#198216,#198223,#198230,
+ #198237,#198244,#198251,#198258,#198265,#198272,#198279,#198286,
+ #198293,#198300,#198307,#198314,#198321,#198328,#198335,#198342,
+ #198349,#198356,#198363,#198370,#198377,#198384,#198391,#198398,
+ #198405,#198412,#198419,#198426,#198433,#198440,#198447,#198454,
+ #198461,#198468,#198475,#198482,#198489,#198496,#198503,#198510,
+ #198517,#198524,#198531,#198538,#198545,#198552,#198559,#198566,
+ #198573,#198580,#198587,#198594,#198601,#198608,#198615,#198622),
+ #152880);
+#196387 = STYLED_ITEM('color',(#196388),#133532);
+#196388 = PRESENTATION_STYLE_ASSIGNMENT((#196389));
+#196389 = SURFACE_STYLE_USAGE(.BOTH.,#196390);
+#196390 = SURFACE_SIDE_STYLE('',(#196391));
+#196391 = SURFACE_STYLE_FILL_AREA(#196392);
+#196392 = FILL_AREA_STYLE('',(#196393));
+#196393 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196394 = COLOUR_RGB('',0.147999998088,0.144999993226,0.144999993226);
+#196395 = STYLED_ITEM('color',(#196396),#133640);
+#196396 = PRESENTATION_STYLE_ASSIGNMENT((#196397));
+#196397 = SURFACE_STYLE_USAGE(.BOTH.,#196398);
+#196398 = SURFACE_SIDE_STYLE('',(#196399));
+#196399 = SURFACE_STYLE_FILL_AREA(#196400);
+#196400 = FILL_AREA_STYLE('',(#196401));
+#196401 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196402 = STYLED_ITEM('color',(#196403),#133807);
+#196403 = PRESENTATION_STYLE_ASSIGNMENT((#196404));
+#196404 = SURFACE_STYLE_USAGE(.BOTH.,#196405);
+#196405 = SURFACE_SIDE_STYLE('',(#196406));
+#196406 = SURFACE_STYLE_FILL_AREA(#196407);
+#196407 = FILL_AREA_STYLE('',(#196408));
+#196408 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196409 = STYLED_ITEM('color',(#196410),#133949);
+#196410 = PRESENTATION_STYLE_ASSIGNMENT((#196411));
+#196411 = SURFACE_STYLE_USAGE(.BOTH.,#196412);
+#196412 = SURFACE_SIDE_STYLE('',(#196413));
+#196413 = SURFACE_STYLE_FILL_AREA(#196414);
+#196414 = FILL_AREA_STYLE('',(#196415));
+#196415 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196416 = STYLED_ITEM('color',(#196417),#133973);
+#196417 = PRESENTATION_STYLE_ASSIGNMENT((#196418));
+#196418 = SURFACE_STYLE_USAGE(.BOTH.,#196419);
+#196419 = SURFACE_SIDE_STYLE('',(#196420));
+#196420 = SURFACE_STYLE_FILL_AREA(#196421);
+#196421 = FILL_AREA_STYLE('',(#196422));
+#196422 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196423 = STYLED_ITEM('color',(#196424),#135017);
+#196424 = PRESENTATION_STYLE_ASSIGNMENT((#196425));
+#196425 = SURFACE_STYLE_USAGE(.BOTH.,#196426);
+#196426 = SURFACE_SIDE_STYLE('',(#196427));
+#196427 = SURFACE_STYLE_FILL_AREA(#196428);
+#196428 = FILL_AREA_STYLE('',(#196429));
+#196429 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196430 = STYLED_ITEM('color',(#196431),#135058);
+#196431 = PRESENTATION_STYLE_ASSIGNMENT((#196432));
+#196432 = SURFACE_STYLE_USAGE(.BOTH.,#196433);
+#196433 = SURFACE_SIDE_STYLE('',(#196434));
+#196434 = SURFACE_STYLE_FILL_AREA(#196435);
+#196435 = FILL_AREA_STYLE('',(#196436));
+#196436 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196437 = STYLED_ITEM('color',(#196438),#135082);
+#196438 = PRESENTATION_STYLE_ASSIGNMENT((#196439));
+#196439 = SURFACE_STYLE_USAGE(.BOTH.,#196440);
+#196440 = SURFACE_SIDE_STYLE('',(#196441));
+#196441 = SURFACE_STYLE_FILL_AREA(#196442);
+#196442 = FILL_AREA_STYLE('',(#196443));
+#196443 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196444 = STYLED_ITEM('color',(#196445),#136926);
+#196445 = PRESENTATION_STYLE_ASSIGNMENT((#196446));
+#196446 = SURFACE_STYLE_USAGE(.BOTH.,#196447);
+#196447 = SURFACE_SIDE_STYLE('',(#196448));
+#196448 = SURFACE_STYLE_FILL_AREA(#196449);
+#196449 = FILL_AREA_STYLE('',(#196450));
+#196450 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196451 = STYLED_ITEM('color',(#196452),#136933);
+#196452 = PRESENTATION_STYLE_ASSIGNMENT((#196453));
+#196453 = SURFACE_STYLE_USAGE(.BOTH.,#196454);
+#196454 = SURFACE_SIDE_STYLE('',(#196455));
+#196455 = SURFACE_STYLE_FILL_AREA(#196456);
+#196456 = FILL_AREA_STYLE('',(#196457));
+#196457 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196458 = STYLED_ITEM('color',(#196459),#136940);
+#196459 = PRESENTATION_STYLE_ASSIGNMENT((#196460));
+#196460 = SURFACE_STYLE_USAGE(.BOTH.,#196461);
+#196461 = SURFACE_SIDE_STYLE('',(#196462));
+#196462 = SURFACE_STYLE_FILL_AREA(#196463);
+#196463 = FILL_AREA_STYLE('',(#196464));
+#196464 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196465 = STYLED_ITEM('color',(#196466),#137007);
+#196466 = PRESENTATION_STYLE_ASSIGNMENT((#196467));
+#196467 = SURFACE_STYLE_USAGE(.BOTH.,#196468);
+#196468 = SURFACE_SIDE_STYLE('',(#196469));
+#196469 = SURFACE_STYLE_FILL_AREA(#196470);
+#196470 = FILL_AREA_STYLE('',(#196471));
+#196471 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196472 = STYLED_ITEM('color',(#196473),#137055);
+#196473 = PRESENTATION_STYLE_ASSIGNMENT((#196474));
+#196474 = SURFACE_STYLE_USAGE(.BOTH.,#196475);
+#196475 = SURFACE_SIDE_STYLE('',(#196476));
+#196476 = SURFACE_STYLE_FILL_AREA(#196477);
+#196477 = FILL_AREA_STYLE('',(#196478));
+#196478 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196479 = STYLED_ITEM('color',(#196480),#137103);
+#196480 = PRESENTATION_STYLE_ASSIGNMENT((#196481));
+#196481 = SURFACE_STYLE_USAGE(.BOTH.,#196482);
+#196482 = SURFACE_SIDE_STYLE('',(#196483));
+#196483 = SURFACE_STYLE_FILL_AREA(#196484);
+#196484 = FILL_AREA_STYLE('',(#196485));
+#196485 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196486 = STYLED_ITEM('color',(#196487),#137132);
+#196487 = PRESENTATION_STYLE_ASSIGNMENT((#196488));
+#196488 = SURFACE_STYLE_USAGE(.BOTH.,#196489);
+#196489 = SURFACE_SIDE_STYLE('',(#196490));
+#196490 = SURFACE_STYLE_FILL_AREA(#196491);
+#196491 = FILL_AREA_STYLE('',(#196492));
+#196492 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196493 = STYLED_ITEM('color',(#196494),#137199);
+#196494 = PRESENTATION_STYLE_ASSIGNMENT((#196495));
+#196495 = SURFACE_STYLE_USAGE(.BOTH.,#196496);
+#196496 = SURFACE_SIDE_STYLE('',(#196497));
+#196497 = SURFACE_STYLE_FILL_AREA(#196498);
+#196498 = FILL_AREA_STYLE('',(#196499));
+#196499 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196500 = STYLED_ITEM('color',(#196501),#137247);
+#196501 = PRESENTATION_STYLE_ASSIGNMENT((#196502));
+#196502 = SURFACE_STYLE_USAGE(.BOTH.,#196503);
+#196503 = SURFACE_SIDE_STYLE('',(#196504));
+#196504 = SURFACE_STYLE_FILL_AREA(#196505);
+#196505 = FILL_AREA_STYLE('',(#196506));
+#196506 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196507 = STYLED_ITEM('color',(#196508),#137295);
+#196508 = PRESENTATION_STYLE_ASSIGNMENT((#196509));
+#196509 = SURFACE_STYLE_USAGE(.BOTH.,#196510);
+#196510 = SURFACE_SIDE_STYLE('',(#196511));
+#196511 = SURFACE_STYLE_FILL_AREA(#196512);
+#196512 = FILL_AREA_STYLE('',(#196513));
+#196513 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196514 = STYLED_ITEM('color',(#196515),#137324);
+#196515 = PRESENTATION_STYLE_ASSIGNMENT((#196516));
+#196516 = SURFACE_STYLE_USAGE(.BOTH.,#196517);
+#196517 = SURFACE_SIDE_STYLE('',(#196518));
+#196518 = SURFACE_STYLE_FILL_AREA(#196519);
+#196519 = FILL_AREA_STYLE('',(#196520));
+#196520 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196521 = STYLED_ITEM('color',(#196522),#137391);
+#196522 = PRESENTATION_STYLE_ASSIGNMENT((#196523));
+#196523 = SURFACE_STYLE_USAGE(.BOTH.,#196524);
+#196524 = SURFACE_SIDE_STYLE('',(#196525));
+#196525 = SURFACE_STYLE_FILL_AREA(#196526);
+#196526 = FILL_AREA_STYLE('',(#196527));
+#196527 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196528 = STYLED_ITEM('color',(#196529),#137439);
+#196529 = PRESENTATION_STYLE_ASSIGNMENT((#196530));
+#196530 = SURFACE_STYLE_USAGE(.BOTH.,#196531);
+#196531 = SURFACE_SIDE_STYLE('',(#196532));
+#196532 = SURFACE_STYLE_FILL_AREA(#196533);
+#196533 = FILL_AREA_STYLE('',(#196534));
+#196534 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196535 = STYLED_ITEM('color',(#196536),#137487);
+#196536 = PRESENTATION_STYLE_ASSIGNMENT((#196537));
+#196537 = SURFACE_STYLE_USAGE(.BOTH.,#196538);
+#196538 = SURFACE_SIDE_STYLE('',(#196539));
+#196539 = SURFACE_STYLE_FILL_AREA(#196540);
+#196540 = FILL_AREA_STYLE('',(#196541));
+#196541 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196542 = STYLED_ITEM('color',(#196543),#137516);
+#196543 = PRESENTATION_STYLE_ASSIGNMENT((#196544));
+#196544 = SURFACE_STYLE_USAGE(.BOTH.,#196545);
+#196545 = SURFACE_SIDE_STYLE('',(#196546));
+#196546 = SURFACE_STYLE_FILL_AREA(#196547);
+#196547 = FILL_AREA_STYLE('',(#196548));
+#196548 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196549 = STYLED_ITEM('color',(#196550),#137583);
+#196550 = PRESENTATION_STYLE_ASSIGNMENT((#196551));
+#196551 = SURFACE_STYLE_USAGE(.BOTH.,#196552);
+#196552 = SURFACE_SIDE_STYLE('',(#196553));
+#196553 = SURFACE_STYLE_FILL_AREA(#196554);
+#196554 = FILL_AREA_STYLE('',(#196555));
+#196555 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196556 = STYLED_ITEM('color',(#196557),#137631);
+#196557 = PRESENTATION_STYLE_ASSIGNMENT((#196558));
+#196558 = SURFACE_STYLE_USAGE(.BOTH.,#196559);
+#196559 = SURFACE_SIDE_STYLE('',(#196560));
+#196560 = SURFACE_STYLE_FILL_AREA(#196561);
+#196561 = FILL_AREA_STYLE('',(#196562));
+#196562 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196563 = STYLED_ITEM('color',(#196564),#137679);
+#196564 = PRESENTATION_STYLE_ASSIGNMENT((#196565));
+#196565 = SURFACE_STYLE_USAGE(.BOTH.,#196566);
+#196566 = SURFACE_SIDE_STYLE('',(#196567));
+#196567 = SURFACE_STYLE_FILL_AREA(#196568);
+#196568 = FILL_AREA_STYLE('',(#196569));
+#196569 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196570 = STYLED_ITEM('color',(#196571),#137708);
+#196571 = PRESENTATION_STYLE_ASSIGNMENT((#196572));
+#196572 = SURFACE_STYLE_USAGE(.BOTH.,#196573);
+#196573 = SURFACE_SIDE_STYLE('',(#196574));
+#196574 = SURFACE_STYLE_FILL_AREA(#196575);
+#196575 = FILL_AREA_STYLE('',(#196576));
+#196576 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196577 = STYLED_ITEM('color',(#196578),#137775);
+#196578 = PRESENTATION_STYLE_ASSIGNMENT((#196579));
+#196579 = SURFACE_STYLE_USAGE(.BOTH.,#196580);
+#196580 = SURFACE_SIDE_STYLE('',(#196581));
+#196581 = SURFACE_STYLE_FILL_AREA(#196582);
+#196582 = FILL_AREA_STYLE('',(#196583));
+#196583 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196584 = STYLED_ITEM('color',(#196585),#137823);
+#196585 = PRESENTATION_STYLE_ASSIGNMENT((#196586));
+#196586 = SURFACE_STYLE_USAGE(.BOTH.,#196587);
+#196587 = SURFACE_SIDE_STYLE('',(#196588));
+#196588 = SURFACE_STYLE_FILL_AREA(#196589);
+#196589 = FILL_AREA_STYLE('',(#196590));
+#196590 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196591 = STYLED_ITEM('color',(#196592),#137871);
+#196592 = PRESENTATION_STYLE_ASSIGNMENT((#196593));
+#196593 = SURFACE_STYLE_USAGE(.BOTH.,#196594);
+#196594 = SURFACE_SIDE_STYLE('',(#196595));
+#196595 = SURFACE_STYLE_FILL_AREA(#196596);
+#196596 = FILL_AREA_STYLE('',(#196597));
+#196597 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196598 = STYLED_ITEM('color',(#196599),#137900);
+#196599 = PRESENTATION_STYLE_ASSIGNMENT((#196600));
+#196600 = SURFACE_STYLE_USAGE(.BOTH.,#196601);
+#196601 = SURFACE_SIDE_STYLE('',(#196602));
+#196602 = SURFACE_STYLE_FILL_AREA(#196603);
+#196603 = FILL_AREA_STYLE('',(#196604));
+#196604 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196605 = STYLED_ITEM('color',(#196606),#137967);
+#196606 = PRESENTATION_STYLE_ASSIGNMENT((#196607));
+#196607 = SURFACE_STYLE_USAGE(.BOTH.,#196608);
+#196608 = SURFACE_SIDE_STYLE('',(#196609));
+#196609 = SURFACE_STYLE_FILL_AREA(#196610);
+#196610 = FILL_AREA_STYLE('',(#196611));
+#196611 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196612 = STYLED_ITEM('color',(#196613),#138015);
+#196613 = PRESENTATION_STYLE_ASSIGNMENT((#196614));
+#196614 = SURFACE_STYLE_USAGE(.BOTH.,#196615);
+#196615 = SURFACE_SIDE_STYLE('',(#196616));
+#196616 = SURFACE_STYLE_FILL_AREA(#196617);
+#196617 = FILL_AREA_STYLE('',(#196618));
+#196618 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196619 = STYLED_ITEM('color',(#196620),#138063);
+#196620 = PRESENTATION_STYLE_ASSIGNMENT((#196621));
+#196621 = SURFACE_STYLE_USAGE(.BOTH.,#196622);
+#196622 = SURFACE_SIDE_STYLE('',(#196623));
+#196623 = SURFACE_STYLE_FILL_AREA(#196624);
+#196624 = FILL_AREA_STYLE('',(#196625));
+#196625 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196626 = STYLED_ITEM('color',(#196627),#138092);
+#196627 = PRESENTATION_STYLE_ASSIGNMENT((#196628));
+#196628 = SURFACE_STYLE_USAGE(.BOTH.,#196629);
+#196629 = SURFACE_SIDE_STYLE('',(#196630));
+#196630 = SURFACE_STYLE_FILL_AREA(#196631);
+#196631 = FILL_AREA_STYLE('',(#196632));
+#196632 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196633 = STYLED_ITEM('color',(#196634),#138159);
+#196634 = PRESENTATION_STYLE_ASSIGNMENT((#196635));
+#196635 = SURFACE_STYLE_USAGE(.BOTH.,#196636);
+#196636 = SURFACE_SIDE_STYLE('',(#196637));
+#196637 = SURFACE_STYLE_FILL_AREA(#196638);
+#196638 = FILL_AREA_STYLE('',(#196639));
+#196639 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196640 = STYLED_ITEM('color',(#196641),#138207);
+#196641 = PRESENTATION_STYLE_ASSIGNMENT((#196642));
+#196642 = SURFACE_STYLE_USAGE(.BOTH.,#196643);
+#196643 = SURFACE_SIDE_STYLE('',(#196644));
+#196644 = SURFACE_STYLE_FILL_AREA(#196645);
+#196645 = FILL_AREA_STYLE('',(#196646));
+#196646 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196647 = STYLED_ITEM('color',(#196648),#138255);
+#196648 = PRESENTATION_STYLE_ASSIGNMENT((#196649));
+#196649 = SURFACE_STYLE_USAGE(.BOTH.,#196650);
+#196650 = SURFACE_SIDE_STYLE('',(#196651));
+#196651 = SURFACE_STYLE_FILL_AREA(#196652);
+#196652 = FILL_AREA_STYLE('',(#196653));
+#196653 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196654 = STYLED_ITEM('color',(#196655),#138284);
+#196655 = PRESENTATION_STYLE_ASSIGNMENT((#196656));
+#196656 = SURFACE_STYLE_USAGE(.BOTH.,#196657);
+#196657 = SURFACE_SIDE_STYLE('',(#196658));
+#196658 = SURFACE_STYLE_FILL_AREA(#196659);
+#196659 = FILL_AREA_STYLE('',(#196660));
+#196660 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196661 = STYLED_ITEM('color',(#196662),#138351);
+#196662 = PRESENTATION_STYLE_ASSIGNMENT((#196663));
+#196663 = SURFACE_STYLE_USAGE(.BOTH.,#196664);
+#196664 = SURFACE_SIDE_STYLE('',(#196665));
+#196665 = SURFACE_STYLE_FILL_AREA(#196666);
+#196666 = FILL_AREA_STYLE('',(#196667));
+#196667 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196668 = STYLED_ITEM('color',(#196669),#138399);
+#196669 = PRESENTATION_STYLE_ASSIGNMENT((#196670));
+#196670 = SURFACE_STYLE_USAGE(.BOTH.,#196671);
+#196671 = SURFACE_SIDE_STYLE('',(#196672));
+#196672 = SURFACE_STYLE_FILL_AREA(#196673);
+#196673 = FILL_AREA_STYLE('',(#196674));
+#196674 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196675 = STYLED_ITEM('color',(#196676),#138447);
+#196676 = PRESENTATION_STYLE_ASSIGNMENT((#196677));
+#196677 = SURFACE_STYLE_USAGE(.BOTH.,#196678);
+#196678 = SURFACE_SIDE_STYLE('',(#196679));
+#196679 = SURFACE_STYLE_FILL_AREA(#196680);
+#196680 = FILL_AREA_STYLE('',(#196681));
+#196681 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196682 = STYLED_ITEM('color',(#196683),#138476);
+#196683 = PRESENTATION_STYLE_ASSIGNMENT((#196684));
+#196684 = SURFACE_STYLE_USAGE(.BOTH.,#196685);
+#196685 = SURFACE_SIDE_STYLE('',(#196686));
+#196686 = SURFACE_STYLE_FILL_AREA(#196687);
+#196687 = FILL_AREA_STYLE('',(#196688));
+#196688 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196689 = STYLED_ITEM('color',(#196690),#138543);
+#196690 = PRESENTATION_STYLE_ASSIGNMENT((#196691));
+#196691 = SURFACE_STYLE_USAGE(.BOTH.,#196692);
+#196692 = SURFACE_SIDE_STYLE('',(#196693));
+#196693 = SURFACE_STYLE_FILL_AREA(#196694);
+#196694 = FILL_AREA_STYLE('',(#196695));
+#196695 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196696 = STYLED_ITEM('color',(#196697),#138591);
+#196697 = PRESENTATION_STYLE_ASSIGNMENT((#196698));
+#196698 = SURFACE_STYLE_USAGE(.BOTH.,#196699);
+#196699 = SURFACE_SIDE_STYLE('',(#196700));
+#196700 = SURFACE_STYLE_FILL_AREA(#196701);
+#196701 = FILL_AREA_STYLE('',(#196702));
+#196702 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196703 = STYLED_ITEM('color',(#196704),#138639);
+#196704 = PRESENTATION_STYLE_ASSIGNMENT((#196705));
+#196705 = SURFACE_STYLE_USAGE(.BOTH.,#196706);
+#196706 = SURFACE_SIDE_STYLE('',(#196707));
+#196707 = SURFACE_STYLE_FILL_AREA(#196708);
+#196708 = FILL_AREA_STYLE('',(#196709));
+#196709 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196710 = STYLED_ITEM('color',(#196711),#138668);
+#196711 = PRESENTATION_STYLE_ASSIGNMENT((#196712));
+#196712 = SURFACE_STYLE_USAGE(.BOTH.,#196713);
+#196713 = SURFACE_SIDE_STYLE('',(#196714));
+#196714 = SURFACE_STYLE_FILL_AREA(#196715);
+#196715 = FILL_AREA_STYLE('',(#196716));
+#196716 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196717 = STYLED_ITEM('color',(#196718),#138735);
+#196718 = PRESENTATION_STYLE_ASSIGNMENT((#196719));
+#196719 = SURFACE_STYLE_USAGE(.BOTH.,#196720);
+#196720 = SURFACE_SIDE_STYLE('',(#196721));
+#196721 = SURFACE_STYLE_FILL_AREA(#196722);
+#196722 = FILL_AREA_STYLE('',(#196723));
+#196723 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196724 = STYLED_ITEM('color',(#196725),#138783);
+#196725 = PRESENTATION_STYLE_ASSIGNMENT((#196726));
+#196726 = SURFACE_STYLE_USAGE(.BOTH.,#196727);
+#196727 = SURFACE_SIDE_STYLE('',(#196728));
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+#196729 = FILL_AREA_STYLE('',(#196730));
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+#196731 = STYLED_ITEM('color',(#196732),#138831);
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+#196733 = SURFACE_STYLE_USAGE(.BOTH.,#196734);
+#196734 = SURFACE_SIDE_STYLE('',(#196735));
+#196735 = SURFACE_STYLE_FILL_AREA(#196736);
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+#196737 = FILL_AREA_STYLE_COLOUR('',#196394);
+#196738 = STYLED_ITEM('color',(#196739),#138860);
+#196739 = PRESENTATION_STYLE_ASSIGNMENT((#196740));
+#196740 = SURFACE_STYLE_USAGE(.BOTH.,#196741);
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+#196742 = SURFACE_STYLE_FILL_AREA(#196743);
+#196743 = FILL_AREA_STYLE('',(#196744));
+#196744 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196745 = COLOUR_RGB('',0.859000020776,0.737999965183,0.495999988746);
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+#196748 = SURFACE_STYLE_USAGE(.BOTH.,#196749);
+#196749 = SURFACE_SIDE_STYLE('',(#196750));
+#196750 = SURFACE_STYLE_FILL_AREA(#196751);
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+#196753 = STYLED_ITEM('color',(#196754),#139011);
+#196754 = PRESENTATION_STYLE_ASSIGNMENT((#196755));
+#196755 = SURFACE_STYLE_USAGE(.BOTH.,#196756);
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+#196757 = SURFACE_STYLE_FILL_AREA(#196758);
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+#196761 = PRESENTATION_STYLE_ASSIGNMENT((#196762));
+#196762 = SURFACE_STYLE_USAGE(.BOTH.,#196763);
+#196763 = SURFACE_SIDE_STYLE('',(#196764));
+#196764 = SURFACE_STYLE_FILL_AREA(#196765);
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+#196768 = PRESENTATION_STYLE_ASSIGNMENT((#196769));
+#196769 = SURFACE_STYLE_USAGE(.BOTH.,#196770);
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+#196771 = SURFACE_STYLE_FILL_AREA(#196772);
+#196772 = FILL_AREA_STYLE('',(#196773));
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+#196774 = STYLED_ITEM('color',(#196775),#139166);
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+#196776 = SURFACE_STYLE_USAGE(.BOTH.,#196777);
+#196777 = SURFACE_SIDE_STYLE('',(#196778));
+#196778 = SURFACE_STYLE_FILL_AREA(#196779);
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+#196781 = STYLED_ITEM('color',(#196782),#139288);
+#196782 = PRESENTATION_STYLE_ASSIGNMENT((#196783));
+#196783 = SURFACE_STYLE_USAGE(.BOTH.,#196784);
+#196784 = SURFACE_SIDE_STYLE('',(#196785));
+#196785 = SURFACE_STYLE_FILL_AREA(#196786);
+#196786 = FILL_AREA_STYLE('',(#196787));
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+#196788 = STYLED_ITEM('color',(#196789),#139312);
+#196789 = PRESENTATION_STYLE_ASSIGNMENT((#196790));
+#196790 = SURFACE_STYLE_USAGE(.BOTH.,#196791);
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+#196795 = STYLED_ITEM('color',(#196796),#139414);
+#196796 = PRESENTATION_STYLE_ASSIGNMENT((#196797));
+#196797 = SURFACE_STYLE_USAGE(.BOTH.,#196798);
+#196798 = SURFACE_SIDE_STYLE('',(#196799));
+#196799 = SURFACE_STYLE_FILL_AREA(#196800);
+#196800 = FILL_AREA_STYLE('',(#196801));
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+#196802 = STYLED_ITEM('color',(#196803),#139443);
+#196803 = PRESENTATION_STYLE_ASSIGNMENT((#196804));
+#196804 = SURFACE_STYLE_USAGE(.BOTH.,#196805);
+#196805 = SURFACE_SIDE_STYLE('',(#196806));
+#196806 = SURFACE_STYLE_FILL_AREA(#196807);
+#196807 = FILL_AREA_STYLE('',(#196808));
+#196808 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196809 = STYLED_ITEM('color',(#196810),#139565);
+#196810 = PRESENTATION_STYLE_ASSIGNMENT((#196811));
+#196811 = SURFACE_STYLE_USAGE(.BOTH.,#196812);
+#196812 = SURFACE_SIDE_STYLE('',(#196813));
+#196813 = SURFACE_STYLE_FILL_AREA(#196814);
+#196814 = FILL_AREA_STYLE('',(#196815));
+#196815 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196816 = STYLED_ITEM('color',(#196817),#139589);
+#196817 = PRESENTATION_STYLE_ASSIGNMENT((#196818));
+#196818 = SURFACE_STYLE_USAGE(.BOTH.,#196819);
+#196819 = SURFACE_SIDE_STYLE('',(#196820));
+#196820 = SURFACE_STYLE_FILL_AREA(#196821);
+#196821 = FILL_AREA_STYLE('',(#196822));
+#196822 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196823 = STYLED_ITEM('color',(#196824),#139691);
+#196824 = PRESENTATION_STYLE_ASSIGNMENT((#196825));
+#196825 = SURFACE_STYLE_USAGE(.BOTH.,#196826);
+#196826 = SURFACE_SIDE_STYLE('',(#196827));
+#196827 = SURFACE_STYLE_FILL_AREA(#196828);
+#196828 = FILL_AREA_STYLE('',(#196829));
+#196829 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196830 = STYLED_ITEM('color',(#196831),#139720);
+#196831 = PRESENTATION_STYLE_ASSIGNMENT((#196832));
+#196832 = SURFACE_STYLE_USAGE(.BOTH.,#196833);
+#196833 = SURFACE_SIDE_STYLE('',(#196834));
+#196834 = SURFACE_STYLE_FILL_AREA(#196835);
+#196835 = FILL_AREA_STYLE('',(#196836));
+#196836 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196837 = STYLED_ITEM('color',(#196838),#139842);
+#196838 = PRESENTATION_STYLE_ASSIGNMENT((#196839));
+#196839 = SURFACE_STYLE_USAGE(.BOTH.,#196840);
+#196840 = SURFACE_SIDE_STYLE('',(#196841));
+#196841 = SURFACE_STYLE_FILL_AREA(#196842);
+#196842 = FILL_AREA_STYLE('',(#196843));
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+#196844 = STYLED_ITEM('color',(#196845),#139866);
+#196845 = PRESENTATION_STYLE_ASSIGNMENT((#196846));
+#196846 = SURFACE_STYLE_USAGE(.BOTH.,#196847);
+#196847 = SURFACE_SIDE_STYLE('',(#196848));
+#196848 = SURFACE_STYLE_FILL_AREA(#196849);
+#196849 = FILL_AREA_STYLE('',(#196850));
+#196850 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196851 = STYLED_ITEM('color',(#196852),#139968);
+#196852 = PRESENTATION_STYLE_ASSIGNMENT((#196853));
+#196853 = SURFACE_STYLE_USAGE(.BOTH.,#196854);
+#196854 = SURFACE_SIDE_STYLE('',(#196855));
+#196855 = SURFACE_STYLE_FILL_AREA(#196856);
+#196856 = FILL_AREA_STYLE('',(#196857));
+#196857 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196858 = STYLED_ITEM('color',(#196859),#139997);
+#196859 = PRESENTATION_STYLE_ASSIGNMENT((#196860));
+#196860 = SURFACE_STYLE_USAGE(.BOTH.,#196861);
+#196861 = SURFACE_SIDE_STYLE('',(#196862));
+#196862 = SURFACE_STYLE_FILL_AREA(#196863);
+#196863 = FILL_AREA_STYLE('',(#196864));
+#196864 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196865 = STYLED_ITEM('color',(#196866),#140119);
+#196866 = PRESENTATION_STYLE_ASSIGNMENT((#196867));
+#196867 = SURFACE_STYLE_USAGE(.BOTH.,#196868);
+#196868 = SURFACE_SIDE_STYLE('',(#196869));
+#196869 = SURFACE_STYLE_FILL_AREA(#196870);
+#196870 = FILL_AREA_STYLE('',(#196871));
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+#196872 = STYLED_ITEM('color',(#196873),#140143);
+#196873 = PRESENTATION_STYLE_ASSIGNMENT((#196874));
+#196874 = SURFACE_STYLE_USAGE(.BOTH.,#196875);
+#196875 = SURFACE_SIDE_STYLE('',(#196876));
+#196876 = SURFACE_STYLE_FILL_AREA(#196877);
+#196877 = FILL_AREA_STYLE('',(#196878));
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+#196879 = STYLED_ITEM('color',(#196880),#140245);
+#196880 = PRESENTATION_STYLE_ASSIGNMENT((#196881));
+#196881 = SURFACE_STYLE_USAGE(.BOTH.,#196882);
+#196882 = SURFACE_SIDE_STYLE('',(#196883));
+#196883 = SURFACE_STYLE_FILL_AREA(#196884);
+#196884 = FILL_AREA_STYLE('',(#196885));
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+#196886 = STYLED_ITEM('color',(#196887),#140274);
+#196887 = PRESENTATION_STYLE_ASSIGNMENT((#196888));
+#196888 = SURFACE_STYLE_USAGE(.BOTH.,#196889);
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+#196890 = SURFACE_STYLE_FILL_AREA(#196891);
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+#196893 = STYLED_ITEM('color',(#196894),#140396);
+#196894 = PRESENTATION_STYLE_ASSIGNMENT((#196895));
+#196895 = SURFACE_STYLE_USAGE(.BOTH.,#196896);
+#196896 = SURFACE_SIDE_STYLE('',(#196897));
+#196897 = SURFACE_STYLE_FILL_AREA(#196898);
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+#196900 = STYLED_ITEM('color',(#196901),#140420);
+#196901 = PRESENTATION_STYLE_ASSIGNMENT((#196902));
+#196902 = SURFACE_STYLE_USAGE(.BOTH.,#196903);
+#196903 = SURFACE_SIDE_STYLE('',(#196904));
+#196904 = SURFACE_STYLE_FILL_AREA(#196905);
+#196905 = FILL_AREA_STYLE('',(#196906));
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+#196907 = STYLED_ITEM('color',(#196908),#140522);
+#196908 = PRESENTATION_STYLE_ASSIGNMENT((#196909));
+#196909 = SURFACE_STYLE_USAGE(.BOTH.,#196910);
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+#196911 = SURFACE_STYLE_FILL_AREA(#196912);
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+#196913 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196914 = STYLED_ITEM('color',(#196915),#140551);
+#196915 = PRESENTATION_STYLE_ASSIGNMENT((#196916));
+#196916 = SURFACE_STYLE_USAGE(.BOTH.,#196917);
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+#196918 = SURFACE_STYLE_FILL_AREA(#196919);
+#196919 = FILL_AREA_STYLE('',(#196920));
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+#196921 = STYLED_ITEM('color',(#196922),#140673);
+#196922 = PRESENTATION_STYLE_ASSIGNMENT((#196923));
+#196923 = SURFACE_STYLE_USAGE(.BOTH.,#196924);
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+#196925 = SURFACE_STYLE_FILL_AREA(#196926);
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+#196928 = STYLED_ITEM('color',(#196929),#140697);
+#196929 = PRESENTATION_STYLE_ASSIGNMENT((#196930));
+#196930 = SURFACE_STYLE_USAGE(.BOTH.,#196931);
+#196931 = SURFACE_SIDE_STYLE('',(#196932));
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+#196935 = STYLED_ITEM('color',(#196936),#140799);
+#196936 = PRESENTATION_STYLE_ASSIGNMENT((#196937));
+#196937 = SURFACE_STYLE_USAGE(.BOTH.,#196938);
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+#196939 = SURFACE_STYLE_FILL_AREA(#196940);
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+#196942 = STYLED_ITEM('color',(#196943),#140828);
+#196943 = PRESENTATION_STYLE_ASSIGNMENT((#196944));
+#196944 = SURFACE_STYLE_USAGE(.BOTH.,#196945);
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+#196946 = SURFACE_STYLE_FILL_AREA(#196947);
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+#196949 = STYLED_ITEM('color',(#196950),#140950);
+#196950 = PRESENTATION_STYLE_ASSIGNMENT((#196951));
+#196951 = SURFACE_STYLE_USAGE(.BOTH.,#196952);
+#196952 = SURFACE_SIDE_STYLE('',(#196953));
+#196953 = SURFACE_STYLE_FILL_AREA(#196954);
+#196954 = FILL_AREA_STYLE('',(#196955));
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+#196956 = STYLED_ITEM('color',(#196957),#140974);
+#196957 = PRESENTATION_STYLE_ASSIGNMENT((#196958));
+#196958 = SURFACE_STYLE_USAGE(.BOTH.,#196959);
+#196959 = SURFACE_SIDE_STYLE('',(#196960));
+#196960 = SURFACE_STYLE_FILL_AREA(#196961);
+#196961 = FILL_AREA_STYLE('',(#196962));
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+#196963 = STYLED_ITEM('color',(#196964),#141076);
+#196964 = PRESENTATION_STYLE_ASSIGNMENT((#196965));
+#196965 = SURFACE_STYLE_USAGE(.BOTH.,#196966);
+#196966 = SURFACE_SIDE_STYLE('',(#196967));
+#196967 = SURFACE_STYLE_FILL_AREA(#196968);
+#196968 = FILL_AREA_STYLE('',(#196969));
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+#196970 = STYLED_ITEM('color',(#196971),#141203);
+#196971 = PRESENTATION_STYLE_ASSIGNMENT((#196972));
+#196972 = SURFACE_STYLE_USAGE(.BOTH.,#196973);
+#196973 = SURFACE_SIDE_STYLE('',(#196974));
+#196974 = SURFACE_STYLE_FILL_AREA(#196975);
+#196975 = FILL_AREA_STYLE('',(#196976));
+#196976 = FILL_AREA_STYLE_COLOUR('',#196745);
+#196977 = STYLED_ITEM('color',(#196978),#141227);
+#196978 = PRESENTATION_STYLE_ASSIGNMENT((#196979));
+#196979 = SURFACE_STYLE_USAGE(.BOTH.,#196980);
+#196980 = SURFACE_SIDE_STYLE('',(#196981));
+#196981 = SURFACE_STYLE_FILL_AREA(#196982);
+#196982 = FILL_AREA_STYLE('',(#196983));
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+#196984 = STYLED_ITEM('color',(#196985),#141329);
+#196985 = PRESENTATION_STYLE_ASSIGNMENT((#196986));
+#196986 = SURFACE_STYLE_USAGE(.BOTH.,#196987);
+#196987 = SURFACE_SIDE_STYLE('',(#196988));
+#196988 = SURFACE_STYLE_FILL_AREA(#196989);
+#196989 = FILL_AREA_STYLE('',(#196990));
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+#196991 = STYLED_ITEM('color',(#196992),#141353);
+#196992 = PRESENTATION_STYLE_ASSIGNMENT((#196993));
+#196993 = SURFACE_STYLE_USAGE(.BOTH.,#196994);
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+#196998 = STYLED_ITEM('color',(#196999),#141480);
+#196999 = PRESENTATION_STYLE_ASSIGNMENT((#197000));
+#197000 = SURFACE_STYLE_USAGE(.BOTH.,#197001);
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+#197005 = STYLED_ITEM('color',(#197006),#141504);
+#197006 = PRESENTATION_STYLE_ASSIGNMENT((#197007));
+#197007 = SURFACE_STYLE_USAGE(.BOTH.,#197008);
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+#197009 = SURFACE_STYLE_FILL_AREA(#197010);
+#197010 = FILL_AREA_STYLE('',(#197011));
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+#197012 = STYLED_ITEM('color',(#197013),#141606);
+#197013 = PRESENTATION_STYLE_ASSIGNMENT((#197014));
+#197014 = SURFACE_STYLE_USAGE(.BOTH.,#197015);
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+#197016 = SURFACE_STYLE_FILL_AREA(#197017);
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+#197019 = STYLED_ITEM('color',(#197020),#141630);
+#197020 = PRESENTATION_STYLE_ASSIGNMENT((#197021));
+#197021 = SURFACE_STYLE_USAGE(.BOTH.,#197022);
+#197022 = SURFACE_SIDE_STYLE('',(#197023));
+#197023 = SURFACE_STYLE_FILL_AREA(#197024);
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+#197026 = STYLED_ITEM('color',(#197027),#141697);
+#197027 = PRESENTATION_STYLE_ASSIGNMENT((#197028));
+#197028 = SURFACE_STYLE_USAGE(.BOTH.,#197029);
+#197029 = SURFACE_SIDE_STYLE('',(#197030));
+#197030 = SURFACE_STYLE_FILL_AREA(#197031);
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+#197033 = STYLED_ITEM('color',(#197034),#141740);
+#197034 = PRESENTATION_STYLE_ASSIGNMENT((#197035));
+#197035 = SURFACE_STYLE_USAGE(.BOTH.,#197036);
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+#197037 = SURFACE_STYLE_FILL_AREA(#197038);
+#197038 = FILL_AREA_STYLE('',(#197039));
+#197039 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197040 = STYLED_ITEM('color',(#197041),#141783);
+#197041 = PRESENTATION_STYLE_ASSIGNMENT((#197042));
+#197042 = SURFACE_STYLE_USAGE(.BOTH.,#197043);
+#197043 = SURFACE_SIDE_STYLE('',(#197044));
+#197044 = SURFACE_STYLE_FILL_AREA(#197045);
+#197045 = FILL_AREA_STYLE('',(#197046));
+#197046 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197047 = STYLED_ITEM('color',(#197048),#141807);
+#197048 = PRESENTATION_STYLE_ASSIGNMENT((#197049));
+#197049 = SURFACE_STYLE_USAGE(.BOTH.,#197050);
+#197050 = SURFACE_SIDE_STYLE('',(#197051));
+#197051 = SURFACE_STYLE_FILL_AREA(#197052);
+#197052 = FILL_AREA_STYLE('',(#197053));
+#197053 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197054 = STYLED_ITEM('color',(#197055),#141874);
+#197055 = PRESENTATION_STYLE_ASSIGNMENT((#197056));
+#197056 = SURFACE_STYLE_USAGE(.BOTH.,#197057);
+#197057 = SURFACE_SIDE_STYLE('',(#197058));
+#197058 = SURFACE_STYLE_FILL_AREA(#197059);
+#197059 = FILL_AREA_STYLE('',(#197060));
+#197060 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197061 = STYLED_ITEM('color',(#197062),#141917);
+#197062 = PRESENTATION_STYLE_ASSIGNMENT((#197063));
+#197063 = SURFACE_STYLE_USAGE(.BOTH.,#197064);
+#197064 = SURFACE_SIDE_STYLE('',(#197065));
+#197065 = SURFACE_STYLE_FILL_AREA(#197066);
+#197066 = FILL_AREA_STYLE('',(#197067));
+#197067 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197068 = STYLED_ITEM('color',(#197069),#141960);
+#197069 = PRESENTATION_STYLE_ASSIGNMENT((#197070));
+#197070 = SURFACE_STYLE_USAGE(.BOTH.,#197071);
+#197071 = SURFACE_SIDE_STYLE('',(#197072));
+#197072 = SURFACE_STYLE_FILL_AREA(#197073);
+#197073 = FILL_AREA_STYLE('',(#197074));
+#197074 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197075 = STYLED_ITEM('color',(#197076),#141984);
+#197076 = PRESENTATION_STYLE_ASSIGNMENT((#197077));
+#197077 = SURFACE_STYLE_USAGE(.BOTH.,#197078);
+#197078 = SURFACE_SIDE_STYLE('',(#197079));
+#197079 = SURFACE_STYLE_FILL_AREA(#197080);
+#197080 = FILL_AREA_STYLE('',(#197081));
+#197081 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197082 = STYLED_ITEM('color',(#197083),#142051);
+#197083 = PRESENTATION_STYLE_ASSIGNMENT((#197084));
+#197084 = SURFACE_STYLE_USAGE(.BOTH.,#197085);
+#197085 = SURFACE_SIDE_STYLE('',(#197086));
+#197086 = SURFACE_STYLE_FILL_AREA(#197087);
+#197087 = FILL_AREA_STYLE('',(#197088));
+#197088 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197089 = STYLED_ITEM('color',(#197090),#142094);
+#197090 = PRESENTATION_STYLE_ASSIGNMENT((#197091));
+#197091 = SURFACE_STYLE_USAGE(.BOTH.,#197092);
+#197092 = SURFACE_SIDE_STYLE('',(#197093));
+#197093 = SURFACE_STYLE_FILL_AREA(#197094);
+#197094 = FILL_AREA_STYLE('',(#197095));
+#197095 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197096 = STYLED_ITEM('color',(#197097),#142137);
+#197097 = PRESENTATION_STYLE_ASSIGNMENT((#197098));
+#197098 = SURFACE_STYLE_USAGE(.BOTH.,#197099);
+#197099 = SURFACE_SIDE_STYLE('',(#197100));
+#197100 = SURFACE_STYLE_FILL_AREA(#197101);
+#197101 = FILL_AREA_STYLE('',(#197102));
+#197102 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197103 = STYLED_ITEM('color',(#197104),#142161);
+#197104 = PRESENTATION_STYLE_ASSIGNMENT((#197105));
+#197105 = SURFACE_STYLE_USAGE(.BOTH.,#197106);
+#197106 = SURFACE_SIDE_STYLE('',(#197107));
+#197107 = SURFACE_STYLE_FILL_AREA(#197108);
+#197108 = FILL_AREA_STYLE('',(#197109));
+#197109 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197110 = STYLED_ITEM('color',(#197111),#142228);
+#197111 = PRESENTATION_STYLE_ASSIGNMENT((#197112));
+#197112 = SURFACE_STYLE_USAGE(.BOTH.,#197113);
+#197113 = SURFACE_SIDE_STYLE('',(#197114));
+#197114 = SURFACE_STYLE_FILL_AREA(#197115);
+#197115 = FILL_AREA_STYLE('',(#197116));
+#197116 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197117 = STYLED_ITEM('color',(#197118),#142271);
+#197118 = PRESENTATION_STYLE_ASSIGNMENT((#197119));
+#197119 = SURFACE_STYLE_USAGE(.BOTH.,#197120);
+#197120 = SURFACE_SIDE_STYLE('',(#197121));
+#197121 = SURFACE_STYLE_FILL_AREA(#197122);
+#197122 = FILL_AREA_STYLE('',(#197123));
+#197123 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197124 = STYLED_ITEM('color',(#197125),#142314);
+#197125 = PRESENTATION_STYLE_ASSIGNMENT((#197126));
+#197126 = SURFACE_STYLE_USAGE(.BOTH.,#197127);
+#197127 = SURFACE_SIDE_STYLE('',(#197128));
+#197128 = SURFACE_STYLE_FILL_AREA(#197129);
+#197129 = FILL_AREA_STYLE('',(#197130));
+#197130 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197131 = STYLED_ITEM('color',(#197132),#142338);
+#197132 = PRESENTATION_STYLE_ASSIGNMENT((#197133));
+#197133 = SURFACE_STYLE_USAGE(.BOTH.,#197134);
+#197134 = SURFACE_SIDE_STYLE('',(#197135));
+#197135 = SURFACE_STYLE_FILL_AREA(#197136);
+#197136 = FILL_AREA_STYLE('',(#197137));
+#197137 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197138 = STYLED_ITEM('color',(#197139),#142405);
+#197139 = PRESENTATION_STYLE_ASSIGNMENT((#197140));
+#197140 = SURFACE_STYLE_USAGE(.BOTH.,#197141);
+#197141 = SURFACE_SIDE_STYLE('',(#197142));
+#197142 = SURFACE_STYLE_FILL_AREA(#197143);
+#197143 = FILL_AREA_STYLE('',(#197144));
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+#197145 = STYLED_ITEM('color',(#197146),#142448);
+#197146 = PRESENTATION_STYLE_ASSIGNMENT((#197147));
+#197147 = SURFACE_STYLE_USAGE(.BOTH.,#197148);
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+#197149 = SURFACE_STYLE_FILL_AREA(#197150);
+#197150 = FILL_AREA_STYLE('',(#197151));
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+#197152 = STYLED_ITEM('color',(#197153),#142491);
+#197153 = PRESENTATION_STYLE_ASSIGNMENT((#197154));
+#197154 = SURFACE_STYLE_USAGE(.BOTH.,#197155);
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+#197157 = FILL_AREA_STYLE('',(#197158));
+#197158 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197159 = STYLED_ITEM('color',(#197160),#142515);
+#197160 = PRESENTATION_STYLE_ASSIGNMENT((#197161));
+#197161 = SURFACE_STYLE_USAGE(.BOTH.,#197162);
+#197162 = SURFACE_SIDE_STYLE('',(#197163));
+#197163 = SURFACE_STYLE_FILL_AREA(#197164);
+#197164 = FILL_AREA_STYLE('',(#197165));
+#197165 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197166 = STYLED_ITEM('color',(#197167),#142582);
+#197167 = PRESENTATION_STYLE_ASSIGNMENT((#197168));
+#197168 = SURFACE_STYLE_USAGE(.BOTH.,#197169);
+#197169 = SURFACE_SIDE_STYLE('',(#197170));
+#197170 = SURFACE_STYLE_FILL_AREA(#197171);
+#197171 = FILL_AREA_STYLE('',(#197172));
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+#197173 = STYLED_ITEM('color',(#197174),#142625);
+#197174 = PRESENTATION_STYLE_ASSIGNMENT((#197175));
+#197175 = SURFACE_STYLE_USAGE(.BOTH.,#197176);
+#197176 = SURFACE_SIDE_STYLE('',(#197177));
+#197177 = SURFACE_STYLE_FILL_AREA(#197178);
+#197178 = FILL_AREA_STYLE('',(#197179));
+#197179 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197180 = STYLED_ITEM('color',(#197181),#142668);
+#197181 = PRESENTATION_STYLE_ASSIGNMENT((#197182));
+#197182 = SURFACE_STYLE_USAGE(.BOTH.,#197183);
+#197183 = SURFACE_SIDE_STYLE('',(#197184));
+#197184 = SURFACE_STYLE_FILL_AREA(#197185);
+#197185 = FILL_AREA_STYLE('',(#197186));
+#197186 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197187 = STYLED_ITEM('color',(#197188),#142692);
+#197188 = PRESENTATION_STYLE_ASSIGNMENT((#197189));
+#197189 = SURFACE_STYLE_USAGE(.BOTH.,#197190);
+#197190 = SURFACE_SIDE_STYLE('',(#197191));
+#197191 = SURFACE_STYLE_FILL_AREA(#197192);
+#197192 = FILL_AREA_STYLE('',(#197193));
+#197193 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197194 = STYLED_ITEM('color',(#197195),#142759);
+#197195 = PRESENTATION_STYLE_ASSIGNMENT((#197196));
+#197196 = SURFACE_STYLE_USAGE(.BOTH.,#197197);
+#197197 = SURFACE_SIDE_STYLE('',(#197198));
+#197198 = SURFACE_STYLE_FILL_AREA(#197199);
+#197199 = FILL_AREA_STYLE('',(#197200));
+#197200 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197201 = STYLED_ITEM('color',(#197202),#142802);
+#197202 = PRESENTATION_STYLE_ASSIGNMENT((#197203));
+#197203 = SURFACE_STYLE_USAGE(.BOTH.,#197204);
+#197204 = SURFACE_SIDE_STYLE('',(#197205));
+#197205 = SURFACE_STYLE_FILL_AREA(#197206);
+#197206 = FILL_AREA_STYLE('',(#197207));
+#197207 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197208 = STYLED_ITEM('color',(#197209),#142845);
+#197209 = PRESENTATION_STYLE_ASSIGNMENT((#197210));
+#197210 = SURFACE_STYLE_USAGE(.BOTH.,#197211);
+#197211 = SURFACE_SIDE_STYLE('',(#197212));
+#197212 = SURFACE_STYLE_FILL_AREA(#197213);
+#197213 = FILL_AREA_STYLE('',(#197214));
+#197214 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197215 = STYLED_ITEM('color',(#197216),#142869);
+#197216 = PRESENTATION_STYLE_ASSIGNMENT((#197217));
+#197217 = SURFACE_STYLE_USAGE(.BOTH.,#197218);
+#197218 = SURFACE_SIDE_STYLE('',(#197219));
+#197219 = SURFACE_STYLE_FILL_AREA(#197220);
+#197220 = FILL_AREA_STYLE('',(#197221));
+#197221 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197222 = STYLED_ITEM('color',(#197223),#142936);
+#197223 = PRESENTATION_STYLE_ASSIGNMENT((#197224));
+#197224 = SURFACE_STYLE_USAGE(.BOTH.,#197225);
+#197225 = SURFACE_SIDE_STYLE('',(#197226));
+#197226 = SURFACE_STYLE_FILL_AREA(#197227);
+#197227 = FILL_AREA_STYLE('',(#197228));
+#197228 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197229 = STYLED_ITEM('color',(#197230),#142979);
+#197230 = PRESENTATION_STYLE_ASSIGNMENT((#197231));
+#197231 = SURFACE_STYLE_USAGE(.BOTH.,#197232);
+#197232 = SURFACE_SIDE_STYLE('',(#197233));
+#197233 = SURFACE_STYLE_FILL_AREA(#197234);
+#197234 = FILL_AREA_STYLE('',(#197235));
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+#197236 = STYLED_ITEM('color',(#197237),#143022);
+#197237 = PRESENTATION_STYLE_ASSIGNMENT((#197238));
+#197238 = SURFACE_STYLE_USAGE(.BOTH.,#197239);
+#197239 = SURFACE_SIDE_STYLE('',(#197240));
+#197240 = SURFACE_STYLE_FILL_AREA(#197241);
+#197241 = FILL_AREA_STYLE('',(#197242));
+#197242 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197243 = STYLED_ITEM('color',(#197244),#143046);
+#197244 = PRESENTATION_STYLE_ASSIGNMENT((#197245));
+#197245 = SURFACE_STYLE_USAGE(.BOTH.,#197246);
+#197246 = SURFACE_SIDE_STYLE('',(#197247));
+#197247 = SURFACE_STYLE_FILL_AREA(#197248);
+#197248 = FILL_AREA_STYLE('',(#197249));
+#197249 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197250 = STYLED_ITEM('color',(#197251),#143113);
+#197251 = PRESENTATION_STYLE_ASSIGNMENT((#197252));
+#197252 = SURFACE_STYLE_USAGE(.BOTH.,#197253);
+#197253 = SURFACE_SIDE_STYLE('',(#197254));
+#197254 = SURFACE_STYLE_FILL_AREA(#197255);
+#197255 = FILL_AREA_STYLE('',(#197256));
+#197256 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197257 = STYLED_ITEM('color',(#197258),#143156);
+#197258 = PRESENTATION_STYLE_ASSIGNMENT((#197259));
+#197259 = SURFACE_STYLE_USAGE(.BOTH.,#197260);
+#197260 = SURFACE_SIDE_STYLE('',(#197261));
+#197261 = SURFACE_STYLE_FILL_AREA(#197262);
+#197262 = FILL_AREA_STYLE('',(#197263));
+#197263 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197264 = STYLED_ITEM('color',(#197265),#143199);
+#197265 = PRESENTATION_STYLE_ASSIGNMENT((#197266));
+#197266 = SURFACE_STYLE_USAGE(.BOTH.,#197267);
+#197267 = SURFACE_SIDE_STYLE('',(#197268));
+#197268 = SURFACE_STYLE_FILL_AREA(#197269);
+#197269 = FILL_AREA_STYLE('',(#197270));
+#197270 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197271 = STYLED_ITEM('color',(#197272),#143223);
+#197272 = PRESENTATION_STYLE_ASSIGNMENT((#197273));
+#197273 = SURFACE_STYLE_USAGE(.BOTH.,#197274);
+#197274 = SURFACE_SIDE_STYLE('',(#197275));
+#197275 = SURFACE_STYLE_FILL_AREA(#197276);
+#197276 = FILL_AREA_STYLE('',(#197277));
+#197277 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197278 = STYLED_ITEM('color',(#197279),#143290);
+#197279 = PRESENTATION_STYLE_ASSIGNMENT((#197280));
+#197280 = SURFACE_STYLE_USAGE(.BOTH.,#197281);
+#197281 = SURFACE_SIDE_STYLE('',(#197282));
+#197282 = SURFACE_STYLE_FILL_AREA(#197283);
+#197283 = FILL_AREA_STYLE('',(#197284));
+#197284 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197285 = STYLED_ITEM('color',(#197286),#143333);
+#197286 = PRESENTATION_STYLE_ASSIGNMENT((#197287));
+#197287 = SURFACE_STYLE_USAGE(.BOTH.,#197288);
+#197288 = SURFACE_SIDE_STYLE('',(#197289));
+#197289 = SURFACE_STYLE_FILL_AREA(#197290);
+#197290 = FILL_AREA_STYLE('',(#197291));
+#197291 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197292 = STYLED_ITEM('color',(#197293),#143376);
+#197293 = PRESENTATION_STYLE_ASSIGNMENT((#197294));
+#197294 = SURFACE_STYLE_USAGE(.BOTH.,#197295);
+#197295 = SURFACE_SIDE_STYLE('',(#197296));
+#197296 = SURFACE_STYLE_FILL_AREA(#197297);
+#197297 = FILL_AREA_STYLE('',(#197298));
+#197298 = FILL_AREA_STYLE_COLOUR('',#196394);
+#197299 = STYLED_ITEM('color',(#197300),#143400);
+#197300 = PRESENTATION_STYLE_ASSIGNMENT((#197301));
+#197301 = SURFACE_STYLE_USAGE(.BOTH.,#197302);
+#197302 = SURFACE_SIDE_STYLE('',(#197303));
+#197303 = SURFACE_STYLE_FILL_AREA(#197304);
+#197304 = FILL_AREA_STYLE('',(#197305));
+#197305 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197306 = STYLED_ITEM('color',(#197307),#143424);
+#197307 = PRESENTATION_STYLE_ASSIGNMENT((#197308));
+#197308 = SURFACE_STYLE_USAGE(.BOTH.,#197309);
+#197309 = SURFACE_SIDE_STYLE('',(#197310));
+#197310 = SURFACE_STYLE_FILL_AREA(#197311);
+#197311 = FILL_AREA_STYLE('',(#197312));
+#197312 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197313 = STYLED_ITEM('color',(#197314),#143448);
+#197314 = PRESENTATION_STYLE_ASSIGNMENT((#197315));
+#197315 = SURFACE_STYLE_USAGE(.BOTH.,#197316);
+#197316 = SURFACE_SIDE_STYLE('',(#197317));
+#197317 = SURFACE_STYLE_FILL_AREA(#197318);
+#197318 = FILL_AREA_STYLE('',(#197319));
+#197319 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197320 = STYLED_ITEM('color',(#197321),#143472);
+#197321 = PRESENTATION_STYLE_ASSIGNMENT((#197322));
+#197322 = SURFACE_STYLE_USAGE(.BOTH.,#197323);
+#197323 = SURFACE_SIDE_STYLE('',(#197324));
+#197324 = SURFACE_STYLE_FILL_AREA(#197325);
+#197325 = FILL_AREA_STYLE('',(#197326));
+#197326 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197327 = STYLED_ITEM('color',(#197328),#143496);
+#197328 = PRESENTATION_STYLE_ASSIGNMENT((#197329));
+#197329 = SURFACE_STYLE_USAGE(.BOTH.,#197330);
+#197330 = SURFACE_SIDE_STYLE('',(#197331));
+#197331 = SURFACE_STYLE_FILL_AREA(#197332);
+#197332 = FILL_AREA_STYLE('',(#197333));
+#197333 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197334 = STYLED_ITEM('color',(#197335),#143503);
+#197335 = PRESENTATION_STYLE_ASSIGNMENT((#197336));
+#197336 = SURFACE_STYLE_USAGE(.BOTH.,#197337);
+#197337 = SURFACE_SIDE_STYLE('',(#197338));
+#197338 = SURFACE_STYLE_FILL_AREA(#197339);
+#197339 = FILL_AREA_STYLE('',(#197340));
+#197340 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197341 = STYLED_ITEM('color',(#197342),#143527);
+#197342 = PRESENTATION_STYLE_ASSIGNMENT((#197343));
+#197343 = SURFACE_STYLE_USAGE(.BOTH.,#197344);
+#197344 = SURFACE_SIDE_STYLE('',(#197345));
+#197345 = SURFACE_STYLE_FILL_AREA(#197346);
+#197346 = FILL_AREA_STYLE('',(#197347));
+#197347 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197348 = STYLED_ITEM('color',(#197349),#143551);
+#197349 = PRESENTATION_STYLE_ASSIGNMENT((#197350));
+#197350 = SURFACE_STYLE_USAGE(.BOTH.,#197351);
+#197351 = SURFACE_SIDE_STYLE('',(#197352));
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+#197353 = FILL_AREA_STYLE('',(#197354));
+#197354 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197355 = STYLED_ITEM('color',(#197356),#143575);
+#197356 = PRESENTATION_STYLE_ASSIGNMENT((#197357));
+#197357 = SURFACE_STYLE_USAGE(.BOTH.,#197358);
+#197358 = SURFACE_SIDE_STYLE('',(#197359));
+#197359 = SURFACE_STYLE_FILL_AREA(#197360);
+#197360 = FILL_AREA_STYLE('',(#197361));
+#197361 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197362 = STYLED_ITEM('color',(#197363),#143599);
+#197363 = PRESENTATION_STYLE_ASSIGNMENT((#197364));
+#197364 = SURFACE_STYLE_USAGE(.BOTH.,#197365);
+#197365 = SURFACE_SIDE_STYLE('',(#197366));
+#197366 = SURFACE_STYLE_FILL_AREA(#197367);
+#197367 = FILL_AREA_STYLE('',(#197368));
+#197368 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197369 = STYLED_ITEM('color',(#197370),#143606);
+#197370 = PRESENTATION_STYLE_ASSIGNMENT((#197371));
+#197371 = SURFACE_STYLE_USAGE(.BOTH.,#197372);
+#197372 = SURFACE_SIDE_STYLE('',(#197373));
+#197373 = SURFACE_STYLE_FILL_AREA(#197374);
+#197374 = FILL_AREA_STYLE('',(#197375));
+#197375 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197376 = STYLED_ITEM('color',(#197377),#143630);
+#197377 = PRESENTATION_STYLE_ASSIGNMENT((#197378));
+#197378 = SURFACE_STYLE_USAGE(.BOTH.,#197379);
+#197379 = SURFACE_SIDE_STYLE('',(#197380));
+#197380 = SURFACE_STYLE_FILL_AREA(#197381);
+#197381 = FILL_AREA_STYLE('',(#197382));
+#197382 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197383 = STYLED_ITEM('color',(#197384),#143654);
+#197384 = PRESENTATION_STYLE_ASSIGNMENT((#197385));
+#197385 = SURFACE_STYLE_USAGE(.BOTH.,#197386);
+#197386 = SURFACE_SIDE_STYLE('',(#197387));
+#197387 = SURFACE_STYLE_FILL_AREA(#197388);
+#197388 = FILL_AREA_STYLE('',(#197389));
+#197389 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197390 = STYLED_ITEM('color',(#197391),#143678);
+#197391 = PRESENTATION_STYLE_ASSIGNMENT((#197392));
+#197392 = SURFACE_STYLE_USAGE(.BOTH.,#197393);
+#197393 = SURFACE_SIDE_STYLE('',(#197394));
+#197394 = SURFACE_STYLE_FILL_AREA(#197395);
+#197395 = FILL_AREA_STYLE('',(#197396));
+#197396 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197397 = STYLED_ITEM('color',(#197398),#143702);
+#197398 = PRESENTATION_STYLE_ASSIGNMENT((#197399));
+#197399 = SURFACE_STYLE_USAGE(.BOTH.,#197400);
+#197400 = SURFACE_SIDE_STYLE('',(#197401));
+#197401 = SURFACE_STYLE_FILL_AREA(#197402);
+#197402 = FILL_AREA_STYLE('',(#197403));
+#197403 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197404 = STYLED_ITEM('color',(#197405),#143709);
+#197405 = PRESENTATION_STYLE_ASSIGNMENT((#197406));
+#197406 = SURFACE_STYLE_USAGE(.BOTH.,#197407);
+#197407 = SURFACE_SIDE_STYLE('',(#197408));
+#197408 = SURFACE_STYLE_FILL_AREA(#197409);
+#197409 = FILL_AREA_STYLE('',(#197410));
+#197410 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197411 = STYLED_ITEM('color',(#197412),#143733);
+#197412 = PRESENTATION_STYLE_ASSIGNMENT((#197413));
+#197413 = SURFACE_STYLE_USAGE(.BOTH.,#197414);
+#197414 = SURFACE_SIDE_STYLE('',(#197415));
+#197415 = SURFACE_STYLE_FILL_AREA(#197416);
+#197416 = FILL_AREA_STYLE('',(#197417));
+#197417 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197418 = STYLED_ITEM('color',(#197419),#143757);
+#197419 = PRESENTATION_STYLE_ASSIGNMENT((#197420));
+#197420 = SURFACE_STYLE_USAGE(.BOTH.,#197421);
+#197421 = SURFACE_SIDE_STYLE('',(#197422));
+#197422 = SURFACE_STYLE_FILL_AREA(#197423);
+#197423 = FILL_AREA_STYLE('',(#197424));
+#197424 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197425 = STYLED_ITEM('color',(#197426),#143781);
+#197426 = PRESENTATION_STYLE_ASSIGNMENT((#197427));
+#197427 = SURFACE_STYLE_USAGE(.BOTH.,#197428);
+#197428 = SURFACE_SIDE_STYLE('',(#197429));
+#197429 = SURFACE_STYLE_FILL_AREA(#197430);
+#197430 = FILL_AREA_STYLE('',(#197431));
+#197431 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197432 = STYLED_ITEM('color',(#197433),#143805);
+#197433 = PRESENTATION_STYLE_ASSIGNMENT((#197434));
+#197434 = SURFACE_STYLE_USAGE(.BOTH.,#197435);
+#197435 = SURFACE_SIDE_STYLE('',(#197436));
+#197436 = SURFACE_STYLE_FILL_AREA(#197437);
+#197437 = FILL_AREA_STYLE('',(#197438));
+#197438 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197439 = STYLED_ITEM('color',(#197440),#143812);
+#197440 = PRESENTATION_STYLE_ASSIGNMENT((#197441));
+#197441 = SURFACE_STYLE_USAGE(.BOTH.,#197442);
+#197442 = SURFACE_SIDE_STYLE('',(#197443));
+#197443 = SURFACE_STYLE_FILL_AREA(#197444);
+#197444 = FILL_AREA_STYLE('',(#197445));
+#197445 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197446 = STYLED_ITEM('color',(#197447),#143836);
+#197447 = PRESENTATION_STYLE_ASSIGNMENT((#197448));
+#197448 = SURFACE_STYLE_USAGE(.BOTH.,#197449);
+#197449 = SURFACE_SIDE_STYLE('',(#197450));
+#197450 = SURFACE_STYLE_FILL_AREA(#197451);
+#197451 = FILL_AREA_STYLE('',(#197452));
+#197452 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197453 = STYLED_ITEM('color',(#197454),#143860);
+#197454 = PRESENTATION_STYLE_ASSIGNMENT((#197455));
+#197455 = SURFACE_STYLE_USAGE(.BOTH.,#197456);
+#197456 = SURFACE_SIDE_STYLE('',(#197457));
+#197457 = SURFACE_STYLE_FILL_AREA(#197458);
+#197458 = FILL_AREA_STYLE('',(#197459));
+#197459 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197460 = STYLED_ITEM('color',(#197461),#143884);
+#197461 = PRESENTATION_STYLE_ASSIGNMENT((#197462));
+#197462 = SURFACE_STYLE_USAGE(.BOTH.,#197463);
+#197463 = SURFACE_SIDE_STYLE('',(#197464));
+#197464 = SURFACE_STYLE_FILL_AREA(#197465);
+#197465 = FILL_AREA_STYLE('',(#197466));
+#197466 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197467 = STYLED_ITEM('color',(#197468),#143908);
+#197468 = PRESENTATION_STYLE_ASSIGNMENT((#197469));
+#197469 = SURFACE_STYLE_USAGE(.BOTH.,#197470);
+#197470 = SURFACE_SIDE_STYLE('',(#197471));
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+#197475 = PRESENTATION_STYLE_ASSIGNMENT((#197476));
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+#197478 = SURFACE_STYLE_FILL_AREA(#197479);
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+#197481 = STYLED_ITEM('color',(#197482),#143939);
+#197482 = PRESENTATION_STYLE_ASSIGNMENT((#197483));
+#197483 = SURFACE_STYLE_USAGE(.BOTH.,#197484);
+#197484 = SURFACE_SIDE_STYLE('',(#197485));
+#197485 = SURFACE_STYLE_FILL_AREA(#197486);
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+#197487 = FILL_AREA_STYLE_COLOUR('',#196745);
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+#197489 = PRESENTATION_STYLE_ASSIGNMENT((#197490));
+#197490 = SURFACE_STYLE_USAGE(.BOTH.,#197491);
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+#197496 = PRESENTATION_STYLE_ASSIGNMENT((#197497));
+#197497 = SURFACE_STYLE_USAGE(.BOTH.,#197498);
+#197498 = SURFACE_SIDE_STYLE('',(#197499));
+#197499 = SURFACE_STYLE_FILL_AREA(#197500);
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+#197503 = PRESENTATION_STYLE_ASSIGNMENT((#197504));
+#197504 = SURFACE_STYLE_USAGE(.BOTH.,#197505);
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+#197518 = SURFACE_STYLE_USAGE(.BOTH.,#197519);
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+#197532 = SURFACE_STYLE_USAGE(.BOTH.,#197533);
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+#197539 = SURFACE_STYLE_USAGE(.BOTH.,#197540);
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+#197545 = PRESENTATION_STYLE_ASSIGNMENT((#197546));
+#197546 = SURFACE_STYLE_USAGE(.BOTH.,#197547);
+#197547 = SURFACE_SIDE_STYLE('',(#197548));
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+#197551 = STYLED_ITEM('color',(#197552),#144145);
+#197552 = PRESENTATION_STYLE_ASSIGNMENT((#197553));
+#197553 = SURFACE_STYLE_USAGE(.BOTH.,#197554);
+#197554 = SURFACE_SIDE_STYLE('',(#197555));
+#197555 = SURFACE_STYLE_FILL_AREA(#197556);
+#197556 = FILL_AREA_STYLE('',(#197557));
+#197557 = FILL_AREA_STYLE_COLOUR('',#196745);
+#197558 = STYLED_ITEM('color',(#197559),#144169);
+#197559 = PRESENTATION_STYLE_ASSIGNMENT((#197560));
+#197560 = SURFACE_STYLE_USAGE(.BOTH.,#197561);
+#197561 = SURFACE_SIDE_STYLE('',(#197562));
+#197562 = SURFACE_STYLE_FILL_AREA(#197563);
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+#197566 = PRESENTATION_STYLE_ASSIGNMENT((#197567));
+#197567 = SURFACE_STYLE_USAGE(.BOTH.,#197568);
+#197568 = SURFACE_SIDE_STYLE('',(#197569));
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+#197572 = STYLED_ITEM('color',(#197573),#144217);
+#197573 = PRESENTATION_STYLE_ASSIGNMENT((#197574));
+#197574 = SURFACE_STYLE_USAGE(.BOTH.,#197575);
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+#197580 = PRESENTATION_STYLE_ASSIGNMENT((#197581));
+#197581 = SURFACE_STYLE_USAGE(.BOTH.,#197582);
+#197582 = SURFACE_SIDE_STYLE('',(#197583));
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+#197584 = FILL_AREA_STYLE('',(#197585));
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+#197586 = STYLED_ITEM('color',(#197587),#144248);
+#197587 = PRESENTATION_STYLE_ASSIGNMENT((#197588));
+#197588 = SURFACE_STYLE_USAGE(.BOTH.,#197589);
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+#197594 = PRESENTATION_STYLE_ASSIGNMENT((#197595));
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+#197601 = PRESENTATION_STYLE_ASSIGNMENT((#197602));
+#197602 = SURFACE_STYLE_USAGE(.BOTH.,#197603);
+#197603 = SURFACE_SIDE_STYLE('',(#197604));
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+#197798 = SURFACE_STYLE_USAGE(.BOTH.,#197799);
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+#197804 = PRESENTATION_STYLE_ASSIGNMENT((#197805));
+#197805 = SURFACE_STYLE_USAGE(.BOTH.,#197806);
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+#197811 = PRESENTATION_STYLE_ASSIGNMENT((#197812));
+#197812 = SURFACE_STYLE_USAGE(.BOTH.,#197813);
+#197813 = SURFACE_SIDE_STYLE('',(#197814));
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+#197817 = STYLED_ITEM('color',(#197818),#146816);
+#197818 = PRESENTATION_STYLE_ASSIGNMENT((#197819));
+#197819 = SURFACE_STYLE_USAGE(.BOTH.,#197820);
+#197820 = SURFACE_SIDE_STYLE('',(#197821));
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+#197824 = STYLED_ITEM('color',(#197825),#146944);
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+#197826 = SURFACE_STYLE_USAGE(.BOTH.,#197827);
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+#197833 = SURFACE_STYLE_USAGE(.BOTH.,#197834);
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+#197836 = FILL_AREA_STYLE('',(#197837));
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+#198223 = STYLED_ITEM('color',(#198224),#150878);
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+#198561 = SURFACE_STYLE_USAGE(.BOTH.,#198562);
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+ #205967,#205974,#205981,#205988,#205995,#206002,#206009,#206016,
+ #206023,#206030,#206037,#206044,#206051,#206058,#206065,#206072,
+ #206079,#206086,#206093,#206100,#206107,#206114,#206121,#206128,
+ #206135,#206142,#206149,#206156,#206163,#206170,#206177,#206184,
+ #206191,#206198,#206205,#206212,#206219,#206226,#206233,#206240,
+ #206247,#206254,#206261,#206268,#206275,#206282,#206289,#206296,
+ #206303,#206310,#206317,#206324,#206331,#206338,#206345,#206352,
+ #206359,#206366,#206373,#206380,#206387,#206394,#206401,#206408,
+ #206415,#206422,#206429,#206436,#206443,#206450,#206457,#206464,
+ #206471,#206478,#206485,#206492,#206499,#206506,#206513,#206520,
+ #206527,#206534,#206541,#206548,#206555,#206562,#206569,#206576),
+ #120951);
+#199135 = STYLED_ITEM('color',(#199136),#56531);
+#199136 = PRESENTATION_STYLE_ASSIGNMENT((#199137));
+#199137 = SURFACE_STYLE_USAGE(.BOTH.,#199138);
+#199138 = SURFACE_SIDE_STYLE('',(#199139));
+#199139 = SURFACE_STYLE_FILL_AREA(#199140);
+#199140 = FILL_AREA_STYLE('',(#199141));
+#199141 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199142 = STYLED_ITEM('color',(#199143),#56639);
+#199143 = PRESENTATION_STYLE_ASSIGNMENT((#199144));
+#199144 = SURFACE_STYLE_USAGE(.BOTH.,#199145);
+#199145 = SURFACE_SIDE_STYLE('',(#199146));
+#199146 = SURFACE_STYLE_FILL_AREA(#199147);
+#199147 = FILL_AREA_STYLE('',(#199148));
+#199148 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199149 = STYLED_ITEM('color',(#199150),#56806);
+#199150 = PRESENTATION_STYLE_ASSIGNMENT((#199151));
+#199151 = SURFACE_STYLE_USAGE(.BOTH.,#199152);
+#199152 = SURFACE_SIDE_STYLE('',(#199153));
+#199153 = SURFACE_STYLE_FILL_AREA(#199154);
+#199154 = FILL_AREA_STYLE('',(#199155));
+#199155 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199156 = STYLED_ITEM('color',(#199157),#56948);
+#199157 = PRESENTATION_STYLE_ASSIGNMENT((#199158));
+#199158 = SURFACE_STYLE_USAGE(.BOTH.,#199159);
+#199159 = SURFACE_SIDE_STYLE('',(#199160));
+#199160 = SURFACE_STYLE_FILL_AREA(#199161);
+#199161 = FILL_AREA_STYLE('',(#199162));
+#199162 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199163 = STYLED_ITEM('color',(#199164),#56972);
+#199164 = PRESENTATION_STYLE_ASSIGNMENT((#199165));
+#199165 = SURFACE_STYLE_USAGE(.BOTH.,#199166);
+#199166 = SURFACE_SIDE_STYLE('',(#199167));
+#199167 = SURFACE_STYLE_FILL_AREA(#199168);
+#199168 = FILL_AREA_STYLE('',(#199169));
+#199169 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199170 = STYLED_ITEM('color',(#199171),#60464);
+#199171 = PRESENTATION_STYLE_ASSIGNMENT((#199172));
+#199172 = SURFACE_STYLE_USAGE(.BOTH.,#199173);
+#199173 = SURFACE_SIDE_STYLE('',(#199174));
+#199174 = SURFACE_STYLE_FILL_AREA(#199175);
+#199175 = FILL_AREA_STYLE('',(#199176));
+#199176 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199177 = STYLED_ITEM('color',(#199178),#60505);
+#199178 = PRESENTATION_STYLE_ASSIGNMENT((#199179));
+#199179 = SURFACE_STYLE_USAGE(.BOTH.,#199180);
+#199180 = SURFACE_SIDE_STYLE('',(#199181));
+#199181 = SURFACE_STYLE_FILL_AREA(#199182);
+#199182 = FILL_AREA_STYLE('',(#199183));
+#199183 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199184 = STYLED_ITEM('color',(#199185),#60529);
+#199185 = PRESENTATION_STYLE_ASSIGNMENT((#199186));
+#199186 = SURFACE_STYLE_USAGE(.BOTH.,#199187);
+#199187 = SURFACE_SIDE_STYLE('',(#199188));
+#199188 = SURFACE_STYLE_FILL_AREA(#199189);
+#199189 = FILL_AREA_STYLE('',(#199190));
+#199190 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199191 = STYLED_ITEM('color',(#199192),#66741);
+#199192 = PRESENTATION_STYLE_ASSIGNMENT((#199193));
+#199193 = SURFACE_STYLE_USAGE(.BOTH.,#199194);
+#199194 = SURFACE_SIDE_STYLE('',(#199195));
+#199195 = SURFACE_STYLE_FILL_AREA(#199196);
+#199196 = FILL_AREA_STYLE('',(#199197));
+#199197 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199198 = STYLED_ITEM('color',(#199199),#66748);
+#199199 = PRESENTATION_STYLE_ASSIGNMENT((#199200));
+#199200 = SURFACE_STYLE_USAGE(.BOTH.,#199201);
+#199201 = SURFACE_SIDE_STYLE('',(#199202));
+#199202 = SURFACE_STYLE_FILL_AREA(#199203);
+#199203 = FILL_AREA_STYLE('',(#199204));
+#199204 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199205 = STYLED_ITEM('color',(#199206),#66755);
+#199206 = PRESENTATION_STYLE_ASSIGNMENT((#199207));
+#199207 = SURFACE_STYLE_USAGE(.BOTH.,#199208);
+#199208 = SURFACE_SIDE_STYLE('',(#199209));
+#199209 = SURFACE_STYLE_FILL_AREA(#199210);
+#199210 = FILL_AREA_STYLE('',(#199211));
+#199211 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199212 = STYLED_ITEM('color',(#199213),#66822);
+#199213 = PRESENTATION_STYLE_ASSIGNMENT((#199214));
+#199214 = SURFACE_STYLE_USAGE(.BOTH.,#199215);
+#199215 = SURFACE_SIDE_STYLE('',(#199216));
+#199216 = SURFACE_STYLE_FILL_AREA(#199217);
+#199217 = FILL_AREA_STYLE('',(#199218));
+#199218 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199219 = STYLED_ITEM('color',(#199220),#66870);
+#199220 = PRESENTATION_STYLE_ASSIGNMENT((#199221));
+#199221 = SURFACE_STYLE_USAGE(.BOTH.,#199222);
+#199222 = SURFACE_SIDE_STYLE('',(#199223));
+#199223 = SURFACE_STYLE_FILL_AREA(#199224);
+#199224 = FILL_AREA_STYLE('',(#199225));
+#199225 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199226 = STYLED_ITEM('color',(#199227),#66918);
+#199227 = PRESENTATION_STYLE_ASSIGNMENT((#199228));
+#199228 = SURFACE_STYLE_USAGE(.BOTH.,#199229);
+#199229 = SURFACE_SIDE_STYLE('',(#199230));
+#199230 = SURFACE_STYLE_FILL_AREA(#199231);
+#199231 = FILL_AREA_STYLE('',(#199232));
+#199232 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199233 = STYLED_ITEM('color',(#199234),#66947);
+#199234 = PRESENTATION_STYLE_ASSIGNMENT((#199235));
+#199235 = SURFACE_STYLE_USAGE(.BOTH.,#199236);
+#199236 = SURFACE_SIDE_STYLE('',(#199237));
+#199237 = SURFACE_STYLE_FILL_AREA(#199238);
+#199238 = FILL_AREA_STYLE('',(#199239));
+#199239 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199240 = STYLED_ITEM('color',(#199241),#67014);
+#199241 = PRESENTATION_STYLE_ASSIGNMENT((#199242));
+#199242 = SURFACE_STYLE_USAGE(.BOTH.,#199243);
+#199243 = SURFACE_SIDE_STYLE('',(#199244));
+#199244 = SURFACE_STYLE_FILL_AREA(#199245);
+#199245 = FILL_AREA_STYLE('',(#199246));
+#199246 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199247 = STYLED_ITEM('color',(#199248),#67062);
+#199248 = PRESENTATION_STYLE_ASSIGNMENT((#199249));
+#199249 = SURFACE_STYLE_USAGE(.BOTH.,#199250);
+#199250 = SURFACE_SIDE_STYLE('',(#199251));
+#199251 = SURFACE_STYLE_FILL_AREA(#199252);
+#199252 = FILL_AREA_STYLE('',(#199253));
+#199253 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199254 = STYLED_ITEM('color',(#199255),#67110);
+#199255 = PRESENTATION_STYLE_ASSIGNMENT((#199256));
+#199256 = SURFACE_STYLE_USAGE(.BOTH.,#199257);
+#199257 = SURFACE_SIDE_STYLE('',(#199258));
+#199258 = SURFACE_STYLE_FILL_AREA(#199259);
+#199259 = FILL_AREA_STYLE('',(#199260));
+#199260 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199261 = STYLED_ITEM('color',(#199262),#67139);
+#199262 = PRESENTATION_STYLE_ASSIGNMENT((#199263));
+#199263 = SURFACE_STYLE_USAGE(.BOTH.,#199264);
+#199264 = SURFACE_SIDE_STYLE('',(#199265));
+#199265 = SURFACE_STYLE_FILL_AREA(#199266);
+#199266 = FILL_AREA_STYLE('',(#199267));
+#199267 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199268 = STYLED_ITEM('color',(#199269),#67206);
+#199269 = PRESENTATION_STYLE_ASSIGNMENT((#199270));
+#199270 = SURFACE_STYLE_USAGE(.BOTH.,#199271);
+#199271 = SURFACE_SIDE_STYLE('',(#199272));
+#199272 = SURFACE_STYLE_FILL_AREA(#199273);
+#199273 = FILL_AREA_STYLE('',(#199274));
+#199274 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199275 = STYLED_ITEM('color',(#199276),#67254);
+#199276 = PRESENTATION_STYLE_ASSIGNMENT((#199277));
+#199277 = SURFACE_STYLE_USAGE(.BOTH.,#199278);
+#199278 = SURFACE_SIDE_STYLE('',(#199279));
+#199279 = SURFACE_STYLE_FILL_AREA(#199280);
+#199280 = FILL_AREA_STYLE('',(#199281));
+#199281 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199282 = STYLED_ITEM('color',(#199283),#67302);
+#199283 = PRESENTATION_STYLE_ASSIGNMENT((#199284));
+#199284 = SURFACE_STYLE_USAGE(.BOTH.,#199285);
+#199285 = SURFACE_SIDE_STYLE('',(#199286));
+#199286 = SURFACE_STYLE_FILL_AREA(#199287);
+#199287 = FILL_AREA_STYLE('',(#199288));
+#199288 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199289 = STYLED_ITEM('color',(#199290),#67331);
+#199290 = PRESENTATION_STYLE_ASSIGNMENT((#199291));
+#199291 = SURFACE_STYLE_USAGE(.BOTH.,#199292);
+#199292 = SURFACE_SIDE_STYLE('',(#199293));
+#199293 = SURFACE_STYLE_FILL_AREA(#199294);
+#199294 = FILL_AREA_STYLE('',(#199295));
+#199295 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199296 = STYLED_ITEM('color',(#199297),#67398);
+#199297 = PRESENTATION_STYLE_ASSIGNMENT((#199298));
+#199298 = SURFACE_STYLE_USAGE(.BOTH.,#199299);
+#199299 = SURFACE_SIDE_STYLE('',(#199300));
+#199300 = SURFACE_STYLE_FILL_AREA(#199301);
+#199301 = FILL_AREA_STYLE('',(#199302));
+#199302 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199303 = STYLED_ITEM('color',(#199304),#67446);
+#199304 = PRESENTATION_STYLE_ASSIGNMENT((#199305));
+#199305 = SURFACE_STYLE_USAGE(.BOTH.,#199306);
+#199306 = SURFACE_SIDE_STYLE('',(#199307));
+#199307 = SURFACE_STYLE_FILL_AREA(#199308);
+#199308 = FILL_AREA_STYLE('',(#199309));
+#199309 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199310 = STYLED_ITEM('color',(#199311),#67494);
+#199311 = PRESENTATION_STYLE_ASSIGNMENT((#199312));
+#199312 = SURFACE_STYLE_USAGE(.BOTH.,#199313);
+#199313 = SURFACE_SIDE_STYLE('',(#199314));
+#199314 = SURFACE_STYLE_FILL_AREA(#199315);
+#199315 = FILL_AREA_STYLE('',(#199316));
+#199316 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199317 = STYLED_ITEM('color',(#199318),#67523);
+#199318 = PRESENTATION_STYLE_ASSIGNMENT((#199319));
+#199319 = SURFACE_STYLE_USAGE(.BOTH.,#199320);
+#199320 = SURFACE_SIDE_STYLE('',(#199321));
+#199321 = SURFACE_STYLE_FILL_AREA(#199322);
+#199322 = FILL_AREA_STYLE('',(#199323));
+#199323 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199324 = STYLED_ITEM('color',(#199325),#67590);
+#199325 = PRESENTATION_STYLE_ASSIGNMENT((#199326));
+#199326 = SURFACE_STYLE_USAGE(.BOTH.,#199327);
+#199327 = SURFACE_SIDE_STYLE('',(#199328));
+#199328 = SURFACE_STYLE_FILL_AREA(#199329);
+#199329 = FILL_AREA_STYLE('',(#199330));
+#199330 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199331 = STYLED_ITEM('color',(#199332),#67638);
+#199332 = PRESENTATION_STYLE_ASSIGNMENT((#199333));
+#199333 = SURFACE_STYLE_USAGE(.BOTH.,#199334);
+#199334 = SURFACE_SIDE_STYLE('',(#199335));
+#199335 = SURFACE_STYLE_FILL_AREA(#199336);
+#199336 = FILL_AREA_STYLE('',(#199337));
+#199337 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199338 = STYLED_ITEM('color',(#199339),#67686);
+#199339 = PRESENTATION_STYLE_ASSIGNMENT((#199340));
+#199340 = SURFACE_STYLE_USAGE(.BOTH.,#199341);
+#199341 = SURFACE_SIDE_STYLE('',(#199342));
+#199342 = SURFACE_STYLE_FILL_AREA(#199343);
+#199343 = FILL_AREA_STYLE('',(#199344));
+#199344 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199345 = STYLED_ITEM('color',(#199346),#67715);
+#199346 = PRESENTATION_STYLE_ASSIGNMENT((#199347));
+#199347 = SURFACE_STYLE_USAGE(.BOTH.,#199348);
+#199348 = SURFACE_SIDE_STYLE('',(#199349));
+#199349 = SURFACE_STYLE_FILL_AREA(#199350);
+#199350 = FILL_AREA_STYLE('',(#199351));
+#199351 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199352 = STYLED_ITEM('color',(#199353),#67782);
+#199353 = PRESENTATION_STYLE_ASSIGNMENT((#199354));
+#199354 = SURFACE_STYLE_USAGE(.BOTH.,#199355);
+#199355 = SURFACE_SIDE_STYLE('',(#199356));
+#199356 = SURFACE_STYLE_FILL_AREA(#199357);
+#199357 = FILL_AREA_STYLE('',(#199358));
+#199358 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199359 = STYLED_ITEM('color',(#199360),#67830);
+#199360 = PRESENTATION_STYLE_ASSIGNMENT((#199361));
+#199361 = SURFACE_STYLE_USAGE(.BOTH.,#199362);
+#199362 = SURFACE_SIDE_STYLE('',(#199363));
+#199363 = SURFACE_STYLE_FILL_AREA(#199364);
+#199364 = FILL_AREA_STYLE('',(#199365));
+#199365 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199366 = STYLED_ITEM('color',(#199367),#67878);
+#199367 = PRESENTATION_STYLE_ASSIGNMENT((#199368));
+#199368 = SURFACE_STYLE_USAGE(.BOTH.,#199369);
+#199369 = SURFACE_SIDE_STYLE('',(#199370));
+#199370 = SURFACE_STYLE_FILL_AREA(#199371);
+#199371 = FILL_AREA_STYLE('',(#199372));
+#199372 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199373 = STYLED_ITEM('color',(#199374),#67907);
+#199374 = PRESENTATION_STYLE_ASSIGNMENT((#199375));
+#199375 = SURFACE_STYLE_USAGE(.BOTH.,#199376);
+#199376 = SURFACE_SIDE_STYLE('',(#199377));
+#199377 = SURFACE_STYLE_FILL_AREA(#199378);
+#199378 = FILL_AREA_STYLE('',(#199379));
+#199379 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199380 = STYLED_ITEM('color',(#199381),#67974);
+#199381 = PRESENTATION_STYLE_ASSIGNMENT((#199382));
+#199382 = SURFACE_STYLE_USAGE(.BOTH.,#199383);
+#199383 = SURFACE_SIDE_STYLE('',(#199384));
+#199384 = SURFACE_STYLE_FILL_AREA(#199385);
+#199385 = FILL_AREA_STYLE('',(#199386));
+#199386 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199387 = STYLED_ITEM('color',(#199388),#68022);
+#199388 = PRESENTATION_STYLE_ASSIGNMENT((#199389));
+#199389 = SURFACE_STYLE_USAGE(.BOTH.,#199390);
+#199390 = SURFACE_SIDE_STYLE('',(#199391));
+#199391 = SURFACE_STYLE_FILL_AREA(#199392);
+#199392 = FILL_AREA_STYLE('',(#199393));
+#199393 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199394 = STYLED_ITEM('color',(#199395),#68070);
+#199395 = PRESENTATION_STYLE_ASSIGNMENT((#199396));
+#199396 = SURFACE_STYLE_USAGE(.BOTH.,#199397);
+#199397 = SURFACE_SIDE_STYLE('',(#199398));
+#199398 = SURFACE_STYLE_FILL_AREA(#199399);
+#199399 = FILL_AREA_STYLE('',(#199400));
+#199400 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199401 = STYLED_ITEM('color',(#199402),#68099);
+#199402 = PRESENTATION_STYLE_ASSIGNMENT((#199403));
+#199403 = SURFACE_STYLE_USAGE(.BOTH.,#199404);
+#199404 = SURFACE_SIDE_STYLE('',(#199405));
+#199405 = SURFACE_STYLE_FILL_AREA(#199406);
+#199406 = FILL_AREA_STYLE('',(#199407));
+#199407 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199408 = STYLED_ITEM('color',(#199409),#68166);
+#199409 = PRESENTATION_STYLE_ASSIGNMENT((#199410));
+#199410 = SURFACE_STYLE_USAGE(.BOTH.,#199411);
+#199411 = SURFACE_SIDE_STYLE('',(#199412));
+#199412 = SURFACE_STYLE_FILL_AREA(#199413);
+#199413 = FILL_AREA_STYLE('',(#199414));
+#199414 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199415 = STYLED_ITEM('color',(#199416),#68214);
+#199416 = PRESENTATION_STYLE_ASSIGNMENT((#199417));
+#199417 = SURFACE_STYLE_USAGE(.BOTH.,#199418);
+#199418 = SURFACE_SIDE_STYLE('',(#199419));
+#199419 = SURFACE_STYLE_FILL_AREA(#199420);
+#199420 = FILL_AREA_STYLE('',(#199421));
+#199421 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199422 = STYLED_ITEM('color',(#199423),#68262);
+#199423 = PRESENTATION_STYLE_ASSIGNMENT((#199424));
+#199424 = SURFACE_STYLE_USAGE(.BOTH.,#199425);
+#199425 = SURFACE_SIDE_STYLE('',(#199426));
+#199426 = SURFACE_STYLE_FILL_AREA(#199427);
+#199427 = FILL_AREA_STYLE('',(#199428));
+#199428 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199429 = STYLED_ITEM('color',(#199430),#68291);
+#199430 = PRESENTATION_STYLE_ASSIGNMENT((#199431));
+#199431 = SURFACE_STYLE_USAGE(.BOTH.,#199432);
+#199432 = SURFACE_SIDE_STYLE('',(#199433));
+#199433 = SURFACE_STYLE_FILL_AREA(#199434);
+#199434 = FILL_AREA_STYLE('',(#199435));
+#199435 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199436 = STYLED_ITEM('color',(#199437),#68358);
+#199437 = PRESENTATION_STYLE_ASSIGNMENT((#199438));
+#199438 = SURFACE_STYLE_USAGE(.BOTH.,#199439);
+#199439 = SURFACE_SIDE_STYLE('',(#199440));
+#199440 = SURFACE_STYLE_FILL_AREA(#199441);
+#199441 = FILL_AREA_STYLE('',(#199442));
+#199442 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199443 = STYLED_ITEM('color',(#199444),#68406);
+#199444 = PRESENTATION_STYLE_ASSIGNMENT((#199445));
+#199445 = SURFACE_STYLE_USAGE(.BOTH.,#199446);
+#199446 = SURFACE_SIDE_STYLE('',(#199447));
+#199447 = SURFACE_STYLE_FILL_AREA(#199448);
+#199448 = FILL_AREA_STYLE('',(#199449));
+#199449 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199450 = STYLED_ITEM('color',(#199451),#68454);
+#199451 = PRESENTATION_STYLE_ASSIGNMENT((#199452));
+#199452 = SURFACE_STYLE_USAGE(.BOTH.,#199453);
+#199453 = SURFACE_SIDE_STYLE('',(#199454));
+#199454 = SURFACE_STYLE_FILL_AREA(#199455);
+#199455 = FILL_AREA_STYLE('',(#199456));
+#199456 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199457 = STYLED_ITEM('color',(#199458),#68483);
+#199458 = PRESENTATION_STYLE_ASSIGNMENT((#199459));
+#199459 = SURFACE_STYLE_USAGE(.BOTH.,#199460);
+#199460 = SURFACE_SIDE_STYLE('',(#199461));
+#199461 = SURFACE_STYLE_FILL_AREA(#199462);
+#199462 = FILL_AREA_STYLE('',(#199463));
+#199463 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199464 = STYLED_ITEM('color',(#199465),#68550);
+#199465 = PRESENTATION_STYLE_ASSIGNMENT((#199466));
+#199466 = SURFACE_STYLE_USAGE(.BOTH.,#199467);
+#199467 = SURFACE_SIDE_STYLE('',(#199468));
+#199468 = SURFACE_STYLE_FILL_AREA(#199469);
+#199469 = FILL_AREA_STYLE('',(#199470));
+#199470 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199471 = STYLED_ITEM('color',(#199472),#68598);
+#199472 = PRESENTATION_STYLE_ASSIGNMENT((#199473));
+#199473 = SURFACE_STYLE_USAGE(.BOTH.,#199474);
+#199474 = SURFACE_SIDE_STYLE('',(#199475));
+#199475 = SURFACE_STYLE_FILL_AREA(#199476);
+#199476 = FILL_AREA_STYLE('',(#199477));
+#199477 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199478 = STYLED_ITEM('color',(#199479),#68646);
+#199479 = PRESENTATION_STYLE_ASSIGNMENT((#199480));
+#199480 = SURFACE_STYLE_USAGE(.BOTH.,#199481);
+#199481 = SURFACE_SIDE_STYLE('',(#199482));
+#199482 = SURFACE_STYLE_FILL_AREA(#199483);
+#199483 = FILL_AREA_STYLE('',(#199484));
+#199484 = FILL_AREA_STYLE_COLOUR('',#196394);
+#199485 = STYLED_ITEM('color',(#199486),#68675);
+#199486 = PRESENTATION_STYLE_ASSIGNMENT((#199487));
+#199487 = SURFACE_STYLE_USAGE(.BOTH.,#199488);
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+#203133 = PRESENTATION_STYLE_ASSIGNMENT((#203134));
+#203134 = SURFACE_STYLE_USAGE(.BOTH.,#203135);
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+#203146 = STYLED_ITEM('color',(#203147),#91912);
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+#203151 = FILL_AREA_STYLE('',(#203152));
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+#203216 = STYLED_ITEM('color',(#203217),#92118);
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+#203221 = FILL_AREA_STYLE('',(#203222));
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+#203223 = STYLED_ITEM('color',(#203224),#92142);
+#203224 = PRESENTATION_STYLE_ASSIGNMENT((#203225));
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+#203226 = SURFACE_SIDE_STYLE('',(#203227));
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+#203230 = STYLED_ITEM('color',(#203231),#92166);
+#203231 = PRESENTATION_STYLE_ASSIGNMENT((#203232));
+#203232 = SURFACE_STYLE_USAGE(.BOTH.,#203233);
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+#203239 = SURFACE_STYLE_USAGE(.BOTH.,#203240);
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+#203246 = SURFACE_STYLE_USAGE(.BOTH.,#203247);
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+#203252 = PRESENTATION_STYLE_ASSIGNMENT((#203253));
+#203253 = SURFACE_STYLE_USAGE(.BOTH.,#203254);
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+#203256 = FILL_AREA_STYLE('',(#203257));
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+#203258 = STYLED_ITEM('color',(#203259),#92330);
+#203259 = PRESENTATION_STYLE_ASSIGNMENT((#203260));
+#203260 = SURFACE_STYLE_USAGE(.BOTH.,#203261);
+#203261 = SURFACE_SIDE_STYLE('',(#203262));
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+#203265 = STYLED_ITEM('color',(#203266),#92439);
+#203266 = PRESENTATION_STYLE_ASSIGNMENT((#203267));
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+#203407 = SURFACE_STYLE_USAGE(.BOTH.,#203408);
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+#203414 = SURFACE_STYLE_USAGE(.BOTH.,#203415);
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+#203419 = STYLED_ITEM('color',(#203420),#94837);
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+#203421 = SURFACE_STYLE_USAGE(.BOTH.,#203422);
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+#203428 = SURFACE_STYLE_USAGE(.BOTH.,#203429);
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+#203433 = STYLED_ITEM('color',(#203434),#95055);
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+#203435 = SURFACE_STYLE_USAGE(.BOTH.,#203436);
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+#203440 = STYLED_ITEM('color',(#203441),#95164);
+#203441 = PRESENTATION_STYLE_ASSIGNMENT((#203442));
+#203442 = SURFACE_STYLE_USAGE(.BOTH.,#203443);
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+#203447 = STYLED_ITEM('color',(#203448),#95273);
+#203448 = PRESENTATION_STYLE_ASSIGNMENT((#203449));
+#203449 = SURFACE_STYLE_USAGE(.BOTH.,#203450);
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+#203454 = STYLED_ITEM('color',(#203455),#95382);
+#203455 = PRESENTATION_STYLE_ASSIGNMENT((#203456));
+#203456 = SURFACE_STYLE_USAGE(.BOTH.,#203457);
+#203457 = SURFACE_SIDE_STYLE('',(#203458));
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+#203459 = FILL_AREA_STYLE('',(#203460));
+#203460 = FILL_AREA_STYLE_COLOUR('',#196394);
+#203461 = STYLED_ITEM('color',(#203462),#95491);
+#203462 = PRESENTATION_STYLE_ASSIGNMENT((#203463));
+#203463 = SURFACE_STYLE_USAGE(.BOTH.,#203464);
+#203464 = SURFACE_SIDE_STYLE('',(#203465));
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+#203466 = FILL_AREA_STYLE('',(#203467));
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+#203468 = STYLED_ITEM('color',(#203469),#95600);
+#203469 = PRESENTATION_STYLE_ASSIGNMENT((#203470));
+#203470 = SURFACE_STYLE_USAGE(.BOTH.,#203471);
+#203471 = SURFACE_SIDE_STYLE('',(#203472));
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+#203475 = STYLED_ITEM('color',(#203476),#95709);
+#203476 = PRESENTATION_STYLE_ASSIGNMENT((#203477));
+#203477 = SURFACE_STYLE_USAGE(.BOTH.,#203478);
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+#203482 = STYLED_ITEM('color',(#203483),#95818);
+#203483 = PRESENTATION_STYLE_ASSIGNMENT((#203484));
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+#203603 = SURFACE_STYLE_USAGE(.BOTH.,#203604);
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+#203805 = PRESENTATION_STYLE_ASSIGNMENT((#203806));
+#203806 = SURFACE_STYLE_USAGE(.BOTH.,#203807);
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+#203820 = SURFACE_STYLE_USAGE(.BOTH.,#203821);
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+#206310 = STYLED_ITEM('color',(#206311),#120236);
+#206311 = PRESENTATION_STYLE_ASSIGNMENT((#206312));
+#206312 = SURFACE_STYLE_USAGE(.BOTH.,#206313);
+#206313 = SURFACE_SIDE_STYLE('',(#206314));
+#206314 = SURFACE_STYLE_FILL_AREA(#206315);
+#206315 = FILL_AREA_STYLE('',(#206316));
+#206316 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206317 = STYLED_ITEM('color',(#206318),#120260);
+#206318 = PRESENTATION_STYLE_ASSIGNMENT((#206319));
+#206319 = SURFACE_STYLE_USAGE(.BOTH.,#206320);
+#206320 = SURFACE_SIDE_STYLE('',(#206321));
+#206321 = SURFACE_STYLE_FILL_AREA(#206322);
+#206322 = FILL_AREA_STYLE('',(#206323));
+#206323 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206324 = STYLED_ITEM('color',(#206325),#120284);
+#206325 = PRESENTATION_STYLE_ASSIGNMENT((#206326));
+#206326 = SURFACE_STYLE_USAGE(.BOTH.,#206327);
+#206327 = SURFACE_SIDE_STYLE('',(#206328));
+#206328 = SURFACE_STYLE_FILL_AREA(#206329);
+#206329 = FILL_AREA_STYLE('',(#206330));
+#206330 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206331 = STYLED_ITEM('color',(#206332),#120291);
+#206332 = PRESENTATION_STYLE_ASSIGNMENT((#206333));
+#206333 = SURFACE_STYLE_USAGE(.BOTH.,#206334);
+#206334 = SURFACE_SIDE_STYLE('',(#206335));
+#206335 = SURFACE_STYLE_FILL_AREA(#206336);
+#206336 = FILL_AREA_STYLE('',(#206337));
+#206337 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206338 = STYLED_ITEM('color',(#206339),#120315);
+#206339 = PRESENTATION_STYLE_ASSIGNMENT((#206340));
+#206340 = SURFACE_STYLE_USAGE(.BOTH.,#206341);
+#206341 = SURFACE_SIDE_STYLE('',(#206342));
+#206342 = SURFACE_STYLE_FILL_AREA(#206343);
+#206343 = FILL_AREA_STYLE('',(#206344));
+#206344 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206345 = STYLED_ITEM('color',(#206346),#120339);
+#206346 = PRESENTATION_STYLE_ASSIGNMENT((#206347));
+#206347 = SURFACE_STYLE_USAGE(.BOTH.,#206348);
+#206348 = SURFACE_SIDE_STYLE('',(#206349));
+#206349 = SURFACE_STYLE_FILL_AREA(#206350);
+#206350 = FILL_AREA_STYLE('',(#206351));
+#206351 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206352 = STYLED_ITEM('color',(#206353),#120346);
+#206353 = PRESENTATION_STYLE_ASSIGNMENT((#206354));
+#206354 = SURFACE_STYLE_USAGE(.BOTH.,#206355);
+#206355 = SURFACE_SIDE_STYLE('',(#206356));
+#206356 = SURFACE_STYLE_FILL_AREA(#206357);
+#206357 = FILL_AREA_STYLE('',(#206358));
+#206358 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206359 = STYLED_ITEM('color',(#206360),#120370);
+#206360 = PRESENTATION_STYLE_ASSIGNMENT((#206361));
+#206361 = SURFACE_STYLE_USAGE(.BOTH.,#206362);
+#206362 = SURFACE_SIDE_STYLE('',(#206363));
+#206363 = SURFACE_STYLE_FILL_AREA(#206364);
+#206364 = FILL_AREA_STYLE('',(#206365));
+#206365 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206366 = STYLED_ITEM('color',(#206367),#120394);
+#206367 = PRESENTATION_STYLE_ASSIGNMENT((#206368));
+#206368 = SURFACE_STYLE_USAGE(.BOTH.,#206369);
+#206369 = SURFACE_SIDE_STYLE('',(#206370));
+#206370 = SURFACE_STYLE_FILL_AREA(#206371);
+#206371 = FILL_AREA_STYLE('',(#206372));
+#206372 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206373 = STYLED_ITEM('color',(#206374),#120401);
+#206374 = PRESENTATION_STYLE_ASSIGNMENT((#206375));
+#206375 = SURFACE_STYLE_USAGE(.BOTH.,#206376);
+#206376 = SURFACE_SIDE_STYLE('',(#206377));
+#206377 = SURFACE_STYLE_FILL_AREA(#206378);
+#206378 = FILL_AREA_STYLE('',(#206379));
+#206379 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206380 = STYLED_ITEM('color',(#206381),#120425);
+#206381 = PRESENTATION_STYLE_ASSIGNMENT((#206382));
+#206382 = SURFACE_STYLE_USAGE(.BOTH.,#206383);
+#206383 = SURFACE_SIDE_STYLE('',(#206384));
+#206384 = SURFACE_STYLE_FILL_AREA(#206385);
+#206385 = FILL_AREA_STYLE('',(#206386));
+#206386 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206387 = STYLED_ITEM('color',(#206388),#120449);
+#206388 = PRESENTATION_STYLE_ASSIGNMENT((#206389));
+#206389 = SURFACE_STYLE_USAGE(.BOTH.,#206390);
+#206390 = SURFACE_SIDE_STYLE('',(#206391));
+#206391 = SURFACE_STYLE_FILL_AREA(#206392);
+#206392 = FILL_AREA_STYLE('',(#206393));
+#206393 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206394 = STYLED_ITEM('color',(#206395),#120456);
+#206395 = PRESENTATION_STYLE_ASSIGNMENT((#206396));
+#206396 = SURFACE_STYLE_USAGE(.BOTH.,#206397);
+#206397 = SURFACE_SIDE_STYLE('',(#206398));
+#206398 = SURFACE_STYLE_FILL_AREA(#206399);
+#206399 = FILL_AREA_STYLE('',(#206400));
+#206400 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206401 = STYLED_ITEM('color',(#206402),#120480);
+#206402 = PRESENTATION_STYLE_ASSIGNMENT((#206403));
+#206403 = SURFACE_STYLE_USAGE(.BOTH.,#206404);
+#206404 = SURFACE_SIDE_STYLE('',(#206405));
+#206405 = SURFACE_STYLE_FILL_AREA(#206406);
+#206406 = FILL_AREA_STYLE('',(#206407));
+#206407 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206408 = STYLED_ITEM('color',(#206409),#120504);
+#206409 = PRESENTATION_STYLE_ASSIGNMENT((#206410));
+#206410 = SURFACE_STYLE_USAGE(.BOTH.,#206411);
+#206411 = SURFACE_SIDE_STYLE('',(#206412));
+#206412 = SURFACE_STYLE_FILL_AREA(#206413);
+#206413 = FILL_AREA_STYLE('',(#206414));
+#206414 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206415 = STYLED_ITEM('color',(#206416),#120511);
+#206416 = PRESENTATION_STYLE_ASSIGNMENT((#206417));
+#206417 = SURFACE_STYLE_USAGE(.BOTH.,#206418);
+#206418 = SURFACE_SIDE_STYLE('',(#206419));
+#206419 = SURFACE_STYLE_FILL_AREA(#206420);
+#206420 = FILL_AREA_STYLE('',(#206421));
+#206421 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206422 = STYLED_ITEM('color',(#206423),#120535);
+#206423 = PRESENTATION_STYLE_ASSIGNMENT((#206424));
+#206424 = SURFACE_STYLE_USAGE(.BOTH.,#206425);
+#206425 = SURFACE_SIDE_STYLE('',(#206426));
+#206426 = SURFACE_STYLE_FILL_AREA(#206427);
+#206427 = FILL_AREA_STYLE('',(#206428));
+#206428 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206429 = STYLED_ITEM('color',(#206430),#120559);
+#206430 = PRESENTATION_STYLE_ASSIGNMENT((#206431));
+#206431 = SURFACE_STYLE_USAGE(.BOTH.,#206432);
+#206432 = SURFACE_SIDE_STYLE('',(#206433));
+#206433 = SURFACE_STYLE_FILL_AREA(#206434);
+#206434 = FILL_AREA_STYLE('',(#206435));
+#206435 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206436 = STYLED_ITEM('color',(#206437),#120566);
+#206437 = PRESENTATION_STYLE_ASSIGNMENT((#206438));
+#206438 = SURFACE_STYLE_USAGE(.BOTH.,#206439);
+#206439 = SURFACE_SIDE_STYLE('',(#206440));
+#206440 = SURFACE_STYLE_FILL_AREA(#206441);
+#206441 = FILL_AREA_STYLE('',(#206442));
+#206442 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206443 = STYLED_ITEM('color',(#206444),#120590);
+#206444 = PRESENTATION_STYLE_ASSIGNMENT((#206445));
+#206445 = SURFACE_STYLE_USAGE(.BOTH.,#206446);
+#206446 = SURFACE_SIDE_STYLE('',(#206447));
+#206447 = SURFACE_STYLE_FILL_AREA(#206448);
+#206448 = FILL_AREA_STYLE('',(#206449));
+#206449 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206450 = STYLED_ITEM('color',(#206451),#120614);
+#206451 = PRESENTATION_STYLE_ASSIGNMENT((#206452));
+#206452 = SURFACE_STYLE_USAGE(.BOTH.,#206453);
+#206453 = SURFACE_SIDE_STYLE('',(#206454));
+#206454 = SURFACE_STYLE_FILL_AREA(#206455);
+#206455 = FILL_AREA_STYLE('',(#206456));
+#206456 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206457 = STYLED_ITEM('color',(#206458),#120621);
+#206458 = PRESENTATION_STYLE_ASSIGNMENT((#206459));
+#206459 = SURFACE_STYLE_USAGE(.BOTH.,#206460);
+#206460 = SURFACE_SIDE_STYLE('',(#206461));
+#206461 = SURFACE_STYLE_FILL_AREA(#206462);
+#206462 = FILL_AREA_STYLE('',(#206463));
+#206463 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206464 = STYLED_ITEM('color',(#206465),#120645);
+#206465 = PRESENTATION_STYLE_ASSIGNMENT((#206466));
+#206466 = SURFACE_STYLE_USAGE(.BOTH.,#206467);
+#206467 = SURFACE_SIDE_STYLE('',(#206468));
+#206468 = SURFACE_STYLE_FILL_AREA(#206469);
+#206469 = FILL_AREA_STYLE('',(#206470));
+#206470 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206471 = STYLED_ITEM('color',(#206472),#120669);
+#206472 = PRESENTATION_STYLE_ASSIGNMENT((#206473));
+#206473 = SURFACE_STYLE_USAGE(.BOTH.,#206474);
+#206474 = SURFACE_SIDE_STYLE('',(#206475));
+#206475 = SURFACE_STYLE_FILL_AREA(#206476);
+#206476 = FILL_AREA_STYLE('',(#206477));
+#206477 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206478 = STYLED_ITEM('color',(#206479),#120676);
+#206479 = PRESENTATION_STYLE_ASSIGNMENT((#206480));
+#206480 = SURFACE_STYLE_USAGE(.BOTH.,#206481);
+#206481 = SURFACE_SIDE_STYLE('',(#206482));
+#206482 = SURFACE_STYLE_FILL_AREA(#206483);
+#206483 = FILL_AREA_STYLE('',(#206484));
+#206484 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206485 = STYLED_ITEM('color',(#206486),#120700);
+#206486 = PRESENTATION_STYLE_ASSIGNMENT((#206487));
+#206487 = SURFACE_STYLE_USAGE(.BOTH.,#206488);
+#206488 = SURFACE_SIDE_STYLE('',(#206489));
+#206489 = SURFACE_STYLE_FILL_AREA(#206490);
+#206490 = FILL_AREA_STYLE('',(#206491));
+#206491 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206492 = STYLED_ITEM('color',(#206493),#120724);
+#206493 = PRESENTATION_STYLE_ASSIGNMENT((#206494));
+#206494 = SURFACE_STYLE_USAGE(.BOTH.,#206495);
+#206495 = SURFACE_SIDE_STYLE('',(#206496));
+#206496 = SURFACE_STYLE_FILL_AREA(#206497);
+#206497 = FILL_AREA_STYLE('',(#206498));
+#206498 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206499 = STYLED_ITEM('color',(#206500),#120731);
+#206500 = PRESENTATION_STYLE_ASSIGNMENT((#206501));
+#206501 = SURFACE_STYLE_USAGE(.BOTH.,#206502);
+#206502 = SURFACE_SIDE_STYLE('',(#206503));
+#206503 = SURFACE_STYLE_FILL_AREA(#206504);
+#206504 = FILL_AREA_STYLE('',(#206505));
+#206505 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206506 = STYLED_ITEM('color',(#206507),#120755);
+#206507 = PRESENTATION_STYLE_ASSIGNMENT((#206508));
+#206508 = SURFACE_STYLE_USAGE(.BOTH.,#206509);
+#206509 = SURFACE_SIDE_STYLE('',(#206510));
+#206510 = SURFACE_STYLE_FILL_AREA(#206511);
+#206511 = FILL_AREA_STYLE('',(#206512));
+#206512 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206513 = STYLED_ITEM('color',(#206514),#120779);
+#206514 = PRESENTATION_STYLE_ASSIGNMENT((#206515));
+#206515 = SURFACE_STYLE_USAGE(.BOTH.,#206516);
+#206516 = SURFACE_SIDE_STYLE('',(#206517));
+#206517 = SURFACE_STYLE_FILL_AREA(#206518);
+#206518 = FILL_AREA_STYLE('',(#206519));
+#206519 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206520 = STYLED_ITEM('color',(#206521),#120786);
+#206521 = PRESENTATION_STYLE_ASSIGNMENT((#206522));
+#206522 = SURFACE_STYLE_USAGE(.BOTH.,#206523);
+#206523 = SURFACE_SIDE_STYLE('',(#206524));
+#206524 = SURFACE_STYLE_FILL_AREA(#206525);
+#206525 = FILL_AREA_STYLE('',(#206526));
+#206526 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206527 = STYLED_ITEM('color',(#206528),#120810);
+#206528 = PRESENTATION_STYLE_ASSIGNMENT((#206529));
+#206529 = SURFACE_STYLE_USAGE(.BOTH.,#206530);
+#206530 = SURFACE_SIDE_STYLE('',(#206531));
+#206531 = SURFACE_STYLE_FILL_AREA(#206532);
+#206532 = FILL_AREA_STYLE('',(#206533));
+#206533 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206534 = STYLED_ITEM('color',(#206535),#120834);
+#206535 = PRESENTATION_STYLE_ASSIGNMENT((#206536));
+#206536 = SURFACE_STYLE_USAGE(.BOTH.,#206537);
+#206537 = SURFACE_SIDE_STYLE('',(#206538));
+#206538 = SURFACE_STYLE_FILL_AREA(#206539);
+#206539 = FILL_AREA_STYLE('',(#206540));
+#206540 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206541 = STYLED_ITEM('color',(#206542),#120841);
+#206542 = PRESENTATION_STYLE_ASSIGNMENT((#206543));
+#206543 = SURFACE_STYLE_USAGE(.BOTH.,#206544);
+#206544 = SURFACE_SIDE_STYLE('',(#206545));
+#206545 = SURFACE_STYLE_FILL_AREA(#206546);
+#206546 = FILL_AREA_STYLE('',(#206547));
+#206547 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206548 = STYLED_ITEM('color',(#206549),#120865);
+#206549 = PRESENTATION_STYLE_ASSIGNMENT((#206550));
+#206550 = SURFACE_STYLE_USAGE(.BOTH.,#206551);
+#206551 = SURFACE_SIDE_STYLE('',(#206552));
+#206552 = SURFACE_STYLE_FILL_AREA(#206553);
+#206553 = FILL_AREA_STYLE('',(#206554));
+#206554 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206555 = STYLED_ITEM('color',(#206556),#120889);
+#206556 = PRESENTATION_STYLE_ASSIGNMENT((#206557));
+#206557 = SURFACE_STYLE_USAGE(.BOTH.,#206558);
+#206558 = SURFACE_SIDE_STYLE('',(#206559));
+#206559 = SURFACE_STYLE_FILL_AREA(#206560);
+#206560 = FILL_AREA_STYLE('',(#206561));
+#206561 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206562 = STYLED_ITEM('color',(#206563),#120896);
+#206563 = PRESENTATION_STYLE_ASSIGNMENT((#206564));
+#206564 = SURFACE_STYLE_USAGE(.BOTH.,#206565);
+#206565 = SURFACE_SIDE_STYLE('',(#206566));
+#206566 = SURFACE_STYLE_FILL_AREA(#206567);
+#206567 = FILL_AREA_STYLE('',(#206568));
+#206568 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206569 = STYLED_ITEM('color',(#206570),#120920);
+#206570 = PRESENTATION_STYLE_ASSIGNMENT((#206571));
+#206571 = SURFACE_STYLE_USAGE(.BOTH.,#206572);
+#206572 = SURFACE_SIDE_STYLE('',(#206573));
+#206573 = SURFACE_STYLE_FILL_AREA(#206574);
+#206574 = FILL_AREA_STYLE('',(#206575));
+#206575 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206576 = STYLED_ITEM('color',(#206577),#120944);
+#206577 = PRESENTATION_STYLE_ASSIGNMENT((#206578));
+#206578 = SURFACE_STYLE_USAGE(.BOTH.,#206579);
+#206579 = SURFACE_SIDE_STYLE('',(#206580));
+#206580 = SURFACE_STYLE_FILL_AREA(#206581);
+#206581 = FILL_AREA_STYLE('',(#206582));
+#206582 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206583 = MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(
+ #206584,#206591,#206598,#206605,#206612,#206619,#206626,#206633,
+ #206640,#206647,#206654,#206661,#206668,#206675,#206682,#206689,
+ #206696,#206703,#206710,#206717,#206724,#206731,#206738,#206745,
+ #206752,#206759,#206766,#206773,#206780,#206787,#206794,#206801,
+ #206808,#206815,#206822,#206829,#206836,#206843,#206850,#206857,
+ #206864,#206871,#206878,#206885,#206892,#206899,#206906,#206913,
+ #206920,#206927,#206934,#206941,#206948,#206955,#206962,#206969,
+ #206976,#206983,#206990,#206997,#207004,#207011,#207018,#207025,
+ #207032,#207039,#207046,#207053,#207060,#207067,#207074,#207081,
+ #207088,#207095,#207102,#207109,#207116,#207123,#207130,#207137,
+ #207144,#207151,#207158,#207165,#207172,#207179,#207186,#207193,
+ #207200,#207207,#207214,#207221,#207228,#207235,#207242,#207249,
+ #207256,#207263,#207270,#207277,#207284,#207291,#207298),#56407);
+#206584 = STYLED_ITEM('color',(#206585),#50205);
+#206585 = PRESENTATION_STYLE_ASSIGNMENT((#206586));
+#206586 = SURFACE_STYLE_USAGE(.BOTH.,#206587);
+#206587 = SURFACE_SIDE_STYLE('',(#206588));
+#206588 = SURFACE_STYLE_FILL_AREA(#206589);
+#206589 = FILL_AREA_STYLE('',(#206590));
+#206590 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206591 = STYLED_ITEM('color',(#206592),#50313);
+#206592 = PRESENTATION_STYLE_ASSIGNMENT((#206593));
+#206593 = SURFACE_STYLE_USAGE(.BOTH.,#206594);
+#206594 = SURFACE_SIDE_STYLE('',(#206595));
+#206595 = SURFACE_STYLE_FILL_AREA(#206596);
+#206596 = FILL_AREA_STYLE('',(#206597));
+#206597 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206598 = STYLED_ITEM('color',(#206599),#50480);
+#206599 = PRESENTATION_STYLE_ASSIGNMENT((#206600));
+#206600 = SURFACE_STYLE_USAGE(.BOTH.,#206601);
+#206601 = SURFACE_SIDE_STYLE('',(#206602));
+#206602 = SURFACE_STYLE_FILL_AREA(#206603);
+#206603 = FILL_AREA_STYLE('',(#206604));
+#206604 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206605 = STYLED_ITEM('color',(#206606),#50622);
+#206606 = PRESENTATION_STYLE_ASSIGNMENT((#206607));
+#206607 = SURFACE_STYLE_USAGE(.BOTH.,#206608);
+#206608 = SURFACE_SIDE_STYLE('',(#206609));
+#206609 = SURFACE_STYLE_FILL_AREA(#206610);
+#206610 = FILL_AREA_STYLE('',(#206611));
+#206611 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206612 = STYLED_ITEM('color',(#206613),#50646);
+#206613 = PRESENTATION_STYLE_ASSIGNMENT((#206614));
+#206614 = SURFACE_STYLE_USAGE(.BOTH.,#206615);
+#206615 = SURFACE_SIDE_STYLE('',(#206616));
+#206616 = SURFACE_STYLE_FILL_AREA(#206617);
+#206617 = FILL_AREA_STYLE('',(#206618));
+#206618 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206619 = STYLED_ITEM('color',(#206620),#50976);
+#206620 = PRESENTATION_STYLE_ASSIGNMENT((#206621));
+#206621 = SURFACE_STYLE_USAGE(.BOTH.,#206622);
+#206622 = SURFACE_SIDE_STYLE('',(#206623));
+#206623 = SURFACE_STYLE_FILL_AREA(#206624);
+#206624 = FILL_AREA_STYLE('',(#206625));
+#206625 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206626 = STYLED_ITEM('color',(#206627),#51017);
+#206627 = PRESENTATION_STYLE_ASSIGNMENT((#206628));
+#206628 = SURFACE_STYLE_USAGE(.BOTH.,#206629);
+#206629 = SURFACE_SIDE_STYLE('',(#206630));
+#206630 = SURFACE_STYLE_FILL_AREA(#206631);
+#206631 = FILL_AREA_STYLE('',(#206632));
+#206632 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206633 = STYLED_ITEM('color',(#206634),#51041);
+#206634 = PRESENTATION_STYLE_ASSIGNMENT((#206635));
+#206635 = SURFACE_STYLE_USAGE(.BOTH.,#206636);
+#206636 = SURFACE_SIDE_STYLE('',(#206637));
+#206637 = SURFACE_STYLE_FILL_AREA(#206638);
+#206638 = FILL_AREA_STYLE('',(#206639));
+#206639 = FILL_AREA_STYLE_COLOUR('',#196394);
+#206640 = STYLED_ITEM('color',(#206641),#51611);
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+#206950 = SURFACE_STYLE_USAGE(.BOTH.,#206951);
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+#206957 = SURFACE_STYLE_USAGE(.BOTH.,#206958);
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+#206964 = SURFACE_STYLE_USAGE(.BOTH.,#206965);
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+#206971 = SURFACE_STYLE_USAGE(.BOTH.,#206972);
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+#206976 = STYLED_ITEM('color',(#206977),#53769);
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+#206978 = SURFACE_STYLE_USAGE(.BOTH.,#206979);
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+#206985 = SURFACE_STYLE_USAGE(.BOTH.,#206986);
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+#206989 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206990 = STYLED_ITEM('color',(#206991),#53817);
+#206991 = PRESENTATION_STYLE_ASSIGNMENT((#206992));
+#206992 = SURFACE_STYLE_USAGE(.BOTH.,#206993);
+#206993 = SURFACE_SIDE_STYLE('',(#206994));
+#206994 = SURFACE_STYLE_FILL_AREA(#206995);
+#206995 = FILL_AREA_STYLE('',(#206996));
+#206996 = FILL_AREA_STYLE_COLOUR('',#196745);
+#206997 = STYLED_ITEM('color',(#206998),#53841);
+#206998 = PRESENTATION_STYLE_ASSIGNMENT((#206999));
+#206999 = SURFACE_STYLE_USAGE(.BOTH.,#207000);
+#207000 = SURFACE_SIDE_STYLE('',(#207001));
+#207001 = SURFACE_STYLE_FILL_AREA(#207002);
+#207002 = FILL_AREA_STYLE('',(#207003));
+#207003 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207004 = STYLED_ITEM('color',(#207005),#53865);
+#207005 = PRESENTATION_STYLE_ASSIGNMENT((#207006));
+#207006 = SURFACE_STYLE_USAGE(.BOTH.,#207007);
+#207007 = SURFACE_SIDE_STYLE('',(#207008));
+#207008 = SURFACE_STYLE_FILL_AREA(#207009);
+#207009 = FILL_AREA_STYLE('',(#207010));
+#207010 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207011 = STYLED_ITEM('color',(#207012),#53872);
+#207012 = PRESENTATION_STYLE_ASSIGNMENT((#207013));
+#207013 = SURFACE_STYLE_USAGE(.BOTH.,#207014);
+#207014 = SURFACE_SIDE_STYLE('',(#207015));
+#207015 = SURFACE_STYLE_FILL_AREA(#207016);
+#207016 = FILL_AREA_STYLE('',(#207017));
+#207017 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207018 = STYLED_ITEM('color',(#207019),#53981);
+#207019 = PRESENTATION_STYLE_ASSIGNMENT((#207020));
+#207020 = SURFACE_STYLE_USAGE(.BOTH.,#207021);
+#207021 = SURFACE_SIDE_STYLE('',(#207022));
+#207022 = SURFACE_STYLE_FILL_AREA(#207023);
+#207023 = FILL_AREA_STYLE('',(#207024));
+#207024 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207025 = STYLED_ITEM('color',(#207026),#54090);
+#207026 = PRESENTATION_STYLE_ASSIGNMENT((#207027));
+#207027 = SURFACE_STYLE_USAGE(.BOTH.,#207028);
+#207028 = SURFACE_SIDE_STYLE('',(#207029));
+#207029 = SURFACE_STYLE_FILL_AREA(#207030);
+#207030 = FILL_AREA_STYLE('',(#207031));
+#207031 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207032 = STYLED_ITEM('color',(#207033),#54199);
+#207033 = PRESENTATION_STYLE_ASSIGNMENT((#207034));
+#207034 = SURFACE_STYLE_USAGE(.BOTH.,#207035);
+#207035 = SURFACE_SIDE_STYLE('',(#207036));
+#207036 = SURFACE_STYLE_FILL_AREA(#207037);
+#207037 = FILL_AREA_STYLE('',(#207038));
+#207038 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207039 = STYLED_ITEM('color',(#207040),#54366);
+#207040 = PRESENTATION_STYLE_ASSIGNMENT((#207041));
+#207041 = SURFACE_STYLE_USAGE(.BOTH.,#207042);
+#207042 = SURFACE_SIDE_STYLE('',(#207043));
+#207043 = SURFACE_STYLE_FILL_AREA(#207044);
+#207044 = FILL_AREA_STYLE('',(#207045));
+#207045 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207046 = STYLED_ITEM('color',(#207047),#54409);
+#207047 = PRESENTATION_STYLE_ASSIGNMENT((#207048));
+#207048 = SURFACE_STYLE_USAGE(.BOTH.,#207049);
+#207049 = SURFACE_SIDE_STYLE('',(#207050));
+#207050 = SURFACE_STYLE_FILL_AREA(#207051);
+#207051 = FILL_AREA_STYLE('',(#207052));
+#207052 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207053 = STYLED_ITEM('color',(#207054),#54537);
+#207054 = PRESENTATION_STYLE_ASSIGNMENT((#207055));
+#207055 = SURFACE_STYLE_USAGE(.BOTH.,#207056);
+#207056 = SURFACE_SIDE_STYLE('',(#207057));
+#207057 = SURFACE_STYLE_FILL_AREA(#207058);
+#207058 = FILL_AREA_STYLE('',(#207059));
+#207059 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207060 = STYLED_ITEM('color',(#207061),#54561);
+#207061 = PRESENTATION_STYLE_ASSIGNMENT((#207062));
+#207062 = SURFACE_STYLE_USAGE(.BOTH.,#207063);
+#207063 = SURFACE_SIDE_STYLE('',(#207064));
+#207064 = SURFACE_STYLE_FILL_AREA(#207065);
+#207065 = FILL_AREA_STYLE('',(#207066));
+#207066 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207067 = STYLED_ITEM('color',(#207068),#54728);
+#207068 = PRESENTATION_STYLE_ASSIGNMENT((#207069));
+#207069 = SURFACE_STYLE_USAGE(.BOTH.,#207070);
+#207070 = SURFACE_SIDE_STYLE('',(#207071));
+#207071 = SURFACE_STYLE_FILL_AREA(#207072);
+#207072 = FILL_AREA_STYLE('',(#207073));
+#207073 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207074 = STYLED_ITEM('color',(#207075),#54771);
+#207075 = PRESENTATION_STYLE_ASSIGNMENT((#207076));
+#207076 = SURFACE_STYLE_USAGE(.BOTH.,#207077);
+#207077 = SURFACE_SIDE_STYLE('',(#207078));
+#207078 = SURFACE_STYLE_FILL_AREA(#207079);
+#207079 = FILL_AREA_STYLE('',(#207080));
+#207080 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207081 = STYLED_ITEM('color',(#207082),#54899);
+#207082 = PRESENTATION_STYLE_ASSIGNMENT((#207083));
+#207083 = SURFACE_STYLE_USAGE(.BOTH.,#207084);
+#207084 = SURFACE_SIDE_STYLE('',(#207085));
+#207085 = SURFACE_STYLE_FILL_AREA(#207086);
+#207086 = FILL_AREA_STYLE('',(#207087));
+#207087 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207088 = STYLED_ITEM('color',(#207089),#54923);
+#207089 = PRESENTATION_STYLE_ASSIGNMENT((#207090));
+#207090 = SURFACE_STYLE_USAGE(.BOTH.,#207091);
+#207091 = SURFACE_SIDE_STYLE('',(#207092));
+#207092 = SURFACE_STYLE_FILL_AREA(#207093);
+#207093 = FILL_AREA_STYLE('',(#207094));
+#207094 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207095 = STYLED_ITEM('color',(#207096),#55090);
+#207096 = PRESENTATION_STYLE_ASSIGNMENT((#207097));
+#207097 = SURFACE_STYLE_USAGE(.BOTH.,#207098);
+#207098 = SURFACE_SIDE_STYLE('',(#207099));
+#207099 = SURFACE_STYLE_FILL_AREA(#207100);
+#207100 = FILL_AREA_STYLE('',(#207101));
+#207101 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207102 = STYLED_ITEM('color',(#207103),#55133);
+#207103 = PRESENTATION_STYLE_ASSIGNMENT((#207104));
+#207104 = SURFACE_STYLE_USAGE(.BOTH.,#207105);
+#207105 = SURFACE_SIDE_STYLE('',(#207106));
+#207106 = SURFACE_STYLE_FILL_AREA(#207107);
+#207107 = FILL_AREA_STYLE('',(#207108));
+#207108 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207109 = STYLED_ITEM('color',(#207110),#55261);
+#207110 = PRESENTATION_STYLE_ASSIGNMENT((#207111));
+#207111 = SURFACE_STYLE_USAGE(.BOTH.,#207112);
+#207112 = SURFACE_SIDE_STYLE('',(#207113));
+#207113 = SURFACE_STYLE_FILL_AREA(#207114);
+#207114 = FILL_AREA_STYLE('',(#207115));
+#207115 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207116 = STYLED_ITEM('color',(#207117),#55285);
+#207117 = PRESENTATION_STYLE_ASSIGNMENT((#207118));
+#207118 = SURFACE_STYLE_USAGE(.BOTH.,#207119);
+#207119 = SURFACE_SIDE_STYLE('',(#207120));
+#207120 = SURFACE_STYLE_FILL_AREA(#207121);
+#207121 = FILL_AREA_STYLE('',(#207122));
+#207122 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207123 = STYLED_ITEM('color',(#207124),#55309);
+#207124 = PRESENTATION_STYLE_ASSIGNMENT((#207125));
+#207125 = SURFACE_STYLE_USAGE(.BOTH.,#207126);
+#207126 = SURFACE_SIDE_STYLE('',(#207127));
+#207127 = SURFACE_STYLE_FILL_AREA(#207128);
+#207128 = FILL_AREA_STYLE('',(#207129));
+#207129 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207130 = STYLED_ITEM('color',(#207131),#55428);
+#207131 = PRESENTATION_STYLE_ASSIGNMENT((#207132));
+#207132 = SURFACE_STYLE_USAGE(.BOTH.,#207133);
+#207133 = SURFACE_SIDE_STYLE('',(#207134));
+#207134 = SURFACE_STYLE_FILL_AREA(#207135);
+#207135 = FILL_AREA_STYLE('',(#207136));
+#207136 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207137 = STYLED_ITEM('color',(#207138),#55471);
+#207138 = PRESENTATION_STYLE_ASSIGNMENT((#207139));
+#207139 = SURFACE_STYLE_USAGE(.BOTH.,#207140);
+#207140 = SURFACE_SIDE_STYLE('',(#207141));
+#207141 = SURFACE_STYLE_FILL_AREA(#207142);
+#207142 = FILL_AREA_STYLE('',(#207143));
+#207143 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207144 = STYLED_ITEM('color',(#207145),#55573);
+#207145 = PRESENTATION_STYLE_ASSIGNMENT((#207146));
+#207146 = SURFACE_STYLE_USAGE(.BOTH.,#207147);
+#207147 = SURFACE_SIDE_STYLE('',(#207148));
+#207148 = SURFACE_STYLE_FILL_AREA(#207149);
+#207149 = FILL_AREA_STYLE('',(#207150));
+#207150 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207151 = STYLED_ITEM('color',(#207152),#55580);
+#207152 = PRESENTATION_STYLE_ASSIGNMENT((#207153));
+#207153 = SURFACE_STYLE_USAGE(.BOTH.,#207154);
+#207154 = SURFACE_SIDE_STYLE('',(#207155));
+#207155 = SURFACE_STYLE_FILL_AREA(#207156);
+#207156 = FILL_AREA_STYLE('',(#207157));
+#207157 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207158 = STYLED_ITEM('color',(#207159),#55604);
+#207159 = PRESENTATION_STYLE_ASSIGNMENT((#207160));
+#207160 = SURFACE_STYLE_USAGE(.BOTH.,#207161);
+#207161 = SURFACE_SIDE_STYLE('',(#207162));
+#207162 = SURFACE_STYLE_FILL_AREA(#207163);
+#207163 = FILL_AREA_STYLE('',(#207164));
+#207164 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207165 = STYLED_ITEM('color',(#207166),#55628);
+#207166 = PRESENTATION_STYLE_ASSIGNMENT((#207167));
+#207167 = SURFACE_STYLE_USAGE(.BOTH.,#207168);
+#207168 = SURFACE_SIDE_STYLE('',(#207169));
+#207169 = SURFACE_STYLE_FILL_AREA(#207170);
+#207170 = FILL_AREA_STYLE('',(#207171));
+#207171 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207172 = STYLED_ITEM('color',(#207173),#55747);
+#207173 = PRESENTATION_STYLE_ASSIGNMENT((#207174));
+#207174 = SURFACE_STYLE_USAGE(.BOTH.,#207175);
+#207175 = SURFACE_SIDE_STYLE('',(#207176));
+#207176 = SURFACE_STYLE_FILL_AREA(#207177);
+#207177 = FILL_AREA_STYLE('',(#207178));
+#207178 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207179 = STYLED_ITEM('color',(#207180),#55790);
+#207180 = PRESENTATION_STYLE_ASSIGNMENT((#207181));
+#207181 = SURFACE_STYLE_USAGE(.BOTH.,#207182);
+#207182 = SURFACE_SIDE_STYLE('',(#207183));
+#207183 = SURFACE_STYLE_FILL_AREA(#207184);
+#207184 = FILL_AREA_STYLE('',(#207185));
+#207185 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207186 = STYLED_ITEM('color',(#207187),#55892);
+#207187 = PRESENTATION_STYLE_ASSIGNMENT((#207188));
+#207188 = SURFACE_STYLE_USAGE(.BOTH.,#207189);
+#207189 = SURFACE_SIDE_STYLE('',(#207190));
+#207190 = SURFACE_STYLE_FILL_AREA(#207191);
+#207191 = FILL_AREA_STYLE('',(#207192));
+#207192 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207193 = STYLED_ITEM('color',(#207194),#55899);
+#207194 = PRESENTATION_STYLE_ASSIGNMENT((#207195));
+#207195 = SURFACE_STYLE_USAGE(.BOTH.,#207196);
+#207196 = SURFACE_SIDE_STYLE('',(#207197));
+#207197 = SURFACE_STYLE_FILL_AREA(#207198);
+#207198 = FILL_AREA_STYLE('',(#207199));
+#207199 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207200 = STYLED_ITEM('color',(#207201),#55923);
+#207201 = PRESENTATION_STYLE_ASSIGNMENT((#207202));
+#207202 = SURFACE_STYLE_USAGE(.BOTH.,#207203);
+#207203 = SURFACE_SIDE_STYLE('',(#207204));
+#207204 = SURFACE_STYLE_FILL_AREA(#207205);
+#207205 = FILL_AREA_STYLE('',(#207206));
+#207206 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207207 = STYLED_ITEM('color',(#207208),#55947);
+#207208 = PRESENTATION_STYLE_ASSIGNMENT((#207209));
+#207209 = SURFACE_STYLE_USAGE(.BOTH.,#207210);
+#207210 = SURFACE_SIDE_STYLE('',(#207211));
+#207211 = SURFACE_STYLE_FILL_AREA(#207212);
+#207212 = FILL_AREA_STYLE('',(#207213));
+#207213 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207214 = STYLED_ITEM('color',(#207215),#56066);
+#207215 = PRESENTATION_STYLE_ASSIGNMENT((#207216));
+#207216 = SURFACE_STYLE_USAGE(.BOTH.,#207217);
+#207217 = SURFACE_SIDE_STYLE('',(#207218));
+#207218 = SURFACE_STYLE_FILL_AREA(#207219);
+#207219 = FILL_AREA_STYLE('',(#207220));
+#207220 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207221 = STYLED_ITEM('color',(#207222),#56109);
+#207222 = PRESENTATION_STYLE_ASSIGNMENT((#207223));
+#207223 = SURFACE_STYLE_USAGE(.BOTH.,#207224);
+#207224 = SURFACE_SIDE_STYLE('',(#207225));
+#207225 = SURFACE_STYLE_FILL_AREA(#207226);
+#207226 = FILL_AREA_STYLE('',(#207227));
+#207227 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207228 = STYLED_ITEM('color',(#207229),#56211);
+#207229 = PRESENTATION_STYLE_ASSIGNMENT((#207230));
+#207230 = SURFACE_STYLE_USAGE(.BOTH.,#207231);
+#207231 = SURFACE_SIDE_STYLE('',(#207232));
+#207232 = SURFACE_STYLE_FILL_AREA(#207233);
+#207233 = FILL_AREA_STYLE('',(#207234));
+#207234 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207235 = STYLED_ITEM('color',(#207236),#56218);
+#207236 = PRESENTATION_STYLE_ASSIGNMENT((#207237));
+#207237 = SURFACE_STYLE_USAGE(.BOTH.,#207238);
+#207238 = SURFACE_SIDE_STYLE('',(#207239));
+#207239 = SURFACE_STYLE_FILL_AREA(#207240);
+#207240 = FILL_AREA_STYLE('',(#207241));
+#207241 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207242 = STYLED_ITEM('color',(#207243),#56242);
+#207243 = PRESENTATION_STYLE_ASSIGNMENT((#207244));
+#207244 = SURFACE_STYLE_USAGE(.BOTH.,#207245);
+#207245 = SURFACE_SIDE_STYLE('',(#207246));
+#207246 = SURFACE_STYLE_FILL_AREA(#207247);
+#207247 = FILL_AREA_STYLE('',(#207248));
+#207248 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207249 = STYLED_ITEM('color',(#207250),#56266);
+#207250 = PRESENTATION_STYLE_ASSIGNMENT((#207251));
+#207251 = SURFACE_STYLE_USAGE(.BOTH.,#207252);
+#207252 = SURFACE_SIDE_STYLE('',(#207253));
+#207253 = SURFACE_STYLE_FILL_AREA(#207254);
+#207254 = FILL_AREA_STYLE('',(#207255));
+#207255 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207256 = STYLED_ITEM('color',(#207257),#56290);
+#207257 = PRESENTATION_STYLE_ASSIGNMENT((#207258));
+#207258 = SURFACE_STYLE_USAGE(.BOTH.,#207259);
+#207259 = SURFACE_SIDE_STYLE('',(#207260));
+#207260 = SURFACE_STYLE_FILL_AREA(#207261);
+#207261 = FILL_AREA_STYLE('',(#207262));
+#207262 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207263 = STYLED_ITEM('color',(#207264),#56297);
+#207264 = PRESENTATION_STYLE_ASSIGNMENT((#207265));
+#207265 = SURFACE_STYLE_USAGE(.BOTH.,#207266);
+#207266 = SURFACE_SIDE_STYLE('',(#207267));
+#207267 = SURFACE_STYLE_FILL_AREA(#207268);
+#207268 = FILL_AREA_STYLE('',(#207269));
+#207269 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207270 = STYLED_ITEM('color',(#207271),#56321);
+#207271 = PRESENTATION_STYLE_ASSIGNMENT((#207272));
+#207272 = SURFACE_STYLE_USAGE(.BOTH.,#207273);
+#207273 = SURFACE_SIDE_STYLE('',(#207274));
+#207274 = SURFACE_STYLE_FILL_AREA(#207275);
+#207275 = FILL_AREA_STYLE('',(#207276));
+#207276 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207277 = STYLED_ITEM('color',(#207278),#56345);
+#207278 = PRESENTATION_STYLE_ASSIGNMENT((#207279));
+#207279 = SURFACE_STYLE_USAGE(.BOTH.,#207280);
+#207280 = SURFACE_SIDE_STYLE('',(#207281));
+#207281 = SURFACE_STYLE_FILL_AREA(#207282);
+#207282 = FILL_AREA_STYLE('',(#207283));
+#207283 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207284 = STYLED_ITEM('color',(#207285),#56352);
+#207285 = PRESENTATION_STYLE_ASSIGNMENT((#207286));
+#207286 = SURFACE_STYLE_USAGE(.BOTH.,#207287);
+#207287 = SURFACE_SIDE_STYLE('',(#207288));
+#207288 = SURFACE_STYLE_FILL_AREA(#207289);
+#207289 = FILL_AREA_STYLE('',(#207290));
+#207290 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207291 = STYLED_ITEM('color',(#207292),#56376);
+#207292 = PRESENTATION_STYLE_ASSIGNMENT((#207293));
+#207293 = SURFACE_STYLE_USAGE(.BOTH.,#207294);
+#207294 = SURFACE_SIDE_STYLE('',(#207295));
+#207295 = SURFACE_STYLE_FILL_AREA(#207296);
+#207296 = FILL_AREA_STYLE('',(#207297));
+#207297 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207298 = STYLED_ITEM('color',(#207299),#56400);
+#207299 = PRESENTATION_STYLE_ASSIGNMENT((#207300));
+#207300 = SURFACE_STYLE_USAGE(.BOTH.,#207301);
+#207301 = SURFACE_SIDE_STYLE('',(#207302));
+#207302 = SURFACE_STYLE_FILL_AREA(#207303);
+#207303 = FILL_AREA_STYLE('',(#207304));
+#207304 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207305 = MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(
+ #207306,#207314),#196366);
+#207306 = STYLED_ITEM('color',(#207307),#152920);
+#207307 = PRESENTATION_STYLE_ASSIGNMENT((#207308));
+#207308 = SURFACE_STYLE_USAGE(.BOTH.,#207309);
+#207309 = SURFACE_SIDE_STYLE('',(#207310));
+#207310 = SURFACE_STYLE_FILL_AREA(#207311);
+#207311 = FILL_AREA_STYLE('',(#207312));
+#207312 = FILL_AREA_STYLE_COLOUR('',#207313);
+#207313 = COLOUR_RGB('',0.269015219171,0.665185089102,0.269015219171);
+#207314 = OVER_RIDING_STYLED_ITEM('overriding color',(#207315),#152920,
+ #207306);
+#207315 = PRESENTATION_STYLE_BY_CONTEXT((#207316),#196385);
+#207316 = SURFACE_STYLE_USAGE(.BOTH.,#207317);
+#207317 = SURFACE_SIDE_STYLE('',(#207318));
+#207318 = SURFACE_STYLE_FILL_AREA(#207319);
+#207319 = FILL_AREA_STYLE('',(#207320));
+#207320 = FILL_AREA_STYLE_COLOUR('',#207321);
+#207321 = COLOUR_RGB('',0.269015219171,0.665185089102,0.269015219171);
+#207322 = MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(
+ #207323,#207330,#207337,#207344,#207351,#207358,#207365,#207372,
+ #207379,#207386,#207393,#207400,#207407,#207414,#207421,#207428,
+ #207435,#207442,#207449,#207456,#207463,#207470,#207477,#207484,
+ #207491,#207498,#207505,#207512,#207519,#207526,#207533,#207540,
+ #207547,#207554,#207561,#207568,#207575,#207582,#207589,#207596,
+ #207603,#207610,#207617,#207624,#207631,#207638,#207645,#207652,
+ #207659,#207666,#207673,#207680,#207687,#207694,#207701,#207708,
+ #207715,#207722,#207729,#207736,#207743,#207750,#207757,#207764,
+ #207771,#207778,#207785,#207792,#207799,#207806,#207813,#207820,
+ #207827,#207834,#207841,#207848,#207855,#207862,#207869,#207876,
+ #207883,#207890,#207897,#207904,#207911,#207918,#207925,#207932,
+ #207939,#207946,#207953,#207960,#207967,#207974,#207981,#207988,
+ #207995,#208002,#208009,#208016,#208023,#208030,#208037,#208044,
+ #208051,#208058,#208065,#208072,#208079,#208086,#208093,#208100,
+ #208107,#208114,#208121,#208128,#208135,#208142,#208149,#208156,
+ #208163,#208170,#208177,#208184,#208191,#208198,#208205,#208212,
+ #208219,#208226,#208233,#208240,#208247,#208254),#129100);
+#207323 = STYLED_ITEM('color',(#207324),#121020);
+#207324 = PRESENTATION_STYLE_ASSIGNMENT((#207325));
+#207325 = SURFACE_STYLE_USAGE(.BOTH.,#207326);
+#207326 = SURFACE_SIDE_STYLE('',(#207327));
+#207327 = SURFACE_STYLE_FILL_AREA(#207328);
+#207328 = FILL_AREA_STYLE('',(#207329));
+#207329 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207330 = STYLED_ITEM('color',(#207331),#121128);
+#207331 = PRESENTATION_STYLE_ASSIGNMENT((#207332));
+#207332 = SURFACE_STYLE_USAGE(.BOTH.,#207333);
+#207333 = SURFACE_SIDE_STYLE('',(#207334));
+#207334 = SURFACE_STYLE_FILL_AREA(#207335);
+#207335 = FILL_AREA_STYLE('',(#207336));
+#207336 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207337 = STYLED_ITEM('color',(#207338),#121295);
+#207338 = PRESENTATION_STYLE_ASSIGNMENT((#207339));
+#207339 = SURFACE_STYLE_USAGE(.BOTH.,#207340);
+#207340 = SURFACE_SIDE_STYLE('',(#207341));
+#207341 = SURFACE_STYLE_FILL_AREA(#207342);
+#207342 = FILL_AREA_STYLE('',(#207343));
+#207343 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207344 = STYLED_ITEM('color',(#207345),#121437);
+#207345 = PRESENTATION_STYLE_ASSIGNMENT((#207346));
+#207346 = SURFACE_STYLE_USAGE(.BOTH.,#207347);
+#207347 = SURFACE_SIDE_STYLE('',(#207348));
+#207348 = SURFACE_STYLE_FILL_AREA(#207349);
+#207349 = FILL_AREA_STYLE('',(#207350));
+#207350 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207351 = STYLED_ITEM('color',(#207352),#121461);
+#207352 = PRESENTATION_STYLE_ASSIGNMENT((#207353));
+#207353 = SURFACE_STYLE_USAGE(.BOTH.,#207354);
+#207354 = SURFACE_SIDE_STYLE('',(#207355));
+#207355 = SURFACE_STYLE_FILL_AREA(#207356);
+#207356 = FILL_AREA_STYLE('',(#207357));
+#207357 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207358 = STYLED_ITEM('color',(#207359),#121893);
+#207359 = PRESENTATION_STYLE_ASSIGNMENT((#207360));
+#207360 = SURFACE_STYLE_USAGE(.BOTH.,#207361);
+#207361 = SURFACE_SIDE_STYLE('',(#207362));
+#207362 = SURFACE_STYLE_FILL_AREA(#207363);
+#207363 = FILL_AREA_STYLE('',(#207364));
+#207364 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207365 = STYLED_ITEM('color',(#207366),#121934);
+#207366 = PRESENTATION_STYLE_ASSIGNMENT((#207367));
+#207367 = SURFACE_STYLE_USAGE(.BOTH.,#207368);
+#207368 = SURFACE_SIDE_STYLE('',(#207369));
+#207369 = SURFACE_STYLE_FILL_AREA(#207370);
+#207370 = FILL_AREA_STYLE('',(#207371));
+#207371 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207372 = STYLED_ITEM('color',(#207373),#121958);
+#207373 = PRESENTATION_STYLE_ASSIGNMENT((#207374));
+#207374 = SURFACE_STYLE_USAGE(.BOTH.,#207375);
+#207375 = SURFACE_SIDE_STYLE('',(#207376));
+#207376 = SURFACE_STYLE_FILL_AREA(#207377);
+#207377 = FILL_AREA_STYLE('',(#207378));
+#207378 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207379 = STYLED_ITEM('color',(#207380),#122710);
+#207380 = PRESENTATION_STYLE_ASSIGNMENT((#207381));
+#207381 = SURFACE_STYLE_USAGE(.BOTH.,#207382);
+#207382 = SURFACE_SIDE_STYLE('',(#207383));
+#207383 = SURFACE_STYLE_FILL_AREA(#207384);
+#207384 = FILL_AREA_STYLE('',(#207385));
+#207385 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207386 = STYLED_ITEM('color',(#207387),#122717);
+#207387 = PRESENTATION_STYLE_ASSIGNMENT((#207388));
+#207388 = SURFACE_STYLE_USAGE(.BOTH.,#207389);
+#207389 = SURFACE_SIDE_STYLE('',(#207390));
+#207390 = SURFACE_STYLE_FILL_AREA(#207391);
+#207391 = FILL_AREA_STYLE('',(#207392));
+#207392 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207393 = STYLED_ITEM('color',(#207394),#122724);
+#207394 = PRESENTATION_STYLE_ASSIGNMENT((#207395));
+#207395 = SURFACE_STYLE_USAGE(.BOTH.,#207396);
+#207396 = SURFACE_SIDE_STYLE('',(#207397));
+#207397 = SURFACE_STYLE_FILL_AREA(#207398);
+#207398 = FILL_AREA_STYLE('',(#207399));
+#207399 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207400 = STYLED_ITEM('color',(#207401),#122791);
+#207401 = PRESENTATION_STYLE_ASSIGNMENT((#207402));
+#207402 = SURFACE_STYLE_USAGE(.BOTH.,#207403);
+#207403 = SURFACE_SIDE_STYLE('',(#207404));
+#207404 = SURFACE_STYLE_FILL_AREA(#207405);
+#207405 = FILL_AREA_STYLE('',(#207406));
+#207406 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207407 = STYLED_ITEM('color',(#207408),#122839);
+#207408 = PRESENTATION_STYLE_ASSIGNMENT((#207409));
+#207409 = SURFACE_STYLE_USAGE(.BOTH.,#207410);
+#207410 = SURFACE_SIDE_STYLE('',(#207411));
+#207411 = SURFACE_STYLE_FILL_AREA(#207412);
+#207412 = FILL_AREA_STYLE('',(#207413));
+#207413 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207414 = STYLED_ITEM('color',(#207415),#122887);
+#207415 = PRESENTATION_STYLE_ASSIGNMENT((#207416));
+#207416 = SURFACE_STYLE_USAGE(.BOTH.,#207417);
+#207417 = SURFACE_SIDE_STYLE('',(#207418));
+#207418 = SURFACE_STYLE_FILL_AREA(#207419);
+#207419 = FILL_AREA_STYLE('',(#207420));
+#207420 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207421 = STYLED_ITEM('color',(#207422),#122916);
+#207422 = PRESENTATION_STYLE_ASSIGNMENT((#207423));
+#207423 = SURFACE_STYLE_USAGE(.BOTH.,#207424);
+#207424 = SURFACE_SIDE_STYLE('',(#207425));
+#207425 = SURFACE_STYLE_FILL_AREA(#207426);
+#207426 = FILL_AREA_STYLE('',(#207427));
+#207427 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207428 = STYLED_ITEM('color',(#207429),#122983);
+#207429 = PRESENTATION_STYLE_ASSIGNMENT((#207430));
+#207430 = SURFACE_STYLE_USAGE(.BOTH.,#207431);
+#207431 = SURFACE_SIDE_STYLE('',(#207432));
+#207432 = SURFACE_STYLE_FILL_AREA(#207433);
+#207433 = FILL_AREA_STYLE('',(#207434));
+#207434 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207435 = STYLED_ITEM('color',(#207436),#123031);
+#207436 = PRESENTATION_STYLE_ASSIGNMENT((#207437));
+#207437 = SURFACE_STYLE_USAGE(.BOTH.,#207438);
+#207438 = SURFACE_SIDE_STYLE('',(#207439));
+#207439 = SURFACE_STYLE_FILL_AREA(#207440);
+#207440 = FILL_AREA_STYLE('',(#207441));
+#207441 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207442 = STYLED_ITEM('color',(#207443),#123079);
+#207443 = PRESENTATION_STYLE_ASSIGNMENT((#207444));
+#207444 = SURFACE_STYLE_USAGE(.BOTH.,#207445);
+#207445 = SURFACE_SIDE_STYLE('',(#207446));
+#207446 = SURFACE_STYLE_FILL_AREA(#207447);
+#207447 = FILL_AREA_STYLE('',(#207448));
+#207448 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207449 = STYLED_ITEM('color',(#207450),#123108);
+#207450 = PRESENTATION_STYLE_ASSIGNMENT((#207451));
+#207451 = SURFACE_STYLE_USAGE(.BOTH.,#207452);
+#207452 = SURFACE_SIDE_STYLE('',(#207453));
+#207453 = SURFACE_STYLE_FILL_AREA(#207454);
+#207454 = FILL_AREA_STYLE('',(#207455));
+#207455 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207456 = STYLED_ITEM('color',(#207457),#123175);
+#207457 = PRESENTATION_STYLE_ASSIGNMENT((#207458));
+#207458 = SURFACE_STYLE_USAGE(.BOTH.,#207459);
+#207459 = SURFACE_SIDE_STYLE('',(#207460));
+#207460 = SURFACE_STYLE_FILL_AREA(#207461);
+#207461 = FILL_AREA_STYLE('',(#207462));
+#207462 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207463 = STYLED_ITEM('color',(#207464),#123223);
+#207464 = PRESENTATION_STYLE_ASSIGNMENT((#207465));
+#207465 = SURFACE_STYLE_USAGE(.BOTH.,#207466);
+#207466 = SURFACE_SIDE_STYLE('',(#207467));
+#207467 = SURFACE_STYLE_FILL_AREA(#207468);
+#207468 = FILL_AREA_STYLE('',(#207469));
+#207469 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207470 = STYLED_ITEM('color',(#207471),#123271);
+#207471 = PRESENTATION_STYLE_ASSIGNMENT((#207472));
+#207472 = SURFACE_STYLE_USAGE(.BOTH.,#207473);
+#207473 = SURFACE_SIDE_STYLE('',(#207474));
+#207474 = SURFACE_STYLE_FILL_AREA(#207475);
+#207475 = FILL_AREA_STYLE('',(#207476));
+#207476 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207477 = STYLED_ITEM('color',(#207478),#123300);
+#207478 = PRESENTATION_STYLE_ASSIGNMENT((#207479));
+#207479 = SURFACE_STYLE_USAGE(.BOTH.,#207480);
+#207480 = SURFACE_SIDE_STYLE('',(#207481));
+#207481 = SURFACE_STYLE_FILL_AREA(#207482);
+#207482 = FILL_AREA_STYLE('',(#207483));
+#207483 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207484 = STYLED_ITEM('color',(#207485),#123367);
+#207485 = PRESENTATION_STYLE_ASSIGNMENT((#207486));
+#207486 = SURFACE_STYLE_USAGE(.BOTH.,#207487);
+#207487 = SURFACE_SIDE_STYLE('',(#207488));
+#207488 = SURFACE_STYLE_FILL_AREA(#207489);
+#207489 = FILL_AREA_STYLE('',(#207490));
+#207490 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207491 = STYLED_ITEM('color',(#207492),#123415);
+#207492 = PRESENTATION_STYLE_ASSIGNMENT((#207493));
+#207493 = SURFACE_STYLE_USAGE(.BOTH.,#207494);
+#207494 = SURFACE_SIDE_STYLE('',(#207495));
+#207495 = SURFACE_STYLE_FILL_AREA(#207496);
+#207496 = FILL_AREA_STYLE('',(#207497));
+#207497 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207498 = STYLED_ITEM('color',(#207499),#123463);
+#207499 = PRESENTATION_STYLE_ASSIGNMENT((#207500));
+#207500 = SURFACE_STYLE_USAGE(.BOTH.,#207501);
+#207501 = SURFACE_SIDE_STYLE('',(#207502));
+#207502 = SURFACE_STYLE_FILL_AREA(#207503);
+#207503 = FILL_AREA_STYLE('',(#207504));
+#207504 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207505 = STYLED_ITEM('color',(#207506),#123492);
+#207506 = PRESENTATION_STYLE_ASSIGNMENT((#207507));
+#207507 = SURFACE_STYLE_USAGE(.BOTH.,#207508);
+#207508 = SURFACE_SIDE_STYLE('',(#207509));
+#207509 = SURFACE_STYLE_FILL_AREA(#207510);
+#207510 = FILL_AREA_STYLE('',(#207511));
+#207511 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207512 = STYLED_ITEM('color',(#207513),#123619);
+#207513 = PRESENTATION_STYLE_ASSIGNMENT((#207514));
+#207514 = SURFACE_STYLE_USAGE(.BOTH.,#207515);
+#207515 = SURFACE_SIDE_STYLE('',(#207516));
+#207516 = SURFACE_STYLE_FILL_AREA(#207517);
+#207517 = FILL_AREA_STYLE('',(#207518));
+#207518 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207519 = STYLED_ITEM('color',(#207520),#123643);
+#207520 = PRESENTATION_STYLE_ASSIGNMENT((#207521));
+#207521 = SURFACE_STYLE_USAGE(.BOTH.,#207522);
+#207522 = SURFACE_SIDE_STYLE('',(#207523));
+#207523 = SURFACE_STYLE_FILL_AREA(#207524);
+#207524 = FILL_AREA_STYLE('',(#207525));
+#207525 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207526 = STYLED_ITEM('color',(#207527),#123745);
+#207527 = PRESENTATION_STYLE_ASSIGNMENT((#207528));
+#207528 = SURFACE_STYLE_USAGE(.BOTH.,#207529);
+#207529 = SURFACE_SIDE_STYLE('',(#207530));
+#207530 = SURFACE_STYLE_FILL_AREA(#207531);
+#207531 = FILL_AREA_STYLE('',(#207532));
+#207532 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207533 = STYLED_ITEM('color',(#207534),#123769);
+#207534 = PRESENTATION_STYLE_ASSIGNMENT((#207535));
+#207535 = SURFACE_STYLE_USAGE(.BOTH.,#207536);
+#207536 = SURFACE_SIDE_STYLE('',(#207537));
+#207537 = SURFACE_STYLE_FILL_AREA(#207538);
+#207538 = FILL_AREA_STYLE('',(#207539));
+#207539 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207540 = STYLED_ITEM('color',(#207541),#123896);
+#207541 = PRESENTATION_STYLE_ASSIGNMENT((#207542));
+#207542 = SURFACE_STYLE_USAGE(.BOTH.,#207543);
+#207543 = SURFACE_SIDE_STYLE('',(#207544));
+#207544 = SURFACE_STYLE_FILL_AREA(#207545);
+#207545 = FILL_AREA_STYLE('',(#207546));
+#207546 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207547 = STYLED_ITEM('color',(#207548),#123920);
+#207548 = PRESENTATION_STYLE_ASSIGNMENT((#207549));
+#207549 = SURFACE_STYLE_USAGE(.BOTH.,#207550);
+#207550 = SURFACE_SIDE_STYLE('',(#207551));
+#207551 = SURFACE_STYLE_FILL_AREA(#207552);
+#207552 = FILL_AREA_STYLE('',(#207553));
+#207553 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207554 = STYLED_ITEM('color',(#207555),#124022);
+#207555 = PRESENTATION_STYLE_ASSIGNMENT((#207556));
+#207556 = SURFACE_STYLE_USAGE(.BOTH.,#207557);
+#207557 = SURFACE_SIDE_STYLE('',(#207558));
+#207558 = SURFACE_STYLE_FILL_AREA(#207559);
+#207559 = FILL_AREA_STYLE('',(#207560));
+#207560 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207561 = STYLED_ITEM('color',(#207562),#124046);
+#207562 = PRESENTATION_STYLE_ASSIGNMENT((#207563));
+#207563 = SURFACE_STYLE_USAGE(.BOTH.,#207564);
+#207564 = SURFACE_SIDE_STYLE('',(#207565));
+#207565 = SURFACE_STYLE_FILL_AREA(#207566);
+#207566 = FILL_AREA_STYLE('',(#207567));
+#207567 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207568 = STYLED_ITEM('color',(#207569),#124173);
+#207569 = PRESENTATION_STYLE_ASSIGNMENT((#207570));
+#207570 = SURFACE_STYLE_USAGE(.BOTH.,#207571);
+#207571 = SURFACE_SIDE_STYLE('',(#207572));
+#207572 = SURFACE_STYLE_FILL_AREA(#207573);
+#207573 = FILL_AREA_STYLE('',(#207574));
+#207574 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207575 = STYLED_ITEM('color',(#207576),#124197);
+#207576 = PRESENTATION_STYLE_ASSIGNMENT((#207577));
+#207577 = SURFACE_STYLE_USAGE(.BOTH.,#207578);
+#207578 = SURFACE_SIDE_STYLE('',(#207579));
+#207579 = SURFACE_STYLE_FILL_AREA(#207580);
+#207580 = FILL_AREA_STYLE('',(#207581));
+#207581 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207582 = STYLED_ITEM('color',(#207583),#124299);
+#207583 = PRESENTATION_STYLE_ASSIGNMENT((#207584));
+#207584 = SURFACE_STYLE_USAGE(.BOTH.,#207585);
+#207585 = SURFACE_SIDE_STYLE('',(#207586));
+#207586 = SURFACE_STYLE_FILL_AREA(#207587);
+#207587 = FILL_AREA_STYLE('',(#207588));
+#207588 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207589 = STYLED_ITEM('color',(#207590),#124323);
+#207590 = PRESENTATION_STYLE_ASSIGNMENT((#207591));
+#207591 = SURFACE_STYLE_USAGE(.BOTH.,#207592);
+#207592 = SURFACE_SIDE_STYLE('',(#207593));
+#207593 = SURFACE_STYLE_FILL_AREA(#207594);
+#207594 = FILL_AREA_STYLE('',(#207595));
+#207595 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207596 = STYLED_ITEM('color',(#207597),#124450);
+#207597 = PRESENTATION_STYLE_ASSIGNMENT((#207598));
+#207598 = SURFACE_STYLE_USAGE(.BOTH.,#207599);
+#207599 = SURFACE_SIDE_STYLE('',(#207600));
+#207600 = SURFACE_STYLE_FILL_AREA(#207601);
+#207601 = FILL_AREA_STYLE('',(#207602));
+#207602 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207603 = STYLED_ITEM('color',(#207604),#124474);
+#207604 = PRESENTATION_STYLE_ASSIGNMENT((#207605));
+#207605 = SURFACE_STYLE_USAGE(.BOTH.,#207606);
+#207606 = SURFACE_SIDE_STYLE('',(#207607));
+#207607 = SURFACE_STYLE_FILL_AREA(#207608);
+#207608 = FILL_AREA_STYLE('',(#207609));
+#207609 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207610 = STYLED_ITEM('color',(#207611),#124576);
+#207611 = PRESENTATION_STYLE_ASSIGNMENT((#207612));
+#207612 = SURFACE_STYLE_USAGE(.BOTH.,#207613);
+#207613 = SURFACE_SIDE_STYLE('',(#207614));
+#207614 = SURFACE_STYLE_FILL_AREA(#207615);
+#207615 = FILL_AREA_STYLE('',(#207616));
+#207616 = FILL_AREA_STYLE_COLOUR('',#196745);
+#207617 = STYLED_ITEM('color',(#207618),#124600);
+#207618 = PRESENTATION_STYLE_ASSIGNMENT((#207619));
+#207619 = SURFACE_STYLE_USAGE(.BOTH.,#207620);
+#207620 = SURFACE_SIDE_STYLE('',(#207621));
+#207621 = SURFACE_STYLE_FILL_AREA(#207622);
+#207622 = FILL_AREA_STYLE('',(#207623));
+#207623 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207624 = STYLED_ITEM('color',(#207625),#124667);
+#207625 = PRESENTATION_STYLE_ASSIGNMENT((#207626));
+#207626 = SURFACE_STYLE_USAGE(.BOTH.,#207627);
+#207627 = SURFACE_SIDE_STYLE('',(#207628));
+#207628 = SURFACE_STYLE_FILL_AREA(#207629);
+#207629 = FILL_AREA_STYLE('',(#207630));
+#207630 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207631 = STYLED_ITEM('color',(#207632),#124710);
+#207632 = PRESENTATION_STYLE_ASSIGNMENT((#207633));
+#207633 = SURFACE_STYLE_USAGE(.BOTH.,#207634);
+#207634 = SURFACE_SIDE_STYLE('',(#207635));
+#207635 = SURFACE_STYLE_FILL_AREA(#207636);
+#207636 = FILL_AREA_STYLE('',(#207637));
+#207637 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207638 = STYLED_ITEM('color',(#207639),#124753);
+#207639 = PRESENTATION_STYLE_ASSIGNMENT((#207640));
+#207640 = SURFACE_STYLE_USAGE(.BOTH.,#207641);
+#207641 = SURFACE_SIDE_STYLE('',(#207642));
+#207642 = SURFACE_STYLE_FILL_AREA(#207643);
+#207643 = FILL_AREA_STYLE('',(#207644));
+#207644 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207645 = STYLED_ITEM('color',(#207646),#124777);
+#207646 = PRESENTATION_STYLE_ASSIGNMENT((#207647));
+#207647 = SURFACE_STYLE_USAGE(.BOTH.,#207648);
+#207648 = SURFACE_SIDE_STYLE('',(#207649));
+#207649 = SURFACE_STYLE_FILL_AREA(#207650);
+#207650 = FILL_AREA_STYLE('',(#207651));
+#207651 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207652 = STYLED_ITEM('color',(#207653),#124844);
+#207653 = PRESENTATION_STYLE_ASSIGNMENT((#207654));
+#207654 = SURFACE_STYLE_USAGE(.BOTH.,#207655);
+#207655 = SURFACE_SIDE_STYLE('',(#207656));
+#207656 = SURFACE_STYLE_FILL_AREA(#207657);
+#207657 = FILL_AREA_STYLE('',(#207658));
+#207658 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207659 = STYLED_ITEM('color',(#207660),#124887);
+#207660 = PRESENTATION_STYLE_ASSIGNMENT((#207661));
+#207661 = SURFACE_STYLE_USAGE(.BOTH.,#207662);
+#207662 = SURFACE_SIDE_STYLE('',(#207663));
+#207663 = SURFACE_STYLE_FILL_AREA(#207664);
+#207664 = FILL_AREA_STYLE('',(#207665));
+#207665 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207666 = STYLED_ITEM('color',(#207667),#124930);
+#207667 = PRESENTATION_STYLE_ASSIGNMENT((#207668));
+#207668 = SURFACE_STYLE_USAGE(.BOTH.,#207669);
+#207669 = SURFACE_SIDE_STYLE('',(#207670));
+#207670 = SURFACE_STYLE_FILL_AREA(#207671);
+#207671 = FILL_AREA_STYLE('',(#207672));
+#207672 = FILL_AREA_STYLE_COLOUR('',#196394);
+#207673 = STYLED_ITEM('color',(#207674),#124954);
+#207674 = PRESENTATION_STYLE_ASSIGNMENT((#207675));
+#207675 = SURFACE_STYLE_USAGE(.BOTH.,#207676);
+#207676 = SURFACE_SIDE_STYLE('',(#207677));
+#207677 = SURFACE_STYLE_FILL_AREA(#207678);
+#207678 = FILL_AREA_STYLE('',(#207679));
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+#208004 = SURFACE_STYLE_USAGE(.BOTH.,#208005);
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+#208011 = SURFACE_STYLE_USAGE(.BOTH.,#208012);
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+#208018 = SURFACE_STYLE_USAGE(.BOTH.,#208019);
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+#208029 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208030 = STYLED_ITEM('color',(#208031),#127790);
+#208031 = PRESENTATION_STYLE_ASSIGNMENT((#208032));
+#208032 = SURFACE_STYLE_USAGE(.BOTH.,#208033);
+#208033 = SURFACE_SIDE_STYLE('',(#208034));
+#208034 = SURFACE_STYLE_FILL_AREA(#208035);
+#208035 = FILL_AREA_STYLE('',(#208036));
+#208036 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208037 = STYLED_ITEM('color',(#208038),#127892);
+#208038 = PRESENTATION_STYLE_ASSIGNMENT((#208039));
+#208039 = SURFACE_STYLE_USAGE(.BOTH.,#208040);
+#208040 = SURFACE_SIDE_STYLE('',(#208041));
+#208041 = SURFACE_STYLE_FILL_AREA(#208042);
+#208042 = FILL_AREA_STYLE('',(#208043));
+#208043 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208044 = STYLED_ITEM('color',(#208045),#127899);
+#208045 = PRESENTATION_STYLE_ASSIGNMENT((#208046));
+#208046 = SURFACE_STYLE_USAGE(.BOTH.,#208047);
+#208047 = SURFACE_SIDE_STYLE('',(#208048));
+#208048 = SURFACE_STYLE_FILL_AREA(#208049);
+#208049 = FILL_AREA_STYLE('',(#208050));
+#208050 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208051 = STYLED_ITEM('color',(#208052),#127923);
+#208052 = PRESENTATION_STYLE_ASSIGNMENT((#208053));
+#208053 = SURFACE_STYLE_USAGE(.BOTH.,#208054);
+#208054 = SURFACE_SIDE_STYLE('',(#208055));
+#208055 = SURFACE_STYLE_FILL_AREA(#208056);
+#208056 = FILL_AREA_STYLE('',(#208057));
+#208057 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208058 = STYLED_ITEM('color',(#208059),#127947);
+#208059 = PRESENTATION_STYLE_ASSIGNMENT((#208060));
+#208060 = SURFACE_STYLE_USAGE(.BOTH.,#208061);
+#208061 = SURFACE_SIDE_STYLE('',(#208062));
+#208062 = SURFACE_STYLE_FILL_AREA(#208063);
+#208063 = FILL_AREA_STYLE('',(#208064));
+#208064 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208065 = STYLED_ITEM('color',(#208066),#128066);
+#208066 = PRESENTATION_STYLE_ASSIGNMENT((#208067));
+#208067 = SURFACE_STYLE_USAGE(.BOTH.,#208068);
+#208068 = SURFACE_SIDE_STYLE('',(#208069));
+#208069 = SURFACE_STYLE_FILL_AREA(#208070);
+#208070 = FILL_AREA_STYLE('',(#208071));
+#208071 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208072 = STYLED_ITEM('color',(#208073),#128109);
+#208073 = PRESENTATION_STYLE_ASSIGNMENT((#208074));
+#208074 = SURFACE_STYLE_USAGE(.BOTH.,#208075);
+#208075 = SURFACE_SIDE_STYLE('',(#208076));
+#208076 = SURFACE_STYLE_FILL_AREA(#208077);
+#208077 = FILL_AREA_STYLE('',(#208078));
+#208078 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208079 = STYLED_ITEM('color',(#208080),#128211);
+#208080 = PRESENTATION_STYLE_ASSIGNMENT((#208081));
+#208081 = SURFACE_STYLE_USAGE(.BOTH.,#208082);
+#208082 = SURFACE_SIDE_STYLE('',(#208083));
+#208083 = SURFACE_STYLE_FILL_AREA(#208084);
+#208084 = FILL_AREA_STYLE('',(#208085));
+#208085 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208086 = STYLED_ITEM('color',(#208087),#128218);
+#208087 = PRESENTATION_STYLE_ASSIGNMENT((#208088));
+#208088 = SURFACE_STYLE_USAGE(.BOTH.,#208089);
+#208089 = SURFACE_SIDE_STYLE('',(#208090));
+#208090 = SURFACE_STYLE_FILL_AREA(#208091);
+#208091 = FILL_AREA_STYLE('',(#208092));
+#208092 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208093 = STYLED_ITEM('color',(#208094),#128242);
+#208094 = PRESENTATION_STYLE_ASSIGNMENT((#208095));
+#208095 = SURFACE_STYLE_USAGE(.BOTH.,#208096);
+#208096 = SURFACE_SIDE_STYLE('',(#208097));
+#208097 = SURFACE_STYLE_FILL_AREA(#208098);
+#208098 = FILL_AREA_STYLE('',(#208099));
+#208099 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208100 = STYLED_ITEM('color',(#208101),#128266);
+#208101 = PRESENTATION_STYLE_ASSIGNMENT((#208102));
+#208102 = SURFACE_STYLE_USAGE(.BOTH.,#208103);
+#208103 = SURFACE_SIDE_STYLE('',(#208104));
+#208104 = SURFACE_STYLE_FILL_AREA(#208105);
+#208105 = FILL_AREA_STYLE('',(#208106));
+#208106 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208107 = STYLED_ITEM('color',(#208108),#128385);
+#208108 = PRESENTATION_STYLE_ASSIGNMENT((#208109));
+#208109 = SURFACE_STYLE_USAGE(.BOTH.,#208110);
+#208110 = SURFACE_SIDE_STYLE('',(#208111));
+#208111 = SURFACE_STYLE_FILL_AREA(#208112);
+#208112 = FILL_AREA_STYLE('',(#208113));
+#208113 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208114 = STYLED_ITEM('color',(#208115),#128428);
+#208115 = PRESENTATION_STYLE_ASSIGNMENT((#208116));
+#208116 = SURFACE_STYLE_USAGE(.BOTH.,#208117);
+#208117 = SURFACE_SIDE_STYLE('',(#208118));
+#208118 = SURFACE_STYLE_FILL_AREA(#208119);
+#208119 = FILL_AREA_STYLE('',(#208120));
+#208120 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208121 = STYLED_ITEM('color',(#208122),#128530);
+#208122 = PRESENTATION_STYLE_ASSIGNMENT((#208123));
+#208123 = SURFACE_STYLE_USAGE(.BOTH.,#208124);
+#208124 = SURFACE_SIDE_STYLE('',(#208125));
+#208125 = SURFACE_STYLE_FILL_AREA(#208126);
+#208126 = FILL_AREA_STYLE('',(#208127));
+#208127 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208128 = STYLED_ITEM('color',(#208129),#128537);
+#208129 = PRESENTATION_STYLE_ASSIGNMENT((#208130));
+#208130 = SURFACE_STYLE_USAGE(.BOTH.,#208131);
+#208131 = SURFACE_SIDE_STYLE('',(#208132));
+#208132 = SURFACE_STYLE_FILL_AREA(#208133);
+#208133 = FILL_AREA_STYLE('',(#208134));
+#208134 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208135 = STYLED_ITEM('color',(#208136),#128561);
+#208136 = PRESENTATION_STYLE_ASSIGNMENT((#208137));
+#208137 = SURFACE_STYLE_USAGE(.BOTH.,#208138);
+#208138 = SURFACE_SIDE_STYLE('',(#208139));
+#208139 = SURFACE_STYLE_FILL_AREA(#208140);
+#208140 = FILL_AREA_STYLE('',(#208141));
+#208141 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208142 = STYLED_ITEM('color',(#208143),#128585);
+#208143 = PRESENTATION_STYLE_ASSIGNMENT((#208144));
+#208144 = SURFACE_STYLE_USAGE(.BOTH.,#208145);
+#208145 = SURFACE_SIDE_STYLE('',(#208146));
+#208146 = SURFACE_STYLE_FILL_AREA(#208147);
+#208147 = FILL_AREA_STYLE('',(#208148));
+#208148 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208149 = STYLED_ITEM('color',(#208150),#128704);
+#208150 = PRESENTATION_STYLE_ASSIGNMENT((#208151));
+#208151 = SURFACE_STYLE_USAGE(.BOTH.,#208152);
+#208152 = SURFACE_SIDE_STYLE('',(#208153));
+#208153 = SURFACE_STYLE_FILL_AREA(#208154);
+#208154 = FILL_AREA_STYLE('',(#208155));
+#208155 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208156 = STYLED_ITEM('color',(#208157),#128747);
+#208157 = PRESENTATION_STYLE_ASSIGNMENT((#208158));
+#208158 = SURFACE_STYLE_USAGE(.BOTH.,#208159);
+#208159 = SURFACE_SIDE_STYLE('',(#208160));
+#208160 = SURFACE_STYLE_FILL_AREA(#208161);
+#208161 = FILL_AREA_STYLE('',(#208162));
+#208162 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208163 = STYLED_ITEM('color',(#208164),#128849);
+#208164 = PRESENTATION_STYLE_ASSIGNMENT((#208165));
+#208165 = SURFACE_STYLE_USAGE(.BOTH.,#208166);
+#208166 = SURFACE_SIDE_STYLE('',(#208167));
+#208167 = SURFACE_STYLE_FILL_AREA(#208168);
+#208168 = FILL_AREA_STYLE('',(#208169));
+#208169 = FILL_AREA_STYLE_COLOUR('',#196394);
+#208170 = STYLED_ITEM('color',(#208171),#128856);
+#208171 = PRESENTATION_STYLE_ASSIGNMENT((#208172));
+#208172 = SURFACE_STYLE_USAGE(.BOTH.,#208173);
+#208173 = SURFACE_SIDE_STYLE('',(#208174));
+#208174 = SURFACE_STYLE_FILL_AREA(#208175);
+#208175 = FILL_AREA_STYLE('',(#208176));
+#208176 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208177 = STYLED_ITEM('color',(#208178),#128880);
+#208178 = PRESENTATION_STYLE_ASSIGNMENT((#208179));
+#208179 = SURFACE_STYLE_USAGE(.BOTH.,#208180);
+#208180 = SURFACE_SIDE_STYLE('',(#208181));
+#208181 = SURFACE_STYLE_FILL_AREA(#208182);
+#208182 = FILL_AREA_STYLE('',(#208183));
+#208183 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208184 = STYLED_ITEM('color',(#208185),#128904);
+#208185 = PRESENTATION_STYLE_ASSIGNMENT((#208186));
+#208186 = SURFACE_STYLE_USAGE(.BOTH.,#208187);
+#208187 = SURFACE_SIDE_STYLE('',(#208188));
+#208188 = SURFACE_STYLE_FILL_AREA(#208189);
+#208189 = FILL_AREA_STYLE('',(#208190));
+#208190 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208191 = STYLED_ITEM('color',(#208192),#128928);
+#208192 = PRESENTATION_STYLE_ASSIGNMENT((#208193));
+#208193 = SURFACE_STYLE_USAGE(.BOTH.,#208194);
+#208194 = SURFACE_SIDE_STYLE('',(#208195));
+#208195 = SURFACE_STYLE_FILL_AREA(#208196);
+#208196 = FILL_AREA_STYLE('',(#208197));
+#208197 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208198 = STYLED_ITEM('color',(#208199),#128935);
+#208199 = PRESENTATION_STYLE_ASSIGNMENT((#208200));
+#208200 = SURFACE_STYLE_USAGE(.BOTH.,#208201);
+#208201 = SURFACE_SIDE_STYLE('',(#208202));
+#208202 = SURFACE_STYLE_FILL_AREA(#208203);
+#208203 = FILL_AREA_STYLE('',(#208204));
+#208204 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208205 = STYLED_ITEM('color',(#208206),#128959);
+#208206 = PRESENTATION_STYLE_ASSIGNMENT((#208207));
+#208207 = SURFACE_STYLE_USAGE(.BOTH.,#208208);
+#208208 = SURFACE_SIDE_STYLE('',(#208209));
+#208209 = SURFACE_STYLE_FILL_AREA(#208210);
+#208210 = FILL_AREA_STYLE('',(#208211));
+#208211 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208212 = STYLED_ITEM('color',(#208213),#128983);
+#208213 = PRESENTATION_STYLE_ASSIGNMENT((#208214));
+#208214 = SURFACE_STYLE_USAGE(.BOTH.,#208215);
+#208215 = SURFACE_SIDE_STYLE('',(#208216));
+#208216 = SURFACE_STYLE_FILL_AREA(#208217);
+#208217 = FILL_AREA_STYLE('',(#208218));
+#208218 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208219 = STYLED_ITEM('color',(#208220),#128990);
+#208220 = PRESENTATION_STYLE_ASSIGNMENT((#208221));
+#208221 = SURFACE_STYLE_USAGE(.BOTH.,#208222);
+#208222 = SURFACE_SIDE_STYLE('',(#208223));
+#208223 = SURFACE_STYLE_FILL_AREA(#208224);
+#208224 = FILL_AREA_STYLE('',(#208225));
+#208225 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208226 = STYLED_ITEM('color',(#208227),#129014);
+#208227 = PRESENTATION_STYLE_ASSIGNMENT((#208228));
+#208228 = SURFACE_STYLE_USAGE(.BOTH.,#208229);
+#208229 = SURFACE_SIDE_STYLE('',(#208230));
+#208230 = SURFACE_STYLE_FILL_AREA(#208231);
+#208231 = FILL_AREA_STYLE('',(#208232));
+#208232 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208233 = STYLED_ITEM('color',(#208234),#129038);
+#208234 = PRESENTATION_STYLE_ASSIGNMENT((#208235));
+#208235 = SURFACE_STYLE_USAGE(.BOTH.,#208236);
+#208236 = SURFACE_SIDE_STYLE('',(#208237));
+#208237 = SURFACE_STYLE_FILL_AREA(#208238);
+#208238 = FILL_AREA_STYLE('',(#208239));
+#208239 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208240 = STYLED_ITEM('color',(#208241),#129045);
+#208241 = PRESENTATION_STYLE_ASSIGNMENT((#208242));
+#208242 = SURFACE_STYLE_USAGE(.BOTH.,#208243);
+#208243 = SURFACE_SIDE_STYLE('',(#208244));
+#208244 = SURFACE_STYLE_FILL_AREA(#208245);
+#208245 = FILL_AREA_STYLE('',(#208246));
+#208246 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208247 = STYLED_ITEM('color',(#208248),#129069);
+#208248 = PRESENTATION_STYLE_ASSIGNMENT((#208249));
+#208249 = SURFACE_STYLE_USAGE(.BOTH.,#208250);
+#208250 = SURFACE_SIDE_STYLE('',(#208251));
+#208251 = SURFACE_STYLE_FILL_AREA(#208252);
+#208252 = FILL_AREA_STYLE('',(#208253));
+#208253 = FILL_AREA_STYLE_COLOUR('',#196745);
+#208254 = STYLED_ITEM('color',(#208255),#129093);
+#208255 = PRESENTATION_STYLE_ASSIGNMENT((#208256));
+#208256 = SURFACE_STYLE_USAGE(.BOTH.,#208257);
+#208257 = SURFACE_SIDE_STYLE('',(#208258));
+#208258 = SURFACE_STYLE_FILL_AREA(#208259);
+#208259 = FILL_AREA_STYLE('',(#208260));
+#208260 = FILL_AREA_STYLE_COLOUR('',#196745);
+ENDSEC;
+END-ISO-10303-21;
diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2_BOM.csv b/circuit_boards/connector_boards/RRIB2/RRIB2_BOM.csv
new file mode 100644
index 0000000..e13e7bd
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2_BOM.csv
@@ -0,0 +1,112 @@
+Source:,/home/henry/971-Robot-Code/circuit_boards/connector_boards/RRIB2/RRIB2.kicad_sch,,,,,,,
+Date:,Sat 01 Oct 2022 02:57:19 PM PDT,,,,,,,
+Tool:,Eeschema 6.0.8-f2edbf62ab~116~ubuntu20.04.1,,,,,,,
+Generator:,/usr/share/kicad/plugins/bom_csv_grouped_by_value.py,,,,,,,
+Component Count:,90,,,,,,,
+,,,,,,,,
+Individual Components:,,,,,,,,
+,,,,,,,,
+Item,Qty,Reference(s),Value,LibPart,Footprint,Datasheet,MFG,MFG P/N
+1,2,"H1, H2",MountingHole,Mechanical:MountingHole,MountingHole:MountingHole_3.2mm_M3,~,,
+2,1,J1,DIO0,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+3,1,J2,DIO1,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+4,1,J3,DIO2,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+5,1,J4,DIO3,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+6,1,J5,DIO4,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+7,1,J6,DIO5,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+8,1,J7,DIO6,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+9,1,J8,DIO7,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+10,1,J9,DIO8,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+11,1,J10,DIO9,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+12,1,J11,DIO22,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+13,1,J12,DIO23,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+14,1,J13,DIO24,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+15,1,J14,DIO25,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+16,1,J15,RR_DIO0,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+17,1,J16,RR_DIO1,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+18,1,J17,RR_DIO2,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+19,1,J18,RR_DIO3,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+20,1,J19,RR_DIO4,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+21,1,J20,RR_DIO5,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+22,1,J21,RR_DIO6,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+23,1,J22,RR_DIO7,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+24,1,J23,RR_DIO8,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+25,1,J24,RR_DIO9,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+26,1,J25,ENC0,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+27,1,J26,ENC1,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+28,1,J27,ENC2,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+29,1,J28,ENC3,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+30,1,J29,ENC4,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+31,1,J30,ENC5,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+32,1,J31,ENC_AD0,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+33,1,J32,ENC_AD1,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+34,1,J33,ENC_AD2,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+35,1,J34,ENC_AD3,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+36,1,J35,ENC_AD4,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+37,1,J36,ENC_AD5,Connector:Conn_01x06_Male,RRIB2:70541-0005,~,Molex,70541-0005
+38,1,J37,RLY0,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+39,1,J38,RLY1,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+40,1,J39,RLY2,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+41,1,J40,RLY3,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+42,1,J41,AIN0,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+43,1,J42,AIN1,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+44,1,J43,AIN2,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+45,1,J44,AIN3,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+46,1,J45,AIN4,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+47,1,J46,AIN5,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+48,1,J47,AIN6,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+49,1,J48,AIN7,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+50,1,J49,RR_RELAY0,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+51,1,J50,RR_RELAY1,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+52,1,J51,RR_RELAY2,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+53,1,J52,RR_RELAY3,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+54,1,J53,RR_AIN0,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+55,1,J54,RR_AIN1,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+56,1,J55,RR_AIN2,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+57,1,J56,RR_AIN3,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+58,1,J57,PWM0,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+59,1,J58,PWM1,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+60,1,J59,PWM2,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+61,1,J60,PWM3,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+62,1,J61,PWM4,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+63,1,J62,PWM5,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+64,1,J63,PWM6,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+65,1,J64,PWM7,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+66,1,J65,PWM8,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+67,1,J66,PWM9,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+68,1,J67,RR_PWM0,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+69,1,J68,RR_PWM1,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+70,1,J69,RR_PWM2,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+71,1,J70,RR_PWM3,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+72,1,J71,RR_PWM4,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+73,1,J72,RR_PWM5,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+74,1,J73,RR_PWM6,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector SolutionsSullins Connector Solutions,PPTC031LFBN-RC
+75,1,J74,RR_PWM7,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+76,1,J75,RR_PWM8,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+77,1,J76,RR_PWM9,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+78,1,J77,RSL,Connector:Conn_01x02_Male,RRIB2:70541-0001,~,MOLEX,70541-0001
+79,1,J78,RS232,Connector:Conn_01x03_Male,RRIB2:70541-0002,~,Molex,70541-0002
+80,1,J79,I2C,Connector:Conn_01x04_Male,RRIB2:70541-0003,~,Molex,70541-0003
+81,1,J80,SPI0,Connector:Conn_01x07_Male,RRIB2:70541-0006,~,MOLEX,70541-0006
+82,1,J81,SPI1,Connector:Conn_01x07_Male,RRIB2:70541-0006,~,MOLEX,70541-0006
+83,1,J82,SPI2,Connector:Conn_01x07_Male,RRIB2:70541-0006,~,MOLEX,70541-0006
+84,1,J83,SPI3,Connector:Conn_01x07_Male,RRIB2:70541-0006,~,MOLEX,70541-0006
+85,1,J84,RR_RSL,Connector:Conn_01x02_Female,Connector_PinSocket_2.54mm:PinSocket_1x02_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC021LFBN-RC
+86,1,J85,RR_RS-232,Connector:Conn_01x03_Female,Connector_PinSocket_2.54mm:PinSocket_1x03_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC031LFBN-RC
+87,1,J86,RR_I2C,Connector:Conn_01x04_Female,Connector_PinSocket_2.54mm:PinSocket_1x04_P2.54mm_Vertical,~,Sullins Connector Solutions,PPTC041LFBN-RC
+88,1,J87,RR_MXP,Connector:Conn_01x34_Female,Connector_PinSocket_2.54mm:PinSocket_2x17_P2.54mm_Vertical,~,Sullins Connector Solutions,SFH11-PBPC-D17-ST-BK
+89,1,J88,RR_SPI,Connector:Conn_01x10_Female,Connector_PinSocket_2.54mm:PinSocket_2x05_P2.54mm_Vertical,~,Sullins Connector Solutions,SFH11-PBPC-D05-ST-BK
+,,,,,,,,
+,,,,,,,,
+,,,,,,,,
+,,,,,,,,
+,,,,,,,70541-0002,37
+,,,,,,,PPTC031LFBN-RC,29
+,,,,,,,70541-0003,7
+,,,,,,,70541-0005,6
+,,,,,,,70541-0006,4
+,,,,,,,PPTC021LFBN-RC,1
+,,,,,,,PPTC041LFBN-RC,1
+,,,,,,,SFH11-PBPC-D17-ST-BK,1
+,,,,,,,SFH11-PBPC-D05-ST-BK,1
+,,,,,,,70541-0001,1
\ No newline at end of file
diff --git a/circuit_boards/connector_boards/RRIB2/RRIB2_Schematic.pdf b/circuit_boards/connector_boards/RRIB2/RRIB2_Schematic.pdf
new file mode 100644
index 0000000..246bcdd
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB2_Schematic.pdf
Binary files differ
diff --git a/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0001.kicad_mod b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0001.kicad_mod
new file mode 100644
index 0000000..5c88a24
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0001.kicad_mod
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0002.kicad_mod b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0002.kicad_mod
new file mode 100644
index 0000000..3f61900
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0002.kicad_mod
@@ -0,0 +1,117 @@
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0003.kicad_mod b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0003.kicad_mod
new file mode 100644
index 0000000..7c0081d
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@@ -0,0 +1,39 @@
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+ (tstamp 40dad875-0a44-4de5-8510-450359a4ea01)
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+ (fp_text value "70541-0003" (at 0 1 unlocked) (layer "F.Fab")
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0005.kicad_mod b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0005.kicad_mod
new file mode 100644
index 0000000..b9b773d
--- /dev/null
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diff --git a/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0006.kicad_mod b/circuit_boards/connector_boards/RRIB2/RRIB_2.pretty/70541-0006.kicad_mod
new file mode 100644
index 0000000..3de84e0
--- /dev/null
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diff --git a/circuit_boards/connector_boards/RRIB2/fp-info-cache b/circuit_boards/connector_boards/RRIB2/fp-info-cache
new file mode 100644
index 0000000..573541a
--- /dev/null
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diff --git a/circuit_boards/connector_boards/RRIB2/fp-lib-table b/circuit_boards/connector_boards/RRIB2/fp-lib-table
new file mode 100644
index 0000000..7708b18
--- /dev/null
+++ b/circuit_boards/connector_boards/RRIB2/fp-lib-table
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+(fp_lib_table
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diff --git a/circuit_boards/hall-effect/3D-models/015913034.stp b/circuit_boards/hall-effect/3D-models/015913034.stp
new file mode 100644
index 0000000..129246a
--- /dev/null
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diff --git a/circuit_boards/hall-effect/Components/Molex-015913034_sd.pdf b/circuit_boards/hall-effect/Components/Molex-015913034_sd.pdf
new file mode 100644
index 0000000..2148d03
--- /dev/null
+++ b/circuit_boards/hall-effect/Components/Molex-015913034_sd.pdf
Binary files differ
diff --git a/circuit_boards/hall-effect/fp-lib-table b/circuit_boards/hall-effect/fp-lib-table
new file mode 100644
index 0000000..a615450
--- /dev/null
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@@ -0,0 +1,3 @@
+(fp_lib_table
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diff --git a/circuit_boards/hall-effect/hall-effect.kicad_pcb b/circuit_boards/hall-effect/hall-effect.kicad_pcb
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index 0000000..542b7f2
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diff --git a/circuit_boards/hall-effect/hall-effect.kicad_prl b/circuit_boards/hall-effect/hall-effect.kicad_prl
new file mode 100644
index 0000000..df1c5d8
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.kicad_prl
@@ -0,0 +1,75 @@
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+ }
+}
diff --git a/circuit_boards/hall-effect/hall-effect.kicad_pro b/circuit_boards/hall-effect/hall-effect.kicad_pro
new file mode 100644
index 0000000..716924d
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.kicad_pro
@@ -0,0 +1,438 @@
+{
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+ "meta": {
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+ },
+ "model_mode": 0,
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diff --git a/circuit_boards/hall-effect/hall-effect.kicad_sch b/circuit_boards/hall-effect/hall-effect.kicad_sch
new file mode 100644
index 0000000..2386cb5
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.kicad_sch
@@ -0,0 +1,952 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+ (uuid a9090aae-3916-48a1-a14c-d7216bcb93cc)
+
+ (paper "USLetter")
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+ (title_block
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+ (date "2022-10-15")
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+ (company "971 Spartan Robotics")
+ )
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+ (symbol (lib_id "Device:C") (at 130.81 109.22 0) (unit 1)
+ (in_bom yes) (on_board yes)
+ (uuid 6b456199-3d66-4be7-a3de-1c7ac8ffef32)
+ (property "Reference" "C2" (id 0) (at 134.62 106.68 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "4.7nF-25V-0805" (id 1) (at 134.62 110.49 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (id 2) (at 131.7752 113.03 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "~" (id 3) (at 130.81 109.22 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "Kemet" (id 4) (at 130.81 109.22 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "C0805C472K3RAC7800" (id 5) (at 130.81 109.22 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (pin "1" (uuid 07224c8e-e5d2-4c8f-8a5c-91e9d594f834))
+ (pin "2" (uuid 646ad16c-b524-46b8-ae45-58383f65b83f))
+ )
+
+ (symbol (lib_id "Mechanical:MountingHole") (at 71.12 133.35 0) (unit 1)
+ (in_bom yes) (on_board yes) (fields_autoplaced)
+ (uuid a1995381-2229-40f6-b99f-d69ad3460d67)
+ (property "Reference" "H1" (id 0) (at 73.66 132.0799 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "MountingHole" (id 1) (at 73.66 134.6199 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "hall-effect:mounting-hole" (id 2) (at 71.12 133.35 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "https://www.mcmaster.com/97565A113/" (id 3) (at 71.12 133.35 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "McMaster-Carr" (id 4) (at 71.12 133.35 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "97565A113" (id 5) (at 71.12 133.35 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ )
+
+ (symbol (lib_id "Mechanical:MountingHole") (at 71.12 138.43 0) (unit 1)
+ (in_bom yes) (on_board yes) (fields_autoplaced)
+ (uuid b556eaf7-9a59-4e23-9970-c9f506a0882b)
+ (property "Reference" "H2" (id 0) (at 73.66 137.1599 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "MountingHole" (id 1) (at 73.66 139.6999 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "hall-effect:mounting-hole" (id 2) (at 71.12 138.43 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "https://www.mcmaster.com/97565A113/" (id 3) (at 71.12 138.43 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "McMaster-Carr" (id 4) (at 71.12 138.43 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "97565A113" (id 5) (at 71.12 138.43 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ )
+
+ (symbol (lib_id "hall-effect:US5881LSE") (at 111.76 97.79 0) (unit 1)
+ (in_bom yes) (on_board yes)
+ (uuid cb203f6a-e9e6-449b-9acc-ad6245fe3021)
+ (property "Reference" "U1" (id 0) (at 121.92 99.06 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "US5881LSE" (id 1) (at 116.84 96.52 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "Package_TO_SOT_SMD:TSOT-23" (id 2) (at 111.76 97.79 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "Components/US5881-Datasheet-Melexis.PDF" (id 3) (at 111.76 97.79 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "Melexis" (id 4) (at 111.76 97.79 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "US5881LSE-AAA-000-RE" (id 5) (at 111.76 97.79 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (pin "1" (uuid 985bfb1f-1de4-4202-b8a3-4c7acc3ea19f))
+ (pin "2" (uuid a599e761-0756-4f18-95a5-06d0aadcf7a5))
+ (pin "3" (uuid 04a3b002-26f3-4ec9-9cde-a9b5594ad613))
+ )
+
+ (symbol (lib_id "Device:C") (at 104.14 102.87 0) (mirror y) (unit 1)
+ (in_bom yes) (on_board yes)
+ (uuid d1adcc44-b2e1-485b-b184-a4f7cb0f9f6b)
+ (property "Reference" "C1" (id 0) (at 100.33 100.33 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "0.1uF-25V-0805" (id 1) (at 100.33 104.14 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "Capacitor_SMD:C_0805_2012Metric" (id 2) (at 103.1748 106.68 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "~" (id 3) (at 104.14 102.87 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "Kemet" (id 4) (at 104.14 102.87 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "C0805C104K3RAC7025" (id 5) (at 104.14 102.87 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (pin "1" (uuid e6de1ea1-dd62-4254-a2ef-0ec0f1f7f089))
+ (pin "2" (uuid f2fd4a5f-2c07-4f3d-8ec0-7d27a2b40f17))
+ )
+
+ (symbol (lib_id "Device:R_US") (at 133.35 85.09 0) (unit 1)
+ (in_bom yes) (on_board yes) (fields_autoplaced)
+ (uuid dbed87cb-5ea2-4f23-a698-19d7aac2847b)
+ (property "Reference" "R2" (id 0) (at 135.89 83.8199 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Value" "1.0k-1%-0805" (id 1) (at 135.89 86.3599 0)
+ (effects (font (size 1.27 1.27)) (justify left))
+ )
+ (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (id 2) (at 134.366 85.344 90)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "~" (id 3) (at 133.35 85.09 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "Yageo" (id 4) (at 133.35 85.09 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "RC0805FR-071KL" (id 5) (at 133.35 85.09 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (pin "1" (uuid d7b78a98-e5db-4761-b8e0-878ba5345127))
+ (pin "2" (uuid c4c86af4-07b1-4ae7-8fba-b0384a23e314))
+ )
+
+ (sheet_instances
+ (path "/" (page "1"))
+ )
+
+ (symbol_instances
+ (path "/d1adcc44-b2e1-485b-b184-a4f7cb0f9f6b"
+ (reference "C1") (unit 1) (value "0.1uF-25V-0805") (footprint "Capacitor_SMD:C_0805_2012Metric")
+ )
+ (path "/6b456199-3d66-4be7-a3de-1c7ac8ffef32"
+ (reference "C2") (unit 1) (value "4.7nF-25V-0805") (footprint "Capacitor_SMD:C_0805_2012Metric")
+ )
+ (path "/462a32af-5b88-4898-9ecd-b499808c3dde"
+ (reference "D1") (unit 1) (value "PWR") (footprint "LED_SMD:LED_1206_3216Metric")
+ )
+ (path "/47c0dffb-8cde-4954-a179-5ac87baaee38"
+ (reference "D2") (unit 1) (value "DET") (footprint "LED_SMD:LED_1206_3216Metric")
+ )
+ (path "/a1995381-2229-40f6-b99f-d69ad3460d67"
+ (reference "H1") (unit 1) (value "MountingHole") (footprint "hall-effect:mounting-hole")
+ )
+ (path "/b556eaf7-9a59-4e23-9970-c9f506a0882b"
+ (reference "H2") (unit 1) (value "MountingHole") (footprint "hall-effect:mounting-hole")
+ )
+ (path "/54a5dbcc-b906-4f85-849b-2f973a983c0d"
+ (reference "J1") (unit 1) (value "Conn_01x03_Male") (footprint "hall-effect:3PIN header")
+ )
+ (path "/059c494e-48d8-42ae-a7f2-a507b0283684"
+ (reference "R1") (unit 1) (value "1.0k-1%-0805") (footprint "Resistor_SMD:R_0805_2012Metric")
+ )
+ (path "/dbed87cb-5ea2-4f23-a698-19d7aac2847b"
+ (reference "R2") (unit 1) (value "1.0k-1%-0805") (footprint "Resistor_SMD:R_0805_2012Metric")
+ )
+ (path "/080e70f3-de86-4507-bebb-4c55a1141408"
+ (reference "R3") (unit 1) (value "10k-1%-0805") (footprint "Resistor_SMD:R_0805_2012Metric")
+ )
+ (path "/cb203f6a-e9e6-449b-9acc-ad6245fe3021"
+ (reference "U1") (unit 1) (value "US5881LSE") (footprint "Package_TO_SOT_SMD:TSOT-23")
+ )
+ )
+)
diff --git a/circuit_boards/hall-effect/hall-effect.kicad_sym b/circuit_boards/hall-effect/hall-effect.kicad_sym
new file mode 100644
index 0000000..de5377f
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.kicad_sym
@@ -0,0 +1,42 @@
+(kicad_symbol_lib (version 20211014) (generator kicad_symbol_editor)
+ (symbol "US5881LSE" (in_bom yes) (on_board yes)
+ (property "Reference" "U" (id 0) (at 0 0 0)
+ (effects (font (size 1.27 1.27)))
+ )
+ (property "Value" "US5881LSE" (id 1) (at 0 0 0)
+ (effects (font (size 1.27 1.27)))
+ )
+ (property "Footprint" "" (id 2) (at 0 0 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "Datasheet" "Components/US5881-Datasheet-Melexis.PDF" (id 3) (at 0 0 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG" "Melexis" (id 4) (at 0 0 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (property "MFG P/N" "US5881LSE-AAA-000-RE" (id 5) (at 0 0 0)
+ (effects (font (size 1.27 1.27)) hide)
+ )
+ (symbol "US5881LSE_0_1"
+ (rectangle (start -1.27 0) (end 8.89 -10.16)
+ (stroke (width 0) (type default) (color 0 0 0 0))
+ (fill (type background))
+ )
+ )
+ (symbol "US5881LSE_1_1"
+ (pin power_in line (at 3.81 5.08 270) (length 5.08)
+ (name "VDD" (effects (font (size 1.27 1.27))))
+ (number "1" (effects (font (size 1.27 1.27))))
+ )
+ (pin open_collector line (at 13.97 -5.08 180) (length 5.08)
+ (name "OUT" (effects (font (size 1.27 1.27))))
+ (number "2" (effects (font (size 1.27 1.27))))
+ )
+ (pin passive line (at 3.81 -15.24 90) (length 5.08)
+ (name "GND" (effects (font (size 1.27 1.27))))
+ (number "3" (effects (font (size 1.27 1.27))))
+ )
+ )
+ )
+)
diff --git a/circuit_boards/hall-effect/hall-effect.pretty/3PIN header.kicad_mod b/circuit_boards/hall-effect/hall-effect.pretty/3PIN header.kicad_mod
new file mode 100644
index 0000000..c5c9a35
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.pretty/3PIN header.kicad_mod
@@ -0,0 +1,26 @@
+(footprint "3PIN header" (version 20211014) (generator pcbnew)
+ (layer "F.Cu")
+ (tedit 0)
+ (attr through_hole)
+ (fp_text reference "REF**" (at 0 -4 unlocked) (layer "F.SilkS")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 82a31238-f9ed-46f1-baf4-db42eaef7250)
+ )
+ (fp_text value "3PIN header" (at 0 -2.5 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 86a20e51-51c3-4885-909f-7b7eb14f604e)
+ )
+ (fp_text user "${REFERENCE}" (at 0 -1 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp e4e855f1-4cde-4aa0-b8ff-57eebef00b02)
+ )
+ (fp_rect (start -1.905 -3.175) (end 9.525 3.175) (layer "F.SilkS") (width 0.12) (fill none) (tstamp 966d78b7-075c-4b57-82f5-4fec26f3f444))
+ (fp_poly (pts
+ (xy 7.62 -3.175)
+ (xy 6.985 -4.445)
+ (xy 8.255 -4.445)
+ ) (layer "F.SilkS") (width 0.12) (fill solid) (tstamp a811a1b3-a191-43e5-812d-a765f0ab686f))
+ (pad "1" thru_hole roundrect (at 7.62 0) (size 2.54 5.08) (drill 1.143) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp 6053517d-0213-470e-8d57-53c9d3f161ff))
+ (pad "2" thru_hole roundrect (at 3.81 0) (size 2.54 5.08) (drill 1.143) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp ccc93161-3caa-46a9-aab3-c808d9bf9aa8))
+ (pad "3" thru_hole roundrect (at 0 0) (size 2.54 5.08) (drill 1.143) (layers *.Cu *.Mask) (roundrect_rratio 0.25) (tstamp d77b2b06-4711-4f6a-be8a-f45447b6c4a7))
+)
diff --git a/circuit_boards/hall-effect/hall-effect.pretty/Molex-0015913034.kicad_mod b/circuit_boards/hall-effect/hall-effect.pretty/Molex-0015913034.kicad_mod
new file mode 100644
index 0000000..60c3f69
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.pretty/Molex-0015913034.kicad_mod
@@ -0,0 +1,36 @@
+(footprint "Molex-0015913034" (version 20211014) (generator pcbnew)
+ (layer "F.Cu")
+ (tedit 0)
+ (attr smd)
+ (fp_text reference "REF**" (at 0 -4 unlocked) (layer "F.SilkS")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp cf302d55-6702-4e7c-8131-82ee4f92c5e8)
+ )
+ (fp_text value "Molex-0015913034" (at -3.683 -5.461 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp e3b185a5-ff1e-4da5-adfa-e41c16d0c65d)
+ )
+ (fp_text user "${REFERENCE}" (at -3.683 -3.961 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 66ecbaa5-99c5-4eff-8fe9-d642aa729c6d)
+ )
+ (fp_line (start -3.3 11.75) (end -3.3 14.05) (layer "F.SilkS") (width 0.12) (tstamp 0ea37367-f333-40a7-9259-f5e43c57751c))
+ (fp_line (start -3.3 -2.9) (end -3.3 9.7) (layer "F.SilkS") (width 0.12) (tstamp 33ff9d1c-71ec-41eb-9b49-9c63c143da00))
+ (fp_line (start 8.4 -2.9) (end -3.3 -2.9) (layer "F.SilkS") (width 0.12) (tstamp 9a623889-a71a-4e8a-a4b5-b1c39f891c3c))
+ (fp_line (start 8.4 11.8) (end 8.4 14.1) (layer "F.SilkS") (width 0.12) (tstamp aec6ac42-f5c8-4cd9-9c2e-f634dd24e076))
+ (fp_line (start 8.4 9.7) (end 8.4 -2.9) (layer "F.SilkS") (width 0.12) (tstamp fee1ed11-ffc5-4d8c-b067-ce5ee5a132d2))
+ (fp_poly (pts
+ (xy 5 -3)
+ (xy 4 -4)
+ (xy 6 -4)
+ ) (layer "F.SilkS") (width 0.12) (fill solid) (tstamp 4eb08014-e841-4183-8708-5dbb420a940d))
+ (fp_line (start 8.4 15.1) (end -3.3 15.1) (layer "Dwgs.User") (width 0.12) (tstamp 21c09e5a-811b-4aa0-9efc-21e48ade5ef8))
+ (fp_line (start 8.4 10.8) (end 8.4 15.1) (layer "Dwgs.User") (width 0.12) (tstamp 2eaaee0d-13f3-4cb2-b485-4d0d56b5ea87))
+ (fp_line (start -3.3 15.1) (end -3.3 10.8) (layer "Dwgs.User") (width 0.12) (tstamp 9e934174-6b2d-4f73-8fac-614a5a09e76f))
+ (fp_rect (start 8.4 15.1) (end -3.3 -2.9) (layer "F.CrtYd") (width 0.05) (fill none) (tstamp ebade865-b116-4e85-9521-74f278fed2b7))
+ (pad "" np_thru_hole circle (at -1.4 10.69) (size 3.5 3.5) (drill 3.4) (layers F&B.Cu *.Mask) (tstamp 00ffa68a-e49a-4aba-8062-c5e40c8ffd8f))
+ (pad "" np_thru_hole circle (at 6.48 10.69) (size 3.5 3.5) (drill 3.4) (layers F&B.Cu *.Mask) (tstamp a68d397d-2907-48ea-a292-6bff5694adf3))
+ (pad "1" smd roundrect (at 5.08 0) (size 1.65 5.33) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 3706efed-23d5-4a79-90aa-b493f7f3ff75))
+ (pad "2" smd roundrect (at 2.54 0) (size 1.65 5.33) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp ecd76774-a660-4d62-b5d2-9b147b25d134))
+ (pad "3" smd roundrect (at 0 0) (size 1.65 5.33) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25) (tstamp 51a6c173-2b90-4b1a-b2fa-8ce7275fb61d))
+)
diff --git a/circuit_boards/hall-effect/hall-effect.pretty/mounting-hole.kicad_mod b/circuit_boards/hall-effect/hall-effect.pretty/mounting-hole.kicad_mod
new file mode 100644
index 0000000..865a599
--- /dev/null
+++ b/circuit_boards/hall-effect/hall-effect.pretty/mounting-hole.kicad_mod
@@ -0,0 +1,19 @@
+(footprint "mounting-hole" (version 20211014) (generator pcbnew)
+ (layer "F.Cu")
+ (tedit 0)
+ (attr through_hole)
+ (fp_text reference "REF**" (at 0 -0.5 unlocked) (layer "F.SilkS")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 82932b4a-9d18-4719-83bb-c8abc4954555)
+ )
+ (fp_text value "mounting-hole" (at 0 1 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 73e23dad-f25e-4f16-8dd7-ebf7c9b0263d)
+ )
+ (fp_text user "${REFERENCE}" (at 0 2.5 unlocked) (layer "F.Fab")
+ (effects (font (size 1 1) (thickness 0.15)))
+ (tstamp 777d6e65-3b84-4d6e-b3c4-75724d631782)
+ )
+ (fp_circle (center 0 0) (end -3.81 0) (layer "F.CrtYd") (width 0.05) (fill none) (tstamp d5506f06-af94-48c8-8b59-f7d469aaedb3))
+ (pad "" np_thru_hole circle (at 0 0) (size 3.2766 3.2766) (drill 3.2766) (layers F&B.Cu *.Mask) (tstamp e14c95b3-443a-4893-9329-d80930efa1bd))
+)
diff --git a/circuit_boards/hall-effect/sym-lib-table b/circuit_boards/hall-effect/sym-lib-table
new file mode 100644
index 0000000..174f458
--- /dev/null
+++ b/circuit_boards/hall-effect/sym-lib-table
@@ -0,0 +1,3 @@
+(sym_lib_table
+ (lib (name "hall-effect")(type "KiCad")(uri "${KIPRJMOD}/hall-effect.kicad_sym")(options "")(descr ""))
+)
diff --git a/documentation/README.md b/documentation/README.md
index 32b8eb1..0f6485c 100644
--- a/documentation/README.md
+++ b/documentation/README.md
@@ -13,3 +13,4 @@
* [Create a new autonomous routine](tutorials/create-a-new-autonomous.md)
* [Tune an autonomous](tutorials/tune-an-autonomous.md)
* [Set up access to the build server using vscode](tutorials/setup-ssh-vscode.md)
+* [Install PyCharm on the build server](tutorials/setup-pycharm-on-build-server.md)
diff --git a/documentation/tutorials/setup-pycharm-on-build-server.md b/documentation/tutorials/setup-pycharm-on-build-server.md
new file mode 100644
index 0000000..acbb66d
--- /dev/null
+++ b/documentation/tutorials/setup-pycharm-on-build-server.md
@@ -0,0 +1,20 @@
+## Installing PyCharm on the build server
+
+### Getting PyCharm Professional (optional)
+Go to JetBrains' student [website](https://www.jetbrains.com/community/education/#students) and click "Apply now". Fill out the form using your school email. Check your school email for an email from JetBrains. Create a new JetBrains account. Use this account to log in when PyCharn asks for a professional key
+
+### Downloading on the build server
+Open your shell and run
+```
+curl https://raw.githubusercontent.com/thealtofwar/files/main/install_pycharm.sh > ~/install_pycharm.sh
+chmod +x ~/install_pycharm.sh
+~/install_pycharm.sh
+```
+This installs PyCharm to your desktop.
+### Alternate download method
+When you're on the build server, go to the [download](https://www.jetbrains.com/pycharm/download/#section=linux) and pick which edition of PyCharm you would like to download. Once the download completes, click on it to extract it. When something that looks like this appears,<br>
+<br>
+Look for the button that looks like a up arrow with a line of top that's labeled root that looks like [this](https://raw.githubusercontent.com/thealtofwar/files/main/Screenshot%202021-11-11%20101425.png). Click on it. Drag the folder to your desktop. It will say an error occured, but it should be fine.
+
+### Installing PyCharm on the build server
+When you're on the build server, go to the folder that you just downloaded PyCharm to. Click on the 'bin' folder. Click on the 'pycharm.sh' file. PyCharm should start running. If you downloaded the Professional version, you might have to log in with the JetBrains account you made when signing up. Open the folder where your project is located. Now you can start coding.
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index b50e84e..36c450a 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
@@ -33,7 +32,7 @@
deps = ["//aos:configuration_fbs_python"],
)
-ts_library(
+ts_project(
name = "plot_index",
srcs = ["plot_index.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -127,7 +126,7 @@
target_compatible_with = ["@platforms//os:linux"],
)
-ts_library(
+ts_project(
name = "plot_data_utils",
srcs = ["plot_data_utils.ts"],
visibility = ["//visibility:public"],
@@ -187,3 +186,15 @@
"//frc971/input:joystick_state_fbs",
],
)
+
+cc_binary(
+ name = "local_foxglove",
+ srcs = ["local_foxglove.cc"],
+ data = ["@foxglove_studio"],
+ deps = [
+ "//aos:init",
+ "//aos/network:gen_embedded",
+ "//aos/seasocks:seasocks_logger",
+ "//third_party/seasocks",
+ ],
+)
diff --git a/frc971/analysis/cpp_plot/BUILD b/frc971/analysis/cpp_plot/BUILD
index d6e74c3..7f34afe 100644
--- a/frc971/analysis/cpp_plot/BUILD
+++ b/frc971/analysis/cpp_plot/BUILD
@@ -1,9 +1,8 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
package(default_visibility = ["//visibility:public"])
-ts_library(
+ts_project(
name = "cpp_plot",
srcs = ["cpp_plot.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/analysis/cpp_plot/cpp_plot.ts b/frc971/analysis/cpp_plot/cpp_plot.ts
index a704e89..08e2b1c 100644
--- a/frc971/analysis/cpp_plot/cpp_plot.ts
+++ b/frc971/analysis/cpp_plot/cpp_plot.ts
@@ -1,7 +1,7 @@
// Plotter for the C++ in-process plotter.
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
+import {Configuration} from '../../../aos/configuration_generated';
+import {Connection} from '../../../aos/network/www/proxy';
+import {plotData} from '../plot_data_utils';
const rootDiv = document.createElement('div');
rootDiv.classList.add('aos_cpp_plot');
diff --git a/frc971/analysis/local_foxglove.cc b/frc971/analysis/local_foxglove.cc
new file mode 100644
index 0000000..33e5a8b
--- /dev/null
+++ b/frc971/analysis/local_foxglove.cc
@@ -0,0 +1,18 @@
+#include "aos/init.h"
+#include "aos/seasocks/seasocks_logger.h"
+#include "glog/logging.h"
+#include "internal/Embedded.h"
+#include "seasocks/Server.h"
+
+DEFINE_string(data_path, "external/foxglove_studio",
+ "Path to foxglove studio files to serve.");
+DEFINE_uint32(port, 8000, "Port to serve files at.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+ // Magic for seasocks.
+ findEmbeddedContent("");
+ ::seasocks::Server server(std::make_shared<aos::seasocks::SeasocksLogger>(
+ ::seasocks::Logger::Level::Info));
+ server.serve(FLAGS_data_path.c_str(), FLAGS_port);
+}
diff --git a/frc971/analysis/plot_data_utils.ts b/frc971/analysis/plot_data_utils.ts
index 1362a09..25131fb 100644
--- a/frc971/analysis/plot_data_utils.ts
+++ b/frc971/analysis/plot_data_utils.ts
@@ -1,10 +1,10 @@
// Provides a plot which handles plotting the plot defined by a
// frc971.analysis.Plot message.
-import {Plot as PlotFb} from 'org_frc971/frc971/analysis/plot_data_generated';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
+import {Plot as PlotFb} from './plot_data_generated';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
import {ByteBuffer} from 'flatbuffers';
-import {Plot, Point} from 'org_frc971/aos/network/www/plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Plot, Point} from '../../aos/network/www/plotter';
+import {Connection} from '../../aos/network/www/proxy';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
export function plotData(conn: Connection, parentDiv: Element) {
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index af9bd73..ab00b99 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -20,41 +20,41 @@
// each robot year, and may even end up allowing plots to be specified solely
// using JSON rather than requiring people to write a script just to create
// a plot.
-import {Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {plotImu} from 'org_frc971/frc971/wpilib/imu_plotter';
-import {plotDrivetrain} from 'org_frc971/frc971/control_loops/drivetrain/drivetrain_plotter';
-import {plotSpline} from 'org_frc971/frc971/control_loops/drivetrain/spline_plotter';
-import {plotDownEstimator} from 'org_frc971/frc971/control_loops/drivetrain/down_estimator_plotter';
+import {Configuration} from '../../aos/configuration_generated';
+import {Connection} from '../../aos/network/www/proxy';
+import {plotImu} from '../wpilib/imu_plotter';
+import {plotDrivetrain} from '../control_loops/drivetrain/drivetrain_plotter';
+import {plotSpline} from '../control_loops/drivetrain/spline_plotter';
+import {plotDownEstimator} from '../control_loops/drivetrain/down_estimator_plotter';
import {plotRobotState} from
- 'org_frc971/frc971/control_loops/drivetrain/robot_state_plotter'
+ '../control_loops/drivetrain/robot_state_plotter'
import {plotFinisher as plot2020Finisher} from
- 'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
+ '../../y2020/control_loops/superstructure/finisher_plotter'
import {plotTurret as plot2020Turret} from
- 'org_frc971/y2020/control_loops/superstructure/turret_plotter'
+ '../../y2020/control_loops/superstructure/turret_plotter'
import {plotLocalizer as plot2020Localizer} from
- 'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+ '../../y2020/control_loops/drivetrain/localizer_plotter'
import {plotAccelerator as plot2020Accelerator} from
- 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
+ '../../y2020/control_loops/superstructure/accelerator_plotter'
import {plotHood as plot2020Hood} from
- 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+ '../../y2020/control_loops/superstructure/hood_plotter'
import {plotSuperstructure as plot2021Superstructure} from
- 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+ '../../y2021_bot3/control_loops/superstructure/superstructure_plotter';
import {plotTurret as plot2022Turret} from
- 'org_frc971/y2022/control_loops/superstructure/turret_plotter'
+ '../../y2022/control_loops/superstructure/turret_plotter'
import {plotSuperstructure as plot2022Superstructure} from
- 'org_frc971/y2022/control_loops/superstructure/superstructure_plotter'
+ '../../y2022/control_loops/superstructure/superstructure_plotter'
import {plotCatapult as plot2022Catapult} from
- 'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
+ '../../y2022/control_loops/superstructure/catapult_plotter'
import {plotIntakeFront as plot2022IntakeFront, plotIntakeBack as plot2022IntakeBack} from
- 'org_frc971/y2022/control_loops/superstructure/intake_plotter'
+ '../../y2022/control_loops/superstructure/intake_plotter'
import {plotClimber as plot2022Climber} from
- 'org_frc971/y2022/control_loops/superstructure/climber_plotter'
+ '../../y2022/control_loops/superstructure/climber_plotter'
import {plotLocalizer as plot2022Localizer} from
- 'org_frc971/y2022/localizer/localizer_plotter'
+ '../../y2022/localizer/localizer_plotter'
import {plotVision as plot2022Vision} from
- 'org_frc971/y2022/vision/vision_plotter'
-import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
+ '../../y2022/vision/vision_plotter'
+import {plotDemo} from '../../aos/network/www/demo_plot';
const rootDiv = document.createElement('div');
rootDiv.style.width = '100%';
diff --git a/frc971/constants/BUILD b/frc971/constants/BUILD
index c17dc31..3a7e73a 100644
--- a/frc971/constants/BUILD
+++ b/frc971/constants/BUILD
@@ -45,6 +45,7 @@
],
data = [
"//frc971/constants/testdata:aos_config",
+ "//frc971/constants/testdata:syntax_error.json",
"//frc971/constants/testdata:test_constants.json",
],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/constants/constants_sender_test.cc b/frc971/constants/constants_sender_test.cc
index 1441767..512cb68 100644
--- a/frc971/constants/constants_sender_test.cc
+++ b/frc971/constants/constants_sender_test.cc
@@ -113,11 +113,11 @@
({
ConstantSender<testdata::ConstantsData, testdata::ConstantsList>
test_syntax(constants_sender_event_loop_.get(),
- "frc971/constants/testdata/syntaxerror.json", 971,
+ "frc971/constants/testdata/syntax_error.json", 971,
"/constants");
event_loop_factory_.RunFor(std::chrono::seconds(1));
}),
- "Error on line 0");
+ "Invalid field name");
}
} // namespace testing
diff --git a/frc971/constants/testdata/BUILD b/frc971/constants/testdata/BUILD
index 04cf8d3..a20264c 100644
--- a/frc971/constants/testdata/BUILD
+++ b/frc971/constants/testdata/BUILD
@@ -1,7 +1,10 @@
load("//aos:config.bzl", "aos_config")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-exports_files(["test_constants.json"])
+exports_files([
+ "test_constants.json",
+ "syntax_error.json",
+])
flatbuffer_cc_library(
name = "constants_list_fbs",
diff --git a/frc971/control_loops/double_jointed_arm/BUILD b/frc971/control_loops/double_jointed_arm/BUILD
new file mode 100644
index 0000000..c7fcefc
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/BUILD
@@ -0,0 +1,121 @@
+cc_library(
+ name = "trajectory",
+ srcs = [
+ "trajectory.cc",
+ ],
+ hdrs = [
+ "trajectory.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ "//aos/logging",
+ "//frc971/control_loops:dlqr",
+ "//frc971/control_loops:jacobian",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_test(
+ name = "trajectory_test",
+ srcs = [
+ "trajectory_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":demo_path",
+ ":dynamics",
+ ":ekf",
+ ":test_constants",
+ ":trajectory",
+ "//aos/testing:googletest",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "dynamics",
+ srcs = [
+ "dynamics.cc",
+ ],
+ hdrs = [
+ "dynamics.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:runge_kutta",
+ "@com_github_gflags_gflags//:gflags",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "demo_path",
+ srcs = [
+ "demo_path.cc",
+ ],
+ hdrs = ["demo_path.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [":trajectory"],
+)
+
+cc_test(
+ name = "dynamics_test",
+ srcs = [
+ "dynamics_test.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":dynamics",
+ ":test_constants",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
+ name = "ekf",
+ srcs = [
+ "ekf.cc",
+ ],
+ hdrs = [
+ "ekf.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ "//frc971/control_loops:jacobian",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_library(
+ name = "graph",
+ srcs = ["graph.cc"],
+ hdrs = ["graph.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_test(
+ name = "graph_test",
+ srcs = ["graph_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":graph",
+ "//aos/testing:googletest",
+ ],
+)
+
+cc_library(
+ name = "test_constants",
+ hdrs = ["test_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":dynamics",
+ ],
+)
diff --git a/y2018/control_loops/superstructure/arm/demo_path.cc b/frc971/control_loops/double_jointed_arm/demo_path.cc
similarity index 98%
rename from y2018/control_loops/superstructure/arm/demo_path.cc
rename to frc971/control_loops/double_jointed_arm/demo_path.cc
index 03856c9..8d549d1 100644
--- a/y2018/control_loops/superstructure/arm/demo_path.cc
+++ b/frc971/control_loops/double_jointed_arm/demo_path.cc
@@ -1,12 +1,11 @@
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
#include <array>
#include <initializer_list>
#include <memory>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
::std::vector<::std::array<double, 6>> FlipPath(
@@ -25,7 +24,6 @@
return result;
}
-
::std::unique_ptr<Path> MakeDemoPath() {
return ::std::unique_ptr<Path>(new Path(FlipPath(
{{{1.3583511559969876, 0.99753029519739866, 0.63708920330895369,
@@ -213,6 +211,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/demo_path.h b/frc971/control_loops/double_jointed_arm/demo_path.h
new file mode 100644
index 0000000..9a9d393
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/demo_path.h
@@ -0,0 +1,19 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
+
+#include <memory>
+
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+::std::unique_ptr<Path> MakeDemoPath();
+::std::unique_ptr<Path> MakeReversedDemoPath();
+
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DEMO_PATH_H_
diff --git a/frc971/control_loops/double_jointed_arm/dynamics.cc b/frc971/control_loops/double_jointed_arm/dynamics.cc
new file mode 100644
index 0000000..b5b6c8d
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics.cc
@@ -0,0 +1,37 @@
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+DEFINE_bool(gravity, true, "If true, enable gravity.");
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+Dynamics::Dynamics(ArmConstants arm_constants)
+ : arm_constants_(arm_constants),
+
+ K3_((::Eigen::Matrix<double, 2, 2>() << arm_constants_.g1 *
+ arm_constants_.Kt /
+ arm_constants_.resistance,
+ 0.0, 0.0,
+ arm_constants_.g2 * arm_constants_.num_distal_motors *
+ arm_constants_.Kt / arm_constants_.resistance)
+ .finished()),
+
+ K3_inverse_(K3_.inverse()),
+ K4_((::Eigen::Matrix<double, 2, 2>()
+ << arm_constants_.g1 * arm_constants_.g1 * arm_constants_.Kt /
+ (arm_constants_.Kv * arm_constants_.resistance),
+ 0.0, 0.0,
+ arm_constants_.g2 * arm_constants_.g2 * arm_constants_.Kt *
+ arm_constants_.num_distal_motors /
+ (arm_constants_.Kv * arm_constants_.resistance))
+ .finished()),
+ alpha_(arm_constants_.j1 +
+ arm_constants_.r1 * arm_constants_.r1 * arm_constants_.m1 +
+ arm_constants_.l1 * arm_constants_.l1 * arm_constants_.m2),
+ beta_(arm_constants_.l1 * arm_constants_.r2 * arm_constants_.m2),
+ gamma_(arm_constants_.j2 +
+ arm_constants_.r2 * arm_constants_.r2 * arm_constants_.m2) {}
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/dynamics.h b/frc971/control_loops/double_jointed_arm/dynamics.h
new file mode 100644
index 0000000..1e934bc
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics.h
@@ -0,0 +1,195 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
+
+#include "Eigen/Dense"
+#include "frc971/control_loops/runge_kutta.h"
+#include "gflags/gflags.h"
+
+DECLARE_bool(gravity);
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+
+struct ArmConstants {
+ // Below, 1 refers to the proximal joint, and 2 refers to the distal joint.
+ // Length of the joints in meters.
+ double l1;
+ double l2;
+
+ // Mass of the joints in kilograms.
+ double m1;
+ double m2;
+
+ // Moment of inertia of the joints in kg m^2
+ double j1;
+ double j2;
+
+ // Radius of the center of mass of the joints in meters.
+ double r1;
+ double r2;
+
+ // Gear ratios for the two joints.
+ double g1;
+ double g2;
+
+ // motor constants.
+ double efficiency_tweak;
+ double stall_torque;
+ double free_speed;
+ double stall_current;
+ double resistance;
+ double Kv;
+ double Kt;
+
+ // Number of motors on the distal joint.
+ double num_distal_motors;
+};
+
+// This class captures the dynamics of our system. It doesn't actually need to
+// store state yet, so everything can be constexpr and/or static.
+class Dynamics {
+ public:
+ Dynamics(ArmConstants arm_constants);
+ // Generates K1-2 for the arm ODE.
+ // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
+ // These matricies are missing the velocity factor for K2[1, 0], and K2[0, 1].
+ // You probbaly want MatriciesForState.
+ void NormilizedMatriciesForState(const ::Eigen::Matrix<double, 4, 1> &X,
+ ::Eigen::Matrix<double, 2, 2> *K1_result,
+ ::Eigen::Matrix<double, 2, 2> *K2_result) const {
+ const double angle = X(0, 0) - X(2, 0);
+ const double s = ::std::sin(angle);
+ const double c = ::std::cos(angle);
+ *K1_result << alpha_, c * beta_, c * beta_, gamma_;
+ *K2_result << 0.0, s * beta_, -s * beta_, 0.0;
+ }
+
+ // Generates K1-2 for the arm ODE.
+ // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
+ void MatriciesForState(const ::Eigen::Matrix<double, 4, 1> &X,
+ ::Eigen::Matrix<double, 2, 2> *K1_result,
+ ::Eigen::Matrix<double, 2, 2> *K2_result) const {
+ NormilizedMatriciesForState(X, K1_result, K2_result);
+ (*K2_result)(1, 0) *= X(1, 0);
+ (*K2_result)(0, 1) *= X(3, 0);
+ }
+
+ // TODO(austin): We may want a way to provide K1 and K2 to save CPU cycles.
+
+ // Calculates the acceleration given the current state and control input.
+ const ::Eigen::Matrix<double, 4, 1> Acceleration(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X, &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> velocity =
+ (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
+
+ const ::Eigen::Matrix<double, 2, 1> torque = K3_ * U - K4_ * velocity;
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
+
+ const ::Eigen::Matrix<double, 2, 1> accel =
+ K1.inverse() * (torque + gravity_torque - K2 * velocity);
+
+ return (::Eigen::Matrix<double, 4, 1>() << X(1, 0), accel(0, 0), X(3, 0),
+ accel(1, 0))
+ .finished();
+ }
+
+ // Calculates the acceleration given the current augmented kalman filter state
+ // and control input.
+ const ::Eigen::Matrix<double, 6, 1> EKFAcceleration(
+ const ::Eigen::Matrix<double, 6, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X.block<4, 1>(0, 0), &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> velocity =
+ (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
+
+ const ::Eigen::Matrix<double, 2, 1> torque =
+ K3_ *
+ (U +
+ (::Eigen::Matrix<double, 2, 1>() << X(4, 0), X(5, 0)).finished()) -
+ K4_ * velocity;
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque =
+ GravityTorque(X.block<4, 1>(0, 0));
+
+ const ::Eigen::Matrix<double, 2, 1> accel =
+ K1.inverse() * (torque + gravity_torque - K2 * velocity);
+
+ return (::Eigen::Matrix<double, 6, 1>() << X(1, 0), accel(0, 0), X(3, 0),
+ accel(1, 0), 0.0, 0.0)
+ .finished();
+ }
+
+ // Calculates the voltage required to follow the trajectory. This requires
+ // knowing the current state, desired angular velocity and acceleration.
+ const ::Eigen::Matrix<double, 2, 1> FF_U(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &omega_t,
+ const ::Eigen::Matrix<double, 2, 1> &alpha_t) const {
+ ::Eigen::Matrix<double, 2, 2> K1;
+ ::Eigen::Matrix<double, 2, 2> K2;
+
+ MatriciesForState(X, &K1, &K2);
+
+ const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
+
+ return K3_inverse_ *
+ (K1 * alpha_t + K2 * omega_t + K4_ * omega_t - gravity_torque);
+ }
+
+ const ::Eigen::Matrix<double, 2, 1> GravityTorque(
+ const ::Eigen::Matrix<double, 4, 1> &X) const {
+ const double accel_due_to_gravity = 9.8 * arm_constants_.efficiency_tweak;
+ return (::Eigen::Matrix<double, 2, 1>()
+ << (arm_constants_.r1 * arm_constants_.m1 +
+ arm_constants_.l1 * arm_constants_.m2) *
+ ::std::sin(X(0)) * accel_due_to_gravity,
+ arm_constants_.r2 * arm_constants_.m2 * ::std::sin(X(2)) *
+ accel_due_to_gravity)
+ .finished() *
+ (FLAGS_gravity ? 1.0 : 0.0);
+ }
+
+ const ::Eigen::Matrix<double, 4, 1> UnboundedDiscreteDynamics(
+ const ::Eigen::Matrix<double, 4, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U, double dt) const {
+ return ::frc971::control_loops::RungeKuttaU(
+ [this](const auto &X, const auto &U) { return Acceleration(X, U); }, X,
+ U, dt);
+ }
+
+ const ::Eigen::Matrix<double, 6, 1> UnboundedEKFDiscreteDynamics(
+ const ::Eigen::Matrix<double, 6, 1> &X,
+ const ::Eigen::Matrix<double, 2, 1> &U, double dt) const {
+ return ::frc971::control_loops::RungeKuttaU(
+ [this](const auto &X, const auto &U) { return EKFAcceleration(X, U); },
+ X, U, dt);
+ }
+
+ const ArmConstants arm_constants_;
+
+ // K3, K4 matricies described above.
+ const ::Eigen::Matrix<double, 2, 2> K3_;
+ const ::Eigen::Matrix<double, 2, 2> K3_inverse_;
+ const ::Eigen::Matrix<double, 2, 2> K4_;
+
+ private:
+ const double alpha_;
+ const double beta_;
+ const double gamma_;
+};
+
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_DYNAMICS_H_
diff --git a/frc971/control_loops/double_jointed_arm/dynamics_test.cc b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
new file mode 100644
index 0000000..6e12f75
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/dynamics_test.cc
@@ -0,0 +1,53 @@
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+
+#include "gtest/gtest.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+namespace testing {
+
+// Tests that zero inputs result in no acceleration and no motion.
+// This isn't all that rigerous, but it's a good start.
+TEST(DynamicsTest, Acceleration) {
+ Dynamics dynamics(kArmConstants);
+
+ EXPECT_TRUE(dynamics
+ .Acceleration(::Eigen::Matrix<double, 4, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero())
+ .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
+
+ EXPECT_TRUE(
+ dynamics
+ .UnboundedDiscreteDynamics(::Eigen::Matrix<double, 4, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero(), 0.1)
+ .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
+
+ const ::Eigen::Matrix<double, 4, 1> X =
+ (::Eigen::Matrix<double, 4, 1>() << M_PI / 2.0, 0.0, 0.0, 0.0).finished();
+
+ ::std::cout << dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero())
+ << ::std::endl;
+
+ ::std::cout << dynamics.UnboundedDiscreteDynamics(
+ X,
+ dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero()),
+ 0.01)
+ << ::std::endl;
+
+ EXPECT_TRUE(dynamics
+ .UnboundedDiscreteDynamics(
+ X,
+ dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero()),
+ 0.01)
+ .isApprox(X));
+}
+
+} // namespace testing
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/ekf.cc b/frc971/control_loops/double_jointed_arm/ekf.cc
similarity index 87%
rename from y2018/control_loops/superstructure/arm/ekf.cc
rename to frc971/control_loops/double_jointed_arm/ekf.cc
index 48a71f4..a70e4a6 100644
--- a/y2018/control_loops/superstructure/arm/ekf.cc
+++ b/frc971/control_loops/double_jointed_arm/ekf.cc
@@ -1,19 +1,18 @@
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
-#include "Eigen/Dense"
#include <iostream>
+#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
DEFINE_double(proximal_voltage_error_uncertainty, 8.0,
"Proximal joint voltage error uncertainty.");
DEFINE_double(distal_voltage_error_uncertainty, 2.0,
"Distal joint voltage error uncertainty.");
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace {
@@ -29,7 +28,7 @@
.asDiagonal());
} // namespace
-EKF::EKF() {
+EKF::EKF(const Dynamics *dynamics) : dynamics_(dynamics) {
X_hat_.setZero();
Q_covariance =
((::Eigen::DiagonalMatrix<double, 6>().diagonal() << ::std::pow(0.1, 2),
@@ -69,9 +68,12 @@
void EKF::Predict(const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
const ::Eigen::Matrix<double, 6, 6> A =
::frc971::control_loops::NumericalJacobianX<6, 2>(
- Dynamics::UnboundedEKFDiscreteDynamics, X_hat_, U, dt);
+ [this](const auto &X_hat_, const auto &U, double dt) {
+ return dynamics_->UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
+ },
+ X_hat_, U, dt);
- X_hat_ = Dynamics::UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
+ X_hat_ = dynamics_->UnboundedEKFDiscreteDynamics(X_hat_, U, dt);
P_ = A * P_ * A.transpose() + Q_covariance;
}
@@ -83,8 +85,8 @@
.asDiagonal());
// H is the jacobian of the h(x) measurement prediction function
const ::Eigen::Matrix<double, 2, 6> H_jacobian =
- (::Eigen::Matrix<double, 2, 6>() << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, 0.0, 1.0, 0.0, 0.0, 0.0)
+ (::Eigen::Matrix<double, 2, 6>() << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0, 0.0)
.finished();
// Update step Measurement residual error of proximal and distal joint
@@ -106,6 +108,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/ekf.h b/frc971/control_loops/double_jointed_arm/ekf.h
similarity index 81%
rename from y2018/control_loops/superstructure/arm/ekf.h
rename to frc971/control_loops/double_jointed_arm/ekf.h
index 9ae8b47..d969e82 100644
--- a/y2018/control_loops/superstructure/arm/ekf.h
+++ b/frc971/control_loops/double_jointed_arm/ekf.h
@@ -1,11 +1,11 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// An extended kalman filter for the Arm.
@@ -13,7 +13,7 @@
// [theta0, omega0, theta1, omega1, voltage error0, voltage error1]
class EKF {
public:
- EKF();
+ EKF(const Dynamics *dynamics);
// Resets the internal state back to X. Resets the torque disturbance to 0.
void Reset(const ::Eigen::Matrix<double, 4, 1> &X);
@@ -43,11 +43,12 @@
::Eigen::Matrix<double, 6, 6> P_half_converged_;
::Eigen::Matrix<double, 6, 6> P_converged_;
::Eigen::Matrix<double, 6, 6> P_reset_;
+
+ const Dynamics *dynamics_;
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_EKF_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_EKF_H_
diff --git a/y2018/control_loops/superstructure/arm/graph.cc b/frc971/control_loops/double_jointed_arm/graph.cc
similarity index 92%
rename from y2018/control_loops/superstructure/arm/graph.cc
rename to frc971/control_loops/double_jointed_arm/graph.cc
index ad6f982..b5a70ab 100644
--- a/y2018/control_loops/superstructure/arm/graph.cc
+++ b/frc971/control_loops/double_jointed_arm/graph.cc
@@ -1,11 +1,10 @@
-#include "y2018/control_loops/superstructure/arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
#include <algorithm>
#include <cassert>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
SearchGraph::SearchGraph(size_t num_vertexes, std::initializer_list<Edge> edges)
@@ -68,6 +67,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/graph.h b/frc971/control_loops/double_jointed_arm/graph.h
similarity index 94%
rename from y2018/control_loops/superstructure/arm/graph.h
rename to frc971/control_loops/double_jointed_arm/graph.h
index 2300d6a..06d396c 100644
--- a/y2018/control_loops/superstructure/arm/graph.h
+++ b/frc971/control_loops/double_jointed_arm/graph.h
@@ -1,5 +1,5 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
#include <algorithm>
#include <cassert>
@@ -8,9 +8,8 @@
#include <memory>
#include <vector>
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// Grr... normal priority queues don't allow modifying the node cost.
@@ -183,8 +182,7 @@
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_GRAPH_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_GRAPH_H_
diff --git a/y2018/control_loops/superstructure/arm/graph_test.cc b/frc971/control_loops/double_jointed_arm/graph_test.cc
similarity index 90%
rename from y2018/control_loops/superstructure/arm/graph_test.cc
rename to frc971/control_loops/double_jointed_arm/graph_test.cc
index 8f246a5..7b14ced 100644
--- a/y2018/control_loops/superstructure/arm/graph_test.cc
+++ b/frc971/control_loops/double_jointed_arm/graph_test.cc
@@ -1,10 +1,9 @@
-#include "y2018/control_loops/superstructure/arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
#include "gtest/gtest.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace testing {
@@ -68,6 +67,5 @@
} // namespace testing
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/double_jointed_arm/test_constants.h b/frc971/control_loops/double_jointed_arm/test_constants.h
new file mode 100644
index 0000000..ea1d3b7
--- /dev/null
+++ b/frc971/control_loops/double_jointed_arm/test_constants.h
@@ -0,0 +1,53 @@
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+namespace frc971 {
+namespace control_loops {
+namespace arm {
+namespace testing {
+
+constexpr double kEfficiencyTweak = 0.95;
+constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
+constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
+constexpr double kStallCurrent = 89.0;
+
+constexpr ArmConstants kArmConstants = {
+ .l1 = 46.25 * 0.0254,
+ .l2 = 41.80 * 0.0254,
+ .m1 = 9.34 / 2.2,
+ .m2 = 9.77 / 2.2,
+
+ // Moment of inertia of the joints in kg m^2
+ .j1 = 2957.05 * 0.0002932545454545454,
+ .j2 = 2824.70 * 0.0002932545454545454,
+
+ // Radius of the center of mass of the joints in meters.
+ .r1 = 21.64 * 0.0254,
+ .r2 = 26.70 * 0.0254,
+
+ // Gear ratios for the two joints.
+ .g1 = 140.0,
+ .g2 = 90.0,
+
+ // MiniCIM motor constants.
+ .efficiency_tweak = kEfficiencyTweak,
+ .stall_torque = kStallTorque,
+ .free_speed = kFreeSpeed,
+ .stall_current = kStallCurrent,
+ .resistance = 12.0 / kStallCurrent,
+ .Kv = kFreeSpeed / 12.0,
+ .Kt = kStallTorque / kStallCurrent,
+
+ // Number of motors on the distal joint.
+ .num_distal_motors = 2.0,
+};
+
+} // namespace testing
+} // namespace arm
+} // namespace control_loops
+} // namespace frc971
+
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TEST_CONSTANTS_H_
+
diff --git a/y2018/control_loops/superstructure/arm/trajectory.cc b/frc971/control_loops/double_jointed_arm/trajectory.cc
similarity index 92%
rename from y2018/control_loops/superstructure/arm/trajectory.cc
rename to frc971/control_loops/double_jointed_arm/trajectory.cc
index c6e09dd..d389eee 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory.cc
@@ -1,20 +1,19 @@
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "Eigen/Dense"
#include "aos/logging/logging.h"
#include "frc971/control_loops/dlqr.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
#include "frc971/control_loops/jacobian.h"
#include "gflags/gflags.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
DEFINE_double(lqr_proximal_pos, 0.15, "Position LQR gain");
DEFINE_double(lqr_proximal_vel, 4.0, "Velocity LQR gain");
DEFINE_double(lqr_distal_pos, 0.20, "Position LQR gain");
DEFINE_double(lqr_distal_vel, 4.0, "Velocity LQR gain");
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
Path Path::Reversed(const Path &p) {
@@ -106,9 +105,9 @@
::Eigen::Matrix<double, 2, 2> K2;
const ::Eigen::Matrix<double, 2, 1> gravity_volts =
- Dynamics::K3_inverse * Dynamics::GravityTorque(X);
+ dynamics_->K3_inverse_ * dynamics_->GravityTorque(X);
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
@@ -123,18 +122,18 @@
::std::sqrt(1.0 / ::std::max(0.001, (alpha_unitizer * alpha).norm()));
const ::Eigen::Matrix<double, 2, 1> vk1 =
- Dynamics::K3_inverse * (K1 * alpha + K2 * omega_square * omega);
+ dynamics_->K3_inverse_ * (K1 * alpha + K2 * omega_square * omega);
const ::Eigen::Matrix<double, 2, 1> vk2 =
- Dynamics::K3_inverse * Dynamics::K4 * omega;
+ dynamics_->K3_inverse_ * dynamics_->K4_ * omega;
// Loop through all the various vmin, plan_vmax combinations.
for (const double c : {-plan_vmax, plan_vmax}) {
// Also loop through saturating theta0 and theta1
for (const ::std::tuple<double, double, double> &abgravity :
{::std::tuple<double, double, double>{vk1(0), vk2(0),
- gravity_volts(0)},
+ gravity_volts(0)},
::std::tuple<double, double, double>{vk1(1), vk2(1),
- gravity_volts(1)}}) {
+ gravity_volts(1)}}) {
const double a = ::std::get<0>(abgravity);
const double b = ::std::get<1>(abgravity);
const double gravity = ::std::get<2>(abgravity);
@@ -178,19 +177,19 @@
::Eigen::Matrix<double, 2, 2> K1;
::Eigen::Matrix<double, 2, 2> K2;
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
.finished();
const ::Eigen::Matrix<double, 2, 1> k_constant =
- Dynamics::K3_inverse *
+ dynamics_->K3_inverse_ *
((K1 * alpha + K2 * omega_square * omega) * goal_velocity *
goal_velocity +
- Dynamics::K4 * omega * goal_velocity - Dynamics::GravityTorque(X));
+ dynamics_->K4_ * omega * goal_velocity - dynamics_->GravityTorque(X));
const ::Eigen::Matrix<double, 2, 1> k_scalar =
- Dynamics::K3_inverse * K1 * omega;
+ dynamics_->K3_inverse_ * K1 * omega;
const double constraint_goal_acceleration =
::std::sqrt(
@@ -236,19 +235,19 @@
::Eigen::Matrix<double, 2, 2> K1;
::Eigen::Matrix<double, 2, 2> K2;
- Dynamics::NormilizedMatriciesForState(X, &K1, &K2);
+ dynamics_->NormilizedMatriciesForState(X, &K1, &K2);
const ::Eigen::Matrix<double, 2, 2> omega_square =
(::Eigen::Matrix<double, 2, 2>() << omega(0, 0), 0.0, 0.0, omega(1, 0))
.finished();
const ::Eigen::Matrix<double, 2, 1> k_constant =
- Dynamics::K3_inverse *
+ dynamics_->K3_inverse_ *
((K1 * alpha + K2 * omega_square * omega) * goal_velocity *
goal_velocity +
- Dynamics::K4 * omega * goal_velocity - Dynamics::GravityTorque(X));
+ dynamics_->K4_ * omega * goal_velocity - dynamics_->GravityTorque(X));
const ::Eigen::Matrix<double, 2, 1> k_scalar =
- Dynamics::K3_inverse * K1 * omega;
+ dynamics_->K3_inverse_ * K1 * omega;
const double constraint_goal_acceleration =
::std::sqrt(
@@ -390,12 +389,22 @@
.finished()
.asDiagonal();
+ const auto x_blocked = X.block<4, 1>(0, 0);
+
const ::Eigen::Matrix<double, 4, 4> final_A =
::frc971::control_loops::NumericalJacobianX<4, 2>(
- Dynamics::UnboundedDiscreteDynamics, X.block<4, 1>(0, 0), U, 0.00505);
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(
+ x_blocked, U, dt);
+ },
+ x_blocked, U, 0.00505);
+
const ::Eigen::Matrix<double, 4, 2> final_B =
::frc971::control_loops::NumericalJacobianU<4, 2>(
- Dynamics::UnboundedDiscreteDynamics, X.block<4, 1>(0, 0), U, 0.00505);
+ [this](const auto &x_blocked, const auto &U, double dt) {
+ return this->dynamics_->UnboundedDiscreteDynamics(x_blocked, U, dt);
+ },
+ x_blocked, U, 0.00505);
::Eigen::Matrix<double, 4, 4> S;
::Eigen::Matrix<double, 2, 4> sub_K;
@@ -441,7 +450,7 @@
*saturation_goal_acceleration);
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U_ff =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
+ dynamics_->FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
*U = U_ff + K * (R - X);
}
@@ -494,11 +503,11 @@
U_unsaturated_.setZero();
} else {
const ::Eigen::Matrix<double, 6, 1> R =
- trajectory_->R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
+ Trajectory::R(theta_, ::Eigen::Matrix<double, 2, 1>::Zero());
- U_ff_ = Dynamics::FF_U(X.block<4, 1>(0, 0),
- ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero());
+ U_ff_ = dynamics_->FF_U(
+ X.block<4, 1>(0, 0), ::Eigen::Matrix<double, 2, 1>::Zero(),
+ ::Eigen::Matrix<double, 2, 1>::Zero());
const ::Eigen::Matrix<double, 2, 6> K = K_at_state(X, U_ff_);
U_ = U_unsaturated_ = U_ff_ + K * (R - X);
@@ -558,7 +567,7 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory_->R(theta_t, omega_t);
- U_ff_ = Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
+ U_ff_ = dynamics_->FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t);
const ::Eigen::Matrix<double, 2, 6> K = K_at_state(X, U_ff_);
U_ = U_unsaturated_ = U_ff_ + K * (R - X);
@@ -613,6 +622,5 @@
}
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/y2018/control_loops/superstructure/arm/trajectory.h b/frc971/control_loops/double_jointed_arm/trajectory.h
similarity index 93%
rename from y2018/control_loops/superstructure/arm/trajectory.h
rename to frc971/control_loops/double_jointed_arm/trajectory.h
index a3a4246..a194a03 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.h
+++ b/frc971/control_loops/double_jointed_arm/trajectory.h
@@ -1,5 +1,5 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+#ifndef FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
+#define FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
#include <array>
#include <initializer_list>
@@ -7,10 +7,10 @@
#include <vector>
#include "Eigen/Dense"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
// This class represents a path in theta0, theta1 space. It also returns the
@@ -90,8 +90,10 @@
public:
// Constructs a trajectory (but doesn't calculate it) given a path and a step
// size.
- Trajectory(::std::unique_ptr<const Path> path, double gridsize)
- : path_(::std::move(path)),
+ Trajectory(const Dynamics *dynamics, ::std::unique_ptr<const Path> path,
+ double gridsize)
+ : dynamics_(dynamics),
+ path_(::std::move(path)),
num_plan_points_(
static_cast<size_t>(::std::ceil(path_->length() / gridsize) + 1)),
step_size_(path_->length() /
@@ -220,7 +222,8 @@
double GetDAcceleration(double distance) const {
return GetDAcceleration(distance, max_dvelocity_);
}
- double GetDAcceleration(double distance, const ::std::vector<double> &plan) const {
+ double GetDAcceleration(double distance,
+ const ::std::vector<double> &plan) const {
::std::pair<size_t, size_t> indices = IndicesForDistance(distance);
const double v0 = plan[indices.first];
const double v1 = plan[indices.second];
@@ -276,6 +279,7 @@
const Path &path() const { return *path_; }
+
private:
friend class testing::TrajectoryTest_IndicesForDistanceTest_Test;
@@ -298,6 +302,8 @@
return ::std::pair<size_t, size_t>(lower_index, lower_index + 1);
}
+ const Dynamics *dynamics_;
+
// The path to follow.
::std::unique_ptr<const Path> path_;
// The number of points in the plan.
@@ -315,14 +321,16 @@
// This class tracks the current goal along trajectories and paths.
class TrajectoryFollower {
public:
- TrajectoryFollower(const ::Eigen::Matrix<double, 2, 1> &theta)
- : trajectory_(nullptr), theta_(theta) {
+ TrajectoryFollower(const Dynamics *dynamics,
+ const ::Eigen::Matrix<double, 2, 1> &theta)
+ : dynamics_(dynamics), trajectory_(nullptr), theta_(theta) {
omega_.setZero();
last_K_.setZero();
Reset();
}
- TrajectoryFollower(Trajectory *const trajectory) : trajectory_(trajectory) {
+ TrajectoryFollower(const Dynamics *dynamics, Trajectory *const trajectory)
+ : dynamics_(dynamics), trajectory_(trajectory) {
last_K_.setZero();
Reset();
}
@@ -405,6 +413,7 @@
int failed_solutions() const { return failed_solutions_; }
private:
+ const Dynamics *dynamics_;
// The trajectory plan.
const Trajectory *trajectory_ = nullptr;
@@ -431,8 +440,7 @@
};
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_TRAJECTORY_H_
+#endif // FRC971_CONTROL_LOOPS_DOUBLE_JOINTED_ARM_TRAJECTORY_H_
diff --git a/y2018/control_loops/superstructure/arm/trajectory_test.cc b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
similarity index 86%
rename from y2018/control_loops/superstructure/arm/trajectory_test.cc
rename to frc971/control_loops/double_jointed_arm/trajectory_test.cc
index b91c5a4..e700282 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_test.cc
+++ b/frc971/control_loops/double_jointed_arm/trajectory_test.cc
@@ -1,13 +1,13 @@
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/test_constants.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "gtest/gtest.h"
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
-namespace y2018 {
+namespace frc971 {
namespace control_loops {
-namespace superstructure {
namespace arm {
namespace testing {
@@ -75,20 +75,22 @@
(::Eigen::Matrix<double, 2, 1>() << 3.0, 0.0).finished()));
}
-
-// Tests that we can compute the indices of the plan for a given distance correctly.
+// Tests that we can compute the indices of the plan for a given distance
+// correctly.
TEST(TrajectoryTest, IndicesForDistanceTest) {
// Start with a stupid simple plan.
Path p({{{0.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{1.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{2.0, 0.0, 1.0, 0.0, 0.0, 0.0}},
{{3.0, 0.0, 1.0, 0.0, 0.0, 0.0}}});
- Trajectory t(::std::unique_ptr<Path>(new Path(p)), 0.1);
+ Dynamics dynamics(kArmConstants);
+ Trajectory t(&dynamics, ::std::unique_ptr<Path>(new Path(p)), 0.1);
// 0 - 3.0 every 0.1 should be 31 points.
EXPECT_EQ(t.num_plan_points(), 31);
- // Verify that something centered in a grid cell returns the points on either side.
+ // Verify that something centered in a grid cell returns the points on either
+ // side.
EXPECT_EQ(::std::make_pair(static_cast<size_t>(0), static_cast<size_t>(1)),
t.IndicesForDistance(0.05));
EXPECT_EQ(::std::make_pair(static_cast<size_t>(1), static_cast<size_t>(2)),
@@ -145,17 +147,21 @@
EXPECT_NEAR(path->length(), reversed_path->length(), 1e-6);
for (double d = 0; d < path->length(); d += 0.01) {
- EXPECT_TRUE(path->Theta(d).isApprox(reversed_path->Theta(path->length() - d)));
- EXPECT_TRUE(path->Omega(d).isApprox(-reversed_path->Omega(path->length() - d)));
- EXPECT_TRUE(path->Alpha(d).isApprox(reversed_path->Alpha(path->length() - d)));
+ EXPECT_TRUE(
+ path->Theta(d).isApprox(reversed_path->Theta(path->length() - d)));
+ EXPECT_TRUE(
+ path->Omega(d).isApprox(-reversed_path->Omega(path->length() - d)));
+ EXPECT_TRUE(
+ path->Alpha(d).isApprox(reversed_path->Alpha(path->length() - d)));
}
}
// Tests that we can follow a path. Look at :trajectory_plot if you want to see
// the path.
TEST(TrajectoryTest, RunTrajectory) {
+ Dynamics dynamics(kArmConstants);
::std::unique_ptr<Path> path = MakeDemoPath();
- Trajectory trajectory(::std::move(path), 0.001);
+ Trajectory trajectory(&dynamics, ::std::move(path), 0.001);
constexpr double kAlpha0Max = 40.0;
constexpr double kAlpha1Max = 60.0;
@@ -174,16 +180,17 @@
X << theta_t(0), 0.0, theta_t(1), 0.0;
}
- EKF arm_ekf;
+ EKF arm_ekf(&dynamics);
arm_ekf.Reset(X);
- TrajectoryFollower follower(&trajectory);
+ TrajectoryFollower follower(&dynamics, &trajectory);
constexpr double sim_dt = 0.00505;
while (t < 1.0) {
arm_ekf.Correct((::Eigen::Matrix<double, 2, 1>() << X(0), X(2)).finished(),
sim_dt);
follower.Update(arm_ekf.X_hat(), false, sim_dt, vmax, 12.0);
- X = Dynamics::UnboundedDiscreteDynamics(X, follower.U(), sim_dt);
+
+ X = dynamics.UnboundedDiscreteDynamics(X, follower.U(), sim_dt);
arm_ekf.Predict(follower.U(), sim_dt);
t += sim_dt;
}
@@ -204,6 +211,5 @@
} // namespace testing
} // namespace arm
-} // namespace superstructure
} // namespace control_loops
-} // namespace y2018
+} // namespace frc971
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 13c8ade..86c1ec0 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
load("//tools/build_rules:select.bzl", "cpu_select")
load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -786,7 +786,7 @@
],
)
-ts_library(
+ts_project(
name = "down_estimator_plotter",
srcs = ["down_estimator_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -798,7 +798,7 @@
],
)
-ts_library(
+ts_project(
name = "spline_plotter",
srcs = ["spline_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -809,7 +809,7 @@
],
)
-ts_library(
+ts_project(
name = "drivetrain_plotter",
srcs = ["drivetrain_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -821,7 +821,7 @@
],
)
-ts_library(
+ts_project(
name = "robot_state_plotter",
srcs = ["robot_state_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/control_loops/drivetrain/down_estimator_plotter.ts b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
index 178ab0b..126336d 100644
--- a/frc971/control_loops/drivetrain/down_estimator_plotter.ts
+++ b/frc971/control_loops/drivetrain/down_estimator_plotter.ts
@@ -1,8 +1,8 @@
// Provides a basic plot for debugging IMU-related issues on a robot.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/drivetrain_plotter.ts b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
index 4b59dc0..5610e97 100644
--- a/frc971/control_loops/drivetrain/drivetrain_plotter.ts
+++ b/frc971/control_loops/drivetrain/drivetrain_plotter.ts
@@ -1,8 +1,8 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/robot_state_plotter.ts b/frc971/control_loops/drivetrain/robot_state_plotter.ts
index 2ce8001..8cffd76 100644
--- a/frc971/control_loops/drivetrain/robot_state_plotter.ts
+++ b/frc971/control_loops/drivetrain/robot_state_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/drivetrain/spline_plotter.ts b/frc971/control_loops/drivetrain/spline_plotter.ts
index c39afd5..67e9fc7 100644
--- a/frc971/control_loops/drivetrain/spline_plotter.ts
+++ b/frc971/control_loops/drivetrain/spline_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/frc971/control_loops/python/graph.py b/frc971/control_loops/python/graph.py
index 178b63d..1cc6f57 100644
--- a/frc971/control_loops/python/graph.py
+++ b/frc971/control_loops/python/graph.py
@@ -49,12 +49,15 @@
if self.data is None:
return None
cursor_index = int(self.cursor / self.dt)
- if cursor_index > self.data.size:
+ if self.data[0].size < cursor_index:
return None
# use the time to index into the position data
- distance_at_cursor = self.data[0][cursor_index - 1]
- multispline_index = int(self.data[5][cursor_index - 1])
- return (multispline_index, distance_at_cursor)
+ try:
+ distance_at_cursor = self.data[0][cursor_index - 1]
+ multispline_index = int(self.data[5][cursor_index - 1])
+ return (multispline_index, distance_at_cursor)
+ except IndexError:
+ return None
def place_cursor(self, multispline_index, distance):
"""Places the cursor at a certain distance along the spline"""
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index 0a944e1..2b55e94 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -240,8 +240,11 @@
multispline, result = Multispline.nearest_distance(
self.multisplines, mouse)
- if self.graph.cursor is not None and self.graph.data is not None:
- multispline_index, x = self.graph.find_cursor()
+ if self.graph.cursor is not None:
+ cursor = self.graph.find_cursor()
+ if cursor is None:
+ return
+ multispline_index, x = cursor
distance_spline = DistanceSpline(
self.multisplines[multispline_index].getLibsplines())
diff --git a/y2022/image_streamer/BUILD b/frc971/image_streamer/BUILD
similarity index 79%
rename from y2022/image_streamer/BUILD
rename to frc971/image_streamer/BUILD
index 0305dc1..dce389a 100644
--- a/y2022/image_streamer/BUILD
+++ b/frc971/image_streamer/BUILD
@@ -8,25 +8,18 @@
),
)
-filegroup(
- name = "image_streamer_start",
- srcs = ["image_streamer_start.sh"],
- visibility = ["//visibility:public"],
-)
-
cc_binary(
name = "image_streamer",
srcs = ["image_streamer.cc"],
args = [
- "--data_dir=y2022/image_streamer/www",
+ "--data_dir=frc971/image_streamer/www",
],
copts = [
"-Wno-cast-align",
],
data = [
- "//y2022:aos_config",
- "//y2022/image_streamer/www:files",
- "//y2022/image_streamer/www:main_bundle.min.js",
+ "//frc971/image_streamer/www:files",
+ "//frc971/image_streamer/www:main_bundle.min.js",
],
target_compatible_with = select({
"@platforms//cpu:x86_64": [],
diff --git a/y2022/image_streamer/image_streamer.cc b/frc971/image_streamer/image_streamer.cc
similarity index 98%
rename from y2022/image_streamer/image_streamer.cc
rename to frc971/image_streamer/image_streamer.cc
index ef6657e..de56d55 100644
--- a/y2022/image_streamer/image_streamer.cc
+++ b/frc971/image_streamer/image_streamer.cc
@@ -47,7 +47,7 @@
GST_PLUGIN_STATIC_DECLARE(x264);
}
-DEFINE_string(config, "y2022/aos_config.json",
+DEFINE_string(config, "aos_config.json",
"Name of the config file to replay using.");
DEFINE_string(device, "/dev/video0",
"Camera fd. Ignored if reading from channel");
@@ -59,6 +59,7 @@
DEFINE_int32(brightness, 50, "Camera brightness");
DEFINE_int32(exposure, 300, "Manual exposure");
DEFINE_int32(bitrate, 500000, "H264 encode bitrate");
+DEFINE_int32(streaming_port, 1180, "Port to stream images on with seasocks");
DEFINE_int32(min_port, 5800, "Min rtp port");
DEFINE_int32(max_port, 5810, "Max rtp port");
DEFINE_string(listen_on, "",
@@ -653,7 +654,7 @@
std::make_shared<WebsocketHandler>(&event_loop, &server);
server.addWebSocketHandler("/ws", websocket_handler);
- server.startListening(1180);
+ server.startListening(FLAGS_streaming_port);
server.setStaticPath(FLAGS_data_dir.c_str());
aos::internal::EPoll *epoll = event_loop.epoll();
diff --git a/y2022/image_streamer/www/BUILD b/frc971/image_streamer/www/BUILD
similarity index 85%
rename from y2022/image_streamer/www/BUILD
rename to frc971/image_streamer/www/BUILD
index 908c5b4..f808a73 100644
--- a/y2022/image_streamer/www/BUILD
+++ b/frc971/image_streamer/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
package(default_visibility = ["//visibility:public"])
@@ -12,7 +11,7 @@
]),
)
-ts_library(
+ts_project(
name = "proxy",
srcs = [
"proxy.ts",
@@ -23,7 +22,7 @@
],
)
-ts_library(
+ts_project(
name = "main",
srcs = [
"main.ts",
diff --git a/y2022/image_streamer/www/index.html b/frc971/image_streamer/www/index.html
similarity index 100%
rename from y2022/image_streamer/www/index.html
rename to frc971/image_streamer/www/index.html
diff --git a/y2022/image_streamer/www/main.ts b/frc971/image_streamer/www/main.ts
similarity index 100%
rename from y2022/image_streamer/www/main.ts
rename to frc971/image_streamer/www/main.ts
diff --git a/y2022/image_streamer/www/proxy.ts b/frc971/image_streamer/www/proxy.ts
similarity index 99%
rename from y2022/image_streamer/www/proxy.ts
rename to frc971/image_streamer/www/proxy.ts
index bfe8135..517d203 100644
--- a/y2022/image_streamer/www/proxy.ts
+++ b/frc971/image_streamer/www/proxy.ts
@@ -1,5 +1,5 @@
import {Builder, ByteBuffer} from 'flatbuffers';
-import {Payload, SdpType, WebSocketIce, WebSocketMessage, WebSocketSdp} from 'org_frc971/aos/network/web_proxy_generated';
+import {Payload, SdpType, WebSocketIce, WebSocketMessage, WebSocketSdp} from '../../../aos/network/web_proxy_generated';
// Port 9 is used to indicate an active (outgoing) TCP connection. The server
// would send a corresponding candidate with the actual TCP port it is
diff --git a/y2022/image_streamer/www_defaults/_404.png b/frc971/image_streamer/www_defaults/_404.png
similarity index 100%
rename from y2022/image_streamer/www_defaults/_404.png
rename to frc971/image_streamer/www_defaults/_404.png
Binary files differ
diff --git a/y2022/image_streamer/www_defaults/_error.css b/frc971/image_streamer/www_defaults/_error.css
similarity index 100%
rename from y2022/image_streamer/www_defaults/_error.css
rename to frc971/image_streamer/www_defaults/_error.css
diff --git a/y2022/image_streamer/www_defaults/_error.html b/frc971/image_streamer/www_defaults/_error.html
similarity index 100%
rename from y2022/image_streamer/www_defaults/_error.html
rename to frc971/image_streamer/www_defaults/_error.html
diff --git a/y2022/image_streamer/www_defaults/_jquery.min.js b/frc971/image_streamer/www_defaults/_jquery.min.js
similarity index 100%
rename from y2022/image_streamer/www_defaults/_jquery.min.js
rename to frc971/image_streamer/www_defaults/_jquery.min.js
diff --git a/y2022/image_streamer/www_defaults/_seasocks.css b/frc971/image_streamer/www_defaults/_seasocks.css
similarity index 100%
rename from y2022/image_streamer/www_defaults/_seasocks.css
rename to frc971/image_streamer/www_defaults/_seasocks.css
diff --git a/y2022/image_streamer/www_defaults/_stats.html b/frc971/image_streamer/www_defaults/_stats.html
similarity index 100%
rename from y2022/image_streamer/www_defaults/_stats.html
rename to frc971/image_streamer/www_defaults/_stats.html
diff --git a/y2022/image_streamer/www_defaults/favicon.ico b/frc971/image_streamer/www_defaults/favicon.ico
similarity index 100%
rename from y2022/image_streamer/www_defaults/favicon.ico
rename to frc971/image_streamer/www_defaults/favicon.ico
Binary files differ
diff --git a/frc971/raspi/rootfs/mount_rootfs.sh b/frc971/raspi/rootfs/mount_rootfs.sh
new file mode 100755
index 0000000..6673808
--- /dev/null
+++ b/frc971/raspi/rootfs/mount_rootfs.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+### Helper script to mount a Raspberry Pi SD card
+### Optionally run change_hostname if given pi name as argument
+
+set -e
+
+MOUNT_PT="tmp_mount"
+DEVICE="/dev/sda"
+
+if mount | grep "${DEVICE}" >/dev/null ;
+then
+ echo "Overwriting a mounted partition, is ${DEVICE} the sd card?"
+ exit 1
+fi
+
+PARTITION="${MOUNT_PT}.partition"
+
+mkdir -p "${PARTITION}"
+sudo mount "${DEVICE}2" "${PARTITION}"
+
+function target() {
+ HOME=/root/ USER=root sudo proot -0 -q qemu-aarch64-static -w / -r "${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 "${1}"
+fi
+
+
+echo "Starting a shell for any manual configuration"
+target /bin/bash --rcfile /root/.bashrc
+
+# Found I had to do a lazy force unmount ("-l" flag) to make it work reliably
+sudo umount -l "${PARTITION}"
+rmdir "${PARTITION}"
diff --git a/frc971/rockpi/build_rootfs.sh b/frc971/rockpi/build_rootfs.sh
index 74d4dc1..bb8b84a 100755
--- a/frc971/rockpi/build_rootfs.sh
+++ b/frc971/rockpi/build_rootfs.sh
@@ -16,6 +16,7 @@
bison
gcc-arm-none-eabi
gcc-aarch64-linux-gnu
+ u-boot-tools
device-tree-compiler
swig
debootstrap
@@ -164,14 +165,22 @@
-C "${PARTITION}/lib/modules/" ./lib/modules
# Now, configure it to start automatically.
-sudo mkdir -p ${PARTITION}/boot/extlinux/
-cat << __EOF__ | sudo tee "${PARTITION}/boot/extlinux/extlinux.conf"
+cat << __EOF__ | sudo tee "${PARTITION}/boot/sdcard_extlinux.conf"
label Linux ${KERNEL_VERSION}
kernel /vmlinuz-${KERNEL_VERSION}
append earlycon=uart8250,mmio32,0xff1a0000 earlyprintk console=ttyS2,1500000n8 root=/dev/mmcblk0p2 ro rootfstype=ext4 rootwait
fdtdir /dtbs/${KERNEL_VERSION}/
__EOF__
+cat << __EOF__ | sudo tee "${PARTITION}/boot/emmc_extlinux.conf"
+label Linux ${KERNEL_VERSION}
+ kernel /vmlinuz-${KERNEL_VERSION}
+ append earlycon=uart8250,mmio32,0xff1a0000 earlyprintk console=ttyS2,1500000n8 root=/dev/mmcblk1p2 ro rootfstype=ext4 rootwait
+ fdtdir /dtbs/${KERNEL_VERSION}/
+__EOF__
+mkimage -c none -A arm -T script -d contents/boot/boot.script contents/boot/boot.scr
+copyfile root.root 644 boot/boot.scr
+rm contents/boot/boot.scr
copyfile root.root 644 etc/apt/sources.list.d/bullseye-backports.list
copyfile root.root 644 etc/apt/sources.list.d/frc971.list
@@ -186,7 +195,7 @@
target "apt-get -y install -t bullseye-backports bpfcc-tools"
-target "apt-get install -y sudo openssh-server python3 bash-completion git v4l-utils cpufrequtils pmount rsync vim-nox chrony 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 libnice10 pmount libnice-dev feh libgstreamer1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-bad1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-nice usbutils locales trace-cmd clinfo jq"
+target "apt-get install -y sudo openssh-server python3 bash-completion git v4l-utils cpufrequtils pmount rsync vim-nox chrony 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 libnice10 pmount libnice-dev feh libgstreamer1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-bad1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-nice usbutils locales trace-cmd clinfo jq strace sysstat lm-sensors"
target "cd /tmp && wget https://software.frc971.org/Build-Dependencies/libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb && sudo dpkg -i libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb && rm libmali-midgard-t86x-r14p0-x11_1.9-1_arm64.deb"
target "apt-get clean"
@@ -208,6 +217,7 @@
copyfile root.root 500 root/bin/deploy_kernel.sh
copyfile root.root 500 root/bin/chrt.sh
copyfile root.root 644 etc/systemd/system/grow-rootfs.service
+copyfile root.root 644 etc/systemd/system/mount-boot.service
copyfile root.root 644 etc/sysctl.d/sctp.conf
copyfile root.root 644 etc/systemd/logind.conf
copyfile root.root 555 etc/bash_completion.d/aos_dump_autocomplete
@@ -219,11 +229,13 @@
copyfile root.root 644 etc/udev/rules.d/99-usb-mount.rules
copyfile root.root 644 etc/udev/rules.d/99-adis16505.rules
copyfile root.root 644 etc/udev/rules.d/99-mali.rules
+copyfile root.root 644 etc/chrony/chrony.conf
target "apt-get update"
target "systemctl enable systemd-networkd"
target "systemctl enable grow-rootfs"
+target "systemctl enable mount-boot"
target "systemctl enable frc971"
target "systemctl enable frc971chrt"
target "/root/bin/change_hostname.sh pi-971-1"
diff --git a/frc971/rockpi/contents/boot/boot.script b/frc971/rockpi/contents/boot/boot.script
new file mode 100644
index 0000000..26732b6
--- /dev/null
+++ b/frc971/rockpi/contents/boot/boot.script
@@ -0,0 +1,6 @@
+if test ${devnum} -eq 1;
+then
+ sysboot ${devtype} ${devnum}:${distro_bootpart} any ${scriptaddr} sdcard_extlinux.conf
+else
+ sysboot ${devtype} ${devnum}:${distro_bootpart} any ${scriptaddr} emmc_extlinux.conf
+fi
diff --git a/frc971/rockpi/contents/etc/chrony/chrony.conf b/frc971/rockpi/contents/etc/chrony/chrony.conf
new file mode 100644
index 0000000..6e03143
--- /dev/null
+++ b/frc971/rockpi/contents/etc/chrony/chrony.conf
@@ -0,0 +1,59 @@
+# Welcome to the chrony configuration file. See chrony.conf(5) for more
+# information about usable directives.
+
+# Include configuration files found in /etc/chrony/conf.d.
+confdir /etc/chrony/conf.d
+
+# Use Debian vendor zone.
+pool 2.debian.pool.ntp.org iburst
+
+# Use time sources from DHCP.
+sourcedir /run/chrony-dhcp
+
+# Use NTP sources found in /etc/chrony/sources.d.
+sourcedir /etc/chrony/sources.d
+
+# This directive specify the location of the file containing ID/key pairs for
+# NTP authentication.
+keyfile /etc/chrony/chrony.keys
+
+# This directive specify the file into which chronyd will store the rate
+# information.
+driftfile /var/lib/chrony/chrony.drift
+
+# Save NTS keys and cookies.
+ntsdumpdir /var/lib/chrony
+
+# Uncomment the following line to turn logging on.
+#log tracking measurements statistics
+
+# Log files location.
+logdir /var/log/chrony
+
+# Stop bad estimates upsetting machine clock.
+maxupdateskew 100.0
+
+# This directive enables kernel synchronisation (every 11 minutes) of the
+# real-time clock. Note that it can’t be used along with the 'rtcfile' directive.
+rtcsync
+
+# Always step the time if it's more than 4ms off.
+makestep 0.004 -1
+
+# The next 2 settings are used to control how much slewing of the clock chrony
+# is allowed to do. The total will be the sum of both and we have a hard limit
+# at 500ppm coming from AOS.
+
+# The maximum slewing allowed to correct an offset with the reference clock.
+# Note that this value doesn't include corrections due to frequency errors
+# (drift).
+maxslewrate 200
+
+# Maximum frequency error (drift) of the clock. Chrony will try to compensate
+# for drift and this setting limits how large that correction can be.
+maxdrift 100
+
+# Get TAI-UTC offset and leap seconds from the system tz database.
+# This directive must be commented out when using time sources serving
+# leap-smeared time.
+leapsectz right/UTC
diff --git a/frc971/rockpi/contents/etc/systemd/system/mount-boot.service b/frc971/rockpi/contents/etc/systemd/system/mount-boot.service
new file mode 100644
index 0000000..45e5783
--- /dev/null
+++ b/frc971/rockpi/contents/etc/systemd/system/mount-boot.service
@@ -0,0 +1,16 @@
+[Unit]
+Description=Mount /boot
+DefaultDependencies=no
+Before=local-fs.target
+Before=shutdown.target
+After=-.mount
+BindsTo=-.mount
+
+[Service]
+Type=oneshot
+ExecStart=/bin/bash -c "mount $(cat /proc/cmdline | sed 's/.*\(mmcblk.p\).*/\/dev\/\11/') /boot"
+TimeoutSec=0
+RemainAfterExit=yes
+
+[Install]
+WantedBy=multi-user.target
diff --git a/frc971/rockpi/contents/home/pi/.ssh/authorized_keys b/frc971/rockpi/contents/home/pi/.ssh/authorized_keys
index f2966fc..58b82cc 100644
--- a/frc971/rockpi/contents/home/pi/.ssh/authorized_keys
+++ b/frc971/rockpi/contents/home/pi/.ssh/authorized_keys
@@ -17,3 +17,5 @@
ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAILZrP0on5xPZHadvlMN2/+iZzEbIeGpS5MT5hXfb+kP0 uid@pop-os
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQC+t3HrUbZb9P/zWw9+qH9i8HBcCBRO6BS0rYZMz3UuXFSxhLendcqmAJQ+cu1lI0sb2HAyIhv4d5CQrjZ2en/ZyN93DThWNRWA+iH+ybkJhpUiRVSa/e1rz06o//kL+PVoZEHRUpyy7iJgEgcRxnVZd90baMkkm51bF0NSVn+iGCIao76VS+PBGwtQFghJyAvTz+w/hLYmFtXnY2DRfPvbw8H3cehvDhUBY9V+MUwucMU38Yfucr/BguPyw/sRFzRJtpIzP+JFQZzy/Bz4DI06vIWBps6NZqGo+ETXsrlEmNRKXgp3YWMZg/VcT6IIi9NijtDt6gHNDLfxX1Q41cYErBIaUpDKWPpGJ9z+/FxtxxBHwhIQPzSvdxqgsoGKyy7rFfWOPqWHzASsAcdx8V0EPIL4VmJQOd461WRfZxAhDdo2hQe37joRjcHW2i1nJcpVSepMf7EJH/AoYcifp+b+JUpMZx79HmKtE1cua2JcfZ6b20w7rQzLIP3M2WvrDak= deepachainani@Yashs-MBP
+
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQDG+8q7VDZv1bI2s/LDLZvjX4HInQobPF9QfBi8sNJdu98drWzSIlTIRMfOFuN8Vbq2E/wr6eKXOUwq/Brxu4sZ6+po6+sT6IqyE5cd+FffNJXZUc+QxXC6maD20i7k8gNJuo+BRa6VbSR25WarRoGT+pYl03jbhR304Wn8wIYIS5cAfaP2wzwNPOvCZzzwJrba2jeoeVWRUTuqLRAw4NNq5eZskdpv7w/3qw901z7RKzuTfYiAnvsRm8o6E0uRncyujzvXoXD2jyWdKC/boIv/l1Is/XwsSJahq1NIK3y95jZHoUXpDQsq49U0wOByBpKEyQYcI54nhfwYagVsYRY9 jim.o@bluerivert.com
diff --git a/frc971/rockpi/contents/run/systemd/resolve/stub-resolv.conf b/frc971/rockpi/contents/run/systemd/resolve/stub-resolv.conf
new file mode 100644
index 0000000..fa4bebb
--- /dev/null
+++ b/frc971/rockpi/contents/run/systemd/resolve/stub-resolv.conf
@@ -0,0 +1,3 @@
+domain lan
+search lan
+nameserver 127.0.0.53
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 642ca0f..936a441 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -99,11 +99,9 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:team_number",
"//frc971/control_loops:quaternion_utils",
+ "//frc971/vision:calibration_fbs",
"//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",
"@com_github_foxglove_schemas//:schemas",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/strings:str_format",
@@ -124,7 +122,7 @@
visibility = ["//visibility:public"],
deps = [
":charuco_lib",
- ":foxglove_image_converter",
+ ":foxglove_image_converter_lib",
"//aos:init",
"//aos/events/logging:log_reader",
"//frc971/analysis:in_process_plotter",
@@ -259,9 +257,9 @@
)
cc_library(
- name = "foxglove_image_converter",
- srcs = ["foxglove_image_converter.cc"],
- hdrs = ["foxglove_image_converter.h"],
+ name = "foxglove_image_converter_lib",
+ srcs = ["foxglove_image_converter_lib.cc"],
+ hdrs = ["foxglove_image_converter_lib.h"],
visibility = ["//visibility:public"],
deps = [
":charuco_lib",
@@ -295,7 +293,7 @@
"@april_tag_test_image",
],
deps = [
- ":foxglove_image_converter",
+ ":foxglove_image_converter_lib",
"//aos:configuration",
"//aos/events:simulated_event_loop",
"//aos/testing:googletest",
@@ -303,3 +301,51 @@
"//aos/testing:tmpdir",
],
)
+
+cc_library(
+ name = "intrinsics_calibration_lib",
+ srcs = [
+ "intrinsics_calibration_lib.cc",
+ ],
+ hdrs = [
+ "intrinsics_calibration_lib.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:event_loop",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:charuco_lib",
+ "//frc971/vision:vision_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//third_party:opencv",
+ "@com_google_absl//absl/strings:str_format",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_binary(
+ name = "intrinsics_calibration",
+ srcs = [
+ "intrinsics_calibration.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = [
+ "//y2020:__subpackages__",
+ "//y2022:__subpackages__",
+ "//y2023:__subpackages__",
+ ],
+ deps = [
+ ":intrinsics_calibration_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:charuco_lib",
+ "//frc971/vision:vision_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//third_party:opencv",
+ "@com_google_absl//absl/strings:str_format",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
diff --git a/frc971/vision/calibration.fbs b/frc971/vision/calibration.fbs
index f5e30a6..df8b7b0 100644
--- a/frc971/vision/calibration.fbs
+++ b/frc971/vision/calibration.fbs
@@ -44,6 +44,10 @@
// Timestamp for when the calibration was taken on the realtime clock.
calibration_timestamp:int64 (id: 6);
+
+ // ID for the physical camera hardware (typically will be a string of the form
+ // YY-NN, with a two-digit year and an index).
+ camera_id:string (id: 7);
}
// Calibration information for all the cameras we know about.
diff --git a/frc971/vision/calibration_accumulator.cc b/frc971/vision/calibration_accumulator.cc
index ea9af28..711ed7d 100644
--- a/frc971/vision/calibration_accumulator.cc
+++ b/frc971/vision/calibration_accumulator.cc
@@ -140,11 +140,13 @@
node, channel_overrides);
}
-Calibration::Calibration(aos::SimulatedEventLoopFactory *event_loop_factory,
- aos::EventLoop *image_event_loop,
- aos::EventLoop *imu_event_loop, std::string_view pi,
- TargetType target_type, std::string_view image_channel,
- CalibrationData *data)
+Calibration::Calibration(
+ aos::SimulatedEventLoopFactory *event_loop_factory,
+ aos::EventLoop *image_event_loop, aos::EventLoop *imu_event_loop,
+ std::string_view pi,
+ const calibration::CameraCalibration *intrinsics_calibration,
+ TargetType target_type, std::string_view image_channel,
+ CalibrationData *data)
: image_event_loop_(image_event_loop),
image_factory_(event_loop_factory->GetNodeEventLoopFactory(
image_event_loop_->node())),
@@ -152,7 +154,7 @@
imu_factory_(
event_loop_factory->GetNodeEventLoopFactory(imu_event_loop_->node())),
charuco_extractor_(
- image_event_loop_, pi, target_type, image_channel,
+ image_event_loop_, intrinsics_calibration, target_type, image_channel,
[this](cv::Mat rgb_image, monotonic_clock::time_point eof,
std::vector<cv::Vec4i> charuco_ids,
std::vector<std::vector<cv::Point2f>> charuco_corners,
diff --git a/frc971/vision/calibration_accumulator.h b/frc971/vision/calibration_accumulator.h
index 5c435ad..93d68a5 100644
--- a/frc971/vision/calibration_accumulator.h
+++ b/frc971/vision/calibration_accumulator.h
@@ -8,7 +8,7 @@
#include "aos/time/time.h"
#include "frc971/control_loops/quaternion_utils.h"
#include "frc971/vision/charuco_lib.h"
-#include "frc971/vision/foxglove_image_converter.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
#include "frc971/wpilib/imu_batch_generated.h"
namespace frc971 {
@@ -105,8 +105,10 @@
public:
Calibration(aos::SimulatedEventLoopFactory *event_loop_factory,
aos::EventLoop *image_event_loop, aos::EventLoop *imu_event_loop,
- std::string_view pi, TargetType target_type,
- std::string_view image_channel, CalibrationData *data);
+ std::string_view pi,
+ const calibration::CameraCalibration *intrinsics_calibration,
+ TargetType target_type, std::string_view image_channel,
+ CalibrationData *data);
// Processes a charuco detection that is returned from charuco_lib.
// For a valid detection(s), it stores camera observation
diff --git a/frc971/vision/charuco_lib.cc b/frc971/vision/charuco_lib.cc
index f12a6a5..dbff4db 100644
--- a/frc971/vision/charuco_lib.cc
+++ b/frc971/vision/charuco_lib.cc
@@ -13,19 +13,21 @@
#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"
DEFINE_string(board_template_path, "",
"If specified, write an image to the specified path for the "
"charuco board pattern.");
DEFINE_bool(coarse_pattern, true, "If true, use coarse arucos; else, use fine");
+DEFINE_uint32(gray_threshold, 0,
+ "If > 0, threshold image based on this grayscale value");
DEFINE_bool(large_board, true, "If true, use the large calibration board.");
DEFINE_uint32(
min_charucos, 10,
"The mininum number of aruco targets in charuco board required to match.");
DEFINE_bool(visualize, false, "Whether to visualize the resulting data.");
+DEFINE_bool(
+ draw_axes, false,
+ "Whether to draw axes on the resulting data-- warning, may cause crashes.");
DEFINE_uint32(disable_delay, 100, "Time after an issue to disable tracing at.");
@@ -37,59 +39,27 @@
using aos::monotonic_clock;
CameraCalibration::CameraCalibration(
- const absl::Span<const uint8_t> training_data_bfbs, std::string_view pi) {
- const aos::FlatbufferSpan<sift::TrainingData> training_data(
- training_data_bfbs);
- CHECK(training_data.Verify());
- camera_calibration_ = FindCameraCalibration(&training_data.message(), pi);
-}
-
-cv::Mat CameraCalibration::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;
-}
-
-Eigen::Matrix3d CameraCalibration::CameraIntrinsicsEigen() const {
- cv::Mat camera_intrinsics = CameraIntrinsics();
- Eigen::Matrix3d result;
- cv::cv2eigen(camera_intrinsics, result);
- return result;
-}
-
-cv::Mat CameraCalibration::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;
-}
-
-const sift::CameraCalibration *CameraCalibration::FindCameraCalibration(
- const sift::TrainingData *const training_data, std::string_view pi) const {
- std::optional<uint16_t> pi_number = aos::network::ParsePiNumber(pi);
- std::optional<uint16_t> team_number =
- aos::network::team_number_internal::ParsePiTeamNumber(pi);
- CHECK(pi_number);
- CHECK(team_number);
- const std::string node_name = absl::StrFormat("pi%d", pi_number.value());
- LOG(INFO) << "Looking for node name " << node_name << " team number "
- << team_number.value();
- for (const sift::CameraCalibration *candidate :
- *training_data->camera_calibrations()) {
- if (candidate->node_name()->string_view() != node_name) {
- continue;
- }
- if (candidate->team_number() != team_number.value()) {
- continue;
- }
- return candidate;
- }
- LOG(FATAL) << ": Failed to find camera calibration for " << node_name
- << " on " << team_number.value();
-}
+ const calibration::CameraCalibration *calibration)
+ : intrinsics_([calibration]() {
+ const cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ calibration->intrinsics()->data())));
+ CHECK_EQ(result.total(), calibration->intrinsics()->size());
+ return result;
+ }()),
+ intrinsics_eigen_([this]() {
+ cv::Mat camera_intrinsics = intrinsics_;
+ Eigen::Matrix3d result;
+ cv::cv2eigen(camera_intrinsics, result);
+ return result;
+ }()),
+ dist_coeffs_([calibration]() {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ calibration->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), calibration->dist_coeffs()->size());
+ return result;
+ }()) {}
ImageCallback::ImageCallback(
aos::EventLoop *event_loop, std::string_view channel,
@@ -191,9 +161,8 @@
}
void CharucoExtractor::SetupTargetData() {
- // TODO(Jim): Put correct values here
- marker_length_ = 0.15;
- square_length_ = 0.1651;
+ marker_length_ = 0.146;
+ square_length_ = 0.2;
// Only charuco board has a board associated with it
board_ = static_cast<cv::Ptr<cv::aruco::CharucoBoard>>(NULL);
@@ -204,7 +173,7 @@
FLAGS_large_board ? cv::aruco::DICT_5X5_250 : cv::aruco::DICT_6X6_250);
if (target_type_ == TargetType::kCharuco) {
- LOG(INFO) << "Using " << (FLAGS_large_board ? " large " : " small ")
+ LOG(INFO) << "Using " << (FLAGS_large_board ? "large" : "small")
<< " charuco board with "
<< (FLAGS_coarse_pattern ? "coarse" : "fine") << " pattern";
board_ =
@@ -226,9 +195,8 @@
}
}
} else if (target_type_ == TargetType::kCharucoDiamond) {
- // TODO<Jim>: Measure this
marker_length_ = 0.15;
- square_length_ = 0.1651;
+ square_length_ = 0.2;
dictionary_ = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_250);
} else {
// Bail out if it's not a supported target
@@ -257,23 +225,25 @@
const Eigen::Affine3d board_to_camera = translation * rotation;
- Eigen::Vector3d result = eigen_camera_matrix_ * camera_projection *
- board_to_camera * Eigen::Vector3d::Zero();
+ Eigen::Vector3d result = calibration_.CameraIntrinsicsEigen() *
+ camera_projection * board_to_camera *
+ Eigen::Vector3d::Zero();
// Found that drawAxis hangs if you try to draw with z values too
// small (trying to draw axes at inifinity)
- // TODO<Jim>: Explore what real thresholds for this should be;
- // likely Don't need to get rid of negative values
+ // TODO<Jim>: Either track this down or reimplement drawAxes
if (result.z() < 0.01) {
LOG(INFO) << "Skipping, due to z value too small: " << result.z();
- } else {
+ } else if (FLAGS_draw_axes == true) {
result /= result.z();
if (target_type_ == TargetType::kCharuco) {
- cv::aruco::drawAxis(rgb_image, camera_matrix_, dist_coeffs_, rvecs[i],
- tvecs[i], 0.1);
+ cv::aruco::drawAxis(rgb_image, calibration_.CameraIntrinsics(),
+ calibration_.CameraDistCoeffs(), rvecs[i], tvecs[i],
+ 0.1);
} else {
- cv::drawFrameAxes(rgb_image, camera_matrix_, dist_coeffs_, rvecs[i],
- tvecs[i], 0.1);
+ cv::drawFrameAxes(rgb_image, calibration_.CameraIntrinsics(),
+ calibration_.CameraDistCoeffs(), rvecs[i], tvecs[i],
+ 0.1);
}
}
std::stringstream ss;
@@ -307,7 +277,8 @@
}
CharucoExtractor::CharucoExtractor(
- aos::EventLoop *event_loop, std::string_view pi, TargetType target_type,
+ aos::EventLoop *event_loop,
+ const calibration::CameraCalibration *calibration, TargetType target_type,
std::string_view image_channel,
std::function<void(cv::Mat, monotonic_clock::time_point,
std::vector<cv::Vec4i>,
@@ -315,21 +286,14 @@
std::vector<Eigen::Vector3d>,
std::vector<Eigen::Vector3d>)> &&handle_charuco_fn)
: event_loop_(event_loop),
- calibration_(SiftTrainingData(), pi),
target_type_(target_type),
image_channel_(image_channel),
- camera_matrix_(calibration_.CameraIntrinsics()),
- eigen_camera_matrix_(calibration_.CameraIntrinsicsEigen()),
- dist_coeffs_(calibration_.CameraDistCoeffs()),
- pi_number_(aos::network::ParsePiNumber(pi)),
+ calibration_(CHECK_NOTNULL(calibration)),
handle_charuco_(std::move(handle_charuco_fn)) {
SetupTargetData();
- LOG(INFO) << "Camera matrix " << camera_matrix_;
- LOG(INFO) << "Distortion Coefficients " << dist_coeffs_;
-
- CHECK(pi_number_) << ": Invalid pi number " << pi
- << ", failed to parse pi number";
+ LOG(INFO) << "Camera matrix " << calibration_.CameraIntrinsics();
+ LOG(INFO) << "Distortion Coefficients " << calibration_.CameraDistCoeffs();
LOG(INFO) << "Connecting to channel " << image_channel_;
}
@@ -341,6 +305,16 @@
event_loop_->monotonic_now() - eof)
.count();
+ // Have found this useful if there is blurry / noisy images
+ if (FLAGS_gray_threshold > 0) {
+ cv::Mat gray;
+ cv::cvtColor(rgb_image, gray, cv::COLOR_BGR2GRAY);
+
+ cv::Mat thresh;
+ cv::threshold(gray, thresh, FLAGS_gray_threshold, 255, cv::THRESH_BINARY);
+ cv::cvtColor(thresh, rgb_image, cv::COLOR_GRAY2RGB);
+ }
+
// Set up the variables we'll use in the callback function
bool valid = false;
// Return a list of poses; for Charuco Board there will be just one
@@ -392,7 +366,7 @@
cv::aruco::interpolateCornersCharuco(
marker_corners, marker_ids, rgb_image, board_,
charuco_corners_with_calibration, charuco_ids_with_calibration,
- camera_matrix_, dist_coeffs_);
+ calibration_.CameraIntrinsics(), calibration_.CameraDistCoeffs());
if (charuco_ids.size() >= FLAGS_min_charucos) {
cv::aruco::drawDetectedCornersCharuco(
@@ -401,7 +375,8 @@
cv::Vec3d rvec, tvec;
valid = cv::aruco::estimatePoseCharucoBoard(
charuco_corners_with_calibration, charuco_ids_with_calibration,
- board_, camera_matrix_, dist_coeffs_, rvec, tvec);
+ board_, calibration_.CameraIntrinsics(),
+ calibration_.CameraDistCoeffs(), rvec, tvec);
// if charuco pose is valid, return pose, with ids and corners
if (valid) {
@@ -433,9 +408,9 @@
// estimate pose for arucos doesn't return valid, so marking true
valid = true;
std::vector<cv::Vec3d> rvecs, tvecs;
- cv::aruco::estimatePoseSingleMarkers(marker_corners, square_length_,
- camera_matrix_, dist_coeffs_, rvecs,
- tvecs);
+ cv::aruco::estimatePoseSingleMarkers(
+ marker_corners, square_length_, calibration_.CameraIntrinsics(),
+ calibration_.CameraDistCoeffs(), rvecs, tvecs);
DrawTargetPoses(rgb_image, rvecs, tvecs);
PackPoseResults(rvecs, tvecs, &rvecs_eigen, &tvecs_eigen);
@@ -459,9 +434,9 @@
// estimate pose for diamonds doesn't return valid, so marking true
valid = true;
std::vector<cv::Vec3d> rvecs, tvecs;
- cv::aruco::estimatePoseSingleMarkers(diamond_corners, square_length_,
- camera_matrix_, dist_coeffs_,
- rvecs, tvecs);
+ cv::aruco::estimatePoseSingleMarkers(
+ diamond_corners, square_length_, calibration_.CameraIntrinsics(),
+ calibration_.CameraDistCoeffs(), rvecs, tvecs);
DrawTargetPoses(rgb_image, rvecs, tvecs);
PackPoseResults(rvecs, tvecs, &rvecs_eigen, &tvecs_eigen);
@@ -517,5 +492,33 @@
return annotation_builder.Finish();
}
+TargetType TargetTypeFromString(std::string_view str) {
+ if (str == "aruco") {
+ return TargetType::kAruco;
+ } else if (str == "charuco") {
+ return TargetType::kCharuco;
+ } else if (str == "charuco_diamond") {
+ return TargetType::kCharucoDiamond;
+ } else {
+ LOG(FATAL) << "Unknown target type: " << str
+ << ", expected: aruco|charuco|charuco_diamond";
+ }
+}
+
+std::ostream &operator<<(std::ostream &os, TargetType target_type) {
+ switch (target_type) {
+ case TargetType::kAruco:
+ os << "aruco";
+ break;
+ case TargetType::kCharuco:
+ os << "charuco";
+ break;
+ case TargetType::kCharucoDiamond:
+ os << "charuco_diamond";
+ break;
+ }
+ return os;
+}
+
} // namespace vision
} // namespace frc971
diff --git a/frc971/vision/charuco_lib.h b/frc971/vision/charuco_lib.h
index 984cef6..40b1601 100644
--- a/frc971/vision/charuco_lib.h
+++ b/frc971/vision/charuco_lib.h
@@ -11,9 +11,8 @@
#include "absl/types/span.h"
#include "aos/events/event_loop.h"
#include "aos/network/message_bridge_server_generated.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/sift/sift_training_generated.h"
#include "external/com_github_foxglove_schemas/ImageAnnotations_generated.h"
+#include "frc971/vision/calibration_generated.h"
DECLARE_bool(visualize);
@@ -24,23 +23,19 @@
// training data.
class CameraCalibration {
public:
- CameraCalibration(const absl::Span<const uint8_t> training_data_bfbs,
- std::string_view pi);
+ CameraCalibration(const calibration::CameraCalibration *calibration);
// Intrinsics for the located camera.
- cv::Mat CameraIntrinsics() const;
- Eigen::Matrix3d CameraIntrinsicsEigen() const;
+ cv::Mat CameraIntrinsics() const { return intrinsics_; }
+ Eigen::Matrix3d CameraIntrinsicsEigen() const { return intrinsics_eigen_; }
// Distortion coefficients for the located camera.
- cv::Mat CameraDistCoeffs() const;
+ cv::Mat CameraDistCoeffs() const { return dist_coeffs_; }
private:
- // Finds the camera specific calibration flatbuffer.
- const sift::CameraCalibration *FindCameraCalibration(
- const sift::TrainingData *const training_data, std::string_view pi) const;
-
- // Pointer to this camera's calibration parameters.
- const sift::CameraCalibration *camera_calibration_;
+ const cv::Mat intrinsics_;
+ const Eigen::Matrix3d intrinsics_eigen_;
+ const cv::Mat dist_coeffs_;
};
// Helper class to call a function with a cv::Mat and age when an image shows up
@@ -90,6 +85,9 @@
kCharucoDiamond = 2
};
+TargetType TargetTypeFromString(std::string_view str);
+std::ostream &operator<<(std::ostream &os, TargetType target_type);
+
// Class which calls a callback each time an image arrives with the information
// extracted from it.
class CharucoExtractor {
@@ -108,7 +106,8 @@
// multiple targets in an image; for charuco boards, there should be just one
// element
CharucoExtractor(
- aos::EventLoop *event_loop, std::string_view pi, TargetType target_type,
+ aos::EventLoop *event_loop,
+ const calibration::CameraCalibration *calibration, TargetType target_type,
std::string_view image_channel,
std::function<void(cv::Mat, aos::monotonic_clock::time_point,
std::vector<cv::Vec4i>,
@@ -125,9 +124,11 @@
cv::Ptr<cv::aruco::CharucoBoard> board() const { return board_; }
// Returns the camera matrix for this camera.
- const cv::Mat camera_matrix() const { return camera_matrix_; }
+ const cv::Mat camera_matrix() const {
+ return calibration_.CameraIntrinsics();
+ }
// Returns the distortion coefficients for this camera.
- const cv::Mat dist_coeffs() const { return dist_coeffs_; }
+ const cv::Mat dist_coeffs() const { return calibration_.CameraDistCoeffs(); }
private:
// Creates the dictionary, board, and other parameters for the appropriate
@@ -146,7 +147,6 @@
std::vector<Eigen::Vector3d> *tvecs_eigen);
aos::EventLoop *event_loop_;
- CameraCalibration calibration_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
cv::Ptr<cv::aruco::CharucoBoard> board_;
@@ -161,15 +161,7 @@
// Length of a side of the checkerboard squares (around the marker)
double square_length_;
- // Intrinsic calibration matrix
- const cv::Mat camera_matrix_;
- // Intrinsic calibration matrix as Eigen::Matrix3d
- const Eigen::Matrix3d eigen_camera_matrix_;
- // Intrinsic distortion coefficients
- const cv::Mat dist_coeffs_;
-
- // Index number of the raspberry pi
- const std::optional<uint16_t> pi_number_;
+ CameraCalibration calibration_;
// Function to call.
std::function<void(
diff --git a/frc971/vision/extrinsics_calibration.cc b/frc971/vision/extrinsics_calibration.cc
index cd6d183..d563fb0 100644
--- a/frc971/vision/extrinsics_calibration.cc
+++ b/frc971/vision/extrinsics_calibration.cc
@@ -859,8 +859,19 @@
}
};
-void Solve(const CalibrationData &data,
- CalibrationParameters *calibration_parameters) {
+std::vector<float> MatrixToVector(const Eigen::Matrix<double, 4, 4> &H) {
+ std::vector<float> data;
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ data.push_back(H(row, col));
+ }
+ }
+ return data;
+}
+
+aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> Solve(
+ const CalibrationData &data,
+ CalibrationParameters *calibration_parameters) {
ceres::Problem problem;
ceres::EigenQuaternionParameterization *quaternion_local_parameterization =
@@ -949,6 +960,46 @@
LOG(INFO) << summary.FullReport();
LOG(INFO) << "Solution is " << (summary.IsSolutionUsable() ? "" : "NOT ")
<< "usable";
+
+ {
+ flatbuffers::FlatBufferBuilder fbb;
+ flatbuffers::Offset<flatbuffers::Vector<float>> data_offset =
+ fbb.CreateVector(MatrixToVector(
+ (Eigen::Translation3d(
+ calibration_parameters->pivot_to_camera_translation) *
+ Eigen::Quaterniond(calibration_parameters->pivot_to_camera))
+ .inverse()
+ .matrix()));
+ calibration::TransformationMatrix::Builder matrix_builder(fbb);
+ matrix_builder.add_data(data_offset);
+ flatbuffers::Offset<calibration::TransformationMatrix>
+ camera_to_pivot_offset = matrix_builder.Finish();
+
+ flatbuffers::Offset<calibration::TransformationMatrix> pivot_to_imu_offset;
+ if (calibration_parameters->has_pivot) {
+ flatbuffers::Offset<flatbuffers::Vector<float>> data_offset =
+ fbb.CreateVector(MatrixToVector(
+ (Eigen::Translation3d(
+ calibration_parameters->pivot_to_imu_translation) *
+ Eigen::Quaterniond(calibration_parameters->pivot_to_imu))
+ .matrix()));
+ calibration::TransformationMatrix::Builder matrix_builder(fbb);
+ matrix_builder.add_data(data_offset);
+ pivot_to_imu_offset = matrix_builder.Finish();
+ }
+
+ calibration::CameraCalibration::Builder calibration_builder(fbb);
+ if (calibration_parameters->has_pivot) {
+ calibration_builder.add_fixed_extrinsics(pivot_to_imu_offset);
+ calibration_builder.add_turret_extrinsics(camera_to_pivot_offset);
+ } else {
+ calibration_builder.add_fixed_extrinsics(camera_to_pivot_offset);
+ }
+ fbb.Finish(calibration_builder.Finish());
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> extrinsics =
+ fbb.Release();
+ return extrinsics;
+ }
}
void Plot(const CalibrationData &data,
diff --git a/frc971/vision/extrinsics_calibration.h b/frc971/vision/extrinsics_calibration.h
index eb35482..fb52ed9 100644
--- a/frc971/vision/extrinsics_calibration.h
+++ b/frc971/vision/extrinsics_calibration.h
@@ -33,10 +33,17 @@
bool has_pivot = false;
};
+// Copies an Eigen matrix into a row-major vector of the data. Used for
+// converting into the flatbuffer TransformationMatrix type.
+std::vector<float> MatrixToVector(const Eigen::Matrix<double, 4, 4> &H);
+
// Solves the mounting problem given the calibration data and parameters. The
// parameters are used as the seed to the solver.
-void Solve(const CalibrationData &data,
- CalibrationParameters *calibration_parameters);
+// Produces a CameraCalibration flatbuffer which will have the relevant
+// extrinsics fields populated, so that it can subsequently be merged with the
+// intrinsics portion of the calibration.
+aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> Solve(
+ const CalibrationData &data, CalibrationParameters *calibration_parameters);
// Plots the calibrated results to help visualize the fit.
void Plot(const CalibrationData &data,
diff --git a/frc971/vision/foxglove_image_converter.cc b/frc971/vision/foxglove_image_converter_lib.cc
similarity index 85%
rename from frc971/vision/foxglove_image_converter.cc
rename to frc971/vision/foxglove_image_converter_lib.cc
index abde78b..f5ecb40 100644
--- a/frc971/vision/foxglove_image_converter.cc
+++ b/frc971/vision/foxglove_image_converter_lib.cc
@@ -1,7 +1,12 @@
-#include "frc971/vision/foxglove_image_converter.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
+
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
+DEFINE_int32(jpeg_quality, 95,
+ "Compression quality of JPEGs, 0-100; lower numbers mean lower "
+ "quality and resulting image sizes.");
+
namespace frc971::vision {
std::string_view ExtensionForCompression(ImageCompression compression) {
switch (compression) {
@@ -19,7 +24,8 @@
// imencode doesn't let us pass in anything other than an std::vector, and
// performance isn't yet a big enough issue to try to avoid the copy.
std::vector<uint8_t> buffer;
- CHECK(cv::imencode(absl::StrCat(".", format), image, buffer));
+ CHECK(cv::imencode(absl::StrCat(".", format), image, buffer,
+ {cv::IMWRITE_JPEG_QUALITY, FLAGS_jpeg_quality}));
const flatbuffers::Offset<flatbuffers::Vector<uint8_t>> data_offset =
fbb->CreateVector(buffer);
const struct timespec timestamp_t = aos::time::to_timespec(eof);
diff --git a/frc971/vision/foxglove_image_converter.h b/frc971/vision/foxglove_image_converter_lib.h
similarity index 100%
rename from frc971/vision/foxglove_image_converter.h
rename to frc971/vision/foxglove_image_converter_lib.h
diff --git a/frc971/vision/foxglove_image_converter_test.cc b/frc971/vision/foxglove_image_converter_test.cc
index 65b3b6b..e027de2 100644
--- a/frc971/vision/foxglove_image_converter_test.cc
+++ b/frc971/vision/foxglove_image_converter_test.cc
@@ -1,4 +1,4 @@
-#include "frc971/vision/foxglove_image_converter.h"
+#include "frc971/vision/foxglove_image_converter_lib.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
diff --git a/frc971/vision/intrinsics_calibration.cc b/frc971/vision/intrinsics_calibration.cc
new file mode 100644
index 0000000..224a37c
--- /dev/null
+++ b/frc971/vision/intrinsics_calibration.cc
@@ -0,0 +1,60 @@
+#include <cmath>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <regex>
+
+#include "absl/strings/str_format.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "aos/util/file.h"
+#include "frc971/vision/intrinsics_calibration_lib.h"
+
+DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
+DEFINE_string(camera_id, "", "Camera ID in format YY-NN-- year and number.");
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_bool(display_undistorted, false,
+ "If true, display the undistorted image.");
+DEFINE_string(pi, "", "Pi name to calibrate.");
+DEFINE_string(base_intrinsics, "",
+ "Intrinsics to use for estimating board pose prior to solving "
+ "for the new intrinsics.");
+
+namespace frc971 {
+namespace vision {
+namespace {
+
+void Main() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ std::string hostname = FLAGS_pi;
+ if (hostname == "") {
+ hostname = aos::network::GetHostname();
+ LOG(INFO) << "Using pi name from hostname as " << hostname;
+ }
+ CHECK(!FLAGS_base_intrinsics.empty())
+ << "Need a base intrinsics json to use to auto-capture images when the "
+ "camera moves.";
+ std::unique_ptr<aos::ExitHandle> exit_handle = event_loop.MakeExitHandle();
+ IntrinsicsCalibration extractor(
+ &event_loop, hostname, FLAGS_camera_id, FLAGS_base_intrinsics,
+ FLAGS_display_undistorted, FLAGS_calibration_folder, exit_handle.get());
+
+ event_loop.Run();
+
+ extractor.MaybeCalibrate();
+}
+
+} // namespace
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ frc971::vision::Main();
+}
diff --git a/frc971/vision/intrinsics_calibration_lib.cc b/frc971/vision/intrinsics_calibration_lib.cc
new file mode 100644
index 0000000..6cf53e8
--- /dev/null
+++ b/frc971/vision/intrinsics_calibration_lib.cc
@@ -0,0 +1,245 @@
+#include "frc971/vision/intrinsics_calibration_lib.h"
+
+namespace frc971 {
+namespace vision {
+
+IntrinsicsCalibration::IntrinsicsCalibration(
+ aos::EventLoop *event_loop, std::string_view pi, std::string_view camera_id,
+ std::string_view base_intrinsics_file, bool display_undistorted,
+ std::string_view calibration_folder, aos::ExitHandle *exit_handle)
+ : pi_(pi),
+ pi_number_(aos::network::ParsePiNumber(pi)),
+ camera_id_(camera_id),
+ prev_H_camera_board_(Eigen::Affine3d()),
+ prev_image_H_camera_board_(Eigen::Affine3d()),
+ base_intrinsics_(
+ aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+ base_intrinsics_file)),
+ charuco_extractor_(
+ event_loop, &base_intrinsics_.message(), TargetType::kCharuco,
+ "/camera",
+ [this](cv::Mat rgb_image, const aos::monotonic_clock::time_point eof,
+ std::vector<cv::Vec4i> charuco_ids,
+ std::vector<std::vector<cv::Point2f>> charuco_corners,
+ bool valid, std::vector<Eigen::Vector3d> rvecs_eigen,
+ std::vector<Eigen::Vector3d> tvecs_eigen) {
+ HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners, valid,
+ rvecs_eigen, tvecs_eigen);
+ }),
+ image_callback_(
+ event_loop,
+ absl::StrCat("/pi",
+ std::to_string(aos::network::ParsePiNumber(pi).value()),
+ "/camera"),
+ [this](cv::Mat rgb_image,
+ const aos::monotonic_clock::time_point eof) {
+ charuco_extractor_.HandleImage(rgb_image, eof);
+ },
+ std::chrono::milliseconds(5)),
+ display_undistorted_(display_undistorted),
+ calibration_folder_(calibration_folder),
+ exit_handle_(exit_handle) {
+ CHECK(pi_number_) << ": Invalid pi number " << pi
+ << ", failed to parse pi number";
+ std::regex re{"^[0-9][0-9]-[0-9][0-9]"};
+ CHECK(std::regex_match(camera_id_, re))
+ << ": Invalid camera_id '" << camera_id_ << "', should be of form YY-NN";
+}
+
+void IntrinsicsCalibration::HandleCharuco(
+ cv::Mat rgb_image, const aos::monotonic_clock::time_point /*eof*/,
+ std::vector<cv::Vec4i> charuco_ids,
+ std::vector<std::vector<cv::Point2f>> charuco_corners, bool valid,
+ std::vector<Eigen::Vector3d> rvecs_eigen,
+ std::vector<Eigen::Vector3d> tvecs_eigen) {
+ // Reduce resolution displayed on remote viewer to prevent lag
+ cv::resize(rgb_image, rgb_image,
+ cv::Size(rgb_image.cols / 2, rgb_image.rows / 2));
+ cv::imshow("Display", rgb_image);
+
+ if (display_undistorted_) {
+ const cv::Size image_size(rgb_image.cols, rgb_image.rows);
+ cv::Mat undistorted_rgb_image(image_size, CV_8UC3);
+ cv::undistort(rgb_image, undistorted_rgb_image,
+ charuco_extractor_.camera_matrix(),
+ charuco_extractor_.dist_coeffs());
+
+ cv::imshow("Display undist", undistorted_rgb_image);
+ }
+
+ int keystroke = cv::waitKey(1);
+
+ // If we haven't got a valid pose estimate, don't use these points
+ if (!valid) {
+ return;
+ }
+ CHECK(tvecs_eigen.size() == 1)
+ << "Charuco board should only return one translational pose";
+ CHECK(rvecs_eigen.size() == 1)
+ << "Charuco board should only return one rotational pose";
+ // Calibration calculates rotation and translation delta from last image
+ // stored to automatically capture next image
+
+ Eigen::Affine3d H_board_camera =
+ Eigen::Translation3d(tvecs_eigen[0]) *
+ Eigen::AngleAxisd(rvecs_eigen[0].norm(),
+ rvecs_eigen[0] / rvecs_eigen[0].norm());
+ Eigen::Affine3d H_camera_board_ = H_board_camera.inverse();
+ Eigen::Affine3d H_delta = H_board_camera * prev_H_camera_board_;
+
+ Eigen::AngleAxisd delta_r = Eigen::AngleAxisd(H_delta.rotation());
+
+ Eigen::Vector3d delta_t = H_delta.translation();
+
+ double r_norm = std::abs(delta_r.angle());
+ double t_norm = delta_t.norm();
+
+ bool store_image = false;
+ double percent_motion =
+ std::max<double>(r_norm / kDeltaRThreshold, t_norm / kDeltaTThreshold);
+ LOG(INFO) << "Captured: " << all_charuco_ids_.size() << " points; Moved "
+ << percent_motion << "% of what's needed";
+ // Verify that camera has moved enough from last stored image
+ if (r_norm > kDeltaRThreshold || t_norm > kDeltaTThreshold) {
+ // frame_ refers to deltas between current and last captured image
+ Eigen::Affine3d frame_H_delta = H_board_camera * prev_image_H_camera_board_;
+
+ Eigen::AngleAxisd frame_delta_r =
+ Eigen::AngleAxisd(frame_H_delta.rotation());
+
+ Eigen::Vector3d frame_delta_t = frame_H_delta.translation();
+
+ double frame_r_norm = std::abs(frame_delta_r.angle());
+ double frame_t_norm = frame_delta_t.norm();
+
+ // Make sure camera has stopped moving before storing image
+ store_image =
+ frame_r_norm < kFrameDeltaRLimit && frame_t_norm < kFrameDeltaTLimit;
+ double percent_stop = std::max<double>(frame_r_norm / kFrameDeltaRLimit,
+ frame_t_norm / kFrameDeltaTLimit);
+ LOG(INFO) << "Captured: " << all_charuco_ids_.size()
+ << "points; Moved enough (" << percent_motion
+ << "%); Need to stop (last motion was " << percent_stop
+ << "% of limit; needs to be < 1 to capture)";
+ }
+ prev_image_H_camera_board_ = H_camera_board_;
+
+ if (store_image) {
+ if (valid) {
+ prev_H_camera_board_ = H_camera_board_;
+
+ // Unpack the Charuco ids from Vec4i
+ std::vector<int> charuco_ids_int;
+ for (cv::Vec4i charuco_id : charuco_ids) {
+ charuco_ids_int.emplace_back(charuco_id[0]);
+ }
+ all_charuco_ids_.emplace_back(std::move(charuco_ids_int));
+ all_charuco_corners_.emplace_back(std::move(charuco_corners[0]));
+
+ if (r_norm > kDeltaRThreshold) {
+ LOG(INFO) << "Triggered by rotation delta = " << r_norm << " > "
+ << kDeltaRThreshold;
+ }
+ if (t_norm > kDeltaTThreshold) {
+ LOG(INFO) << "Triggered by translation delta = " << t_norm << " > "
+ << kDeltaTThreshold;
+ }
+ }
+
+ } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ exit_handle_->Exit();
+ }
+}
+
+aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+IntrinsicsCalibration::BuildCalibration(
+ cv::Mat camera_matrix, cv::Mat dist_coeffs,
+ aos::realtime_clock::time_point realtime_now, int pi_number,
+ std::string_view camera_id, uint16_t team_number) {
+ flatbuffers::FlatBufferBuilder fbb;
+ flatbuffers::Offset<flatbuffers::String> name_offset =
+ fbb.CreateString(absl::StrFormat("pi%d", pi_number));
+ flatbuffers::Offset<flatbuffers::String> camera_id_offset =
+ fbb.CreateString(camera_id);
+ flatbuffers::Offset<flatbuffers::Vector<float>> intrinsics_offset =
+ fbb.CreateVector<float>(9u, [&camera_matrix](size_t i) {
+ return static_cast<float>(
+ reinterpret_cast<double *>(camera_matrix.data)[i]);
+ });
+
+ flatbuffers::Offset<flatbuffers::Vector<float>>
+ distortion_coefficients_offset =
+ fbb.CreateVector<float>(5u, [&dist_coeffs](size_t i) {
+ return static_cast<float>(
+ reinterpret_cast<double *>(dist_coeffs.data)[i]);
+ });
+
+ calibration::CameraCalibration::Builder camera_calibration_builder(fbb);
+
+ camera_calibration_builder.add_node_name(name_offset);
+ camera_calibration_builder.add_team_number(team_number);
+ camera_calibration_builder.add_camera_id(camera_id_offset);
+ camera_calibration_builder.add_calibration_timestamp(
+ realtime_now.time_since_epoch().count());
+ camera_calibration_builder.add_intrinsics(intrinsics_offset);
+ camera_calibration_builder.add_dist_coeffs(distortion_coefficients_offset);
+ fbb.Finish(camera_calibration_builder.Finish());
+
+ return fbb.Release();
+}
+
+void IntrinsicsCalibration::MaybeCalibrate() {
+ // TODO: This number should depend on coarse vs. fine pattern
+ // Maybe just on total # of ids found, not just images
+ if (all_charuco_ids_.size() >= 50) {
+ LOG(INFO) << "Beginning calibration on " << all_charuco_ids_.size()
+ << " images";
+ cv::Mat camera_matrix, dist_coeffs;
+ std::vector<cv::Mat> rvecs, tvecs;
+ cv::Mat std_deviations_intrinsics, std_deviations_extrinsics,
+ per_view_errors;
+
+ // Set calibration flags (same as in calibrateCamera() function)
+ int calibration_flags = 0;
+ cv::Size img_size(640, 480);
+ const double reprojection_error = cv::aruco::calibrateCameraCharuco(
+ all_charuco_corners_, all_charuco_ids_, charuco_extractor_.board(),
+ img_size, camera_matrix, dist_coeffs, rvecs, tvecs,
+ std_deviations_intrinsics, std_deviations_extrinsics, per_view_errors,
+ calibration_flags);
+ CHECK_LE(reprojection_error, 1.0)
+ << ": Reproduction error is bad-- greater than 1 pixel.";
+ LOG(INFO) << "Reprojection Error is " << reprojection_error;
+
+ const aos::realtime_clock::time_point realtime_now =
+ aos::realtime_clock::now();
+ std::optional<uint16_t> team_number =
+ aos::network::team_number_internal::ParsePiTeamNumber(pi_);
+ CHECK(team_number) << ": Invalid pi hostname " << pi_
+ << ", failed to parse team number";
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+ camera_calibration = BuildCalibration(camera_matrix, dist_coeffs,
+ realtime_now, pi_number_.value(),
+ camera_id_, team_number.value());
+ std::stringstream time_ss;
+ time_ss << realtime_now;
+
+ const std::string calibration_filename =
+ calibration_folder_ +
+ absl::StrFormat("/calibration_pi-%d-%d_cam-%s_%s.json",
+ team_number.value(), pi_number_.value(), camera_id_,
+ time_ss.str());
+
+ LOG(INFO) << calibration_filename << " -> "
+ << aos::FlatbufferToJson(camera_calibration,
+ {.multi_line = true});
+
+ aos::util::WriteStringToFileOrDie(
+ calibration_filename,
+ aos::FlatbufferToJson(camera_calibration, {.multi_line = true}));
+ } else {
+ LOG(INFO) << "Skipping calibration due to not enough images.";
+ }
+}
+} // namespace vision
+} // namespace frc971
diff --git a/frc971/vision/intrinsics_calibration_lib.h b/frc971/vision/intrinsics_calibration_lib.h
new file mode 100644
index 0000000..10062ba
--- /dev/null
+++ b/frc971/vision/intrinsics_calibration_lib.h
@@ -0,0 +1,78 @@
+#ifndef FRC971_VISION_CALIBRATION_LIB_H_
+#define FRC971_VISION_CALIBRATION_LIB_H_
+#include <cmath>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <regex>
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "absl/strings/str_format.h"
+#include "aos/events/event_loop.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "aos/util/file.h"
+#include "frc971/vision/charuco_lib.h"
+
+namespace frc971 {
+namespace vision {
+
+class IntrinsicsCalibration {
+ public:
+ IntrinsicsCalibration(aos::EventLoop *event_loop, std::string_view pi,
+ std::string_view camera_id,
+ std::string_view base_intrinsics_file,
+ bool display_undistorted,
+ std::string_view calibration_folder,
+ aos::ExitHandle *exit_handle);
+
+ void HandleCharuco(cv::Mat rgb_image,
+ const aos::monotonic_clock::time_point /*eof*/,
+ std::vector<cv::Vec4i> charuco_ids,
+ std::vector<std::vector<cv::Point2f>> charuco_corners,
+ bool valid, std::vector<Eigen::Vector3d> rvecs_eigen,
+ std::vector<Eigen::Vector3d> tvecs_eigen);
+
+ void MaybeCalibrate();
+
+ static aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+ BuildCalibration(cv::Mat camera_matrix, cv::Mat dist_coeffs,
+ aos::realtime_clock::time_point realtime_now, int pi_number,
+ std::string_view camera_id, uint16_t team_number);
+
+ private:
+ static constexpr double kDeltaRThreshold = M_PI / 6.0;
+ static constexpr double kDeltaTThreshold = 0.3;
+
+ static constexpr double kFrameDeltaRLimit = M_PI / 60;
+ static constexpr double kFrameDeltaTLimit = 0.01;
+
+ std::string pi_;
+ const std::optional<uint16_t> pi_number_;
+ const std::string camera_id_;
+
+ std::vector<std::vector<int>> all_charuco_ids_;
+ std::vector<std::vector<cv::Point2f>> all_charuco_corners_;
+
+ Eigen::Affine3d H_camera_board_;
+ Eigen::Affine3d prev_H_camera_board_;
+ Eigen::Affine3d prev_image_H_camera_board_;
+
+ // Camera intrinsics that we will use to bootstrap the intrinsics estimation
+ // here. We make use of the intrinsics in this calibration to allow us to
+ // estimate the relative pose of the charuco board and then identify how much
+ // the board is moving.
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+ base_intrinsics_;
+ CharucoExtractor charuco_extractor_;
+ ImageCallback image_callback_;
+
+ const bool display_undistorted_;
+ const std::string calibration_folder_;
+ aos::ExitHandle *exit_handle_;
+};
+
+} // namespace vision
+} // namespace frc971
+#endif // FRC971_VISION_CALIBRATION_LIB_H_
diff --git a/frc971/vision/target_mapper.cc b/frc971/vision/target_mapper.cc
index b3049e4..01a8df0 100644
--- a/frc971/vision/target_mapper.cc
+++ b/frc971/vision/target_mapper.cc
@@ -189,11 +189,14 @@
ceres::examples::Pose3d target_constraint =
PoseUtils::Affine3dToPose3d(H_targetstart_targetend);
- return ceres::examples::Constraint3d{
- target_detection_start.id,
- target_detection_end.id,
- {target_constraint.p, target_constraint.q},
- confidence};
+ const auto constraint_3d =
+ ceres::examples::Constraint3d{target_detection_start.id,
+ target_detection_end.id,
+ {target_constraint.p, target_constraint.q},
+ confidence};
+
+ VLOG(2) << "Computed constraint: " << constraint_3d;
+ return constraint_3d;
}
TargetMapper::TargetMapper(
diff --git a/frc971/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
index 2553003..1404ec5 100644
--- a/frc971/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -13,9 +13,11 @@
namespace vision {
V4L2ReaderBase::V4L2ReaderBase(aos::EventLoop *event_loop,
- const std::string &device_name)
- : fd_(open(device_name.c_str(), O_RDWR | O_NONBLOCK)),
- event_loop_(event_loop) {
+ std::string_view device_name,
+ std::string_view image_channel)
+ : fd_(open(device_name.data(), O_RDWR | O_NONBLOCK)),
+ event_loop_(event_loop),
+ image_channel_(image_channel) {
PCHECK(fd_.get() != -1) << " Failed to open device " << device_name;
// Figure out if we are multi-planar or not.
@@ -84,7 +86,7 @@
}
for (size_t i = 0; i < buffers_.size(); ++i) {
- buffers_[i].sender = event_loop_->MakeSender<CameraImage>("/camera");
+ buffers_[i].sender = event_loop_->MakeSender<CameraImage>(image_channel_);
MarkBufferToBeEnqueued(i);
}
int type = multiplanar() ? V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE
@@ -287,9 +289,9 @@
PLOG(FATAL) << "VIDIOC_STREAMOFF failed";
}
-V4L2Reader::V4L2Reader(aos::EventLoop *event_loop,
- const std::string &device_name)
- : V4L2ReaderBase(event_loop, device_name) {
+V4L2Reader::V4L2Reader(aos::EventLoop *event_loop, std::string_view device_name,
+ std::string_view image_channel)
+ : V4L2ReaderBase(event_loop, device_name, image_channel) {
// Don't know why this magic call to SetExposure is required (before the
// camera settings are configured) to make things work on boot of the pi, but
// it seems to be-- without it, the image exposure is wrong (too dark). Note--
@@ -322,11 +324,12 @@
RockchipV4L2Reader::RockchipV4L2Reader(aos::EventLoop *event_loop,
aos::internal::EPoll *epoll,
- const std::string &device_name,
- const std::string &image_sensor_subdev)
- : V4L2ReaderBase(event_loop, device_name),
+ std::string_view device_name,
+ std::string_view image_sensor_subdev,
+ std::string_view image_channel)
+ : V4L2ReaderBase(event_loop, device_name, image_channel),
epoll_(epoll),
- image_sensor_fd_(open(image_sensor_subdev.c_str(), O_RDWR | O_NONBLOCK)),
+ image_sensor_fd_(open(image_sensor_subdev.data(), O_RDWR | O_NONBLOCK)),
buffer_requeuer_([this](int buffer) { EnqueueBuffer(buffer); },
kEnqueueFifoPriority) {
PCHECK(image_sensor_fd_.get() != -1)
diff --git a/frc971/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
index 22e4367..8764024 100644
--- a/frc971/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -22,7 +22,9 @@
class V4L2ReaderBase {
public:
// device_name is the name of the device file (like "/dev/video0").
- V4L2ReaderBase(aos::EventLoop *event_loop, const std::string &device_name);
+ // image_channel is the channel to send images on
+ V4L2ReaderBase(aos::EventLoop *event_loop, std::string_view device_name,
+ std::string_view image_channel);
V4L2ReaderBase(const V4L2ReaderBase &) = delete;
V4L2ReaderBase &operator=(const V4L2ReaderBase &) = delete;
@@ -114,6 +116,8 @@
flatbuffers::Offset<CameraImage> message_offset;
uint8_t *data_pointer = nullptr;
+
+ std::string_view image_channel_;
};
struct BufferInfo {
@@ -149,12 +153,15 @@
aos::EventLoop *event_loop_;
aos::Ftrace ftrace_;
+
+ std::string_view image_channel_;
};
// Generic V4L2 reader for pi's and older.
class V4L2Reader : public V4L2ReaderBase {
public:
- V4L2Reader(aos::EventLoop *event_loop, const std::string &device_name);
+ V4L2Reader(aos::EventLoop *event_loop, std::string_view device_name,
+ std::string_view image_channel = "/camera");
};
// Rockpi specific v4l2 reader. This assumes that the media device has been
@@ -162,10 +169,11 @@
class RockchipV4L2Reader : public V4L2ReaderBase {
public:
RockchipV4L2Reader(aos::EventLoop *event_loop, aos::internal::EPoll *epoll,
- const std::string &device_name,
- const std::string &image_sensor_subdev);
+ std::string_view device_name,
+ std::string_view image_sensor_subdev,
+ std::string_view image_channel = "/camera");
- ~RockchipV4L2Reader();
+ virtual ~RockchipV4L2Reader();
void SetExposure(size_t duration) override;
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index eb0571c..ca3dd0c 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -1,4 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
@@ -469,7 +469,7 @@
],
)
-ts_library(
+ts_project(
name = "imu_plot_utils",
srcs = ["imu_plot_utils.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -484,7 +484,7 @@
],
)
-ts_library(
+ts_project(
name = "imu_plotter",
srcs = ["imu_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/frc971/wpilib/imu_plot_utils.ts b/frc971/wpilib/imu_plot_utils.ts
index c4b516b..a56fd9b 100644
--- a/frc971/wpilib/imu_plot_utils.ts
+++ b/frc971/wpilib/imu_plot_utils.ts
@@ -1,9 +1,9 @@
// This script provides a basic utility for de-batching the IMUValues
// message. See imu_plotter.ts for usage.
-import {IMUValuesBatch} from 'org_frc971/frc971/wpilib/imu_batch_generated';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {IMUValuesBatch} from './imu_batch_generated';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
+import {Point} from '../../aos/network/www/plotter';
+import {Table} from '../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/frc971/wpilib/imu_plotter.ts b/frc971/wpilib/imu_plotter.ts
index 6768e1c..91edd7c 100644
--- a/frc971/wpilib/imu_plotter.ts
+++ b/frc971/wpilib/imu_plotter.ts
@@ -1,7 +1,7 @@
// Provides a basic plot for debugging IMU-related issues on a robot.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
new file mode 100644
index 0000000..65a160f
--- /dev/null
+++ b/pnpm-lock.yaml
@@ -0,0 +1,4373 @@
+lockfileVersion: 5.4
+
+importers:
+
+ .:
+ specifiers:
+ '@angular/animations': 15.0.1
+ '@angular/cli': 15.0.1
+ '@angular/common': 15.0.1
+ '@angular/compiler': 15.0.1
+ '@angular/compiler-cli': 15.0.1
+ '@angular/core': 15.0.1
+ '@angular/forms': 15.0.1
+ '@angular/platform-browser': 15.0.1
+ '@babel/cli': ^7.6.0
+ '@babel/core': ^7.6.0
+ '@rollup/plugin-node-resolve': 13.1.3
+ '@types/flatbuffers': 1.10.0
+ '@types/jasmine': 3.10.3
+ '@types/node': 17.0.21
+ cypress: 12.3.0
+ html-insert-assets: 0.14.3
+ jasmine: 3.10.0
+ karma: 6.4.1
+ karma-chrome-launcher: 3.1.0
+ karma-firefox-launcher: 2.1.2
+ karma-jasmine: 4.0.1
+ karma-requirejs: 1.1.0
+ karma-sourcemap-loader: 0.3.8
+ prettier: 2.6.1
+ protractor: 7.0.0
+ requirejs: 2.3.6
+ rollup: 2.66.1
+ rxjs: 7.5.7
+ terser: 5.10.0
+ typescript: 4.8.4
+ zone.js: ^0.11.4
+ devDependencies:
+ '@angular/animations': 15.0.1_@angular+core@15.0.1
+ '@angular/cli': 15.0.1
+ '@angular/common': 15.0.1_gc4fl5hkkh62bvf2jldebe7kfi
+ '@angular/compiler': 15.0.1_@angular+core@15.0.1
+ '@angular/compiler-cli': 15.0.1_cjgqlygpi5ntpb3clzn7pzsmpy
+ '@angular/core': 15.0.1_rxjs@7.5.7+zone.js@0.11.8
+ '@angular/forms': 15.0.1_lshev2zdnaa2h7gkxro3dgbuau
+ '@angular/platform-browser': 15.0.1_elnjnvrny24npcy6jcashrycoy
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+ '@babel/core': 7.20.12
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+ resolution: {integrity: sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==}
+ engines: {node: '>=10.0.0'}
+ peerDependencies:
+ bufferutil: ^4.0.1
+ utf-8-validate: ^5.0.2
+ peerDependenciesMeta:
+ bufferutil:
+ optional: true
+ utf-8-validate:
+ optional: true
+ dev: true
+
+ /xml2js/0.4.23:
+ resolution: {integrity: sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==}
+ engines: {node: '>=4.0.0'}
+ dependencies:
+ sax: 1.2.4
+ xmlbuilder: 11.0.1
+ dev: true
+
+ /xmlbuilder/11.0.1:
+ resolution: {integrity: sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==}
+ engines: {node: '>=4.0'}
+ dev: true
+
+ /y18n/4.0.3:
+ resolution: {integrity: sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==}
+ dev: true
+
+ /y18n/5.0.8:
+ resolution: {integrity: sha512-0pfFzegeDWJHJIAmTLRP2DwHjdF5s7jo9tuztdQxAhINCdvS+3nGINqPd00AphqJR/0LhANUS6/+7SCb98YOfA==}
+ engines: {node: '>=10'}
+ dev: true
+
+ /yallist/3.1.1:
+ resolution: {integrity: sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==}
+ dev: true
+
+ /yallist/4.0.0:
+ resolution: {integrity: sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==}
+ dev: true
+
+ /yargs-parser/18.1.3:
+ resolution: {integrity: sha512-o50j0JeToy/4K6OZcaQmW6lyXXKhq7csREXcDwk2omFPJEwUNOVtJKvmDr9EI1fAJZUyZcRF7kxGBWmRXudrCQ==}
+ engines: {node: '>=6'}
+ dependencies:
+ camelcase: 5.3.1
+ decamelize: 1.2.0
+ dev: true
+
+ /yargs-parser/20.2.9:
+ resolution: {integrity: sha512-y11nGElTIV+CT3Zv9t7VKl+Q3hTQoT9a1Qzezhhl6Rp21gJ/IVTW7Z3y9EWXhuUBC2Shnf+DX0antecpAwSP8w==}
+ engines: {node: '>=10'}
+ dev: true
+
+ /yargs-parser/21.1.1:
+ resolution: {integrity: sha512-tVpsJW7DdjecAiFpbIB1e3qxIQsE6NoPc5/eTdrbbIC4h0LVsWhnoa3g+m2HclBIujHzsxZ4VJVA+GUuc2/LBw==}
+ engines: {node: '>=12'}
+ dev: true
+
+ /yargs/15.4.1:
+ resolution: {integrity: sha512-aePbxDmcYW++PaqBsJ+HYUFwCdv4LVvdnhBy78E57PIor8/OVvhMrADFFEDh8DHDFRv/O9i3lPhsENjO7QX0+A==}
+ engines: {node: '>=8'}
+ dependencies:
+ cliui: 6.0.0
+ decamelize: 1.2.0
+ find-up: 4.1.0
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ require-main-filename: 2.0.0
+ set-blocking: 2.0.0
+ string-width: 4.2.3
+ which-module: 2.0.0
+ y18n: 4.0.3
+ yargs-parser: 18.1.3
+ dev: true
+
+ /yargs/16.2.0:
+ resolution: {integrity: sha512-D1mvvtDG0L5ft/jGWkLpG1+m0eQxOfaBvTNELraWj22wSVUMWxZUvYgJYcKh6jGGIkJFhH4IZPQhR4TKpc8mBw==}
+ engines: {node: '>=10'}
+ dependencies:
+ cliui: 7.0.4
+ escalade: 3.1.1
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ string-width: 4.2.3
+ y18n: 5.0.8
+ yargs-parser: 20.2.9
+ dev: true
+
+ /yargs/17.6.2:
+ resolution: {integrity: sha512-1/9UrdHjDZc0eOU0HxOHoS78C69UD3JRMvzlJ7S79S2nTaWRA/whGCTV8o9e/N/1Va9YIV7Q4sOxD8VV4pCWOw==}
+ engines: {node: '>=12'}
+ dependencies:
+ cliui: 8.0.1
+ escalade: 3.1.1
+ get-caller-file: 2.0.5
+ require-directory: 2.1.1
+ string-width: 4.2.3
+ y18n: 5.0.8
+ yargs-parser: 21.1.1
+ dev: true
+
+ /yauzl/2.10.0:
+ resolution: {integrity: sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==}
+ dependencies:
+ buffer-crc32: 0.2.13
+ fd-slicer: 1.1.0
+ dev: true
+
+ /zone.js/0.11.8:
+ resolution: {integrity: sha512-82bctBg2hKcEJ21humWIkXRlLBBmrc3nN7DFh5LGGhcyycO2S7FN8NmdvlcKaGFDNVL4/9kFLmwmInTavdJERA==}
+ dependencies:
+ tslib: 2.4.1
+ dev: true
diff --git a/scouting/scouting_test.ts b/scouting/scouting_test.ts
index 8623fa1..cbeffc1 100644
--- a/scouting/scouting_test.ts
+++ b/scouting/scouting_test.ts
@@ -327,7 +327,7 @@
// Navigate to Notes Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Notes')).click();
- expect(await element(by.id('page-title')).getText()).toEqual('Notes');
+ expect(await getHeadingText()).toEqual('Notes');
// Add first team.
await setTextboxByIdTo('team_number_notes', '1234');
@@ -336,7 +336,7 @@
// Add note and select keyword for first team.
expect(await element(by.id('team-key-1')).getText()).toEqual('1234');
await element(by.id('text-input-1')).sendKeys('Good Driving');
- await element(by.id('Good Driving_0')).click();
+ await element(by.id('good_driving_0')).click();
// Navigate to add team selection and add another team.
await element(by.id('add-team-button')).click();
@@ -346,7 +346,7 @@
// Add note and select keyword for second team.
expect(await element(by.id('team-key-2')).getText()).toEqual('1235');
await element(by.id('text-input-2')).sendKeys('Bad Driving');
- await element(by.id('Bad Driving_1')).click();
+ await element(by.id('bad_driving_1')).click();
// Submit Notes.
await element(by.buttonText('Submit')).click();
@@ -359,7 +359,7 @@
// Navigate to Notes Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Notes')).click();
- expect(await element(by.id('page-title')).getText()).toEqual('Notes');
+ expect(await getHeadingText()).toEqual('Notes');
// Add first team.
await setTextboxByIdTo('team_number_notes', '1234');
@@ -395,9 +395,7 @@
// Navigate to Driver Ranking Page.
await loadPage();
await element(by.cssContainingText('.nav-link', 'Driver Ranking')).click();
- expect(await element(by.id('page-title')).getText()).toEqual(
- 'Driver Ranking'
- );
+ expect(await getHeadingText()).toEqual('Driver Ranking');
// Input match and team numbers.
await setTextboxByIdTo('match_number_selection', '11');
diff --git a/scouting/testing/BUILD b/scouting/testing/BUILD
index 7e26763..7f0b0dd 100644
--- a/scouting/testing/BUILD
+++ b/scouting/testing/BUILD
@@ -8,6 +8,7 @@
"//scouting",
"//scouting/db/testdb_server",
"//scouting/scraping:test_data",
+ "@rules_python//python/runfiles",
],
visibility = ["//visibility:public"],
)
diff --git a/scouting/testing/scouting_test_servers.py b/scouting/testing/scouting_test_servers.py
index 9df23c1..d1e4e32 100644
--- a/scouting/testing/scouting_test_servers.py
+++ b/scouting/testing/scouting_test_servers.py
@@ -18,6 +18,10 @@
import time
from typing import List
+from rules_python.python.runfiles import runfiles
+
+RUNFILES = runfiles.Create()
+
def wait_for_server(port: int):
"""Waits for the server at the specified port to respond to TCP connections."""
@@ -59,15 +63,22 @@
tba_api_dir = tmpdir / "api" / "v3" / "event" / f"{year}{event_code}"
tba_api_dir.mkdir(parents=True, exist_ok=True)
(tba_api_dir / "matches").write_text(
- Path(f"scouting/scraping/test_data/{year}_{event_code}.json").
- read_text())
+ Path(
+ RUNFILES.Rlocation(
+ f"org_frc971/scouting/scraping/test_data/{year}_{event_code}.json"
+ )).read_text())
class Runner:
"""Helps manage the services we need for testing the scouting app."""
- def start(self, port: int):
- """Starts the services needed for testing the scouting app."""
+ def start(self, port: int, notify_fd: int = 0):
+ """Starts the services needed for testing the scouting app.
+
+ if notify_fd is set to a non-zero value, the string "READY" is written
+ to that file descriptor once everything is set up.
+ """
+
self.tmpdir = Path(os.environ["TEST_TMPDIR"]) / "servers"
self.tmpdir.mkdir(exist_ok=True)
@@ -76,12 +87,15 @@
# The database needs to be running and addressable before the scouting
# webserver can start.
- self.testdb_server = subprocess.Popen(
- ["scouting/db/testdb_server/testdb_server_/testdb_server"])
+ self.testdb_server = subprocess.Popen([
+ RUNFILES.Rlocation(
+ "org_frc971/scouting/db/testdb_server/testdb_server_/testdb_server"
+ )
+ ])
wait_for_server(5432)
self.webserver = subprocess.Popen([
- "scouting/scouting",
+ RUNFILES.Rlocation("org_frc971/scouting/scouting"),
f"--port={port}",
f"--db_config={db_config}",
f"--tba_config={tba_config}",
@@ -99,6 +113,10 @@
wait_for_server(7000)
wait_for_server(port)
+ if notify_fd:
+ with os.fdopen(notify_fd, "w") as file:
+ file.write("READY")
+
def stop(self):
"""Stops the services needed for testing the scouting app."""
servers = (self.webserver, self.testdb_server, self.fake_tba_api)
@@ -127,10 +145,17 @@
parser.add_argument("--port",
type=int,
help="The port for the actual web server.")
+ parser.add_argument(
+ "--notify_fd",
+ type=int,
+ default=0,
+ help=("If non-zero, indicates a file descriptor to which 'READY' is "
+ "written when everything has started up."),
+ )
args = parser.parse_args(argv[1:])
runner = Runner()
- runner.start(args.port)
+ runner.start(args.port, args.notify_fd)
# Wait until we're asked to shut down via CTRL-C or SIGTERM.
signal.signal(signal.SIGINT, discard_signal)
diff --git a/scouting/www/counter_button/package.json b/scouting/www/counter_button/package.json
new file mode 100644
index 0000000..61eb83b
--- /dev/null
+++ b/scouting/www/counter_button/package.json
@@ -0,0 +1,4 @@
+{
+ "name": "@org_frc971/scouting/www/counter_button",
+ "private": true
+}
diff --git a/scouting/www/driver_ranking/driver_ranking.component.ts b/scouting/www/driver_ranking/driver_ranking.component.ts
index aadb3b0..b251938 100644
--- a/scouting/www/driver_ranking/driver_ranking.component.ts
+++ b/scouting/www/driver_ranking/driver_ranking.component.ts
@@ -1,7 +1,7 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {SubmitDriverRanking} from 'org_frc971/scouting/webserver/requests/messages/submit_driver_ranking_generated';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {SubmitDriverRanking} from '../../webserver/requests/messages/submit_driver_ranking_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
// TeamSelection: Display form to input which
// teams to rank and the match number.
diff --git a/scouting/www/driver_ranking/driver_ranking.ng.html b/scouting/www/driver_ranking/driver_ranking.ng.html
index 452359c..1fa1bc8 100644
--- a/scouting/www/driver_ranking/driver_ranking.ng.html
+++ b/scouting/www/driver_ranking/driver_ranking.ng.html
@@ -1,4 +1,6 @@
-<h2 id="page-title">Driver Ranking</h2>
+<div class="header">
+ <h2>Driver Ranking</h2>
+</div>
<ng-container [ngSwitch]="section">
<div *ngSwitchCase="'TeamSelection'">
diff --git a/scouting/www/driver_ranking/package.json b/scouting/www/driver_ranking/package.json
new file mode 100644
index 0000000..06472cf
--- /dev/null
+++ b/scouting/www/driver_ranking/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/driver_ranking",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
index 330ab47..01c9fff 100644
--- a/scouting/www/entry/entry.component.ts
+++ b/scouting/www/entry/entry.component.ts
@@ -9,12 +9,12 @@
} from '@angular/core';
import {FormsModule} from '@angular/forms';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
import {
ClimbLevel,
SubmitDataScouting,
-} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
-import {SubmitDataScoutingResponse} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_response_generated';
+} from '../../webserver/requests/messages/submit_data_scouting_generated';
+import {SubmitDataScoutingResponse} from '../../webserver/requests/messages/submit_data_scouting_response_generated';
type Section =
| 'Team Selection'
diff --git a/scouting/www/entry/entry.module.ts b/scouting/www/entry/entry.module.ts
index 38e272e..3322c01 100644
--- a/scouting/www/entry/entry.module.ts
+++ b/scouting/www/entry/entry.module.ts
@@ -5,7 +5,7 @@
import {CounterButtonModule} from '../counter_button/counter_button.module';
import {EntryComponent} from './entry.component';
-import {ClimbLevel} from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
+import {ClimbLevel} from '../../webserver/requests/messages/submit_data_scouting_generated';
@Pipe({name: 'levelToString'})
export class LevelToStringPipe implements PipeTransform {
diff --git a/scouting/www/entry/package.json b/scouting/www/entry/package.json
new file mode 100644
index 0000000..5ecf57a
--- /dev/null
+++ b/scouting/www/entry/package.json
@@ -0,0 +1,8 @@
+{
+ "name": "@org_frc971/scouting/www/entry",
+ "private": true,
+ "dependencies": {
+ "@org_frc971/scouting/www/counter_button": "workspace:*",
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/import_match_list/import_match_list.component.ts b/scouting/www/import_match_list/import_match_list.component.ts
index a3fe458..0e292ae 100644
--- a/scouting/www/import_match_list/import_match_list.component.ts
+++ b/scouting/www/import_match_list/import_match_list.component.ts
@@ -1,9 +1,9 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RefreshMatchListResponse} from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_response_generated';
-import {RefreshMatchList} from 'org_frc971/scouting/webserver/requests/messages/refresh_match_list_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RefreshMatchListResponse} from '../../webserver/requests/messages/refresh_match_list_response_generated';
+import {RefreshMatchList} from '../../webserver/requests/messages/refresh_match_list_generated';
@Component({
selector: 'app-import-match-list',
diff --git a/scouting/www/import_match_list/package.json b/scouting/www/import_match_list/package.json
new file mode 100644
index 0000000..d80b0dc
--- /dev/null
+++ b/scouting/www/import_match_list/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/import_match_list",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/match_list/match_list.component.ts b/scouting/www/match_list/match_list.component.ts
index ab54e3e..c50cffd 100644
--- a/scouting/www/match_list/match_list.component.ts
+++ b/scouting/www/match_list/match_list.component.ts
@@ -1,11 +1,11 @@
import {Component, EventEmitter, OnInit, Output} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllMatches} from '../../webserver/requests/messages/request_all_matches_generated';
import {
Match,
RequestAllMatchesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+} from '../../webserver/requests/messages/request_all_matches_response_generated';
import {MatchListRequestor} from '../rpc/match_list_requestor';
diff --git a/scouting/www/match_list/package.json b/scouting/www/match_list/package.json
new file mode 100644
index 0000000..3a02094
--- /dev/null
+++ b/scouting/www/match_list/package.json
@@ -0,0 +1,8 @@
+{
+ "name": "@org_frc971/scouting/www/match_list",
+ "private": true,
+ "dependencies": {
+ "@org_frc971/scouting/www/rpc": "workspace:*",
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/notes/notes.component.ts b/scouting/www/notes/notes.component.ts
index f503e2d..177ad44 100644
--- a/scouting/www/notes/notes.component.ts
+++ b/scouting/www/notes/notes.component.ts
@@ -1,13 +1,13 @@
import {Component, HostListener} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestNotesForTeam} from 'org_frc971/scouting/webserver/requests/messages/request_notes_for_team_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestNotesForTeam} from '../../webserver/requests/messages/request_notes_for_team_generated';
import {
Note as NoteFb,
RequestNotesForTeamResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_notes_for_team_response_generated';
-import {SubmitNotes} from 'org_frc971/scouting/webserver/requests/messages/submit_notes_generated';
-import {SubmitNotesResponse} from 'org_frc971/scouting/webserver/requests/messages/submit_notes_response_generated';
+} from '../../webserver/requests/messages/request_notes_for_team_response_generated';
+import {SubmitNotes} from '../../webserver/requests/messages/submit_notes_generated';
+import {SubmitNotesResponse} from '../../webserver/requests/messages/submit_notes_response_generated';
/*
For new games, the keywords being used will likely need to be updated.
@@ -175,4 +175,8 @@
this.errorMessage = '';
this.section = 'TeamSelection';
}
+
+ labelToId(label: String): String {
+ return label.replaceAll(' ', '_').toLowerCase();
+ }
}
diff --git a/scouting/www/notes/notes.ng.html b/scouting/www/notes/notes.ng.html
index b51a7ce..cb5e8ef 100644
--- a/scouting/www/notes/notes.ng.html
+++ b/scouting/www/notes/notes.ng.html
@@ -1,4 +1,6 @@
-<h2 id="page-title">Notes</h2>
+<div class="header">
+ <h2>Notes</h2>
+</div>
<ng-container [ngSwitch]="section">
<div *ngSwitchCase="'TeamSelection'">
@@ -58,7 +60,7 @@
class="form-check-input"
[(ngModel)]="newData[i]['keywordsData'][key]"
type="checkbox"
- id="{{KEYWORD_CHECKBOX_LABELS[key]}}_{{i}}"
+ id="{{labelToId(KEYWORD_CHECKBOX_LABELS[key])}}_{{i}}"
name="{{KEYWORD_CHECKBOX_LABELS[key]}}"
/>
<label
@@ -81,7 +83,7 @@
class="form-check-input"
[(ngModel)]="newData[i]['keywordsData'][key]"
type="checkbox"
- id="{{KEYWORD_CHECKBOX_LABELS[key]}}"
+ id="{{labelToId(KEYWORD_CHECKBOX_LABELS[key])}}"
name="{{KEYWORD_CHECKBOX_LABELS[key]}}"
/>
<label
diff --git a/scouting/www/notes/package.json b/scouting/www/notes/package.json
new file mode 100644
index 0000000..8cbeb94
--- /dev/null
+++ b/scouting/www/notes/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/notes",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/package.json b/scouting/www/package.json
new file mode 100644
index 0000000..3ab0035
--- /dev/null
+++ b/scouting/www/package.json
@@ -0,0 +1,4 @@
+{
+ "private": true,
+ "dependencies": {}
+}
diff --git a/scouting/www/rpc/match_list_requestor.ts b/scouting/www/rpc/match_list_requestor.ts
index f97b1ca..fa2dcbd 100644
--- a/scouting/www/rpc/match_list_requestor.ts
+++ b/scouting/www/rpc/match_list_requestor.ts
@@ -1,11 +1,11 @@
import {Injectable} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllMatches} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllMatches} from '../../webserver/requests/messages/request_all_matches_generated';
import {
Match,
RequestAllMatchesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_matches_response_generated';
+} from '../../webserver/requests/messages/request_all_matches_response_generated';
const MATCH_TYPE_ORDERING = ['qm', 'ef', 'qf', 'sf', 'f'];
diff --git a/scouting/www/rpc/package.json b/scouting/www/rpc/package.json
new file mode 100644
index 0000000..6d1369a
--- /dev/null
+++ b/scouting/www/rpc/package.json
@@ -0,0 +1,4 @@
+{
+ "name": "@org_frc971/scouting/www/rpc",
+ "private": true
+}
diff --git a/scouting/www/rpc/view_data_requestor.ts b/scouting/www/rpc/view_data_requestor.ts
index 13fa788..d41bf43 100644
--- a/scouting/www/rpc/view_data_requestor.ts
+++ b/scouting/www/rpc/view_data_requestor.ts
@@ -1,21 +1,21 @@
import {Injectable} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
-import {RequestAllNotes} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
+import {RequestAllNotes} from '../../webserver/requests/messages/request_all_notes_generated';
import {
Note,
RequestAllNotesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_response_generated';
-import {RequestAllDriverRankings} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_generated';
+} from '../../webserver/requests/messages/request_all_notes_response_generated';
+import {RequestAllDriverRankings} from '../../webserver/requests/messages/request_all_driver_rankings_generated';
import {
Ranking,
RequestAllDriverRankingsResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_response_generated';
-import {RequestDataScouting} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_generated';
+} from '../../webserver/requests/messages/request_all_driver_rankings_response_generated';
+import {RequestDataScouting} from '../../webserver/requests/messages/request_data_scouting_generated';
import {
Stats,
RequestDataScoutingResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_response_generated';
+} from '../../webserver/requests/messages/request_data_scouting_response_generated';
@Injectable({providedIn: 'root'})
export class ViewDataRequestor {
diff --git a/scouting/www/shift_schedule/package.json b/scouting/www/shift_schedule/package.json
new file mode 100644
index 0000000..1d71623
--- /dev/null
+++ b/scouting/www/shift_schedule/package.json
@@ -0,0 +1,7 @@
+{
+ "name": "@org_frc971/scouting/www/shift_schedule",
+ "private": true,
+ "dependencies": {
+ "@angular/forms": "15.0.1"
+ }
+}
diff --git a/scouting/www/shift_schedule/shift_schedule.component.ts b/scouting/www/shift_schedule/shift_schedule.component.ts
index 2f22653..074eb97 100644
--- a/scouting/www/shift_schedule/shift_schedule.component.ts
+++ b/scouting/www/shift_schedule/shift_schedule.component.ts
@@ -1,6 +1,6 @@
import {Component, OnInit} from '@angular/core';
import {Builder, ByteBuffer} from 'flatbuffers';
-import {ErrorResponse} from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import {ErrorResponse} from '../../webserver/requests/messages/error_response_generated';
@Component({
selector: 'shift-schedule',
diff --git a/scouting/www/view/view.component.ts b/scouting/www/view/view.component.ts
index 30f5914..593b0f4 100644
--- a/scouting/www/view/view.component.ts
+++ b/scouting/www/view/view.component.ts
@@ -2,15 +2,15 @@
import {
Ranking,
RequestAllDriverRankingsResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_driver_rankings_response_generated';
+} from '../../webserver/requests/messages/request_all_driver_rankings_response_generated';
import {
Stats,
RequestDataScoutingResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_data_scouting_response_generated';
+} from '../../webserver/requests/messages/request_data_scouting_response_generated';
import {
Note,
RequestAllNotesResponse,
-} from 'org_frc971/scouting/webserver/requests/messages/request_all_notes_response_generated';
+} from '../../webserver/requests/messages/request_all_notes_response_generated';
import {ViewDataRequestor} from '../rpc/view_data_requestor';
diff --git a/tools/build_rules/js.bzl b/tools/build_rules/js.bzl
index 5510266..d334764 100644
--- a/tools/build_rules/js.bzl
+++ b/tools/build_rules/js.bzl
@@ -3,7 +3,15 @@
load("@npm//@bazel/terser:index.bzl", "terser_minified")
load("@bazel_skylib//lib:paths.bzl", "paths")
load("@npm//@bazel/protractor:index.bzl", "protractor_web_test_suite")
-load("@npm//@bazel/typescript:index.bzl", "ts_project")
+load("@npm//@bazel/typescript:index.bzl", upstream_ts_library = "ts_library", upstream_ts_project = "ts_project")
+
+def ts_project(**kwargs):
+ """A trivial wrapper to prepare for the rules_js migration.
+
+ The intent is to change his macro to wrap the new rules_js ts_project
+ implementation.
+ """
+ upstream_ts_library(**kwargs)
def rollup_bundle(name, deps, visibility = None, **kwargs):
"""Calls the upstream rollup_bundle() and exposes a .min.js file.
@@ -72,7 +80,7 @@
See the documentation for more information:
https://bazelbuild.github.io/rules_nodejs/Protractor.html#protractor_web_test_suite
"""
- ts_project(
+ upstream_ts_project(
name = name + "__lib",
srcs = srcs,
testonly = 1,
diff --git a/tsconfig.json b/tsconfig.json
index aed3439..16fe795 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -3,8 +3,8 @@
"experimentalDecorators": true,
"strict": false,
"noImplicitAny": false,
- "target": "es6",
- "lib": ["es6", "dom", "dom.iterable"],
+ "target": "es2021",
+ "lib": ["es2021", "dom", "dom.iterable"],
"moduleResolution": "node"
},
"bazelOptions": {
diff --git a/y2018/BUILD b/y2018/BUILD
index ac59493..8feaac4 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -57,9 +57,10 @@
"//aos/network:team_number",
"//aos/stl_mutex",
"//frc971:constants",
+ "//frc971/control_loops/double_jointed_arm:dynamics",
"//frc971/shooter_interpolation:interpolation",
"//y2018/control_loops/drivetrain:polydrivetrain_plants",
- "//y2018/control_loops/superstructure/arm:dynamics",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
"//y2018/control_loops/superstructure/intake:intake_plants",
"@com_github_google_glog//:glog",
],
diff --git a/y2018/constants.h b/y2018/constants.h
index 16f1f8c..2a6f0ac 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -6,7 +6,8 @@
#include "frc971/constants.h"
#include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
namespace y2018 {
@@ -49,8 +50,8 @@
return (12.0 / 60.0) * (18.0 / 84.0);
}
static constexpr double kMaxProximalEncoderPulsesPerSecond() {
- return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
- (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG1 /
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
}
static constexpr double kProximalPotRatio() { return (12.0 / 60.0); }
@@ -58,8 +59,8 @@
static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
static constexpr double kDistalEncoderRatio() { return (12.0 / 60.0); }
static constexpr double kMaxDistalEncoderPulsesPerSecond() {
- return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
- (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG2 /
+ return control_loops::superstructure::arm::kArmConstants.free_speed /
+ (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g2 /
kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
}
static constexpr double kDistalPotRatio() {
diff --git a/y2018/control_loops/python/graph_codegen.py b/y2018/control_loops/python/graph_codegen.py
index e7f8ce1..be267de 100644
--- a/y2018/control_loops/python/graph_codegen.py
+++ b/y2018/control_loops/python/graph_codegen.py
@@ -27,12 +27,12 @@
cc_file.append(" %s," % (alpha_unitizer))
if reverse:
cc_file.append(
- " Trajectory(Path::Reversed(%s()), 0.005));"
+ " Trajectory(dynamics, Path::Reversed(%s()), 0.005));"
% (path_function_name(str(name))))
else:
cc_file.append(
- " Trajectory(%s(), 0.005));" %
- (path_function_name(str(name))))
+ " Trajectory(dynamics, %s(), 0.005));"
+ % (path_function_name(str(name))))
start_index = None
end_index = None
@@ -68,9 +68,14 @@
cc_file.append("#include <memory>")
cc_file.append("")
cc_file.append(
- "#include \"y2018/control_loops/superstructure/arm/trajectory.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
cc_file.append(
- "#include \"y2018/control_loops/superstructure/arm/graph.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+
+ cc_file.append("using frc971::control_loops::arm::Trajectory;")
+ cc_file.append("using frc971::control_loops::arm::Path;")
+ cc_file.append("using frc971::control_loops::arm::SearchGraph;")
+
cc_file.append("")
cc_file.append("namespace y2018 {")
cc_file.append("namespace control_loops {")
@@ -86,15 +91,21 @@
h_file.append("#include <memory>")
h_file.append("")
h_file.append(
- "#include \"y2018/control_loops/superstructure/arm/trajectory.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/trajectory.h\"")
h_file.append(
- "#include \"y2018/control_loops/superstructure/arm/graph.h\"")
+ "#include \"frc971/control_loops/double_jointed_arm/graph.h\"")
+ h_file.append(
+ "#include \"frc971/control_loops/double_jointed_arm/dynamics.h\"")
h_file.append("")
h_file.append("namespace y2018 {")
h_file.append("namespace control_loops {")
h_file.append("namespace superstructure {")
h_file.append("namespace arm {")
+ h_file.append("using frc971::control_loops::arm::Trajectory;")
+ h_file.append("using frc971::control_loops::arm::Path;")
+ h_file.append("using frc971::control_loops::arm::SearchGraph;")
+
h_file.append("")
h_file.append("struct TrajectoryAndParams {")
h_file.append(" TrajectoryAndParams(double new_vmax,")
@@ -182,11 +193,13 @@
h_file.append("")
h_file.append("// Builds a search graph.")
h_file.append("SearchGraph MakeSearchGraph("
+ "const frc971::control_loops::arm::Dynamics *dynamics, "
"::std::vector<TrajectoryAndParams> *trajectories,")
h_file.append(" "
"const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
h_file.append(" double vmax);")
cc_file.append("SearchGraph MakeSearchGraph("
+ "const frc971::control_loops::arm::Dynamics *dynamics, "
"::std::vector<TrajectoryAndParams> *trajectories,")
cc_file.append(" "
"const ::Eigen::Matrix<double, 2, 2> &alpha_unitizer,")
diff --git a/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 567810d..a3cb808 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -94,6 +94,7 @@
"//frc971/control_loops:control_loop_test",
"//frc971/control_loops:position_sensor_sim",
"//frc971/control_loops:team_number_test_environment",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
"//y2018/control_loops/superstructure/intake:intake_plants",
],
)
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index d05c245..9f969ff 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -1,128 +1,4 @@
cc_library(
- name = "trajectory",
- srcs = [
- "trajectory.cc",
- ],
- hdrs = [
- "trajectory.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- ":dynamics",
- "//aos/logging",
- "//frc971/control_loops:dlqr",
- "//frc971/control_loops:jacobian",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_test(
- name = "trajectory_test",
- srcs = [
- "trajectory_test.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":demo_path",
- ":dynamics",
- ":ekf",
- ":trajectory",
- "//aos/testing:googletest",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "dynamics",
- srcs = [
- "dynamics.cc",
- ],
- hdrs = [
- "dynamics.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/control_loops:runge_kutta",
- "@com_github_gflags_gflags//:gflags",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "demo_path",
- srcs = [
- "demo_path.cc",
- ],
- hdrs = ["demo_path.h"],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [":trajectory"],
-)
-
-cc_test(
- name = "dynamics_test",
- srcs = [
- "dynamics_test.cc",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":dynamics",
- "//aos/testing:googletest",
- ],
-)
-
-cc_binary(
- name = "trajectory_plot",
- srcs = [
- "trajectory_plot.cc",
- ],
- target_compatible_with = ["@platforms//cpu:x86_64"],
- deps = [
- ":ekf",
- ":generated_graph",
- ":trajectory",
- "//third_party/matplotlib-cpp",
- "@com_github_gflags_gflags//:gflags",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "ekf",
- srcs = [
- "ekf.cc",
- ],
- hdrs = [
- "ekf.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- ":dynamics",
- "//frc971/control_loops:jacobian",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
- name = "graph",
- srcs = ["graph.cc"],
- hdrs = ["graph.h"],
- target_compatible_with = ["@platforms//os:linux"],
-)
-
-cc_test(
- name = "graph_test",
- srcs = ["graph_test.cc"],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":graph",
- "//aos/testing:googletest",
- ],
-)
-
-cc_library(
name = "arm",
srcs = [
"arm.cc",
@@ -133,15 +9,16 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- ":demo_path",
- ":ekf",
":generated_graph",
- ":graph",
- ":trajectory",
+ "//frc971/control_loops/double_jointed_arm:demo_path",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
"//frc971/zeroing",
"//y2018:constants",
"//y2018/control_loops/superstructure:superstructure_position_fbs",
"//y2018/control_loops/superstructure:superstructure_status_fbs",
+ "//y2018/control_loops/superstructure/arm:arm_constants",
],
)
@@ -170,7 +47,35 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- ":graph",
- ":trajectory",
+ ":arm_constants",
+ "//frc971/control_loops/double_jointed_arm:graph",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ ],
+)
+
+cc_library(
+ name = "arm_constants",
+ hdrs = ["arm_constants.h"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops/double_jointed_arm:dynamics",
+ ],
+)
+
+cc_binary(
+ name = "trajectory_plot",
+ srcs = [
+ "trajectory_plot.cc",
+ ],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":arm_constants",
+ ":generated_graph",
+ "//frc971/analysis:in_process_plotter",
+ "//frc971/control_loops/double_jointed_arm:ekf",
+ "//frc971/control_loops/double_jointed_arm:trajectory",
+ "@com_github_gflags_gflags//:gflags",
+ "@org_tuxfamily_eigen//:eigen",
],
)
diff --git a/y2018/control_loops/superstructure/arm/arm.cc b/y2018/control_loops/superstructure/arm/arm.cc
index 1c29157..ab5deea 100644
--- a/y2018/control_loops/superstructure/arm/arm.cc
+++ b/y2018/control_loops/superstructure/arm/arm.cc
@@ -5,8 +5,9 @@
#include "aos/logging/logging.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/demo_path.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/demo_path.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
namespace y2018 {
@@ -29,9 +30,12 @@
alpha_unitizer_((::Eigen::Matrix<double, 2, 2>() << 1.0 / kAlpha0Max(),
0.0, 0.0, 1.0 / kAlpha1Max())
.finished()),
- search_graph_(MakeSearchGraph(&trajectories_, alpha_unitizer_, kVMax())),
+ dynamics_(kArmConstants),
+ search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
+ kVMax())),
+ arm_ekf_(&dynamics_),
// Go to the start of the first trajectory.
- follower_(ReadyAboveBoxPoint()),
+ follower_(&dynamics_, ReadyAboveBoxPoint()),
points_(PointList()) {
int i = 0;
for (const auto &trajectory : trajectories_) {
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 7ceb001..51d6c4d 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -4,14 +4,17 @@
#include "aos/time/time.h"
#include "frc971/zeroing/zeroing.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
-#include "y2018/control_loops/superstructure/arm/graph.h"
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
+#include "frc971/control_loops/double_jointed_arm/graph.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
+using frc971::control_loops::arm::TrajectoryFollower;
+using frc971::control_loops::arm::EKF;
+
namespace y2018 {
namespace control_loops {
namespace superstructure {
@@ -114,6 +117,8 @@
double vmax_ = kVMax();
+ frc971::control_loops::arm::Dynamics dynamics_;
+
::std::vector<TrajectoryAndParams> trajectories_;
SearchGraph search_graph_;
diff --git a/y2018/control_loops/superstructure/arm/arm_constants.h b/y2018/control_loops/superstructure/arm/arm_constants.h
new file mode 100644
index 0000000..9ac7020
--- /dev/null
+++ b/y2018/control_loops/superstructure/arm/arm_constants.h
@@ -0,0 +1,53 @@
+#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
+
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+
+namespace y2018 {
+namespace control_loops {
+namespace superstructure {
+namespace arm {
+
+constexpr double kEfficiencyTweak = 0.95;
+constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
+constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
+constexpr double kStallCurrent = 89.0;
+
+constexpr ::frc971::control_loops::arm::ArmConstants kArmConstants = {
+ .l1 = 46.25 * 0.0254,
+ .l2 = 41.80 * 0.0254,
+ .m1 = 9.34 / 2.2,
+ .m2 = 9.77 / 2.2,
+
+ // Moment of inertia of the joints in kg m^2
+ .j1 = 2957.05 * 0.0002932545454545454,
+ .j2 = 2824.70 * 0.0002932545454545454,
+
+ // Radius of the center of mass of the joints in meters.
+ .r1 = 21.64 * 0.0254,
+ .r2 = 26.70 * 0.0254,
+
+ // Gear ratios for the two joints.
+ .g1 = 140.0,
+ .g2 = 90.0,
+
+ // MiniCIM motor constants.
+ .efficiency_tweak = kEfficiencyTweak,
+ .stall_torque = kStallTorque,
+ .free_speed = kFreeSpeed,
+ .stall_current = kStallCurrent,
+ .resistance = 12.0 / kStallCurrent,
+ .Kv = kFreeSpeed / 12.0,
+ .Kt = kStallTorque / kStallCurrent,
+
+ // Number of motors on the distal joint.
+ .num_distal_motors = 2.0,
+};
+
+
+} // namespace arm
+} // namespace superstructure
+} // namespace control_loops
+} // namespace y2018
+
+#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_CONSTANTS_H_
diff --git a/y2018/control_loops/superstructure/arm/demo_path.h b/y2018/control_loops/superstructure/arm/demo_path.h
deleted file mode 100644
index 0c18103..0000000
--- a/y2018/control_loops/superstructure/arm/demo_path.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
-
-#include <memory>
-
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-::std::unique_ptr<Path> MakeDemoPath();
-::std::unique_ptr<Path> MakeReversedDemoPath();
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DEMO_PATH_H_
diff --git a/y2018/control_loops/superstructure/arm/dynamics.cc b/y2018/control_loops/superstructure/arm/dynamics.cc
deleted file mode 100644
index 02a2861..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics.cc
+++ /dev/null
@@ -1,35 +0,0 @@
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-
-DEFINE_bool(gravity, true, "If true, enable gravity.");
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K3 =
- (::Eigen::Matrix<double, 2, 2>()
- << Dynamics::kG1 * Dynamics::Kt / Dynamics::kResistance,
- 0.0, 0.0, Dynamics::kG2 *Dynamics::kNumDistalMotors *Dynamics::Kt /
- Dynamics::kResistance)
- .finished();
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K3_inverse = K3.inverse();
-
-const ::Eigen::Matrix<double, 2, 2> Dynamics::K4 =
- (::Eigen::Matrix<double, 2, 2>()
- << Dynamics::kG1 * Dynamics::kG1 * Dynamics::Kt /
- (Dynamics::Kv * Dynamics::kResistance),
- 0.0, 0.0,
- Dynamics::kG2 *Dynamics::kG2 *Dynamics::Kt *Dynamics::kNumDistalMotors /
- (Dynamics::Kv * Dynamics::kResistance))
- .finished();
-
-constexpr double Dynamics::kAlpha;
-constexpr double Dynamics::kBeta;
-constexpr double Dynamics::kGamma;
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
diff --git a/y2018/control_loops/superstructure/arm/dynamics.h b/y2018/control_loops/superstructure/arm/dynamics.h
deleted file mode 100644
index b1ebc97..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics.h
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
-#define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
-
-#include "Eigen/Dense"
-
-#include "frc971/control_loops/runge_kutta.h"
-#include "gflags/gflags.h"
-
-DECLARE_bool(gravity);
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-
-// This class captures the dynamics of our system. It doesn't actually need to
-// store state yet, so everything can be constexpr and/or static.
-class Dynamics {
- public:
- // Below, 1 refers to the proximal joint, and 2 refers to the distal joint.
- // Length of the joints in meters.
- static constexpr double kL1 = 46.25 * 0.0254;
- static constexpr double kL2 = 41.80 * 0.0254;
-
- // Mass of the joints in kilograms.
- static constexpr double kM1 = 9.34 / 2.2;
- static constexpr double kM2 = 9.77 / 2.2;
-
- // Moment of inertia of the joints in kg m^2
- static constexpr double kJ1 = 2957.05 * 0.0002932545454545454;
- static constexpr double kJ2 = 2824.70 * 0.0002932545454545454;
-
- // Radius of the center of mass of the joints in meters.
- static constexpr double r1 = 21.64 * 0.0254;
- static constexpr double r2 = 26.70 * 0.0254;
-
- // Gear ratios for the two joints.
- static constexpr double kG1 = 140.0;
- static constexpr double kG2 = 90.0;
-
- // MiniCIM motor constants.
- static constexpr double kEfficiencyTweak = 0.95;
- static constexpr double kStallTorque = 1.41 * kEfficiencyTweak;
- static constexpr double kFreeSpeed = (5840.0 / 60.0) * 2.0 * M_PI;
- static constexpr double kStallCurrent = 89.0;
- static constexpr double kResistance = 12.0 / kStallCurrent;
- static constexpr double Kv = kFreeSpeed / 12.0;
- static constexpr double Kt = kStallTorque / kStallCurrent;
-
- // Number of motors on the distal joint.
- static constexpr double kNumDistalMotors = 2.0;
-
- static constexpr double kAlpha = kJ1 + r1 * r1 * kM1 + kL1 * kL1 * kM2;
- static constexpr double kBeta = kL1 * r2 * kM2;
- static constexpr double kGamma = kJ2 + r2 * r2 * kM2;
-
- // K3, K4 matricies described below.
- static const ::Eigen::Matrix<double, 2, 2> K3;
- static const ::Eigen::Matrix<double, 2, 2> K3_inverse;
- static const ::Eigen::Matrix<double, 2, 2> K4;
-
- // Generates K1-2 for the arm ODE.
- // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
- // These matricies are missing the velocity factor for K2[1, 0], and K2[0, 1].
- // You probbaly want MatriciesForState.
- static void NormilizedMatriciesForState(
- const ::Eigen::Matrix<double, 4, 1> &X,
- ::Eigen::Matrix<double, 2, 2> *K1_result,
- ::Eigen::Matrix<double, 2, 2> *K2_result) {
- const double angle = X(0, 0) - X(2, 0);
- const double s = ::std::sin(angle);
- const double c = ::std::cos(angle);
- *K1_result << kAlpha, c * kBeta, c * kBeta, kGamma;
- *K2_result << 0.0, s * kBeta, -s * kBeta, 0.0;
- }
-
- // Generates K1-2 for the arm ODE.
- // K1 * d^2 theta / dt^2 + K2 * d theta / dt = K3 * V - K4 * d theta/dt
- static void MatriciesForState(const ::Eigen::Matrix<double, 4, 1> &X,
- ::Eigen::Matrix<double, 2, 2> *K1_result,
- ::Eigen::Matrix<double, 2, 2> *K2_result) {
- NormilizedMatriciesForState(X, K1_result, K2_result);
- (*K2_result)(1, 0) *= X(1, 0);
- (*K2_result)(0, 1) *= X(3, 0);
- }
-
- // TODO(austin): We may want a way to provide K1 and K2 to save CPU cycles.
-
- // Calculates the acceleration given the current state and control input.
- static const ::Eigen::Matrix<double, 4, 1> Acceleration(
- const ::Eigen::Matrix<double, 4, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X, &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> velocity =
- (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
-
- const ::Eigen::Matrix<double, 2, 1> torque = K3 * U - K4 * velocity;
- const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
-
- const ::Eigen::Matrix<double, 2, 1> accel =
- K1.inverse() * (torque + gravity_torque - K2 * velocity);
-
- return (::Eigen::Matrix<double, 4, 1>() << X(1, 0), accel(0, 0), X(3, 0),
- accel(1, 0))
- .finished();
- }
-
- // Calculates the acceleration given the current augmented kalman filter state
- // and control input.
- static const ::Eigen::Matrix<double, 6, 1> EKFAcceleration(
- const ::Eigen::Matrix<double, 6, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X.block<4, 1>(0, 0), &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> velocity =
- (::Eigen::Matrix<double, 2, 1>() << X(1, 0), X(3, 0)).finished();
-
- const ::Eigen::Matrix<double, 2, 1> torque =
- K3 *
- (U +
- (::Eigen::Matrix<double, 2, 1>() << X(4, 0), X(5, 0)).finished()) -
- K4 * velocity;
- const ::Eigen::Matrix<double, 2, 1> gravity_torque =
- GravityTorque(X.block<4, 1>(0, 0));
-
- const ::Eigen::Matrix<double, 2, 1> accel =
- K1.inverse() * (torque + gravity_torque - K2 * velocity);
-
- return (::Eigen::Matrix<double, 6, 1>() << X(1, 0), accel(0, 0), X(3, 0),
- accel(1, 0), 0.0, 0.0)
- .finished();
- }
-
- // Calculates the voltage required to follow the trajectory. This requires
- // knowing the current state, desired angular velocity and acceleration.
- static const ::Eigen::Matrix<double, 2, 1> FF_U(
- const ::Eigen::Matrix<double, 4, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &omega_t,
- const ::Eigen::Matrix<double, 2, 1> &alpha_t) {
- ::Eigen::Matrix<double, 2, 2> K1;
- ::Eigen::Matrix<double, 2, 2> K2;
-
- MatriciesForState(X, &K1, &K2);
-
- const ::Eigen::Matrix<double, 2, 1> gravity_torque = GravityTorque(X);
-
- return K3_inverse *
- (K1 * alpha_t + K2 * omega_t + K4 * omega_t - gravity_torque);
- }
-
- static ::Eigen::Matrix<double, 2, 1> GravityTorque(
- const ::Eigen::Matrix<double, 4, 1> &X) {
- constexpr double kAccelDueToGravity = 9.8 * kEfficiencyTweak;
- return (::Eigen::Matrix<double, 2, 1>() << (r1 * kM1 + kL1 * kM2) *
- ::std::sin(X(0)) *
- kAccelDueToGravity,
- r2 * kM2 * ::std::sin(X(2)) * kAccelDueToGravity)
- .finished() *
- (FLAGS_gravity ? 1.0 : 0.0);
- }
-
- static const ::Eigen::Matrix<double, 4, 1> UnboundedDiscreteDynamics(
- const ::Eigen::Matrix<double, 4, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
- return ::frc971::control_loops::RungeKuttaU(Dynamics::Acceleration, X, U,
- dt);
- }
-
- static const ::Eigen::Matrix<double, 6, 1> UnboundedEKFDiscreteDynamics(
- const ::Eigen::Matrix<double, 6, 1> &X,
- const ::Eigen::Matrix<double, 2, 1> &U, double dt) {
- return ::frc971::control_loops::RungeKuttaU(Dynamics::EKFAcceleration, X, U,
- dt);
- }
-};
-
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
-
-#endif // Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_DYNAMICS_H_
diff --git a/y2018/control_loops/superstructure/arm/dynamics_test.cc b/y2018/control_loops/superstructure/arm/dynamics_test.cc
deleted file mode 100644
index 23e5adc..0000000
--- a/y2018/control_loops/superstructure/arm/dynamics_test.cc
+++ /dev/null
@@ -1,52 +0,0 @@
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-
-#include "gtest/gtest.h"
-
-namespace y2018 {
-namespace control_loops {
-namespace superstructure {
-namespace arm {
-namespace testing {
-
-// Tests that zero inputs result in no acceleration and no motion.
-// This isn't all that rigerous, but it's a good start.
-TEST(DynamicsTest, Acceleration) {
- Dynamics dynamics;
-
- EXPECT_TRUE(dynamics
- .Acceleration(::Eigen::Matrix<double, 4, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero())
- .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
-
- EXPECT_TRUE(dynamics
- .UnboundedDiscreteDynamics(
- ::Eigen::Matrix<double, 4, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero(), 0.1)
- .isApprox(::Eigen::Matrix<double, 4, 1>::Zero()));
-
- const ::Eigen::Matrix<double, 4, 1> X =
- (::Eigen::Matrix<double, 4, 1>() << M_PI / 2.0, 0.0, 0.0, 0.0).finished();
-
- ::std::cout << dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero())
- << ::std::endl;
-
- ::std::cout << dynamics.UnboundedDiscreteDynamics(
- X, dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero()),
- 0.01)
- << ::std::endl;
-
- EXPECT_TRUE(dynamics
- .UnboundedDiscreteDynamics(
- X, dynamics.FF_U(X, ::Eigen::Matrix<double, 2, 1>::Zero(),
- ::Eigen::Matrix<double, 2, 1>::Zero()),
- 0.01)
- .isApprox(X));
-}
-
-} // namespace testing
-} // namespace arm
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2018
diff --git a/y2018/control_loops/superstructure/arm/trajectory_plot.cc b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
index eb3f7c1..0cee664 100644
--- a/y2018/control_loops/superstructure/arm/trajectory_plot.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory_plot.cc
@@ -1,9 +1,10 @@
-#include "y2018/control_loops/superstructure/arm/trajectory.h"
-
+#include "aos/init.h"
+#include "frc971/analysis/in_process_plotter.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/ekf.h"
+#include "frc971/control_loops/double_jointed_arm/trajectory.h"
#include "gflags/gflags.h"
-#include "third_party/matplotlib-cpp/matplotlibcpp.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
-#include "y2018/control_loops/superstructure/arm/ekf.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
DEFINE_bool(forwards, true, "If true, run the forwards simulation.");
@@ -16,10 +17,12 @@
namespace arm {
void Main() {
- Trajectory trajectory(FLAGS_forwards
- ? MakeNeutralToFrontHighPath()
- : Path::Reversed(MakeNeutralToFrontHighPath()),
- 0.001);
+ frc971::control_loops::arm::Dynamics dynamics(kArmConstants);
+ frc971::control_loops::arm::Trajectory trajectory(
+ &dynamics,
+ FLAGS_forwards ? MakeNeutralToFrontHighPath()
+ : Path::Reversed(MakeNeutralToFrontHighPath()),
+ 0.001);
constexpr double kAlpha0Max = 30.0;
constexpr double kAlpha1Max = 50.0;
@@ -32,7 +35,7 @@
.finished();
trajectory.OptimizeTrajectory(alpha_unitizer, vmax);
- ::std::vector<double> distance_array = trajectory.DistanceArray();
+ const ::std::vector<double> distance_array = trajectory.DistanceArray();
::std::vector<double> theta0_array;
::std::vector<double> theta1_array;
@@ -96,7 +99,10 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t).array().max(-20).min(20);
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ .array()
+ .max(-20)
+ .min(20);
Uff0_distance_array.push_back(U(0));
Uff1_distance_array.push_back(U(1));
@@ -115,17 +121,20 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t).array().max(-20).min(20);
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ .array()
+ .max(-20)
+ .min(20);
Uff0_distance_array_curvature.push_back(U(0));
Uff1_distance_array_curvature.push_back(U(1));
}
for (const double distance : distance_array) {
- const double goal_velocity = trajectory.GetDVelocity(
- distance, trajectory.max_dvelocity());
- const double goal_acceleration = trajectory.GetDAcceleration(
- distance, trajectory.max_dvelocity());
+ const double goal_velocity =
+ trajectory.GetDVelocity(distance, trajectory.max_dvelocity());
+ const double goal_acceleration =
+ trajectory.GetDAcceleration(distance, trajectory.max_dvelocity());
const ::Eigen::Matrix<double, 2, 1> theta_t = trajectory.ThetaT(distance);
const ::Eigen::Matrix<double, 2, 1> omega_t =
trajectory.OmegaT(distance, goal_velocity);
@@ -134,7 +143,10 @@
const ::Eigen::Matrix<double, 6, 1> R = trajectory.R(theta_t, omega_t);
const ::Eigen::Matrix<double, 2, 1> U =
- Dynamics::FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t).array().max(-20).min(20);
+ dynamics.FF_U(R.block<4, 1>(0, 0), omega_t, alpha_t)
+ .array()
+ .max(-20)
+ .min(20);
Uff0_distance_array_backwards_only.push_back(U(0));
Uff1_distance_array_backwards_only.push_back(U(1));
@@ -147,7 +159,8 @@
X << theta_t(0), 0.0, theta_t(1), 0.0;
}
- TrajectoryFollower follower(&trajectory);
+ frc971::control_loops::arm::TrajectoryFollower follower(&dynamics,
+ &trajectory);
::std::vector<double> t_array;
::std::vector<double> theta0_goal_t_array;
@@ -178,7 +191,7 @@
::std::vector<double> torque0_hat_t_array;
::std::vector<double> torque1_hat_t_array;
- EKF arm_ekf;
+ frc971::control_loops::arm::EKF arm_ekf(&dynamics);
arm_ekf.Reset(X);
::std::cout << "Reset P: " << arm_ekf.P_reset() << ::std::endl;
::std::cout << "Stabilized P: " << arm_ekf.P_half_converged() << ::std::endl;
@@ -227,9 +240,9 @@
actual_U(0) += 1.0;
const ::Eigen::Matrix<double, 4, 1> xdot =
- Dynamics::Acceleration(X, actual_U);
+ dynamics.Acceleration(X, actual_U);
- X = Dynamics::UnboundedDiscreteDynamics(X, actual_U, sim_dt);
+ X = dynamics.UnboundedDiscreteDynamics(X, actual_U, sim_dt);
arm_ekf.Predict(follower.U(), sim_dt);
alpha0_t_array.push_back(xdot(1));
@@ -244,115 +257,100 @@
}
if (FLAGS_plot) {
- matplotlibcpp::figure();
- matplotlibcpp::title("Trajectory");
- matplotlibcpp::plot(theta0_array, theta1_array,
- {{"label", "desired path"}});
- matplotlibcpp::plot(theta0_t_array, theta1_t_array,
- {{"label", "actual path"}});
- matplotlibcpp::legend();
+ frc971::analysis::Plotter plotter;
- matplotlibcpp::figure();
- matplotlibcpp::plot(distance_array, theta0_array, {{"label", "theta0"}});
- matplotlibcpp::plot(distance_array, theta1_array, {{"label", "theta1"}});
- matplotlibcpp::plot(distance_array, omega0_array, {{"label", "omega0"}});
- matplotlibcpp::plot(distance_array, omega1_array, {{"label", "omega1"}});
- matplotlibcpp::plot(distance_array, alpha0_array, {{"label", "alpha0"}});
- matplotlibcpp::plot(distance_array, alpha1_array, {{"label", "alpha1"}});
+ plotter.AddFigure();
+ plotter.Title("Trajectory");
+ plotter.AddLine(theta0_array, theta1_array, "desired path");
+ plotter.AddLine(theta0_t_array, theta1_t_array, "actual path");
+ plotter.Publish();
- matplotlibcpp::plot(integrated_distance, integrated_theta0_array,
- {{"label", "itheta0"}});
- matplotlibcpp::plot(integrated_distance, integrated_theta1_array,
- {{"label", "itheta1"}});
- matplotlibcpp::plot(integrated_distance, integrated_omega0_array,
- {{"label", "iomega0"}});
- matplotlibcpp::plot(integrated_distance, integrated_omega1_array,
- {{"label", "iomega1"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("Input spline");
+ plotter.AddLine(distance_array, theta0_array, "theta0");
+ plotter.AddLine(distance_array, theta1_array, "theta1");
+ plotter.AddLine(distance_array, omega0_array, "omega0");
+ plotter.AddLine(distance_array, omega1_array, "omega1");
+ plotter.AddLine(distance_array, alpha0_array, "alpha0");
+ plotter.AddLine(distance_array, alpha1_array, "alpha1");
- matplotlibcpp::figure();
- matplotlibcpp::plot(distance_array, trajectory.max_dvelocity_unfiltered(),
- {{"label", "pass0"}});
- matplotlibcpp::plot(distance_array, trajectory.max_dvelocity(),
- {{"label", "passb"}});
- matplotlibcpp::plot(distance_array, trajectory.max_dvelocity_forward_pass(),
- {{"label", "passf"}});
- matplotlibcpp::legend();
+ plotter.AddLine(integrated_distance, integrated_theta0_array,
+ "integrated theta0");
+ plotter.AddLine(integrated_distance, integrated_theta1_array,
+ "integrated theta1");
+ plotter.AddLine(integrated_distance, integrated_omega0_array,
+ "integrated omega0");
+ plotter.AddLine(integrated_distance, integrated_omega1_array,
+ "integrated omega1");
+ plotter.Publish();
- matplotlibcpp::figure();
- matplotlibcpp::plot(t_array, alpha0_goal_t_array,
- {{"label", "alpha0_t_goal"}});
- matplotlibcpp::plot(t_array, alpha0_t_array, {{"label", "alpha0_t"}});
- matplotlibcpp::plot(t_array, alpha1_goal_t_array,
- {{"label", "alpha1_t_goal"}});
- matplotlibcpp::plot(t_array, alpha1_t_array, {{"label", "alpha1_t"}});
- matplotlibcpp::plot(t_array, distance_t_array, {{"label", "distance_t"}});
- matplotlibcpp::plot(t_array, velocity_t_array, {{"label", "velocity_t"}});
- matplotlibcpp::plot(t_array, acceleration_t_array,
- {{"label", "acceleration_t"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("Solver passes");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_unfiltered(),
+ "pass0");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity(), "passb");
+ plotter.AddLine(distance_array, trajectory.max_dvelocity_forward_pass(),
+ "passf");
+ plotter.Publish();
- matplotlibcpp::figure();
- matplotlibcpp::title("Angular Velocities");
- matplotlibcpp::plot(t_array, omega0_goal_t_array,
- {{"label", "omega0_t_goal"}});
- matplotlibcpp::plot(t_array, omega0_t_array, {{"label", "omega0_t"}});
- matplotlibcpp::plot(t_array, omega0_hat_t_array,
- {{"label", "omega0_hat_t"}});
- matplotlibcpp::plot(t_array, omega1_goal_t_array,
- {{"label", "omega1_t_goal"}});
- matplotlibcpp::plot(t_array, omega1_t_array, {{"label", "omega1_t"}});
- matplotlibcpp::plot(t_array, omega1_hat_t_array,
- {{"label", "omega1_hat_t"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("Time Goals");
+ plotter.AddLine(t_array, alpha0_goal_t_array, "alpha0_t_goal");
+ plotter.AddLine(t_array, alpha0_t_array, "alpha0_t");
+ plotter.AddLine(t_array, alpha1_goal_t_array, "alpha1_t_goal");
+ plotter.AddLine(t_array, alpha1_t_array, "alpha1_t");
+ plotter.AddLine(t_array, distance_t_array, "distance_t");
+ plotter.AddLine(t_array, velocity_t_array, "velocity_t");
+ plotter.AddLine(t_array, acceleration_t_array, "acceleration_t");
+ plotter.Publish();
- matplotlibcpp::figure();
- matplotlibcpp::title("Voltages");
- matplotlibcpp::plot(t_array, u0_unsaturated_array, {{"label", "u0_full"}});
- matplotlibcpp::plot(t_array, u0_array, {{"label", "u0"}});
- matplotlibcpp::plot(t_array, uff0_array, {{"label", "uff0"}});
- matplotlibcpp::plot(t_array, u1_unsaturated_array, {{"label", "u1_full"}});
- matplotlibcpp::plot(t_array, u1_array, {{"label", "u1"}});
- matplotlibcpp::plot(t_array, uff1_array, {{"label", "uff1"}});
- matplotlibcpp::plot(t_array, torque0_hat_t_array,
- {{"label", "torque0_hat"}});
- matplotlibcpp::plot(t_array, torque1_hat_t_array,
- {{"label", "torque1_hat"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("Angular Velocities");
+ plotter.AddLine(t_array, omega0_goal_t_array, "omega0_t_goal");
+ plotter.AddLine(t_array, omega0_t_array, "omega0_t");
+ plotter.AddLine(t_array, omega0_hat_t_array, "omega0_hat_t");
+ plotter.AddLine(t_array, omega1_goal_t_array, "omega1_t_goal");
+ plotter.AddLine(t_array, omega1_t_array, "omega1_t");
+ plotter.AddLine(t_array, omega1_hat_t_array, "omega1_hat_t");
+ plotter.Publish();
+
+ plotter.AddFigure();
+ plotter.Title("Voltages");
+ plotter.AddLine(t_array, u0_unsaturated_array, "u0_full");
+ plotter.AddLine(t_array, u0_array, "u0");
+ plotter.AddLine(t_array, uff0_array, "uff0");
+ plotter.AddLine(t_array, u1_unsaturated_array, "u1_full");
+ plotter.AddLine(t_array, u1_array, "u1");
+ plotter.AddLine(t_array, uff1_array, "uff1");
+ plotter.AddLine(t_array, torque0_hat_t_array, "torque0_hat");
+ plotter.AddLine(t_array, torque1_hat_t_array, "torque1_hat");
+ plotter.Publish();
if (FLAGS_plot_thetas) {
- matplotlibcpp::figure();
- matplotlibcpp::title("Angles");
- matplotlibcpp::plot(t_array, theta0_goal_t_array,
- {{"label", "theta0_t_goal"}});
- matplotlibcpp::plot(t_array, theta0_t_array, {{"label", "theta0_t"}});
- matplotlibcpp::plot(t_array, theta0_hat_t_array,
- {{"label", "theta0_hat_t"}});
- matplotlibcpp::plot(t_array, theta1_goal_t_array,
- {{"label", "theta1_t_goal"}});
- matplotlibcpp::plot(t_array, theta1_t_array, {{"label", "theta1_t"}});
- matplotlibcpp::plot(t_array, theta1_hat_t_array,
- {{"label", "theta1_hat_t"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("Angles");
+ plotter.AddLine(t_array, theta0_goal_t_array, "theta0_t_goal");
+ plotter.AddLine(t_array, theta0_t_array, "theta0_t");
+ plotter.AddLine(t_array, theta0_hat_t_array, "theta0_hat_t");
+ plotter.AddLine(t_array, theta1_goal_t_array, "theta1_t_goal");
+ plotter.AddLine(t_array, theta1_t_array, "theta1_t");
+ plotter.AddLine(t_array, theta1_hat_t_array, "theta1_hat_t");
+ plotter.Publish();
}
- matplotlibcpp::figure();
- matplotlibcpp::title("ff for distance");
- matplotlibcpp::plot(distance_array, Uff0_distance_array, {{"label",
- "ff0"}});
- matplotlibcpp::plot(distance_array, Uff1_distance_array, {{"label",
- "ff1"}});
- matplotlibcpp::plot(distance_array, Uff0_distance_array_backwards_only,
- {{"label", "ff0_back"}});
- matplotlibcpp::plot(distance_array, Uff1_distance_array_backwards_only,
- {{"label", "ff1_back"}});
- matplotlibcpp::plot(distance_array, Uff0_distance_array_curvature,
- {{"label", "ff0_curve"}});
- matplotlibcpp::plot(distance_array, Uff1_distance_array_curvature,
- {{"label", "ff1_curve"}});
- matplotlibcpp::legend();
+ plotter.AddFigure();
+ plotter.Title("ff for distance");
+ plotter.AddLine(distance_array, Uff0_distance_array, "ff0");
+ plotter.AddLine(distance_array, Uff1_distance_array, "ff1");
+ plotter.AddLine(distance_array, Uff0_distance_array_backwards_only,
+ "ff0_back");
+ plotter.AddLine(distance_array, Uff1_distance_array_backwards_only,
+ "ff1_back");
+ plotter.AddLine(distance_array, Uff0_distance_array_curvature, "ff0_curve");
+ plotter.AddLine(distance_array, Uff1_distance_array_curvature, "ff1_curve");
- matplotlibcpp::show();
+ plotter.Publish();
+ plotter.Spin();
}
}
@@ -362,7 +360,7 @@
} // namespace y2018
int main(int argc, char **argv) {
- gflags::ParseCommandLineFlags(&argc, &argv, false);
+ ::aos::InitGoogle(&argc, &argv);
::y2018::control_loops::superstructure::arm::Main();
return 0;
}
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 285c8c3..54342c5 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -8,7 +8,8 @@
#include "frc971/control_loops/team_number_test_environment.h"
#include "gtest/gtest.h"
#include "y2018/constants.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
#include "y2018/control_loops/superstructure/arm/generated_graph.h"
#include "y2018/control_loops/superstructure/intake/intake_plant.h"
#include "y2018/control_loops/superstructure/superstructure.h"
@@ -129,7 +130,8 @@
constants::Values::kProximalEncoderRatio()),
distal_zeroing_constants_(distal_zeroing_constants),
distal_pot_encoder_(M_PI * 2.0 *
- constants::Values::kDistalEncoderRatio()) {
+ constants::Values::kDistalEncoderRatio()),
+ dynamics_(arm::kArmConstants) {
X_.setZero();
}
@@ -174,7 +176,7 @@
AOS_CHECK_LE(::std::abs(U(1)), voltage_check);
if (release_arm_brake) {
- X_ = arm::Dynamics::UnboundedDiscreteDynamics(X_, U, 0.00505);
+ X_ = dynamics_.UnboundedDiscreteDynamics(X_, U, 0.00505);
} else {
// Well, the brake shouldn't stop both joints, but this will get the tests
// to pass.
@@ -197,6 +199,8 @@
const ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants
distal_zeroing_constants_;
PositionSensorSimulator distal_pot_encoder_;
+
+ ::frc971::control_loops::arm::Dynamics dynamics_;
};
class SuperstructureSimulation {
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
index 93172b4..b0b7674 100644
--- a/y2019/vision/server/BUILD
+++ b/y2019/vision/server/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("//aos/seasocks:gen_embedded.bzl", "gen_embedded")
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "demo",
srcs = [
"demo.ts",
diff --git a/y2019/vision/server/www/BUILD b/y2019/vision/server/www/BUILD
index 7c40eaa..2e8be80 100644
--- a/y2019/vision/server/www/BUILD
+++ b/y2019/vision/server/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
package(default_visibility = ["//visibility:public"])
@@ -10,7 +9,7 @@
]),
)
-ts_library(
+ts_project(
name = "visualizer",
srcs = glob([
"*.ts",
diff --git a/y2020/BUILD b/y2020/BUILD
index 918ff79..2f6f963 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -35,7 +35,7 @@
robot_downloader(
name = "pi_download",
binaries = [
- "//y2020/vision:calibration",
+ "//frc971/vision:intrinsics_calibration",
"//y2020/vision:viewer",
],
data = [
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 0455d0f..fa153f0 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -1,7 +1,7 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:config.bzl", "aos_config")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
genrule(
name = "genrule_drivetrain",
@@ -216,7 +216,7 @@
],
)
-ts_library(
+ts_project(
name = "localizer_plotter",
srcs = ["localizer_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2020/control_loops/drivetrain/localizer_plotter.ts b/y2020/control_loops/drivetrain/localizer_plotter.ts
index b2120ef..03450ef 100644
--- a/y2020/control_loops/drivetrain/localizer_plotter.ts
+++ b/y2020/control_loops/drivetrain/localizer_plotter.ts
@@ -1,10 +1,10 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {Connection} from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import {MessageHandler, TimestampedMessage} from '../../../aos/network/www/aos_plotter';
+import {Point} from '../../../aos/network/www/plotter';
+import {Table} from '../../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index d3f303f..d1f20a2 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -136,7 +136,7 @@
],
)
-ts_library(
+ts_project(
name = "turret_plotter",
srcs = ["turret_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -152,7 +152,7 @@
],
)
-ts_library(
+ts_project(
name = "finisher_plotter",
srcs = ["finisher_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -163,7 +163,7 @@
],
)
-ts_library(
+ts_project(
name = "accelerator_plotter",
srcs = ["accelerator_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -174,7 +174,7 @@
],
)
-ts_library(
+ts_project(
name = "hood_plotter",
srcs = ["hood_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2020/control_loops/superstructure/accelerator_plotter.ts b/y2020/control_loops/superstructure/accelerator_plotter.ts
index e1bc5bc..a5014dc 100644
--- a/y2020/control_loops/superstructure/accelerator_plotter.ts
+++ b/y2020/control_loops/superstructure/accelerator_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index f2127f5..9799e2c 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/hood_plotter.ts b/y2020/control_loops/superstructure/hood_plotter.ts
index 55b1ba8..4102464 100644
--- a/y2020/control_loops/superstructure/hood_plotter.ts
+++ b/y2020/control_loops/superstructure/hood_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2020/control_loops/superstructure/turret_plotter.ts b/y2020/control_loops/superstructure/turret_plotter.ts
index 5cb15c6..4de5e1d 100644
--- a/y2020/control_loops/superstructure/turret_plotter.ts
+++ b/y2020/control_loops/superstructure/turret_plotter.ts
@@ -1,11 +1,11 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import * as configuration from 'org_frc971/aos/configuration_generated';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {Point} from 'org_frc971/aos/network/www/plotter';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import * as configuration from '../../../aos/configuration_generated';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import {MessageHandler, TimestampedMessage} from '../../../aos/network/www/aos_plotter';
+import {Point} from '../../../aos/network/www/plotter';
+import {Table} from '../../../aos/network/www/reflection';
import {ByteBuffer} from 'flatbuffers';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index 608ec5d..aa4e5bf 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -70,37 +70,6 @@
)
cc_binary(
- name = "calibration",
- srcs = [
- "calibration.cc",
- ],
- data = [
- "//y2020:aos_config",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = [
- "//y2020:__subpackages__",
- "//y2022:__subpackages__",
- "//y2023:__subpackages__",
- ],
- deps = [
- "//aos:init",
- "//aos/events:shm_event_loop",
- "//frc971/control_loops/drivetrain:improved_down_estimator",
- "//frc971/vision:charuco_lib",
- "//frc971/vision:vision_fbs",
- "//frc971/wpilib:imu_batch_fbs",
- "//frc971/wpilib:imu_fbs",
- "//third_party:opencv",
- "//y2020/vision/sift:sift_fbs",
- "//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision/tools/python_code:sift_training_data",
- "@com_google_absl//absl/strings:str_format",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_binary(
name = "viewer_replay",
srcs = [
"viewer_replay.cc",
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
deleted file mode 100644
index d5ed54f..0000000
--- a/y2020/vision/calibration.cc
+++ /dev/null
@@ -1,303 +0,0 @@
-#include <cmath>
-#include <opencv2/calib3d.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc.hpp>
-#include <regex>
-
-#include "Eigen/Dense"
-#include "Eigen/Geometry"
-#include "absl/strings/str_format.h"
-#include "aos/events/shm_event_loop.h"
-#include "aos/init.h"
-#include "aos/network/team_number.h"
-#include "aos/time/time.h"
-#include "aos/util/file.h"
-#include "frc971/vision/charuco_lib.h"
-
-DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
-DEFINE_string(camera_id, "", "Camera ID in format YY-NN-- year and number.");
-DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
-DEFINE_bool(display_undistorted, false,
- "If true, display the undistorted image.");
-DEFINE_string(pi, "", "Pi name to calibrate.");
-
-namespace frc971 {
-namespace vision {
-
-class Calibration {
- public:
- Calibration(aos::ShmEventLoop *event_loop, std::string_view pi,
- std::string_view camera_id)
- : event_loop_(event_loop),
- pi_(pi),
- pi_number_(aos::network::ParsePiNumber(pi)),
- camera_id_(camera_id),
- prev_H_camera_board_(Eigen::Affine3d()),
- prev_image_H_camera_board_(Eigen::Affine3d()),
- charuco_extractor_(
- event_loop, pi, TargetType::kCharuco, "/camera",
- [this](cv::Mat rgb_image,
- const aos::monotonic_clock::time_point eof,
- std::vector<cv::Vec4i> charuco_ids,
- std::vector<std::vector<cv::Point2f>> charuco_corners,
- bool valid, std::vector<Eigen::Vector3d> rvecs_eigen,
- std::vector<Eigen::Vector3d> tvecs_eigen) {
- HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners, valid,
- rvecs_eigen, tvecs_eigen);
- }),
- image_callback_(
- event_loop,
- absl::StrCat(
- "/pi", std::to_string(aos::network::ParsePiNumber(pi).value()),
- "/camera"),
- [this](cv::Mat rgb_image,
- const aos::monotonic_clock::time_point eof) {
- charuco_extractor_.HandleImage(rgb_image, eof);
- },
- std::chrono::milliseconds(5)) {
- CHECK(pi_number_) << ": Invalid pi number " << pi
- << ", failed to parse pi number";
- std::regex re{"^[0-9][0-9]-[0-9][0-9]"};
- CHECK(std::regex_match(camera_id_, re))
- << ": Invalid camera_id '" << camera_id_
- << "', should be of form YY-NN";
- }
-
- void HandleCharuco(cv::Mat rgb_image,
- const aos::monotonic_clock::time_point /*eof*/,
- std::vector<cv::Vec4i> charuco_ids,
- std::vector<std::vector<cv::Point2f>> charuco_corners,
- bool valid, std::vector<Eigen::Vector3d> rvecs_eigen,
- std::vector<Eigen::Vector3d> tvecs_eigen) {
- // Reduce resolution displayed on remote viewer to prevent lag
- cv::resize(rgb_image, rgb_image,
- cv::Size(rgb_image.cols / 2, rgb_image.rows / 2));
- cv::imshow("Display", rgb_image);
-
- if (FLAGS_display_undistorted) {
- const cv::Size image_size(rgb_image.cols, rgb_image.rows);
- cv::Mat undistorted_rgb_image(image_size, CV_8UC3);
- cv::undistort(rgb_image, undistorted_rgb_image,
- charuco_extractor_.camera_matrix(),
- charuco_extractor_.dist_coeffs());
-
- cv::imshow("Display undist", undistorted_rgb_image);
- }
-
- int keystroke = cv::waitKey(1);
-
- // If we haven't got a valid pose estimate, don't use these points
- if (!valid) {
- return;
- }
- CHECK(tvecs_eigen.size() == 1)
- << "Charuco board should only return one translational pose";
- CHECK(rvecs_eigen.size() == 1)
- << "Charuco board should only return one rotational pose";
- // Calibration calculates rotation and translation delta from last image
- // stored to automatically capture next image
-
- Eigen::Affine3d H_board_camera =
- Eigen::Translation3d(tvecs_eigen[0]) *
- Eigen::AngleAxisd(rvecs_eigen[0].norm(),
- rvecs_eigen[0] / rvecs_eigen[0].norm());
- Eigen::Affine3d H_camera_board_ = H_board_camera.inverse();
- Eigen::Affine3d H_delta = H_board_camera * prev_H_camera_board_;
-
- Eigen::AngleAxisd delta_r = Eigen::AngleAxisd(H_delta.rotation());
-
- Eigen::Vector3d delta_t = H_delta.translation();
-
- double r_norm = std::abs(delta_r.angle());
- double t_norm = delta_t.norm();
-
- bool store_image = false;
- double percent_motion =
- std::max<double>(r_norm / kDeltaRThreshold, t_norm / kDeltaTThreshold);
- LOG(INFO) << "Captured: " << all_charuco_ids_.size() << " points; Moved "
- << percent_motion << "% of what's needed";
- // Verify that camera has moved enough from last stored image
- if (r_norm > kDeltaRThreshold || t_norm > kDeltaTThreshold) {
- // frame_ refers to deltas between current and last captured image
- Eigen::Affine3d frame_H_delta =
- H_board_camera * prev_image_H_camera_board_;
-
- Eigen::AngleAxisd frame_delta_r =
- Eigen::AngleAxisd(frame_H_delta.rotation());
-
- Eigen::Vector3d frame_delta_t = frame_H_delta.translation();
-
- double frame_r_norm = std::abs(frame_delta_r.angle());
- double frame_t_norm = frame_delta_t.norm();
-
- // Make sure camera has stopped moving before storing image
- store_image =
- frame_r_norm < kFrameDeltaRLimit && frame_t_norm < kFrameDeltaTLimit;
- double percent_stop = std::max<double>(frame_r_norm / kFrameDeltaRLimit,
- frame_t_norm / kFrameDeltaTLimit);
- LOG(INFO) << "Captured: " << all_charuco_ids_.size()
- << "points; Moved enough (" << percent_motion
- << "%); Need to stop (last motion was " << percent_stop
- << "% of limit; needs to be < 1 to capture)";
- }
- prev_image_H_camera_board_ = H_camera_board_;
-
- if (store_image) {
- if (valid) {
- prev_H_camera_board_ = H_camera_board_;
-
- // Unpack the Charuco ids from Vec4i
- std::vector<int> charuco_ids_int;
- for (cv::Vec4i charuco_id : charuco_ids) {
- charuco_ids_int.emplace_back(charuco_id[0]);
- }
- all_charuco_ids_.emplace_back(std::move(charuco_ids_int));
- all_charuco_corners_.emplace_back(std::move(charuco_corners[0]));
-
- if (r_norm > kDeltaRThreshold) {
- LOG(INFO) << "Triggered by rotation delta = " << r_norm << " > "
- << kDeltaRThreshold;
- }
- if (t_norm > kDeltaTThreshold) {
- LOG(INFO) << "Triggered by translation delta = " << t_norm << " > "
- << kDeltaTThreshold;
- }
- }
-
- } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
- event_loop_->Exit();
- }
- }
-
- void MaybeCalibrate() {
- // TODO: This number should depend on coarse vs. fine pattern
- // Maybe just on total # of ids found, not just images
- if (all_charuco_ids_.size() >= 50) {
- LOG(INFO) << "Beginning calibration on " << all_charuco_ids_.size()
- << " images";
- cv::Mat cameraMatrix, distCoeffs;
- std::vector<cv::Mat> rvecs, tvecs;
- cv::Mat stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors;
-
- // Set calibration flags (same as in calibrateCamera() function)
- int calibration_flags = 0;
- cv::Size img_size(640, 480);
- const double reprojection_error = cv::aruco::calibrateCameraCharuco(
- all_charuco_corners_, all_charuco_ids_, charuco_extractor_.board(),
- img_size, cameraMatrix, distCoeffs, rvecs, tvecs,
- stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors,
- calibration_flags);
- CHECK_LE(reprojection_error, 1.0)
- << ": Reproduction error is bad-- greater than 1 pixel.";
- LOG(INFO) << "Reprojection Error is " << reprojection_error;
-
- flatbuffers::FlatBufferBuilder fbb;
- flatbuffers::Offset<flatbuffers::String> name_offset =
- fbb.CreateString(absl::StrFormat("pi%d", pi_number_.value()));
- flatbuffers::Offset<flatbuffers::String> camera_id_offset =
- fbb.CreateString(camera_id_);
- flatbuffers::Offset<flatbuffers::Vector<float>> intrinsics_offset =
- fbb.CreateVector<float>(9u, [&cameraMatrix](size_t i) {
- return static_cast<float>(
- reinterpret_cast<double *>(cameraMatrix.data)[i]);
- });
-
- flatbuffers::Offset<flatbuffers::Vector<float>>
- distortion_coefficients_offset =
- fbb.CreateVector<float>(5u, [&distCoeffs](size_t i) {
- return static_cast<float>(
- reinterpret_cast<double *>(distCoeffs.data)[i]);
- });
-
- sift::CameraCalibration::Builder camera_calibration_builder(fbb);
- std::optional<uint16_t> team_number =
- aos::network::team_number_internal::ParsePiTeamNumber(pi_);
- CHECK(team_number) << ": Invalid pi hostname " << pi_
- << ", failed to parse team number";
-
- const aos::realtime_clock::time_point realtime_now =
- aos::realtime_clock::now();
- camera_calibration_builder.add_node_name(name_offset);
- camera_calibration_builder.add_team_number(team_number.value());
- camera_calibration_builder.add_camera_id(camera_id_offset);
- camera_calibration_builder.add_calibration_timestamp(
- realtime_now.time_since_epoch().count());
- camera_calibration_builder.add_intrinsics(intrinsics_offset);
- camera_calibration_builder.add_dist_coeffs(
- distortion_coefficients_offset);
- fbb.Finish(camera_calibration_builder.Finish());
-
- aos::FlatbufferDetachedBuffer<sift::CameraCalibration> camera_calibration(
- fbb.Release());
- std::stringstream time_ss;
- time_ss << realtime_now;
-
- const std::string calibration_filename =
- FLAGS_calibration_folder +
- absl::StrFormat("/calibration_pi-%d-%d_cam-%s_%s.json",
- team_number.value(), pi_number_.value(), camera_id_,
- time_ss.str());
-
- LOG(INFO) << calibration_filename << " -> "
- << aos::FlatbufferToJson(camera_calibration,
- {.multi_line = true});
-
- aos::util::WriteStringToFileOrDie(
- calibration_filename,
- aos::FlatbufferToJson(camera_calibration, {.multi_line = true}));
- } else {
- LOG(INFO) << "Skipping calibration due to not enough images.";
- }
- }
-
- private:
- static constexpr double kDeltaRThreshold = M_PI / 6.0;
- static constexpr double kDeltaTThreshold = 0.3;
-
- static constexpr double kFrameDeltaRLimit = M_PI / 60;
- static constexpr double kFrameDeltaTLimit = 0.01;
-
- aos::ShmEventLoop *event_loop_;
- std::string pi_;
- const std::optional<uint16_t> pi_number_;
- const std::string camera_id_;
-
- std::vector<std::vector<int>> all_charuco_ids_;
- std::vector<std::vector<cv::Point2f>> all_charuco_corners_;
-
- Eigen::Affine3d H_camera_board_;
- Eigen::Affine3d prev_H_camera_board_;
- Eigen::Affine3d prev_image_H_camera_board_;
-
- CharucoExtractor charuco_extractor_;
- ImageCallback image_callback_;
-};
-
-namespace {
-
-void Main() {
- aos::FlatbufferDetachedBuffer<aos::Configuration> config =
- aos::configuration::ReadConfig(FLAGS_config);
-
- aos::ShmEventLoop event_loop(&config.message());
-
- std::string hostname = FLAGS_pi;
- if (hostname == "") {
- hostname = aos::network::GetHostname();
- LOG(INFO) << "Using pi name from hostname as " << hostname;
- }
- Calibration extractor(&event_loop, hostname, FLAGS_camera_id);
-
- event_loop.Run();
-
- extractor.MaybeCalibrate();
-}
-
-} // namespace
-} // namespace vision
-} // namespace frc971
-
-int main(int argc, char **argv) {
- aos::InitGoogle(&argc, &argv);
- frc971::vision::Main();
-}
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index 3702355..d9e13b3 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -13,13 +13,12 @@
#include "frc971/vision/vision_generated.h"
#include "frc971/wpilib/imu_batch_generated.h"
#include "y2020/control_loops/superstructure/superstructure_status_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"
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
DEFINE_bool(plot, false, "Whether to plot the resulting data.");
DEFINE_bool(turret, false, "If true, the camera is on the turret");
+DEFINE_string(base_intrinsics, "",
+ "Intrinsics to use for extrinsics calibration.");
namespace frc971 {
namespace vision {
@@ -63,9 +62,13 @@
std::unique_ptr<aos::EventLoop> pi_event_loop =
factory.MakeEventLoop("calibration", pi_node);
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> intrinsics =
+ aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+ FLAGS_base_intrinsics);
// Now, hook Calibration up to everything.
Calibration extractor(&factory, pi_event_loop.get(), imu_event_loop.get(),
- FLAGS_pi, TargetType::kCharuco, "/camera", &data);
+ FLAGS_pi, &intrinsics.message(), TargetType::kCharuco,
+ "/camera", &data);
if (FLAGS_turret) {
aos::NodeEventLoopFactory *roborio_factory =
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 8467994..0c05900 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -1,8 +1,7 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
-ts_library(
+ts_project(
name = "camera_main",
srcs = [
"camera_main.ts",
@@ -21,7 +20,7 @@
],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
diff --git a/y2020/www/camera_main.ts b/y2020/www/camera_main.ts
index 58e5bed..2c47cc5 100644
--- a/y2020/www/camera_main.ts
+++ b/y2020/www/camera_main.ts
@@ -1,7 +1,7 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {ImageHandler} from './image_handler';
-import {ConfigHandler} from 'org_frc971/aos/network/www/config_handler';
+import {ConfigHandler} from '../../aos/network/www/config_handler';
const conn = new Connection();
diff --git a/y2020/www/field_main.ts b/y2020/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2020/www/field_main.ts
+++ b/y2020/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2020/www/image_handler.ts b/y2020/www/image_handler.ts
index 856ee8b..07cee10 100644
--- a/y2020/www/image_handler.ts
+++ b/y2020/www/image_handler.ts
@@ -1,8 +1,8 @@
-import {Channel, Configuration} from 'org_frc971/aos/configuration_generated';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Channel, Configuration} from '../../aos/configuration_generated';
+import {Connection} from '../../aos/network/www/proxy';
import {ByteBuffer} from 'flatbuffers';
-import {ImageMatchResult, Feature} from 'org_frc971/y2020/vision/sift/sift_generated'
-import {CameraImage} from 'org_frc971/frc971/vision/vision_generated';
+import {ImageMatchResult, Feature} from '../vision/sift/sift_generated'
+import {CameraImage} from '../../frc971/vision/vision_generated';
export class ImageHandler {
private canvas = document.createElement('canvas');
diff --git a/y2021_bot3/control_loops/superstructure/BUILD b/y2021_bot3/control_loops/superstructure/BUILD
index f5b5b3b..be18cbe 100644
--- a/y2021_bot3/control_loops/superstructure/BUILD
+++ b/y2021_bot3/control_loops/superstructure/BUILD
@@ -1,5 +1,5 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -104,7 +104,7 @@
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
index f453d64..4fb397d 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2021_bot3/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/BUILD b/y2022/BUILD
index 3d4dac3..e978f7a 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -39,22 +39,22 @@
robot_downloader(
name = "pi_download",
binaries = [
- "//y2020/vision:calibration",
+ "//frc971/vision:intrinsics_calibration",
"//y2022/vision:viewer",
"//y2022/localizer:imu_main",
"//y2022/localizer:localizer_main",
"//y2022/vision:image_decimator",
- "//y2022/image_streamer:image_streamer",
+ "//frc971/image_streamer:image_streamer",
"//aos/events/logging:log_cat",
],
data = [
":aos_config",
":message_bridge_client.sh",
- "//y2022/image_streamer:image_streamer_start",
+ "//y2022/vision:image_streamer_start",
],
dirs = [
"//y2022/www:www_files",
- "//y2022/image_streamer/www:www_files",
+ "//frc971/image_streamer/www:www_files",
],
start_binaries = [
"//aos/events/logging:logger_main",
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 3bc1297..a085049 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -200,7 +200,7 @@
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -211,7 +211,7 @@
],
)
-ts_library(
+ts_project(
name = "catapult_plotter",
srcs = ["catapult_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -222,7 +222,7 @@
],
)
-ts_library(
+ts_project(
name = "intake_plotter",
srcs = ["intake_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -233,7 +233,7 @@
],
)
-ts_library(
+ts_project(
name = "turret_plotter",
srcs = ["turret_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -244,7 +244,7 @@
],
)
-ts_library(
+ts_project(
name = "climber_plotter",
srcs = ["climber_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
index 90db40b..579aeff 100644
--- a/y2022/control_loops/superstructure/catapult_plotter.ts
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
index e24a993..127eb5a 100644
--- a/y2022/control_loops/superstructure/climber_plotter.ts
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
index 8904d8b..d66964d 100644
--- a/y2022/control_loops/superstructure/intake_plotter.ts
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index 8590d7b..782353e 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
index 6753880..c0b5b6f 100644
--- a/y2022/control_loops/superstructure/turret_plotter.ts
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import * as proxy from '../../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from '../../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index 2a0a9fe..1d45516 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -1,9 +1,9 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "localizer_plotter",
srcs = ["localizer_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2022/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
index bcd8894..8344eb8 100644
--- a/y2022/localizer/localizer_plotter.ts
+++ b/y2022/localizer/localizer_plotter.ts
@@ -1,8 +1,8 @@
// Provides a plot for debugging drivetrain-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {ImuMessageHandler} from '../../frc971/wpilib/imu_plot_utils';
+import * as proxy from '../../aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
import Connection = proxy.Connection;
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index 3d49755..8d8a43c 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -1,8 +1,8 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-ts_library(
+ts_project(
name = "vision_plotter",
srcs = ["vision_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
@@ -326,3 +326,9 @@
"//frc971/vision:vision_fbs",
],
)
+
+filegroup(
+ name = "image_streamer_start",
+ srcs = ["image_streamer_start.sh"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2022/vision/calibrate_extrinsics.cc b/y2022/vision/calibrate_extrinsics.cc
index 04b24ea..6793bc4 100644
--- a/y2022/vision/calibrate_extrinsics.cc
+++ b/y2022/vision/calibrate_extrinsics.cc
@@ -11,9 +11,6 @@
#include "frc971/vision/extrinsics_calibration.h"
#include "frc971/vision/vision_generated.h"
#include "frc971/wpilib/imu_batch_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/control_loops/superstructure/superstructure_status_generated.h"
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
@@ -24,6 +21,8 @@
DEFINE_string(image_channel, "/camera", "Channel to listen for images on");
DEFINE_string(output_logs, "/tmp/calibration/",
"Output folder for visualization logs.");
+DEFINE_string(base_intrinsics, "",
+ "Intrinsics to use for extrinsics calibration.");
namespace frc971 {
namespace vision {
@@ -97,9 +96,13 @@
<< ", expected: aruco|charuco|charuco_diamond";
}
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> intrinsics =
+ aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+ FLAGS_base_intrinsics);
// Now, hook Calibration up to everything.
Calibration extractor(&factory, pi_event_loop.get(), imu_event_loop.get(),
- FLAGS_pi, target_type, FLAGS_image_channel, &data);
+ FLAGS_pi, &intrinsics.message(), target_type,
+ FLAGS_image_channel, &data);
if (FLAGS_turret) {
aos::NodeEventLoopFactory *roborio_factory =
diff --git a/y2022/image_streamer/image_streamer_start.sh b/y2022/vision/image_streamer_start.sh
similarity index 100%
rename from y2022/image_streamer/image_streamer_start.sh
rename to y2022/vision/image_streamer_start.sh
diff --git a/y2022/vision/vision_plotter.ts b/y2022/vision/vision_plotter.ts
index adbf900..d557a36 100644
--- a/y2022/vision/vision_plotter.ts
+++ b/y2022/vision/vision_plotter.ts
@@ -1,11 +1,11 @@
import {ByteBuffer} from 'flatbuffers';
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {MessageHandler, TimestampedMessage} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import {Connection} from 'org_frc971/aos/network/www/proxy';
-import {Table} from 'org_frc971/aos/network/www/reflection';
+import {AosPlotter} from '../../aos/network/www/aos_plotter';
+import {MessageHandler, TimestampedMessage} from '../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../aos/network/www/colors';
+import {Connection} from '../../aos/network/www/proxy';
+import {Table} from '../../aos/network/www/reflection';
import {Schema} from 'flatbuffers_reflection/reflection_generated';
-import {TargetEstimate} from 'org_frc971/y2022/vision/target_estimate_generated';
+import {TargetEstimate} from './target_estimate_generated';
const TIME = AosPlotter.TIME;
diff --git a/y2022/www/BUILD b/y2022/www/BUILD
index 957045d..386ca90 100644
--- a/y2022/www/BUILD
+++ b/y2022/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
filegroup(
@@ -12,7 +11,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
diff --git a/y2022/www/field_main.ts b/y2022/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2022/www/field_main.ts
+++ b/y2022/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index ff8d0c6..068c543 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -334,7 +334,7 @@
"source_node": "roborio",
"frequency": 200,
"num_senders": 2,
- "max_size": 72
+ "max_size": 200
},
{
"name": "/superstructure",
@@ -420,7 +420,7 @@
"priority": 5,
"timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
"timestamp_logger_nodes": [
- "imu"
+ "roborio"
],
"time_to_live": 5000000
}
diff --git a/y2023/BUILD b/y2023/BUILD
index 3a5f1bd..32965ae 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -3,19 +3,52 @@
load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
- name = "pi_download",
binaries = [
- "//y2020/vision:calibration",
- "//y2023/vision:viewer",
- "//y2023/vision:aprilrobotics",
- "//y2022/localizer:localizer_main",
"//aos/network:web_proxy_main",
"//aos/events/logging:log_cat",
],
data = [
":aos_config",
- ":message_bridge_client.sh",
- "//y2022/www:www_files",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
+ "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenixpro_tools_athena//:shared_libraries",
+ ],
+ dirs = [
+ "//y2023/www:www_files",
+ ],
+ 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",
+ "//y2023/control_loops/drivetrain:drivetrain",
+ "//y2023/control_loops/drivetrain:trajectory_generator",
+ "//y2023/control_loops/superstructure:superstructure",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
+ name = "pi_download",
+ binaries = [
+ "//frc971/vision:intrinsics_calibration",
+ "//aos/util:foxglove_websocket",
+ "//y2023/vision:viewer",
+ "//y2023/vision:aprilrobotics",
+ "//y2022/localizer:localizer_main",
+ "//y2023/constants:constants_sender",
+ "//y2023/vision:foxglove_image_converter",
+ "//aos/network:web_proxy_main",
+ "//aos/events/logging:log_cat",
+ "//y2023/rockpi:imu_main",
+ ],
+ data = [
+ ":aos_config",
+ "//y2023/constants:constants.json",
+ "//y2023/www:www_files",
],
dirs = [
"//y2023/www:www_files",
@@ -65,10 +98,13 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
+ "//y2023/constants:constants_fbs",
"//y2022/localizer:localizer_output_fbs",
"//frc971/vision:calibration_fbs",
"//frc971/vision:target_map_fbs",
"//frc971/vision:vision_fbs",
+ "//y2023/vision:april_debug_fbs",
+ "@com_github_foxglove_schemas//:schemas",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -92,6 +128,7 @@
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//y2023/constants:constants_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//y2022/localizer:localizer_status_fbs",
@@ -118,6 +155,7 @@
"//frc971/vision:calibration_fbs",
"//frc971/vision:vision_fbs",
"//frc971/vision:target_map_fbs",
+ "//y2023/constants:constants_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -135,9 +173,11 @@
"//aos/network:remote_message_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//y2023/constants:constants_fbs",
"//aos/network:timestamp_fbs",
"//y2019/control_loops/drivetrain:target_selector_fbs",
"//y2023/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure:superstructure_output_fbs",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
"//y2023/control_loops/superstructure:superstructure_status_fbs",
@@ -194,6 +234,7 @@
":constants",
"//aos:init",
"//aos:math",
+ "//aos/containers:sized_array",
"//aos/events:shm_event_loop",
"//aos/logging",
"//aos/stl_mutex",
@@ -220,7 +261,9 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:phoenix",
+ "//third_party:phoenixpro",
"//third_party:wpilib",
+ "//y2023/control_loops/drivetrain:drivetrain_can_position_fbs",
"//y2023/control_loops/superstructure:superstructure_output_fbs",
"//y2023/control_loops/superstructure:superstructure_position_fbs",
],
diff --git a/y2023/constants.h b/y2023/constants.h
index 03a6cae..edcb794 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -20,6 +20,10 @@
struct Values {
static const int kZeroingSampleSize = 200;
+ static const int kDrivetrainWriterPriority = 35;
+ static const int kDrivetrainTxPriority = 36;
+ static const int kDrivetrainRxPriority = 36;
+
static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
static constexpr double kDrivetrainEncoderCountsPerRevolution() {
return kDrivetrainCyclesPerRevolution() * 4;
@@ -32,6 +36,9 @@
kDrivetrainEncoderCountsPerRevolution();
}
+ static constexpr double kDrivetrainSupplyCurrentLimit() { return 35.0; }
+ static constexpr double kDrivetrainStatorCurrentLimit() { return 40.0; }
+
static double DrivetrainEncoderToMeters(int32_t in) {
return ((static_cast<double>(in) /
kDrivetrainEncoderCountsPerRevolution()) *
@@ -39,6 +46,12 @@
kDrivetrainEncoderRatio() * control_loops::drivetrain::kWheelRadius;
}
+ static double DrivetrainCANEncoderToMeters(double rotations) {
+ return (rotations * (2.0 * M_PI)) *
+ control_loops::drivetrain::kHighOutputRatio *
+ control_loops::drivetrain::kWheelRadius;
+ }
+
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
::frc971::zeroing::RelativeEncoderZeroingEstimator>
diff --git a/y2023/constants/7971.json b/y2023/constants/7971.json
new file mode 100644
index 0000000..fcc58a3
--- /dev/null
+++ b/y2023/constants/7971.json
@@ -0,0 +1,17 @@
+{
+ "cameras": [
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json' %}
+ },
+ {
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json' %}
+ }
+ ],
+ "target_map": {% include 'y2023/vision/maps/target_map.json' %}
+}
\ No newline at end of file
diff --git a/y2023/constants/BUILD b/y2023/constants/BUILD
new file mode 100644
index 0000000..9022cf7
--- /dev/null
+++ b/y2023/constants/BUILD
@@ -0,0 +1,61 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//tools/build_rules:template.bzl", "jinja2_template")
+
+cc_library(
+ name = "simulated_constants_sender",
+ testonly = True,
+ srcs = ["simulated_constants_sender.h"],
+ hdrs = ["simulated_constants_sender.cc"],
+ deps = [
+ ":constants_fbs",
+ ":constants_list_fbs",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:path",
+ "//frc971/constants:constants_sender_lib",
+ ],
+)
+
+jinja2_template(
+ name = "constants.json",
+ src = "constants.jinja2.json",
+ includes = [
+ "7971.json",
+ "//y2023/vision/calib_files",
+ "//y2023/vision/maps",
+ ],
+ parameters = {},
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "constants_fbs",
+ srcs = ["constants.fbs"],
+ gen_reflections = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/vision:calibration_fbs",
+ "//frc971/vision:target_map_fbs",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "constants_list_fbs",
+ srcs = ["constants_list.fbs"],
+ gen_reflections = True,
+ visibility = ["//visibility:public"],
+ deps = [":constants_fbs"],
+)
+
+cc_binary(
+ name = "constants_sender",
+ srcs = ["constants_sender.cc"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":constants_fbs",
+ ":constants_list_fbs",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//aos/testing:path",
+ "//frc971/constants:constants_sender_lib",
+ ],
+)
diff --git a/y2023/constants/constants.fbs b/y2023/constants/constants.fbs
new file mode 100644
index 0000000..628ea21
--- /dev/null
+++ b/y2023/constants/constants.fbs
@@ -0,0 +1,15 @@
+include "frc971/vision/calibration.fbs";
+include "frc971/vision/target_map.fbs";
+
+namespace y2023;
+
+table CameraConfiguration {
+ calibration:frc971.vision.calibration.CameraCalibration (id: 0);
+}
+
+table Constants {
+ cameras:[CameraConfiguration] (id: 0);
+ target_map:frc971.vision.TargetMap (id: 1);
+}
+
+root_type Constants;
diff --git a/y2023/constants/constants.jinja2.json b/y2023/constants/constants.jinja2.json
new file mode 100644
index 0000000..6a8cde9
--- /dev/null
+++ b/y2023/constants/constants.jinja2.json
@@ -0,0 +1,16 @@
+{
+ "constants": [
+ {
+ "team": 7971,
+ "data": {% include 'y2023/constants/7971.json' %}
+ },
+ {
+ "team": 971,
+ "data": {}
+ },
+ {
+ "team": 9971,
+ "data": {}
+ }
+ ]
+}
diff --git a/y2023/constants/constants_list.fbs b/y2023/constants/constants_list.fbs
new file mode 100644
index 0000000..aec10d8
--- /dev/null
+++ b/y2023/constants/constants_list.fbs
@@ -0,0 +1,14 @@
+include "y2023/constants/constants.fbs";
+
+namespace y2023;
+
+table TeamAndConstants {
+ team:long (id: 0);
+ data:Constants (id: 1);
+}
+
+table ConstantsList {
+ constants:[TeamAndConstants] (id: 0);
+}
+
+root_type ConstantsList;
diff --git a/y2023/constants/constants_sender.cc b/y2023/constants/constants_sender.cc
new file mode 100644
index 0000000..77fb24d
--- /dev/null
+++ b/y2023/constants/constants_sender.cc
@@ -0,0 +1,23 @@
+#include "aos/configuration.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2023/constants/constants_generated.h"
+#include "y2023/constants/constants_list_generated.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the AOS config.");
+DEFINE_string(constants_path, "constants.json", "Path to the constant file");
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+ aos::ShmEventLoop event_loop(&config.message());
+ frc971::constants::ConstantSender<y2023::Constants, y2023::ConstantsList>
+ constants_sender(&event_loop, FLAGS_constants_path);
+ // Don't need to call Run().
+ return 0;
+}
diff --git a/y2023/constants/simulated_constants_sender.cc b/y2023/constants/simulated_constants_sender.cc
new file mode 100644
index 0000000..3086e99
--- /dev/null
+++ b/y2023/constants/simulated_constants_sender.cc
@@ -0,0 +1,18 @@
+#include "y2023/constants/constants_generated.h"
+#include "y2023/constants/constants_list_generated.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/testing/path.h"
+
+namespace y2023 {
+void SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
+ std::string constants_path) {
+ for (const aos::Node *node : factory->nodes()) {
+ std::unique_ptr<aos::EventLoop> event_loop =
+ factory->MakeEventLoop("constants_sender", node);
+ frc971::constants::ConstantSender<Constants, ConstantsList> sender(
+ event_loop.get(), constants_path, team, "/constants");
+ }
+}
+} // namespace y2023
+
+#endif // Y2023_CONFIGURATION_SIMULATED_CONFIG_SENDER_H_
diff --git a/y2023/constants/simulated_constants_sender.h b/y2023/constants/simulated_constants_sender.h
new file mode 100644
index 0000000..10ea793
--- /dev/null
+++ b/y2023/constants/simulated_constants_sender.h
@@ -0,0 +1,13 @@
+#ifndef Y2023_CONSTANTS_SIMULATED_CONFIG_SENDER_H_
+#define Y2023_CONSTANTS_SIMULATED_CONFIG_SENDER_H_
+
+#include "aos/events/simulated_event_loop.h"
+#include "aos/testing/path.h"
+
+namespace y2023 {
+void SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
+ std::string constants_path = testing::ArtifactPath(
+ "y2023/constants/constants.json"));
+} // namespace y2023
+
+#endif // Y2023_CONSTANTS_SIMULATED_CONFIG_SENDER_H_
diff --git a/y2023/control_loops/drivetrain/BUILD b/y2023/control_loops/drivetrain/BUILD
index 8a06d00..ac00e2b 100644
--- a/y2023/control_loops/drivetrain/BUILD
+++ b/y2023/control_loops/drivetrain/BUILD
@@ -1,4 +1,5 @@
load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
genrule(
name = "genrule_drivetrain",
@@ -111,3 +112,12 @@
"//frc971/control_loops/drivetrain:trajectory_generator",
],
)
+
+flatbuffer_cc_library(
+ name = "drivetrain_can_position_fbs",
+ srcs = [
+ "drivetrain_can_position.fbs",
+ ],
+ gen_reflections = 1,
+ visibility = ["//visibility:public"],
+)
diff --git a/y2023/control_loops/drivetrain/drivetrain_can_position.fbs b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
new file mode 100644
index 0000000..10d7c9a
--- /dev/null
+++ b/y2023/control_loops/drivetrain/drivetrain_can_position.fbs
@@ -0,0 +1,39 @@
+namespace y2023.control_loops.drivetrain;
+
+table CANFalcon {
+ // The CAN id of the falcon
+ id:int (id: 0);
+
+ // In Amps
+ supply_current:float (id: 1);
+
+ // In Amps
+ // Stator current where positive current means torque is applied in
+ // the motor's forward direction as determined by its Inverted setting.
+ torque_current:float (id: 2);
+
+ // In Volts
+ supply_voltage:float (id: 3);
+
+ // In degrees Celsius
+ device_temp:float (id: 4);
+
+ // In meters traveled on the drivetrain
+ position:float (id: 5);
+}
+
+// CAN readings from the CAN sensor reader loop
+table CANPosition {
+ falcons: [CANFalcon] (id: 0);
+
+ // The timestamp of the measurement on the canivore clock in nanoseconds
+ // This will have less jitter than the
+ // timestamp of the message being sent out.
+ timestamp:int64 (id: 1);
+
+ // The ctre::phoenix::StatusCode of the measurement
+ // Should be OK = 0
+ status:int (id: 2);
+}
+
+root_type CANPosition;
diff --git a/y2023/control_loops/drivetrain/drivetrain_main.cc b/y2023/control_loops/drivetrain/drivetrain_main.cc
index cf8aa8a..0817b3d 100644
--- a/y2023/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2023/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,9 @@
std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
&event_loop,
::y2023::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2023::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
event_loop.Run();
diff --git a/y2023/control_loops/python/graph_edit.py b/y2023/control_loops/python/graph_edit.py
index 39cd814..3ef9d07 100644
--- a/y2023/control_loops/python/graph_edit.py
+++ b/y2023/control_loops/python/graph_edit.py
@@ -11,17 +11,30 @@
gi.require_version('Gtk', '3.0')
from gi.repository import Gdk, Gtk
import cairo
-from graph_tools import XYSegment, AngleSegment, to_theta, to_xy, alpha_blend, draw_lines
-from graph_tools import back_to_xy_loop, subdivide_theta, to_theta_loop, px
+from graph_tools import XYSegment, AngleSegment, to_theta, to_xy, alpha_blend
+from graph_tools import back_to_xy_loop, subdivide_theta, to_theta_loop
from graph_tools import l1, l2, joint_center
import graph_paths
-from frc971.control_loops.python.basic_window import quit_main_loop, set_color
+from frc971.control_loops.python.basic_window import quit_main_loop, set_color, OverrideMatrix, identity
import shapely
from shapely.geometry import Polygon
+def px(cr):
+ return OverrideMatrix(cr, identity)
+
+
+# Draw lines to cr + stroke.
+def draw_lines(cr, lines):
+ cr.move_to(lines[0][0], lines[0][1])
+ for pt in lines[1:]:
+ cr.line_to(pt[0], pt[1])
+ with px(cr):
+ cr.stroke()
+
+
def draw_px_cross(cr, length_px):
"""Draws a cross with fixed dimensions in pixel space."""
with px(cr):
@@ -361,12 +374,13 @@
cr.stroke()
def cur_pt_in_theta(self):
- if self.theta_version: return self.last_pos
+ if self.theta_version: return numpy.asarray(self.last_pos)
return to_theta(self.last_pos, self.circular_index_select)
# Current segment based on which mode the drawing system is in.
def current_seg(self):
- if self.prev_segment_pt and self.now_segment_pt:
+ if self.prev_segment_pt is not None and (self.prev_segment_pt.any() and
+ self.now_segment_pt.any()):
if self.theta_version:
return AngleSegment(self.prev_segment_pt, self.now_segment_pt)
else:
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index da0ad4f..6d8f489 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -17,6 +17,12 @@
circular_index=-1)
cone_perch_pos = to_theta_with_circular_index(1.0, 2.0, circular_index=-1)
+points = []
+front_points = []
+back_points = []
+unnamed_segments = []
+named_segments = []
+
segments = [
ThetaSplineSegment(neutral, neutral_to_cone_1, neutral_to_cone_2, cone_pos,
"NeutralToCone"),
diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index 3ddfb37..dafa294 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -1,7 +1,4 @@
import numpy
-import cairo
-
-from frc971.control_loops.python.basic_window import OverrideMatrix, identity
# joint_center in x-y space.
joint_center = (-0.299, 0.299)
@@ -16,10 +13,6 @@
theta_end_circle_size = 0.07
-def px(cr):
- return OverrideMatrix(cr, identity)
-
-
# Convert from x-y coordinates to theta coordinates.
# orientation is a bool. This orientation is circular_index mod 2.
# where circular_index is the circular index, or the position in the
@@ -215,13 +208,11 @@
return (a[0], a[1], d1[0], d1[1], accel[0], accel[1])
-# Draw lines to cr + stroke.
+# Draw a list of lines to a cairo context.
def draw_lines(cr, lines):
cr.move_to(lines[0][0], lines[0][1])
for pt in lines[1:]:
cr.line_to(pt[0], pt[1])
- with px(cr):
- cr.stroke()
# Segment in angle space.
diff --git a/y2023/control_loops/superstructure/BUILD b/y2023/control_loops/superstructure/BUILD
index 5246b3e..718a575 100644
--- a/y2023/control_loops/superstructure/BUILD
+++ b/y2023/control_loops/superstructure/BUILD
@@ -1,6 +1,6 @@
+load("//tools/build_rules:js.bzl", "ts_project")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -133,7 +133,7 @@
],
)
-ts_library(
+ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 412abbd..47ce7b2 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -4,6 +4,17 @@
table Goal {
+ // Used to identify a position in the planned set of positions on the arm.
+ // Controls distal, proximal, and roll joints
+ arm_goal_position:uint32 (id: 0);
+
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
+
+ // If this is true, the rollers should intake.
+ intake:bool (id: 2);
+
+ // If this is true, the rollers should spit.
+ spit:bool (id: 3);
}
diff --git a/y2023/control_loops/superstructure/superstructure_output.fbs b/y2023/control_loops/superstructure/superstructure_output.fbs
index 43de3d2..5ac0e38 100644
--- a/y2023/control_loops/superstructure/superstructure_output.fbs
+++ b/y2023/control_loops/superstructure/superstructure_output.fbs
@@ -1,6 +1,21 @@
namespace y2023.control_loops.superstructure;
table Output {
+ // Proximal arm voltage
+ proximal_voltage:double (id: 0);
+
+ // Distal arm voltage
+ distal_voltage:double (id: 1);
+
+ // roll_voltage for rolling joint
+ roll_joint_voltage:double (id: 2);
+
+ // Wrists rotate end effector rollers
+ // Wrist arm voltage
+ wrist_voltage:double (id: 3);
+
+ // Roller voltage on the end effector
+ roller_voltage:double (id: 4);
}
root_type Output;
diff --git a/y2023/control_loops/superstructure/superstructure_plotter.ts b/y2023/control_loops/superstructure/superstructure_plotter.ts
index ae20119..2e32445 100644
--- a/y2023/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2023/control_loops/superstructure/superstructure_plotter.ts
@@ -1,7 +1,7 @@
// Provides a plot for debugging robot state-related issues.
-import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
-import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
import Connection = proxy.Connection;
diff --git a/y2023/control_loops/superstructure/superstructure_position.fbs b/y2023/control_loops/superstructure/superstructure_position.fbs
index 49abd28..dc3679d 100644
--- a/y2023/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023/control_loops/superstructure/superstructure_position.fbs
@@ -3,6 +3,21 @@
namespace y2023.control_loops.superstructure;
table Position {
+ // Zero for proximal is facing parallel to base of robot
+ // Positive position would be rotated upwards
+ proximal:frc971.PotAndAbsolutePosition (id: 0);
+
+ // Zero for distal is facing parallel relative to the shoulder
+ // Positive position would be rotated upwards
+ distal:frc971.PotAndAbsolutePosition (id: 1);
+
+ // Zero for roll joint is up vertically
+ // Positive position would be rotated counterclockwise relative to the robot
+ roll_joint:frc971.PotAndAbsolutePosition (id: 2);
+
+ // Zero for wrist is facing staright outward.
+ // Positive position would be upwards
+ wrist:frc971.PotAndAbsolutePosition (id: 3);
}
root_type Position;
diff --git a/y2023/control_loops/superstructure/superstructure_status.fbs b/y2023/control_loops/superstructure/superstructure_status.fbs
index ef9667d..ff09317 100644
--- a/y2023/control_loops/superstructure/superstructure_status.fbs
+++ b/y2023/control_loops/superstructure/superstructure_status.fbs
@@ -10,6 +10,14 @@
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+
+ proximal:frc971.PotAndAbsoluteEncoderEstimatorState (id: 2);
+
+ distal:frc971.PotAndAbsoluteEncoderEstimatorState (id: 3);
+
+ roll_joint:frc971.PotAndAbsoluteEncoderEstimatorState (id: 4);
+
+ wrist:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 5);
}
root_type Status;
diff --git a/y2023/foxglove-layouts/2022RobotCameras.json b/y2023/foxglove-layouts/2022RobotCameras.json
new file mode 100644
index 0000000..88540f0
--- /dev/null
+++ b/y2023/foxglove-layouts/2022RobotCameras.json
@@ -0,0 +1,114 @@
+{
+ "configById": {
+ "ImageViewPanel!3j0qvlm": {
+ "cameraTopic": "/studio_script/YUYVConvertedImagePi1",
+ "enabledMarkerTopics": [],
+ "mode": "fit",
+ "pan": {
+ "x": 0,
+ "y": 0
+ },
+ "rotation": 0,
+ "synchronize": false,
+ "transformMarkers": false,
+ "zoom": 1
+ },
+ "ImageViewPanel!1uof9zo": {
+ "cameraTopic": "/studio_script/YUYVConvertedImagePi3",
+ "enabledMarkerTopics": [],
+ "mode": "fit",
+ "pan": {
+ "x": 0,
+ "y": 0
+ },
+ "rotation": 0,
+ "synchronize": false,
+ "transformMarkers": false,
+ "zoom": 1
+ },
+ "ImageViewPanel!1ya4lw8": {
+ "cameraTopic": "/studio_script/YUYVConvertedImagePi2",
+ "enabledMarkerTopics": [],
+ "mode": "fit",
+ "pan": {
+ "x": 0,
+ "y": 0
+ },
+ "rotation": 0,
+ "synchronize": false,
+ "transformMarkers": false,
+ "zoom": 1
+ },
+ "ImageViewPanel!1tvn3cp": {
+ "cameraTopic": "/studio_script/YUYVConvertedImagePi4",
+ "enabledMarkerTopics": [],
+ "mode": "fit",
+ "pan": {
+ "x": 0,
+ "y": 0
+ },
+ "rotation": 0,
+ "synchronize": false,
+ "transformMarkers": false,
+ "zoom": 1
+ },
+ "ImageViewPanel!jmmyy1": {
+ "cameraTopic": "/studio_script/YUYVConvertedImageDriverCamera",
+ "enabledMarkerTopics": [],
+ "mode": "fit",
+ "pan": {
+ "x": 1,
+ "y": -1
+ },
+ "rotation": 0,
+ "synchronize": false,
+ "transformMarkers": false,
+ "zoom": 1
+ }
+ },
+ "globalVariables": {},
+ "userNodes": {
+ "1eb832cf-fe38-4d19-9f6b-be4144f8c594": {
+ "sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message, Time } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/camera/decimated frc971.vision.CameraImage\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/YUYVConvertedImageDriverCamera\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(\n event: Input<\"/camera/decimated frc971.vision.CameraImage\">\n): Message<\"foxglove_msgs/RawImage\"> {\n let timestampmt: Time;\n timestampmt = {\n sec: Number(event.message.monotonic_timestamp_ns) / 1000000000,\n nsec: Number(event.message.monotonic_timestamp_ns),\n };\n const data = new Uint8Array(event.message.data.length);\n for (let ii = 0; ii < data.length; ii += 4) {\n data[ii] = event.message.data[ii + 1];\n data[ii + 1] = event.message.data[ii];\n data[ii + 2] = event.message.data[ii + 3];\n data[ii + 3] = event.message.data[ii + 2];\n }\n return {\n timestamp: timestampmt,\n frame_id: \"DRIVER_CAMERA\",\n width: event.message.cols,\n height: event.message.rows,\n encoding: \"yuv422\",\n step: 1280,\n data: data,\n };\n}\n",
+ "name": "1eb832cf"
+ },
+ "20d0b3c5-95ed-4825-bc51-cdc20182b2c1": {
+ "sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message, Time } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/pi1/camera/decimated frc971.vision.CameraImage\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/YUYVConvertedImagePi1\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(\n event: Input<\"/pi1/camera/decimated frc971.vision.CameraImage\">\n): Message<\"foxglove_msgs/RawImage\"> {\n let timestampmt: Time;\n timestampmt = {\n sec: Number(event.message.monotonic_timestamp_ns) / 1000000000,\n nsec: Number(event.message.monotonic_timestamp_ns),\n };\n const data = new Uint8Array(event.message.data.length);\n for (let ii = 0; ii < data.length; ii += 4) {\n data[ii] = event.message.data[ii + 1];\n data[ii + 1] = event.message.data[ii];\n data[ii + 2] = event.message.data[ii + 3];\n data[ii + 3] = event.message.data[ii + 2];\n }\n return {\n timestamp: timestampmt,\n frame_id: \"PI1\",\n width: event.message.cols,\n height: event.message.rows,\n encoding: \"yuv422\",\n step: 1280,\n data: data,\n };\n}\n",
+ "name": "20d0b3c5"
+ },
+ "8837da0e-fd3d-4f76-be0c-d93e842db0b4": {
+ "sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message, Time } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/pi2/camera/decimated frc971.vision.CameraImage\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/YUYVConvertedImagePi2\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(\n event: Input<\"/pi2/camera/decimated frc971.vision.CameraImage\">\n): Message<\"foxglove_msgs/RawImage\"> {\n let timestampmt: Time;\n timestampmt = {\n sec: Number(event.message.monotonic_timestamp_ns) / 1000000000,\n nsec: Number(event.message.monotonic_timestamp_ns),\n };\n const data = new Uint8Array(event.message.data.length);\n for (let ii = 0; ii < data.length; ii += 4) {\n data[ii] = event.message.data[ii + 1];\n data[ii + 1] = event.message.data[ii];\n data[ii + 2] = event.message.data[ii + 3];\n data[ii + 3] = event.message.data[ii + 2];\n }\n return {\n timestamp: timestampmt,\n frame_id: \"PI2\",\n width: event.message.cols,\n height: event.message.rows,\n encoding: \"yuv422\",\n step: 1280,\n data: data,\n };\n}\n",
+ "name": "8837da0e"
+ },
+ "86094f4e-ccf3-464b-848d-4fa3b4a62fe0": {
+ "sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message, Time } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/pi3/camera/decimated frc971.vision.CameraImage\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/YUYVConvertedImagePi3\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(\n event: Input<\"/pi3/camera/decimated frc971.vision.CameraImage\">\n): Message<\"foxglove_msgs/RawImage\"> {\n let timestampmt: Time;\n timestampmt = {\n sec: Number(event.message.monotonic_timestamp_ns) / 1000000000,\n nsec: Number(event.message.monotonic_timestamp_ns),\n };\n const data = new Uint8Array(event.message.data.length);\n for (let ii = 0; ii < data.length; ii += 4) {\n data[ii] = event.message.data[ii + 1];\n data[ii + 1] = event.message.data[ii];\n data[ii + 2] = event.message.data[ii + 3];\n data[ii + 3] = event.message.data[ii + 2];\n }\n return {\n timestamp: timestampmt,\n frame_id: \"PI3\",\n width: event.message.cols,\n height: event.message.rows,\n encoding: \"yuv422\",\n step: 1280,\n data: data,\n };\n}\n",
+ "name": "86094f4e"
+ },
+ "202f16df-82f5-48d8-8318-55a6bb305866": {
+ "sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message, Time } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/pi4/camera/decimated frc971.vision.CameraImage\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/YUYVConvertedImagePi4\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(\n event: Input<\"/pi4/camera/decimated frc971.vision.CameraImage\">\n): Message<\"foxglove_msgs/RawImage\"> {\n let timestampmt: Time;\n timestampmt = {\n sec: Number(event.message.monotonic_timestamp_ns) / 1000000000,\n nsec: Number(event.message.monotonic_timestamp_ns),\n };\n const data = new Uint8Array(event.message.data.length);\n for (let ii = 0; ii < data.length; ii += 4) {\n data[ii] = event.message.data[ii + 1];\n data[ii + 1] = event.message.data[ii];\n data[ii + 2] = event.message.data[ii + 3];\n data[ii + 3] = event.message.data[ii + 2];\n }\n return {\n timestamp: timestampmt,\n frame_id: \"PI4\",\n width: event.message.cols,\n height: event.message.rows,\n encoding: \"yuv422\",\n step: 1280,\n data: data,\n };\n}\n",
+ "name": "202f16df"
+ }
+ },
+ "playbackConfig": {
+ "speed": 1
+ },
+ "layout": {
+ "direction": "row",
+ "first": {
+ "first": "ImageViewPanel!3j0qvlm",
+ "second": "ImageViewPanel!1uof9zo",
+ "direction": "column"
+ },
+ "second": {
+ "direction": "row",
+ "first": {
+ "first": "ImageViewPanel!1ya4lw8",
+ "second": "ImageViewPanel!1tvn3cp",
+ "direction": "column"
+ },
+ "second": "ImageViewPanel!jmmyy1",
+ "splitPercentage": 40.642717427911904
+ },
+ "splitPercentage": 31.186958104147582
+ }
+}
\ No newline at end of file
diff --git a/y2023/message_bridge_client.sh b/y2023/message_bridge_client.sh
deleted file mode 100755
index 733905e..0000000
--- a/y2023/message_bridge_client.sh
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/bin/bash
-
-while true;
-do
- ping -c 1 pi1 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 pi2 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 pi3 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 pi4 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 pi5 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 pi6 -W 1 && break;
- sleep 1
-done
-while true;
-do
- ping -c 1 roborio -W 1 && break;
- sleep 1
-done
-
-echo Pinged
-
-exec message_bridge_client "$@"
diff --git a/y2023/ssd_profiler.cc b/y2023/ssd_profiler.cc
index f5f24f5..2805680 100644
--- a/y2023/ssd_profiler.cc
+++ b/y2023/ssd_profiler.cc
@@ -1,6 +1,7 @@
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
+#include <sys/uio.h>
#include <chrono>
@@ -16,7 +17,10 @@
DEFINE_uint32(write_size, 4096, "Size of hunk to write");
DEFINE_bool(sync, false, "If true, sync the file after each written block.");
+DEFINE_bool(writev, false, "If true, use writev.");
DEFINE_bool(direct, false, "If true, O_DIRECT.");
+DEFINE_uint32(chunks, 1, "Chunks to write using writev.");
+DEFINE_uint32(chunk_size, 512, "Chunk size to write using writev.");
int main(int argc, char ** argv) {
aos::InitGoogle(&argc, &argv);
@@ -40,25 +44,43 @@
PCHECK(close(random_fd) == 0);
}
+ std::vector<struct iovec> iovec;
+ iovec.resize(FLAGS_chunks);
+ CHECK_LE(FLAGS_chunks * FLAGS_chunk_size, FLAGS_write_size);
+
+ for (size_t i = 0; i < FLAGS_chunks; ++i) {
+ iovec[i].iov_base = &data[i * FLAGS_chunk_size];
+ iovec[i].iov_len = FLAGS_chunk_size;
+ }
+ iovec[FLAGS_chunks - 1].iov_base = &data[(FLAGS_chunks - 1) * FLAGS_chunk_size];
+ iovec[FLAGS_chunks - 1].iov_len = data.size() - (FLAGS_chunks - 1) * FLAGS_chunk_size;
+
int fd = open(
FLAGS_file.c_str(),
- O_RDWR | O_CLOEXEC | O_CREAT | O_EXCL | (FLAGS_direct ? O_DIRECT : 0),
+ O_RDWR | O_CLOEXEC | O_CREAT | (FLAGS_direct ? O_DIRECT : 0),
0774);
PCHECK(fd != -1);
const aos::monotonic_clock::time_point start_time =
aos::monotonic_clock::now();
- aos::monotonic_clock::time_point last_time =
- start_time;
+ aos::monotonic_clock::time_point last_time = start_time;
size_t last_written_data = 0;
size_t written_data = 0;
while (true) {
- PCHECK(write(fd, data.data(), data.size()) ==
- static_cast<ssize_t>(data.size()))
- << ": Failed after "
- << chrono::duration<double>(aos::monotonic_clock::now() - start_time)
- .count();
+ if (FLAGS_writev) {
+ PCHECK(writev(fd, iovec.data(), iovec.size()) ==
+ static_cast<ssize_t>(data.size()))
+ << ": Failed after "
+ << chrono::duration<double>(aos::monotonic_clock::now() - start_time)
+ .count();
+ } else {
+ PCHECK(write(fd, data.data(), data.size()) ==
+ static_cast<ssize_t>(data.size()))
+ << ": Failed after "
+ << chrono::duration<double>(aos::monotonic_clock::now() - start_time)
+ .count();
+ }
// Trigger a flush if asked.
if (FLAGS_sync) {
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 2ddb735..3186f44 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -1,45 +1,4 @@
-py_binary(
- name = "create_calib_file",
- srcs = [
- "create_calib_file.py",
- ],
- args = [
- "calibration_data.h",
- ],
- data = glob(["calib_files/*.json"]),
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/vision:create_calib_file",
- ],
-)
-
-genrule(
- name = "run_calibration_data",
- outs = [
- "calibration_data.h",
- ],
- cmd = " ".join([
- "$(location :create_calib_file)",
- "$(location calibration_data.h)",
- ]),
- target_compatible_with = ["@platforms//os:linux"],
- tools = [
- ":create_calib_file",
- ],
-)
-
-cc_library(
- name = "calibration_data",
- hdrs = [
- "calibration_data.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "@com_google_absl//absl/types:span",
- ],
-)
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
cc_binary(
name = "camera_reader",
@@ -89,19 +48,39 @@
visibility = ["//y2023:__subpackages__"],
deps = [
":aprilrobotics_lib",
- ":calibration_data",
"//aos:init",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
+ "//frc971/constants:constants_sender_lib",
"//frc971/control_loops:pose",
"//frc971/vision:calibration_fbs",
"//frc971/vision:charuco_lib",
"//frc971/vision:target_mapper",
"//third_party:opencv",
+ "//y2023/constants:constants_fbs",
],
)
cc_library(
+ name = "vision_util",
+ srcs = ["vision_util.cc"],
+ hdrs = ["vision_util.h"],
+ deps = [
+ "//third_party:opencv",
+ "//y2023/constants:constants_fbs",
+ "@com_github_google_glog//:glog",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "april_debug_fbs",
+ srcs = ["april_debug.fbs"],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
name = "aprilrobotics_lib",
srcs = [
"aprilrobotics.cc",
@@ -110,9 +89,11 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2023:__subpackages__"],
deps = [
- ":calibration_data",
+ ":april_debug_fbs",
+ ":vision_util",
"//aos:init",
"//aos/events:shm_event_loop",
+ "//frc971/constants:constants_sender_lib",
"//frc971/vision:calibration_fbs",
"//frc971/vision:charuco_lib",
"//frc971/vision:target_map_fbs",
@@ -120,6 +101,7 @@
"//frc971/vision:vision_fbs",
"//third_party:opencv",
"//third_party/apriltag",
+ "//y2023/constants:constants_fbs",
],
)
@@ -136,3 +118,32 @@
"//aos/events:shm_event_loop",
],
)
+
+cc_binary(
+ name = "foxglove_image_converter",
+ srcs = ["foxglove_image_converter.cc"],
+ visibility = ["//y2023:__subpackages__"],
+ deps = [
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/vision:foxglove_image_converter_lib",
+ ],
+)
+
+cc_binary(
+ name = "calibrate_extrinsics",
+ srcs = [
+ "calibrate_extrinsics.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos:init",
+ "//aos/events/logging:log_reader",
+ "//frc971/constants:constants_sender_lib",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/vision:extrinsics_calibration",
+ "//third_party:opencv",
+ "//y2023/constants:constants_fbs",
+ "//y2023/vision:vision_util",
+ ],
+)
diff --git a/y2023/vision/april_debug.fbs b/y2023/vision/april_debug.fbs
new file mode 100644
index 0000000..4442448
--- /dev/null
+++ b/y2023/vision/april_debug.fbs
@@ -0,0 +1,21 @@
+namespace y2023.vision;
+
+// Stores image xy pixel coordinates of apriltag corners
+struct Point {
+ x:double (id: 0);
+ y:double (id: 1);
+}
+
+// Corner locations for each apriltag
+table AprilCorners {
+ id:uint64 (id: 0);
+ // Will always have 4 values, one for each corner
+ points: [Point] (id: 1);
+}
+
+// List of positions of all apriltags detected in current frame
+table AprilDebug {
+ corners: [AprilCorners] (id: 0);
+}
+
+root_type AprilDebug;
diff --git a/y2023/vision/aprilrobotics.cc b/y2023/vision/aprilrobotics.cc
index cbfd3f6..07eee64 100644
--- a/y2023/vision/aprilrobotics.cc
+++ b/y2023/vision/aprilrobotics.cc
@@ -1,11 +1,14 @@
#include "y2023/vision/aprilrobotics.h"
+#include "y2023/vision/vision_util.h"
+
DEFINE_bool(
debug, false,
"If true, dump a ton of debug and crash on the first valid detection.");
-DEFINE_int32(team_number, 971,
- "Use the calibration for a node with this team number");
+DEFINE_double(min_decision_margin, 30.0,
+ "Minimum decision margin (confidence) for an apriltag detection");
+
namespace y2023 {
namespace vision {
@@ -13,7 +16,7 @@
AprilRoboticsDetector::AprilRoboticsDetector(aos::EventLoop *event_loop,
std::string_view channel_name)
- : calibration_data_(CalibrationData()),
+ : calibration_data_(event_loop),
ftrace_(),
image_callback_(
event_loop, channel_name,
@@ -23,7 +26,9 @@
},
chrono::milliseconds(5)),
target_map_sender_(
- event_loop->MakeSender<frc971::vision::TargetMap>("/camera")) {
+ event_loop->MakeSender<frc971::vision::TargetMap>("/camera")),
+ april_debug_sender_(
+ event_loop->MakeSender<y2023::vision::AprilDebug>("/camera")) {
tag_family_ = tag16h5_create();
tag_detector_ = apriltag_detector_create();
@@ -36,16 +41,18 @@
std::string hostname = aos::network::GetHostname();
// Check team string is valid
- std::optional<uint16_t> pi_number = aos::network::ParsePiNumber(hostname);
- std::optional<uint16_t> team_number =
- aos::network::team_number_internal::ParsePiTeamNumber(hostname);
- CHECK(pi_number) << "Unable to parse pi number from '" << hostname << "'";
- CHECK(team_number);
+ calibration_ = FindCameraCalibration(
+ calibration_data_.constants(), event_loop->node()->name()->string_view());
- calibration_ = FindCameraCalibration(&calibration_data_.message(),
- "pi" + std::to_string(*pi_number));
+ extrinsics_ = CameraExtrinsics(calibration_);
+
intrinsics_ = CameraIntrinsics(calibration_);
- camera_distortion_coeffs_ = CameraDistCoeffs(calibration_);
+ // Create an undistort projection matrix using the intrinsics
+ projection_matrix_ = cv::Mat::zeros(3, 4, CV_64F);
+ intrinsics_.rowRange(0, 3).colRange(0, 3).copyTo(
+ projection_matrix_.rowRange(0, 3).colRange(0, 3));
+
+ dist_coeffs_ = CameraDistCoeffs(calibration_);
image_callback_.set_format(frc971::vision::ImageCallback::Format::GRAYSCALE);
}
@@ -70,10 +77,10 @@
}
}
-void AprilRoboticsDetector::HandleImage(cv::Mat image_color_mat,
+void AprilRoboticsDetector::HandleImage(cv::Mat image_grayscale,
aos::monotonic_clock::time_point eof) {
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> detections =
- DetectTags(image_color_mat);
+ DetectTags(image_grayscale);
auto builder = target_map_sender_.MakeBuilder();
std::vector<flatbuffers::Offset<frc971::vision::TargetPoseFbs>> target_poses;
@@ -106,6 +113,28 @@
orientation_offset);
}
+void AprilRoboticsDetector::UndistortDetection(
+ apriltag_detection_t *det) const {
+ // 4 corners
+ constexpr size_t kRows = 4;
+ // 2d points
+ constexpr size_t kCols = 2;
+
+ cv::Mat distorted_points(kRows, kCols, CV_64F, det->p);
+ cv::Mat undistorted_points = cv::Mat::zeros(kRows, kCols, CV_64F);
+
+ // Undistort the april tag points
+ cv::undistortPoints(distorted_points, undistorted_points, intrinsics_,
+ dist_coeffs_, cv::noArray(), projection_matrix_);
+
+ // Copy the undistorted points into det
+ for (size_t i = 0; i < kRows; i++) {
+ for (size_t j = 0; j < kCols; j++) {
+ det->p[i][j] = undistorted_points.at<double>(i, j);
+ }
+ }
+}
+
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>>
AprilRoboticsDetector::DetectTags(cv::Mat image) {
const aos::monotonic_clock::time_point start_time =
@@ -124,11 +153,15 @@
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> results;
+ std::vector<flatbuffers::Offset<AprilCorners>> corners_vector;
+
+ auto builder = april_debug_sender_.MakeBuilder();
+
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
- if (det->decision_margin > 30) {
+ if (det->decision_margin > FLAGS_min_decision_margin) {
VLOG(1) << "Found tag number " << det->id << " hamming: " << det->hamming
<< " margin: " << det->decision_margin;
@@ -139,6 +172,7 @@
apriltag_detection_info_t info;
info.det = det;
info.tagsize = 0.1524;
+
info.fx = intrinsics_.at<double>(0, 0);
info.fy = intrinsics_.at<double>(1, 1);
info.cx = intrinsics_.at<double>(0, 2);
@@ -147,6 +181,7 @@
apriltag_pose_t pose;
double err = estimate_tag_pose(&info, &pose);
+ UndistortDetection(det);
VLOG(1) << "err: " << err;
results.emplace_back(*det, pose);
@@ -159,14 +194,42 @@
before_pose_estimation)
.count()
<< " seconds for pose estimation";
+
+ std::vector<Point> corner_points;
+
+ corner_points.emplace_back(det->p[0][0], det->p[0][1]);
+ corner_points.emplace_back(det->p[1][0], det->p[1][1]);
+ corner_points.emplace_back(det->p[2][0], det->p[2][1]);
+ corner_points.emplace_back(det->p[3][0], det->p[3][1]);
+
+ auto corner_points_fbs =
+ builder.fbb()->CreateVectorOfStructs(corner_points);
+
+ AprilCorners::Builder april_corners_builder =
+ builder.MakeBuilder<AprilCorners>();
+
+ april_corners_builder.add_id(det->id);
+ april_corners_builder.add_points(corner_points_fbs);
+
+ corners_vector.emplace_back(april_corners_builder.Finish());
}
}
+ auto corners_vector_fbs = builder.fbb()->CreateVector(corners_vector);
+
+ AprilDebug::Builder april_debug_builder = builder.MakeBuilder<AprilDebug>();
+
+ april_debug_builder.add_corners(corners_vector_fbs);
+
+ builder.CheckOk(builder.Send(april_debug_builder.Finish()));
+
apriltag_detections_destroy(detections);
const aos::monotonic_clock::time_point end_time = aos::monotonic_clock::now();
- timeprofile_display(tag_detector_->tp);
+ if (FLAGS_debug) {
+ timeprofile_display(tag_detector_->tp);
+ }
VLOG(1) << "Took " << chrono::duration<double>(end_time - start_time).count()
<< " seconds to detect overall";
diff --git a/y2023/vision/aprilrobotics.h b/y2023/vision/aprilrobotics.h
index a68b1d9..4477856 100644
--- a/y2023/vision/aprilrobotics.h
+++ b/y2023/vision/aprilrobotics.h
@@ -5,6 +5,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/network/team_number.h"
#include "aos/realtime.h"
+#include "frc971/constants/constants_sender_lib.h"
#include "frc971/vision/calibration_generated.h"
#include "frc971/vision/charuco_lib.h"
#include "frc971/vision/target_map_generated.h"
@@ -15,7 +16,8 @@
#include "third_party/apriltag/apriltag.h"
#include "third_party/apriltag/apriltag_pose.h"
#include "third_party/apriltag/tag16h5.h"
-#include "y2023/vision/calibration_data.h"
+#include "y2023/constants/constants_generated.h"
+#include "y2023/vision/april_debug_generated.h"
DECLARE_int32(team_number);
@@ -26,14 +28,20 @@
public:
AprilRoboticsDetector(aos::EventLoop *event_loop,
std::string_view channel_name);
-
~AprilRoboticsDetector();
void SetWorkerpoolAffinities();
+ // Undistorts the april tag corners using the camera calibration
+ void UndistortDetection(apriltag_detection_t *det) const;
+
std::vector<std::pair<apriltag_detection_t, apriltag_pose_t>> DetectTags(
cv::Mat image);
+ const cv::Mat extrinsics() const { return extrinsics_; }
+ const cv::Mat intrinsics() const { return intrinsics_; }
+ const cv::Mat dist_coeffs() const { return dist_coeffs_; }
+
private:
void HandleImage(cv::Mat image, aos::monotonic_clock::time_point eof);
@@ -42,59 +50,21 @@
frc971::vision::TargetMapper::TargetId target_id,
flatbuffers::FlatBufferBuilder *fbb);
- static const frc971::vision::calibration::CameraCalibration *
- FindCameraCalibration(
- const frc971::vision::calibration::CalibrationData *calibration_data,
- std::string_view node_name) {
- for (const frc971::vision::calibration::CameraCalibration *candidate :
- *calibration_data->camera_calibrations()) {
- if (candidate->node_name()->string_view() != node_name) {
- continue;
- }
- if (candidate->team_number() != FLAGS_team_number) {
- continue;
- }
- return candidate;
- }
- LOG(FATAL) << ": Failed to find camera calibration for " << node_name
- << " on " << FLAGS_team_number;
- }
-
- static cv::Mat CameraIntrinsics(
- const frc971::vision::calibration::CameraCalibration
- *camera_calibration) {
- cv::Mat result(3, 3, CV_32F,
- const_cast<void *>(static_cast<const void *>(
- camera_calibration->intrinsics()->data())));
- result.convertTo(result, CV_64F);
- CHECK_EQ(result.total(), camera_calibration->intrinsics()->size());
-
- return result;
- }
-
- static cv::Mat CameraDistCoeffs(
- const frc971::vision::calibration::CameraCalibration
- *camera_calibration) {
- 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;
- }
-
apriltag_family_t *tag_family_;
apriltag_detector_t *tag_detector_;
- const aos::FlatbufferSpan<frc971::vision::calibration::CalibrationData>
- calibration_data_;
+ const frc971::constants::ConstantsFetcher<Constants> calibration_data_;
const frc971::vision::calibration::CameraCalibration *calibration_;
cv::Mat intrinsics_;
- cv::Mat camera_distortion_coeffs_;
+ cv::Mat projection_matrix_;
+ cv::Mat extrinsics_;
+ cv::Mat dist_coeffs_;
aos::Ftrace ftrace_;
frc971::vision::ImageCallback image_callback_;
aos::Sender<frc971::vision::TargetMap> target_map_sender_;
+ aos::Sender<y2023::vision::AprilDebug> april_debug_sender_;
};
} // namespace vision
diff --git a/y2023/vision/aprilrobotics_main.cc b/y2023/vision/aprilrobotics_main.cc
index 67b853f..6870ae1 100644
--- a/y2023/vision/aprilrobotics_main.cc
+++ b/y2023/vision/aprilrobotics_main.cc
@@ -1,6 +1,7 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "y2023/vision/aprilrobotics.h"
+#include "frc971/constants/constants_sender_lib.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
@@ -9,6 +10,8 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
+ frc971::constants::WaitForConstants<Constants>(&config.message());
+
aos::ShmEventLoop event_loop(&config.message());
AprilRoboticsDetector detector(&event_loop, "/camera");
diff --git a/y2023/vision/calib_files/BUILD b/y2023/vision/calib_files/BUILD
new file mode 100644
index 0000000..1f33d50
--- /dev/null
+++ b/y2023/vision/calib_files/BUILD
@@ -0,0 +1,5 @@
+filegroup(
+ name = "calib_files",
+ srcs = glob(["*.json"]),
+ visibility = ["//visibility:public"],
+)
diff --git a/y2023/vision/calib_files/calibration_pi-2023-base-calib.json b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
new file mode 100755
index 0000000..747dcb7
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-2023-base-calib.json
@@ -0,0 +1,44 @@
+{
+ "node_name": "pi1",
+ "team_number": 7971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "fixed_extrinsics": {
+ "data": [
+ -1,
+ -1.57586107256918e-16,
+ 5.0158596452676243e-17,
+ -0.15239999999999998,
+ 1.3147519464173305e-16,
+ -0.5735764363510459,
+ 0.8191520442889919,
+ -0.2032,
+ -1.0031719290535249e-16,
+ 0.8191520442889919,
+ 0.5735764363510459,
+ 0.0127,
+ 0,
+ 0,
+ 0,
+ 1
+ ]
+ },
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-01"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json b/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
deleted file mode 100755
index a8d8816..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-1_2021-06-12_15-35-39.636386620.json
+++ /dev/null
@@ -1,41 +0,0 @@
-{
- "node_name": "pi1",
- "team_number": 7971,
- "intrinsics": [
- 388.369812,
- 0.0,
- 292.325653,
- 0.0,
- 388.513733,
- 224.371063,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- 0.126935,
- -0.218447,
- -0.000152,
- 0.001158,
- 0.06266
- ],
- "fixed_extrinsics": [
- -1.0,
- -1.57586107256918e-16,
- 5.0158596452676243e-17,
- -0.15239999999999998,
- 1.3147519464173305e-16,
- -0.5735764363510459,
- 0.8191520442889919,
- -0.2032,
- -1.0031719290535249e-16,
- 0.8191520442889919,
- 0.5735764363510459,
- 0.0127,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
- "calibration_timestamp": 1623537339636386620
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json
new file mode 100755
index 0000000..c3ecd9e
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-1_cam-23-01_2013-01-18_09-15-19.438113048.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 7971,
+ "intrinsics": [
+ 893.759521,
+ 0.0,
+ 645.470764,
+ 0.0,
+ 893.222351,
+ 388.150269,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.44902,
+ 0.248409,
+ -0.000537,
+ -0.000112,
+ -0.076989
+ ],
+ "calibration_timestamp": 1358500519438113048,
+ "camera_id": "23-01"
+}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json b/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
deleted file mode 100755
index d994a07..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-2_2021-06-12_15-30-20.325393444.json
+++ /dev/null
@@ -1,41 +0,0 @@
-{
- "node_name": "pi2",
- "team_number": 7971,
- "intrinsics": [
- 388.7565,
- 0.0,
- 285.024506,
- 0.0,
- 388.915039,
- 222.227539,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- 0.128415,
- -0.212528,
- 0.001165,
- 0.000579,
- 0.054853
- ],
- "fixed_extrinsics": [
- 7.02428546843654e-17,
- -0.5735764363510459,
- 0.8191520442889919,
- 0.09525,
- 1.0,
- 1.2246467991473532e-16,
- 0.0,
- 0.1905,
- -1.0031719290535249e-16,
- 0.8191520442889919,
- 0.5735764363510459,
- 0.0127,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
- "calibration_timestamp": 1623537020325393444
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json
new file mode 100755
index 0000000..2e6f2a0
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-2_cam-23-02_2013-01-18_09-02-49.498335208.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi2",
+ "team_number": 7971,
+ "intrinsics": [
+ 895.543945,
+ 0.0,
+ 645.250122,
+ 0.0,
+ 895.308838,
+ 354.297241,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.455658,
+ 0.272167,
+ 0.000796,
+ -0.000206,
+ -0.0975
+ ],
+ "calibration_timestamp": 1358499769498335208,
+ "camera_id": "23-02"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json b/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
deleted file mode 100755
index 241957e..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-3_2021-06-12_15-33-31.977365877.json
+++ /dev/null
@@ -1,41 +0,0 @@
-{
- "node_name": "pi3",
- "team_number": 7971,
- "intrinsics": [
- 389.35611,
- 0.0,
- 339.345673,
- 0.0,
- 389.516235,
- 240.247787,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- 0.122511,
- -0.209383,
- -0.001212,
- 0.000041,
- 0.05674
- ],
- "fixed_extrinsics": [
- 7.02428546843654e-17,
- -0.5735764363510459,
- 0.8191520442889919,
- 0.09525,
- 1.0,
- 1.2246467991473532e-16,
- 0.0,
- -0.10794999999999999,
- -1.0031719290535249e-16,
- 0.8191520442889919,
- 0.5735764363510459,
- 0.0127,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
- "calibration_timestamp": 1623537211977365877
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json
new file mode 100755
index 0000000..d9c4154
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-3_cam-23-03_2013-01-18_09-39-27.378322133.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi3",
+ "team_number": 7971,
+ "intrinsics": [
+ 892.089172,
+ 0.0,
+ 648.780701,
+ 0.0,
+ 892.362854,
+ 342.340668,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.451178,
+ 0.258187,
+ 0.001071,
+ 0.000017,
+ -0.085526
+ ],
+ "calibration_timestamp": 1358501967378322133,
+ "camera_id": "23-03"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json b/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
deleted file mode 100755
index 6e04089..0000000
--- a/y2023/vision/calib_files/calibration_pi-7971-4_2021-06-12_15-37-25.706564865.json
+++ /dev/null
@@ -1,41 +0,0 @@
-{
- "node_name": "pi4",
- "team_number": 7971,
- "intrinsics": [
- 390.301514,
- 0.0,
- 356.104095,
- 0.0,
- 389.884491,
- 231.157303,
- 0.0,
- 0.0,
- 1.0
- ],
- "dist_coeffs": [
- 0.128595,
- -0.229324,
- -0.001145,
- 0.001602,
- 0.079774
- ],
- "fixed_extrinsics": [
- 7.02428546843654e-17,
- -0.5735764363510459,
- 0.8191520442889919,
- -0.15239999999999998,
- 1.0,
- 1.2246467991473532e-16,
- 0.0,
- -0.17779999999999999,
- -1.0031719290535249e-16,
- 0.8191520442889919,
- 0.5735764363510459,
- 0.0127,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
- "calibration_timestamp": 1623537445706564865
-}
diff --git a/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json
new file mode 100755
index 0000000..aa541b5
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-7971-4_cam-23-04_2013-01-18_09-39-42.039874176.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi4",
+ "team_number": 7971,
+ "intrinsics": [
+ 890.071899,
+ 0.0,
+ 620.69519,
+ 0.0,
+ 890.307434,
+ 365.158844,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.449088,
+ 0.25594,
+ 0.000415,
+ 0.000142,
+ -0.084656
+ ],
+ "calibration_timestamp": 1358501982039874176,
+ "camera_id": "23-04"
+}
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json
new file mode 100755
index 0000000..1f30579
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-01_2013-01-18_08-56-17.194305339.json
@@ -0,0 +1,42 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 913.133728,
+ 0.0,
+ 575.592285,
+ 0.0,
+ 917.686462,
+ 364.544403,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ -0.454162,
+ 0.255307,
+ -0.000166,
+ 0.008949,
+ -0.079813
+ ],
+ "fixed_extrinsics": [
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "calibration_timestamp": 1358499377194305339,
+ "camera_id": "23-01"
+}
diff --git a/y2023/vision/calibrate_extrinsics.cc b/y2023/vision/calibrate_extrinsics.cc
new file mode 100644
index 0000000..eab8724
--- /dev/null
+++ b/y2023/vision/calibrate_extrinsics.cc
@@ -0,0 +1,258 @@
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+#include "absl/strings/str_format.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/init.h"
+#include "aos/network/team_number.h"
+#include "aos/time/time.h"
+#include "aos/util/file.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/constants/constants_sender_lib.h"
+#include "frc971/vision/extrinsics_calibration.h"
+#include "frc971/vision/vision_generated.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+#include "y2023/constants/constants_generated.h"
+#include "y2023/vision/vision_util.h"
+
+DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
+DEFINE_bool(plot, false, "Whether to plot the resulting data.");
+DEFINE_string(target_type, "charuco",
+ "Type of target: aruco|charuco|charuco_diamond");
+DEFINE_string(image_channel, "/camera", "Channel to listen for images on");
+DEFINE_string(output_logs, "/tmp/calibration/",
+ "Output folder for visualization logs.");
+DEFINE_string(base_intrinsics, "",
+ "Intrinsics to use for extrinsics calibration.");
+DEFINE_string(output_calibration, "",
+ "Output json file to use for the resulting extrinsics.");
+
+namespace frc971 {
+namespace vision {
+namespace chrono = std::chrono;
+using aos::distributed_clock;
+using aos::monotonic_clock;
+
+struct CalibrationAccumulatorState {
+ CalibrationAccumulatorState(
+ aos::SimulatedEventLoopFactory *factory, CalibrationData *data,
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> *intrinsics)
+ : factory(factory), data(data), intrinsics(intrinsics) {}
+ aos::SimulatedEventLoopFactory *factory;
+ CalibrationData *data;
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> *intrinsics;
+ std::unique_ptr<aos::EventLoop> imu_event_loop;
+ std::unique_ptr<aos::EventLoop> pi_event_loop;
+ std::unique_ptr<aos::EventLoop> logger_event_loop;
+ std::unique_ptr<aos::logger::Logger> logger;
+ std::unique_ptr<Calibration> extractor;
+ void MaybeMakeExtractor() {
+ if (imu_event_loop && pi_event_loop) {
+ TargetType target_type = TargetTypeFromString(FLAGS_target_type);
+ std::unique_ptr<aos::EventLoop> constants_event_loop =
+ factory->MakeEventLoop("constants_fetcher", pi_event_loop->node());
+ frc971::constants::ConstantsFetcher<y2023::Constants> constants_fetcher(
+ constants_event_loop.get());
+ *intrinsics =
+ FLAGS_base_intrinsics.empty()
+ ? aos::RecursiveCopyFlatBuffer(
+ y2023::vision::FindCameraCalibration(
+ constants_fetcher.constants(),
+ pi_event_loop->node()->name()->string_view()))
+ : aos::JsonFileToFlatbuffer<calibration::CameraCalibration>(
+ FLAGS_base_intrinsics);
+ extractor = std::make_unique<Calibration>(
+ factory, pi_event_loop.get(), imu_event_loop.get(), FLAGS_pi,
+ &intrinsics->message(), target_type, FLAGS_image_channel, data);
+ }
+ }
+};
+
+void Main(int argc, char **argv) {
+ CalibrationData data;
+ std::optional<uint16_t> pi_number = aos::network::ParsePiNumber(FLAGS_pi);
+ CHECK(pi_number);
+ const std::string pi_name = absl::StrCat("pi", *pi_number);
+
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> intrinsics =
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>::Empty();
+ {
+ // Now, accumulate all the data into the data object.
+ aos::logger::LogReader reader(
+ aos::logger::SortParts(aos::logger::FindLogs(argc, argv)));
+
+ aos::SimulatedEventLoopFactory factory(reader.configuration());
+ reader.RegisterWithoutStarting(&factory);
+
+ CHECK(aos::configuration::MultiNode(reader.configuration()));
+
+ // Find the nodes we care about.
+ const aos::Node *const imu_node =
+ aos::configuration::GetNode(factory.configuration(), "imu");
+
+ const aos::Node *const pi_node =
+ aos::configuration::GetNode(factory.configuration(), pi_name);
+
+ CalibrationAccumulatorState accumulator_state(&factory, &data, &intrinsics);
+
+ reader.OnStart(imu_node, [&accumulator_state, imu_node, &factory]() {
+ accumulator_state.imu_event_loop =
+ factory.MakeEventLoop("calibration", imu_node);
+ accumulator_state.MaybeMakeExtractor();
+ });
+
+ reader.OnStart(imu_node, [&accumulator_state, pi_node, &factory]() {
+ accumulator_state.pi_event_loop =
+ factory.MakeEventLoop("logger", pi_node);
+ accumulator_state.logger_event_loop =
+ factory.MakeEventLoop("logger", pi_node);
+ accumulator_state.logger = std::make_unique<aos::logger::Logger>(
+ accumulator_state.logger_event_loop.get());
+ accumulator_state.logger->StartLoggingOnRun(FLAGS_output_logs);
+ accumulator_state.MaybeMakeExtractor();
+ });
+
+ factory.Run();
+
+ reader.Deregister();
+ }
+
+ LOG(INFO) << "Done with event_loop running";
+ CHECK(data.imu_samples_size() > 0) << "Didn't get any IMU data";
+ CHECK(data.camera_samples_size() > 0) << "Didn't get any camera observations";
+
+ // And now we have it, we can start processing it.
+ const Eigen::Quaternion<double> nominal_initial_orientation(
+ frc971::controls::ToQuaternionFromRotationVector(
+ Eigen::Vector3d(0.0, 0.0, M_PI)));
+ const Eigen::Quaternion<double> nominal_pivot_to_camera(
+ Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
+ const Eigen::Quaternion<double> nominal_board_to_world(
+ Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
+ Eigen::Matrix<double, 6, 1> nominal_initial_state =
+ Eigen::Matrix<double, 6, 1>::Zero();
+ // Set x value to 0.5 m (center view on the board)
+ // nominal_initial_state(0, 0) = 0.5;
+ // Set y value to -1 m (approx distance from imu to board/world)
+ nominal_initial_state(1, 0) = -1.0;
+
+ CalibrationParameters calibration_parameters;
+ calibration_parameters.initial_orientation = nominal_initial_orientation;
+ calibration_parameters.pivot_to_camera = nominal_pivot_to_camera;
+ calibration_parameters.board_to_world = nominal_board_to_world;
+ calibration_parameters.initial_state = nominal_initial_state;
+ calibration_parameters.has_pivot = false;
+
+ // Show the inverse of pivot_to_camera, since camera_to_pivot tells where the
+ // camera is with respect to the pivot frame
+ const Eigen::Affine3d nominal_affine_pivot_to_camera =
+ Eigen::Translation3d(calibration_parameters.pivot_to_camera_translation) *
+ nominal_pivot_to_camera;
+ const Eigen::Quaterniond nominal_camera_to_pivot_rotation(
+ nominal_affine_pivot_to_camera.inverse().rotation());
+ const Eigen::Vector3d nominal_camera_to_pivot_translation(
+ nominal_affine_pivot_to_camera.inverse().translation());
+
+ LOG(INFO) << "Initial Conditions for solver. Assumes:\n"
+ << "1) board origin is same as world, but rotated pi/2 about "
+ "x-axis, so z points out\n"
+ << "2) pivot origin matches imu origin\n"
+ << "3) camera is offset from pivot (depends on which camera)";
+
+ LOG(INFO)
+ << "Nominal initial_orientation of imu w.r.t. world (angle-axis vector): "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ nominal_initial_orientation)
+ .transpose();
+ LOG(INFO) << "Nominal initial_state: \n"
+ << "Position: "
+ << nominal_initial_state.block<3, 1>(0, 0).transpose() << "\n"
+ << "Velocity: "
+ << nominal_initial_state.block<3, 1>(3, 0).transpose();
+ // TODO<Jim>: Might be nice to take out the rotation component that maps into
+ // camera image coordinates (with x right, y down, z forward)
+ LOG(INFO) << "Nominal camera_to_pivot (angle-axis vector): "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ nominal_camera_to_pivot_rotation)
+ .transpose();
+ LOG(INFO) << "Nominal camera_to_pivot translation: "
+ << nominal_camera_to_pivot_translation.transpose();
+
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+ solved_extrinsics = Solve(data, &calibration_parameters);
+ intrinsics.mutable_message()->clear_fixed_extrinsics();
+ intrinsics.mutable_message()->clear_turret_extrinsics();
+ aos::FlatbufferDetachedBuffer<calibration::CameraCalibration>
+ merged_calibration = aos::MergeFlatBuffers(&intrinsics.message(),
+ &solved_extrinsics.message());
+
+ if (!FLAGS_output_calibration.empty()) {
+ aos::WriteFlatbufferToJson(FLAGS_output_calibration, merged_calibration);
+ }
+
+ LOG(INFO) << "RESULTS OF CALIBRATION SOLVER:";
+ std::cout << aos::FlatbufferToJson(&merged_calibration.message())
+ << std::endl;
+ LOG(INFO) << "initial_orientation of imu w.r.t. world (angle-axis vector): "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.initial_orientation)
+ .transpose();
+ LOG(INFO)
+ << "initial_state: \n"
+ << "Position: "
+ << calibration_parameters.initial_state.block<3, 1>(0, 0).transpose()
+ << "\n"
+ << "Velocity: "
+ << calibration_parameters.initial_state.block<3, 1>(3, 0).transpose();
+
+ const Eigen::Affine3d affine_pivot_to_camera =
+ Eigen::Translation3d(calibration_parameters.pivot_to_camera_translation) *
+ calibration_parameters.pivot_to_camera;
+ const Eigen::Quaterniond camera_to_pivot_rotation(
+ affine_pivot_to_camera.inverse().rotation());
+ const Eigen::Vector3d camera_to_pivot_translation(
+ affine_pivot_to_camera.inverse().translation());
+ LOG(INFO) << "camera to pivot (angle-axis vec): "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ camera_to_pivot_rotation)
+ .transpose();
+ LOG(INFO) << "camera to pivot translation: "
+ << camera_to_pivot_translation.transpose();
+ LOG(INFO) << "board_to_world (rotation) "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.board_to_world)
+ .transpose();
+ LOG(INFO) << "accelerometer bias "
+ << calibration_parameters.accelerometer_bias.transpose();
+ LOG(INFO) << "gyro_bias " << calibration_parameters.gyro_bias.transpose();
+ LOG(INFO) << "gravity " << 9.81 * calibration_parameters.gravity_scalar;
+
+ LOG(INFO) << "pivot_to_camera change "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.pivot_to_camera *
+ nominal_pivot_to_camera.inverse())
+ .transpose();
+ LOG(INFO) << "board_to_world delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ calibration_parameters.board_to_world *
+ nominal_board_to_world.inverse())
+ .transpose();
+
+ if (FLAGS_visualize) {
+ LOG(INFO) << "Showing visualization";
+ Visualize(data, calibration_parameters);
+ }
+
+ if (FLAGS_plot) {
+ Plot(data, calibration_parameters);
+ }
+} // namespace vision
+
+} // namespace vision
+} // namespace frc971
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ frc971::vision::Main(argc, argv);
+}
diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index b604516..7de3eb5 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -17,6 +17,8 @@
DEFINE_double(green, 1, "Green gain");
DEFINE_double(blue, 1.96, "Blue gain");
DEFINE_double(exposure, 150, "Camera exposure");
+DEFINE_bool(send_downsized_images, false,
+ "Whether to send downsized image for driver cam streaming.");
namespace y2023 {
namespace vision {
@@ -31,59 +33,70 @@
media_device->Log();
}
- int width = 1296;
- int height = 972;
- int color_format = MEDIA_BUS_FMT_SBGGR10_1X10;
- std::string camera_device_string = "ov5647 4-0036";
- if (FLAGS_lowlight_camera) {
- width = 1920;
- height = 1080;
- color_format = MEDIA_BUS_FMT_SRGGB10_1X10;
- camera_device_string = "arducam-pivariety 4-000c";
- }
+ const int kWidth = (FLAGS_lowlight_camera ? 1920 : 1296);
+ const int kHeight = (FLAGS_lowlight_camera ? 1080 : 972);
+ const int kColorFormat = (FLAGS_lowlight_camera ? MEDIA_BUS_FMT_SRGGB10_1X10
+ : MEDIA_BUS_FMT_SBGGR10_1X10);
+
+ const std::string_view kCameraDeviceString =
+ (FLAGS_lowlight_camera ? "arducam-pivariety 4-000c" : "ov5647 4-0036");
+
+ // Scale down the selfpath images so we can log at 30 Hz (but still detect
+ // april tags at a far enough distance)
+ const double kSelfpathScalar = 2.0 / 3.0;
+ const int kSelfpathWidth = kWidth * kSelfpathScalar;
+ const int kSelfpathHeight = kHeight * kSelfpathScalar;
+
+ // Send heavily downsized images to the drivercam. They go over the network,
+ // and in this case frame rate is more important than quality
+ constexpr int kMainpathWidth = 640;
+ constexpr int kMainpathHeight = 480;
media_device->Reset();
- Entity *camera = media_device->FindEntity(camera_device_string);
- camera->pads()[0]->SetSubdevFormat(width, height, color_format);
+ Entity *camera = media_device->FindEntity(kCameraDeviceString);
+ camera->pads()[0]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
Entity *rkisp1_csi = media_device->FindEntity("rkisp1_csi");
- rkisp1_csi->pads()[0]->SetSubdevFormat(width, height, color_format);
- rkisp1_csi->pads()[1]->SetSubdevFormat(width, height, color_format);
+ rkisp1_csi->pads()[0]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
+ rkisp1_csi->pads()[1]->SetSubdevFormat(kWidth, kHeight, kColorFormat);
// TODO(austin): Should we set this on the link?
Entity *rkisp1_isp = media_device->FindEntity("rkisp1_isp");
- rkisp1_isp->pads(0)->SetSubdevFormat(width, height, color_format);
- rkisp1_isp->pads(0)->SetSubdevCrop(width, height);
+ rkisp1_isp->pads(0)->SetSubdevFormat(kWidth, kHeight, kColorFormat);
+ rkisp1_isp->pads(0)->SetSubdevCrop(kWidth, kHeight);
- rkisp1_isp->pads(2)->SetSubdevFormat(width, height, MEDIA_BUS_FMT_YUYV8_2X8);
- rkisp1_isp->pads(2)->SetSubdevCrop(width, height);
+ rkisp1_isp->pads(2)->SetSubdevFormat(kWidth, kHeight,
+ MEDIA_BUS_FMT_YUYV8_2X8);
+ rkisp1_isp->pads(2)->SetSubdevCrop(kWidth, kHeight);
Entity *rkisp1_resizer_selfpath =
media_device->FindEntity("rkisp1_resizer_selfpath");
- rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(width, height,
+ rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(kWidth, kHeight,
MEDIA_BUS_FMT_YUYV8_2X8);
rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(
- width * 2 / 3, height * 2 / 3, MEDIA_BUS_FMT_YUYV8_2X8);
- rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(width, height);
+ kSelfpathWidth, kSelfpathHeight, MEDIA_BUS_FMT_YUYV8_2X8);
+ rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(kWidth, kHeight);
Entity *rkisp1_resizer_mainpath =
media_device->FindEntity("rkisp1_resizer_mainpath");
- rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(width, height,
+ rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(kWidth, kHeight,
MEDIA_BUS_FMT_YUYV8_2X8);
- rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(width, height);
- rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(width / 2, height / 2,
- MEDIA_BUS_FMT_YUYV8_2X8);
+ rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(kWidth, kHeight);
+ rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(
+ kMainpathWidth, kMainpathHeight, MEDIA_BUS_FMT_YUYV8_2X8);
Entity *rkisp1_mainpath = media_device->FindEntity("rkisp1_mainpath");
- rkisp1_mainpath->SetFormat(width / 2, height / 2, V4L2_PIX_FMT_YUV422P);
+ rkisp1_mainpath->SetFormat(kMainpathWidth, kMainpathHeight,
+ V4L2_PIX_FMT_YUYV);
Entity *rkisp1_selfpath = media_device->FindEntity("rkisp1_selfpath");
- rkisp1_selfpath->SetFormat(width * 2 / 3, height * 2 / 3, V4L2_PIX_FMT_YUYV);
+ rkisp1_selfpath->SetFormat(kSelfpathWidth, kSelfpathHeight,
+ V4L2_PIX_FMT_YUYV);
media_device->Enable(
- media_device->FindLink(camera_device_string, 0, "rkisp1_csi", 0));
+ media_device->FindLink(kCameraDeviceString, 0, "rkisp1_csi", 0));
media_device->Enable(
media_device->FindLink("rkisp1_csi", 1, "rkisp1_isp", 0));
media_device->Enable(
@@ -99,16 +112,25 @@
event_loop.SetRuntimeRealtimePriority(55);
event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({2}));
- RockchipV4L2Reader v4l2_reader(&event_loop, event_loop.epoll(),
- rkisp1_selfpath->device(), camera->device());
-
+ // Reader for vision processing
+ RockchipV4L2Reader v4l2_reader_selfpath(&event_loop, event_loop.epoll(),
+ rkisp1_selfpath->device(),
+ camera->device());
if (FLAGS_lowlight_camera) {
- v4l2_reader.SetGainExt(100);
- v4l2_reader.SetVerticalBlanking(1000);
- v4l2_reader.SetExposure(FLAGS_exposure);
+ v4l2_reader_selfpath.SetGainExt(100);
+ v4l2_reader_selfpath.SetVerticalBlanking(1000);
+ v4l2_reader_selfpath.SetExposure(FLAGS_exposure);
} else {
- v4l2_reader.SetGainExt(1000);
- v4l2_reader.SetExposure(1000);
+ v4l2_reader_selfpath.SetGainExt(1000);
+ v4l2_reader_selfpath.SetExposure(1000);
+ }
+
+ std::unique_ptr<RockchipV4L2Reader> v4l2_reader_mainpath;
+ if (FLAGS_send_downsized_images) {
+ // Reader for driver cam streaming on logger pi, sending lower res images
+ v4l2_reader_mainpath = std::make_unique<RockchipV4L2Reader>(
+ &event_loop, event_loop.epoll(), rkisp1_mainpath->device(),
+ camera->device(), "/camera/downsized");
}
{
diff --git a/y2023/vision/create_calib_file.py b/y2023/vision/create_calib_file.py
deleted file mode 100644
index b5e620d..0000000
--- a/y2023/vision/create_calib_file.py
+++ /dev/null
@@ -1,4 +0,0 @@
-import frc971.vision.create_calib_file
-
-if __name__ == "__main__":
- frc971.vision.create_calib_file.generate_header("2023")
diff --git a/y2023/vision/foxglove_image_converter.cc b/y2023/vision/foxglove_image_converter.cc
new file mode 100644
index 0000000..8f3032b
--- /dev/null
+++ b/y2023/vision/foxglove_image_converter.cc
@@ -0,0 +1,21 @@
+#include "frc971/vision/foxglove_image_converter_lib.h"
+
+#include "aos/init.h"
+#include "aos/events/shm_event_loop.h"
+
+DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ frc971::vision::FoxgloveImageConverter converter(
+ &event_loop, "/camera", "/camera",
+ frc971::vision::ImageCompression::kJpeg);
+
+ event_loop.Run();
+}
diff --git a/y2023/vision/maps/BUILD b/y2023/vision/maps/BUILD
new file mode 100644
index 0000000..38191a4
--- /dev/null
+++ b/y2023/vision/maps/BUILD
@@ -0,0 +1,7 @@
+filegroup(
+ name = "maps",
+ srcs = glob([
+ "*.json",
+ ]),
+ visibility = ["//visibility:public"],
+)
diff --git a/y2023/vision/target_map.json b/y2023/vision/maps/target_map.json
similarity index 100%
rename from y2023/vision/target_map.json
rename to y2023/vision/maps/target_map.json
diff --git a/y2023/vision/target_mapping.cc b/y2023/vision/target_mapping.cc
index 6d32dbd..921c172 100644
--- a/y2023/vision/target_mapping.cc
+++ b/y2023/vision/target_mapping.cc
@@ -13,7 +13,7 @@
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc.hpp"
#include "y2023/vision/aprilrobotics.h"
-#include "y2023/vision/calibration_data.h"
+#include "y2023/vision/vision_util.h"
DEFINE_string(json_path, "target_map.json",
"Specify path for json with initial pose guesses.");
@@ -21,7 +21,6 @@
namespace y2023 {
namespace vision {
-using frc971::vision::CharucoExtractor;
using frc971::vision::DataAdapter;
using frc971::vision::ImageCallback;
using frc971::vision::PoseUtils;
@@ -76,64 +75,28 @@
}
}
-const calibration::CameraCalibration *FindCameraCalibration(
- const calibration::CalibrationData *calibration_data,
- std::string_view node_name) {
- for (const calibration::CameraCalibration *candidate :
- *calibration_data->camera_calibrations()) {
- if (candidate->node_name()->string_view() != node_name) {
- continue;
- }
- if (candidate->team_number() != FLAGS_team_number) {
- continue;
- }
- return candidate;
- }
- LOG(FATAL) << ": Failed to find camera calibration for " << node_name
- << " on " << FLAGS_team_number;
-}
-
-Eigen::Affine3d CameraExtrinsics(
- const calibration::CameraCalibration *camera_calibration) {
- const frc971::vision::calibration::TransformationMatrix *transform =
- camera_calibration->has_turret_extrinsics()
- ? camera_calibration->turret_extrinsics()
- : camera_calibration->fixed_extrinsics();
-
- cv::Mat result(
- 4, 4, CV_32F,
- const_cast<void *>(static_cast<const void *>(transform->data()->data())));
- result.convertTo(result, CV_64F);
- CHECK_EQ(result.total(), transform->data()->size());
-
- Eigen::Matrix4d result_eigen;
- cv::cv2eigen(result, result_eigen);
- return Eigen::Affine3d(result_eigen);
-}
-
// Get images from pi and pass apriltag positions to HandleAprilTag()
void HandlePiCaptures(
- aos::EventLoop *pi_event_loop, aos::logger::LogReader *reader,
+ aos::EventLoop *detection_event_loop, aos::EventLoop *mapping_event_loop,
+ aos::logger::LogReader *reader,
std::vector<DataAdapter::TimestampedDetection>
*timestamped_target_detections,
std::vector<std::unique_ptr<AprilRoboticsDetector>> *detectors) {
- const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
- CalibrationData());
+ static constexpr std::string_view kImageChannel = "/camera";
+ auto detector_ptr = std::make_unique<AprilRoboticsDetector>(
+ detection_event_loop, kImageChannel);
+ // Get the camera extrinsics
+ cv::Mat extrinsics_cv = detector_ptr->extrinsics();
+ Eigen::Matrix4d extrinsics_matrix;
+ cv::cv2eigen(extrinsics_cv, extrinsics_matrix);
+ const auto extrinsics = Eigen::Affine3d(extrinsics_matrix);
- const auto node_name = pi_event_loop->node()->name()->string_view();
- const calibration::CameraCalibration *calibration =
- FindCameraCalibration(&calibration_data.message(), node_name);
- const auto extrinsics = CameraExtrinsics(calibration);
+ detectors->emplace_back(std::move(detector_ptr));
- // TODO(milind): change to /camera once we log at full frequency
- static constexpr std::string_view kImageChannel = "/camera/decimated";
- detectors->emplace_back(
- std::make_unique<AprilRoboticsDetector>(pi_event_loop, kImageChannel));
-
- pi_event_loop->MakeWatcher("/camera", [=](const TargetMap &map) {
+ mapping_event_loop->MakeWatcher("/camera", [=](const TargetMap &map) {
aos::distributed_clock::time_point pi_distributed_time =
reader->event_loop_factory()
- ->GetNodeEventLoopFactory(pi_event_loop->node())
+ ->GetNodeEventLoopFactory(mapping_event_loop->node())
->ToDistributedClock(aos::monotonic_clock::time_point(
aos::monotonic_clock::duration(map.monotonic_timestamp_ns())));
@@ -150,37 +113,53 @@
// open logfiles
aos::logger::LogReader reader(aos::logger::SortParts(unsorted_logfiles));
+ // Send new april tag poses. This allows us to take a log of images, then play
+ // with the april detection code and see those changes take effect in mapping
+ constexpr size_t kNumPis = 4;
+ for (size_t i = 1; i <= kNumPis; i++) {
+ reader.RemapLoggedChannel(absl::StrFormat("/pi%u/camera", i),
+ "frc971.vision.TargetMap");
+ }
+
reader.Register();
std::vector<std::unique_ptr<AprilRoboticsDetector>> detectors;
const aos::Node *pi1 =
aos::configuration::GetNode(reader.configuration(), "pi1");
- std::unique_ptr<aos::EventLoop> pi1_event_loop =
- reader.event_loop_factory()->MakeEventLoop("pi1", pi1);
- HandlePiCaptures(pi1_event_loop.get(), &reader,
- ×tamped_target_detections, &detectors);
+ std::unique_ptr<aos::EventLoop> pi1_detection_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi1_detection", pi1);
+ std::unique_ptr<aos::EventLoop> pi1_mapping_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi1_mapping", pi1);
+ HandlePiCaptures(pi1_detection_event_loop.get(), pi1_mapping_event_loop.get(),
+ &reader, ×tamped_target_detections, &detectors);
const aos::Node *pi2 =
aos::configuration::GetNode(reader.configuration(), "pi2");
- std::unique_ptr<aos::EventLoop> pi2_event_loop =
- reader.event_loop_factory()->MakeEventLoop("pi2", pi2);
- HandlePiCaptures(pi2_event_loop.get(), &reader,
- ×tamped_target_detections, &detectors);
+ std::unique_ptr<aos::EventLoop> pi2_detection_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi2_detection", pi2);
+ std::unique_ptr<aos::EventLoop> pi2_mapping_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi2_mapping", pi2);
+ HandlePiCaptures(pi2_detection_event_loop.get(), pi2_mapping_event_loop.get(),
+ &reader, ×tamped_target_detections, &detectors);
const aos::Node *pi3 =
aos::configuration::GetNode(reader.configuration(), "pi3");
- std::unique_ptr<aos::EventLoop> pi3_event_loop =
- reader.event_loop_factory()->MakeEventLoop("pi3", pi3);
- HandlePiCaptures(pi3_event_loop.get(), &reader,
- ×tamped_target_detections, &detectors);
+ std::unique_ptr<aos::EventLoop> pi3_detection_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi3_detection", pi3);
+ std::unique_ptr<aos::EventLoop> pi3_mapping_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi3_mapping", pi3);
+ HandlePiCaptures(pi3_detection_event_loop.get(), pi3_mapping_event_loop.get(),
+ &reader, ×tamped_target_detections, &detectors);
const aos::Node *pi4 =
aos::configuration::GetNode(reader.configuration(), "pi4");
- std::unique_ptr<aos::EventLoop> pi4_event_loop =
- reader.event_loop_factory()->MakeEventLoop("pi4", pi4);
- HandlePiCaptures(pi4_event_loop.get(), &reader,
- ×tamped_target_detections, &detectors);
+ std::unique_ptr<aos::EventLoop> pi4_detection_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi4_detection", pi4);
+ std::unique_ptr<aos::EventLoop> pi4_mapping_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("pi4_mapping", pi4);
+ HandlePiCaptures(pi4_detection_event_loop.get(), pi4_mapping_event_loop.get(),
+ &reader, ×tamped_target_detections, &detectors);
reader.event_loop_factory()->Run();
diff --git a/y2023/vision/vision_util.cc b/y2023/vision/vision_util.cc
new file mode 100644
index 0000000..f4937e5
--- /dev/null
+++ b/y2023/vision/vision_util.cc
@@ -0,0 +1,56 @@
+#include "y2023/vision/vision_util.h"
+
+#include "glog/logging.h"
+
+namespace y2023::vision {
+
+const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
+ const y2023::Constants &calibration_data, std::string_view node_name) {
+ CHECK(calibration_data.has_cameras());
+ for (const y2023::CameraConfiguration *candidate :
+ *calibration_data.cameras()) {
+ CHECK(candidate->has_calibration());
+ if (candidate->calibration()->node_name()->string_view() != node_name) {
+ continue;
+ }
+ return candidate->calibration();
+ }
+ LOG(FATAL) << ": Failed to find camera calibration for " << node_name;
+}
+
+cv::Mat CameraExtrinsics(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+ CHECK(!camera_calibration->has_turret_extrinsics())
+ << "No turret on 2023 robot";
+
+ cv::Mat result(4, 4, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration->fixed_extrinsics()->data()->data())));
+ result.convertTo(result, CV_64F);
+ CHECK_EQ(result.total(),
+ camera_calibration->fixed_extrinsics()->data()->size());
+
+ return result;
+}
+
+cv::Mat CameraIntrinsics(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+ cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration->intrinsics()->data())));
+ result.convertTo(result, CV_64F);
+ CHECK_EQ(result.total(), camera_calibration->intrinsics()->size());
+
+ return result;
+}
+
+cv::Mat CameraDistCoeffs(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+ 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;
+}
+
+} // namespace y2023::vision
diff --git a/y2023/vision/vision_util.h b/y2023/vision/vision_util.h
new file mode 100644
index 0000000..ce1a69d
--- /dev/null
+++ b/y2023/vision/vision_util.h
@@ -0,0 +1,24 @@
+#ifndef Y2023_VISION_VISION_UTIL_H_
+#define Y2023_VISION_VISION_UTIL_H_
+#include <string_view>
+
+#include "opencv2/imgproc.hpp"
+#include "y2023/constants/constants_generated.h"
+
+namespace y2023::vision {
+
+const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
+ const y2023::Constants &calibration_data, std::string_view node_name);
+
+cv::Mat CameraExtrinsics(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration);
+
+cv::Mat CameraIntrinsics(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration);
+
+cv::Mat CameraDistCoeffs(
+ const frc971::vision::calibration::CameraCalibration *camera_calibration);
+
+} // namespace y2023::vision
+
+#endif // Y2023_VISION_VISION_UTIL_H_
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 77ff5af..690d4bf 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -23,6 +23,7 @@
#undef ERROR
#include "aos/commonmath.h"
+#include "aos/containers/sized_array.h"
#include "aos/events/event_loop.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
@@ -32,8 +33,10 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
+#include "ctre/phoenix/cci/Diagnostics_CCI.h"
#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
+#include "ctre/phoenixpro/TalonFX.hpp"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/input/robot_state_generated.h"
@@ -51,12 +54,18 @@
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2023/constants.h"
+#include "y2023/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "y2023/control_loops/superstructure/superstructure_output_generated.h"
#include "y2023/control_loops/superstructure/superstructure_position_generated.h"
+DEFINE_bool(ctre_diag_server, false,
+ "If true, enable the diagnostics server for interacting with "
+ "devices on the CAN bus using Phoenix Tuner");
+
using ::aos::monotonic_clock;
using ::y2023::constants::Values;
namespace superstructure = ::y2023::control_loops::superstructure;
+namespace drivetrain = ::y2023::control_loops::drivetrain;
namespace chrono = ::std::chrono;
using std::make_unique;
@@ -122,6 +131,16 @@
autonomous_modes_.at(i) = ::std::move(sensor);
}
+ void set_heading_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_heading_input_ = ::std::move(sensor);
+ imu_heading_reader_.set_input(imu_heading_input_.get());
+ }
+
+ void set_yaw_rate_input(::std::unique_ptr<frc::DigitalInput> sensor) {
+ imu_yaw_rate_input_ = ::std::move(sensor);
+ imu_yaw_rate_reader_.set_input(imu_yaw_rate_input_.get());
+ }
+
void RunIteration() override {
superstructure_reading_->Set(true);
{ auto builder = superstructure_position_sender_.MakeBuilder(); }
@@ -220,6 +239,8 @@
std::array<std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
+ std::unique_ptr<frc::DigitalInput> imu_heading_input_, imu_yaw_rate_input_;
+
frc971::wpilib::DMAPulseWidthReader imu_heading_reader_, imu_yaw_rate_reader_;
};
@@ -256,6 +277,326 @@
}
};
+static constexpr int kCANFalconCount = 6;
+static constexpr int kCANSignalsCount = 3;
+static constexpr units::frequency::hertz_t kCANUpdateFreqHz = 200_Hz;
+
+class Falcon {
+ public:
+ Falcon(int device_id, std::string canbus,
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount> *signals)
+ : talon_(device_id, canbus),
+ device_id_(device_id),
+ device_temp_(talon_.GetDeviceTemp()),
+ supply_voltage_(talon_.GetSupplyVoltage()),
+ supply_current_(talon_.GetSupplyCurrent()),
+ torque_current_(talon_.GetTorqueCurrent()),
+ position_(talon_.GetPosition()) {
+ // device temp is not timesynced so don't add it to the list of signals
+ device_temp_.SetUpdateFrequency(kCANUpdateFreqHz);
+
+ CHECK_EQ(kCANSignalsCount, 3);
+ CHECK_NOTNULL(signals);
+ CHECK_LE(signals->size() + 3u, signals->capacity());
+
+ supply_voltage_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&supply_voltage_);
+
+ supply_current_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&supply_current_);
+
+ torque_current_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&torque_current_);
+
+ position_.SetUpdateFrequency(kCANUpdateFreqHz);
+ signals->push_back(&position_);
+ }
+
+ void WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert) {
+ inverted_ = invert;
+
+ ctre::phoenixpro::configs::CurrentLimitsConfigs current_limits;
+ current_limits.StatorCurrentLimit =
+ constants::Values::kDrivetrainStatorCurrentLimit();
+ current_limits.StatorCurrentLimitEnable = true;
+ current_limits.SupplyCurrentLimit =
+ constants::Values::kDrivetrainSupplyCurrentLimit();
+ current_limits.SupplyCurrentLimitEnable = true;
+
+ ctre::phoenixpro::configs::MotorOutputConfigs output_configs;
+ output_configs.NeutralMode =
+ ctre::phoenixpro::signals::NeutralModeValue::Brake;
+ output_configs.DutyCycleNeutralDeadband = 0;
+
+ output_configs.Inverted = inverted_;
+
+ ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ configuration.CurrentLimits = current_limits;
+ configuration.MotorOutput = output_configs;
+
+ ctre::phoenix::StatusCode status =
+ talon_.GetConfigurator().Apply(configuration);
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to set falcon configuration: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+
+ ctre::phoenixpro::hardware::TalonFX *talon() { return &talon_; }
+
+ flatbuffers::Offset<drivetrain::CANFalcon> WritePosition(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ drivetrain::CANFalcon::Builder builder(*fbb);
+ builder.add_id(device_id_);
+ builder.add_device_temp(device_temp_.GetValue().value());
+ builder.add_supply_voltage(supply_voltage_.GetValue().value());
+ builder.add_supply_current(supply_current_.GetValue().value());
+ builder.add_torque_current(torque_current_.GetValue().value());
+
+ double invert =
+ (inverted_ ==
+ ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive
+ ? 1
+ : -1);
+
+ builder.add_position(constants::Values::DrivetrainCANEncoderToMeters(
+ position_.GetValue().value()) *
+ invert);
+
+ return builder.Finish();
+ }
+
+ // returns the monotonic timestamp of the latest timesynced reading in the
+ // timebase of the the syncronized CAN bus clock.
+ int64_t GetTimestamp() {
+ std::chrono::nanoseconds latest_timestamp =
+ torque_current_.GetTimestamp().GetTime();
+
+ return latest_timestamp.count();
+ }
+
+ void RefreshNontimesyncedSignals() { device_temp_.Refresh(); };
+
+ private:
+ ctre::phoenixpro::hardware::TalonFX talon_;
+ int device_id_;
+
+ ctre::phoenixpro::signals::InvertedValue inverted_;
+
+ ctre::phoenixpro::StatusSignalValue<units::temperature::celsius_t>
+ device_temp_;
+ ctre::phoenixpro::StatusSignalValue<units::voltage::volt_t> supply_voltage_;
+ ctre::phoenixpro::StatusSignalValue<units::current::ampere_t> supply_current_,
+ torque_current_;
+ ctre::phoenixpro::StatusSignalValue<units::angle::turn_t> position_;
+};
+
+class CANSensorReader {
+ public:
+ CANSensorReader(aos::EventLoop *event_loop)
+ : event_loop_(event_loop),
+ can_position_sender_(
+ event_loop->MakeSender<drivetrain::CANPosition>("/drivetrain")) {
+ event_loop->SetRuntimeRealtimePriority(35);
+ timer_handler_ = event_loop->AddTimer([this]() { Loop(); });
+ timer_handler_->set_name("CANSensorReader Loop");
+
+ event_loop->OnRun([this]() {
+ timer_handler_->Setup(event_loop_->monotonic_now(), 1 / kCANUpdateFreqHz);
+ });
+ }
+
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount>
+ *get_signals_registry() {
+ return &signals_;
+ };
+
+ void set_falcons(std::shared_ptr<Falcon> right_front,
+ std::shared_ptr<Falcon> right_back,
+ std::shared_ptr<Falcon> right_under,
+ std::shared_ptr<Falcon> left_front,
+ std::shared_ptr<Falcon> left_back,
+ std::shared_ptr<Falcon> left_under) {
+ right_front_ = std::move(right_front);
+ right_back_ = std::move(right_back);
+ right_under_ = std::move(right_under);
+ left_front_ = std::move(left_front);
+ left_back_ = std::move(left_back);
+ left_under_ = std::move(left_under);
+ }
+
+ private:
+ void Loop() {
+ CHECK_EQ(signals_.size(), 18u);
+ ctre::phoenix::StatusCode status =
+ ctre::phoenixpro::BaseStatusSignalValue::WaitForAll(
+ 2000_ms,
+ {signals_[0], signals_[1], signals_[2], signals_[3], signals_[4],
+ signals_[5], signals_[6], signals_[7], signals_[8], signals_[9],
+ signals_[10], signals_[11], signals_[12], signals_[13],
+ signals_[14], signals_[15], signals_[16], signals_[17]});
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to read signals from falcons: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+
+ auto builder = can_position_sender_.MakeBuilder();
+
+ for (auto falcon : {right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_}) {
+ falcon->RefreshNontimesyncedSignals();
+ }
+
+ aos::SizedArray<flatbuffers::Offset<drivetrain::CANFalcon>, kCANFalconCount>
+ falcons;
+
+ for (auto falcon : {right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_}) {
+ falcons.push_back(falcon->WritePosition(builder.fbb()));
+ }
+
+ auto falcons_list =
+ builder.fbb()->CreateVector<flatbuffers::Offset<drivetrain::CANFalcon>>(
+ falcons);
+
+ drivetrain::CANPosition::Builder can_position_builder =
+ builder.MakeBuilder<drivetrain::CANPosition>();
+
+ can_position_builder.add_falcons(falcons_list);
+ can_position_builder.add_timestamp(right_front_->GetTimestamp());
+ can_position_builder.add_status(static_cast<int>(status));
+
+ builder.CheckOk(builder.Send(can_position_builder.Finish()));
+ }
+
+ aos::EventLoop *event_loop_;
+
+ aos::SizedArray<ctre::phoenixpro::BaseStatusSignalValue *,
+ kCANFalconCount * kCANSignalsCount>
+ signals_;
+ aos::Sender<drivetrain::CANPosition> can_position_sender_;
+
+ std::shared_ptr<Falcon> right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_;
+
+ // Pointer to the timer handler used to modify the wakeup.
+ ::aos::TimerHandler *timer_handler_;
+};
+
+class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler<
+ ::frc971::control_loops::drivetrain::Output> {
+ public:
+ DrivetrainWriter(::aos::EventLoop *event_loop)
+ : ::frc971::wpilib::LoopOutputHandler<
+ ::frc971::control_loops::drivetrain::Output>(event_loop,
+ "/drivetrain") {
+ event_loop->SetRuntimeRealtimePriority(
+ constants::Values::kDrivetrainWriterPriority);
+
+ if (!FLAGS_ctre_diag_server) {
+ c_Phoenix_Diagnostics_SetSecondsToStart(-1);
+ c_Phoenix_Diagnostics_Dispose();
+ }
+
+ ctre::phoenix::platform::can::CANComm_SetRxSchedPriority(
+ constants::Values::kDrivetrainRxPriority, true, "Drivetrain Bus");
+ ctre::phoenix::platform::can::CANComm_SetTxSchedPriority(
+ constants::Values::kDrivetrainTxPriority, true, "Drivetrain Bus");
+
+ event_loop->OnRun([this]() { WriteConfigs(); });
+ }
+
+ void set_falcons(std::shared_ptr<Falcon> right_front,
+ std::shared_ptr<Falcon> right_back,
+ std::shared_ptr<Falcon> right_under,
+ std::shared_ptr<Falcon> left_front,
+ std::shared_ptr<Falcon> left_back,
+ std::shared_ptr<Falcon> left_under) {
+ right_front_ = std::move(right_front);
+ right_back_ = std::move(right_back);
+ right_under_ = std::move(right_under);
+ left_front_ = std::move(left_front);
+ left_back_ = std::move(left_back);
+ left_under_ = std::move(left_under);
+ }
+
+ void set_right_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ right_inverted_ = invert;
+ }
+
+ void set_left_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ left_inverted_ = invert;
+ }
+
+ private:
+ void WriteConfigs() {
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get()}) {
+ falcon->WriteConfigs(right_inverted_);
+ }
+
+ for (auto falcon :
+ {left_front_.get(), left_back_.get(), left_under_.get()}) {
+ falcon->WriteConfigs(left_inverted_);
+ }
+ }
+
+ void Write(
+ const ::frc971::control_loops::drivetrain::Output &output) override {
+ ctre::phoenixpro::controls::DutyCycleOut left_control(
+ SafeSpeed(output.left_voltage()));
+ left_control.UpdateFreqHz = 0_Hz;
+ left_control.EnableFOC = true;
+
+ ctre::phoenixpro::controls::DutyCycleOut right_control(
+ SafeSpeed(output.right_voltage()));
+ right_control.UpdateFreqHz = 0_Hz;
+ right_control.EnableFOC = true;
+
+ for (auto falcon :
+ {left_front_.get(), left_back_.get(), left_under_.get()}) {
+ ctre::phoenix::StatusCode status =
+ falcon->talon()->SetControl(left_control);
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to write control to falcon: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get()}) {
+ ctre::phoenix::StatusCode status =
+ falcon->talon()->SetControl(right_control);
+
+ if (!status.IsOK()) {
+ AOS_LOG(ERROR, "Failed to write control to falcon: %s: %s",
+ status.GetName(), status.GetDescription());
+ }
+ }
+ }
+
+ void Stop() override {
+ AOS_LOG(WARNING, "drivetrain output too old\n");
+ ctre::phoenixpro::controls::NeutralOut stop_command;
+ for (auto falcon :
+ {right_front_.get(), right_back_.get(), right_under_.get(),
+ left_front_.get(), left_back_.get(), left_under_.get()}) {
+ falcon->talon()->SetControl(stop_command);
+ }
+ }
+
+ double SafeSpeed(double voltage) {
+ return (::aos::Clip(voltage, -kMaxBringupPower, kMaxBringupPower) / 12.0);
+ }
+
+ ctre::phoenixpro::signals::InvertedValue left_inverted_, right_inverted_;
+ std::shared_ptr<Falcon> right_front_, right_back_, right_under_, left_front_,
+ left_back_, left_under_;
+};
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
@@ -272,6 +613,11 @@
aos::configuration::ReadConfig("aos_config.json");
// Thread 1.
+ ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
+ ::frc971::wpilib::JoystickSender joystick_sender(
+ &joystick_sender_event_loop);
+ AddLoop(&joystick_sender_event_loop);
+
// Thread 2.
::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
@@ -288,11 +634,43 @@
sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
sensor_reader.set_superstructure_reading(superstructure_reading);
+ sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(9));
+ sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(8));
+
AddLoop(&sensor_reader_event_loop);
// Thread 4.
+ ::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ CANSensorReader can_sensor_reader(&can_sensor_reader_event_loop);
+
+ std::shared_ptr<Falcon> right_front = std::make_shared<Falcon>(
+ 1, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> right_back = std::make_shared<Falcon>(
+ 2, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> right_under = std::make_shared<Falcon>(
+ 3, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_front = std::make_shared<Falcon>(
+ 4, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_back = std::make_shared<Falcon>(
+ 5, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+ std::shared_ptr<Falcon> left_under = std::make_shared<Falcon>(
+ 6, "Drivetrain Bus", can_sensor_reader.get_signals_registry());
+
+ can_sensor_reader.set_falcons(right_front, right_back, right_under,
+ left_front, left_back, left_under);
+
+ AddLoop(&can_sensor_reader_event_loop);
+
+ // Thread 5.
::aos::ShmEventLoop output_event_loop(&config.message());
- ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
+ DrivetrainWriter drivetrain_writer(&output_event_loop);
+
+ drivetrain_writer.set_falcons(right_front, right_back, right_under,
+ left_front, left_back, left_under);
+ drivetrain_writer.set_right_inverted(
+ ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive);
+ drivetrain_writer.set_left_inverted(
+ ctre::phoenixpro::signals::InvertedValue::CounterClockwise_Positive);
SuperstructureWriter superstructure_writer(&output_event_loop);
diff --git a/y2023/www/BUILD b/y2023/www/BUILD
index 5dae3c6..539fa6d 100644
--- a/y2023/www/BUILD
+++ b/y2023/www/BUILD
@@ -1,5 +1,4 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("//tools/build_rules:js.bzl", "rollup_bundle", "ts_project")
load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
filegroup(
@@ -12,7 +11,7 @@
visibility = ["//visibility:public"],
)
-ts_library(
+ts_project(
name = "field_main",
srcs = [
"constants.ts",
diff --git a/y2023/www/field_main.ts b/y2023/www/field_main.ts
index 7e2e392..d71a45e 100644
--- a/y2023/www/field_main.ts
+++ b/y2023/www/field_main.ts
@@ -1,4 +1,4 @@
-import {Connection} from 'org_frc971/aos/network/www/proxy';
+import {Connection} from '../../aos/network/www/proxy';
import {FieldHandler} from './field_handler';
diff --git a/y2023/y2023.json b/y2023/y2023.json
index d5f9462..cdac47c 100644
--- a/y2023/y2023.json
+++ b/y2023/y2023.json
@@ -1,5 +1,5 @@
{
- "channel_storage_duration": 10000000000,
+ "channel_storage_duration": 8000000000,
"maps": [
{
"match": {
diff --git a/y2023/y2023_imu.json b/y2023/y2023_imu.json
index 7744281..6940479 100644
--- a/y2023/y2023_imu.json
+++ b/y2023/y2023_imu.json
@@ -298,12 +298,21 @@
"frequency": 2200,
"max_size": 1600,
"num_senders": 2
+ },
+ {
+ "name": "/imu/constants",
+ "type": "y2023.Constants",
+ "source_node": "imu",
+ "frequency": 1,
+ "num_senders": 2,
+ "max_size": 4096
}
],
"applications": [
{
"name": "message_bridge_client",
- "executable_name": "message_bridge_client.sh",
+ "executable_name": "message_bridge_client",
+ "user": "pi",
"nodes": [
"imu"
]
@@ -313,6 +322,7 @@
"executable_name": "localizer_main",
/* TODO(james): Remove this once confident in the accelerometer code. */
"args": ["--ignore_accelerometer"],
+ "user": "pi",
"nodes": [
"imu"
]
@@ -320,6 +330,7 @@
{
"name": "imu",
"executable_name": "imu_main",
+ "user": "pi",
"nodes": [
"imu"
]
@@ -327,6 +338,7 @@
{
"name": "message_bridge_server",
"executable_name": "message_bridge_server",
+ "user": "pi",
"nodes": [
"imu"
]
@@ -335,6 +347,7 @@
"name": "localizer_logger",
"executable_name": "logger_main",
"args": ["--logging_folder", "", "--snappy_compress"],
+ "user": "pi",
"nodes": [
"imu"
]
@@ -342,6 +355,15 @@
{
"name": "web_proxy",
"executable_name": "web_proxy_main",
+ "user": "pi",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "constants_sender",
+ "autorestart": false,
+ "user": "pi",
"nodes": [
"imu"
]
@@ -350,6 +372,15 @@
"maps": [
{
"match": {
+ "name": "/constants*",
+ "source_node": "imu"
+ },
+ "rename": {
+ "name": "/imu/constants"
+ }
+ },
+ {
+ "match": {
"name": "/aos*",
"source_node": "imu"
},
diff --git a/y2023/y2023_logger.json b/y2023/y2023_logger.json
index db313d2..0f1e633 100644
--- a/y2023/y2023_logger.json
+++ b/y2023/y2023_logger.json
@@ -377,6 +377,17 @@
"num_senders": 1
},
{
+ "name": "/logger/camera/downsized",
+ "type": "frc971.vision.CameraImage",
+ "logger": "NOT_LOGGED",
+ "source_node": "logger",
+ "frequency": 40,
+ "max_size": 921744,
+ "num_readers": 4,
+ "read_method": "PIN",
+ "num_senders": 18
+ },
+ {
"name": "/localizer",
"type": "frc971.IMUValuesBatch",
"source_node": "imu",
@@ -391,6 +402,14 @@
"time_to_live": 500000000
}
]
+ },
+ {
+ "name": "/logger/constants",
+ "type": "y2023.Constants",
+ "source_node": "logger",
+ "frequency": 1,
+ "num_senders": 2,
+ "max_size": 4096
}
],
"maps": [
@@ -405,6 +424,15 @@
},
{
"match": {
+ "name": "/constants*",
+ "source_node": "logger"
+ },
+ "rename": {
+ "name": "/logger/constants"
+ }
+ },
+ {
+ "match": {
"name": "/camera*",
"source_node": "logger"
},
@@ -438,16 +466,24 @@
]
},
{
+ "name": "camera_reader",
+ "executable_name": "camera_reader",
+ "args": ["--enable_ftrace", "--send_downsized_images"],
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
"name": "image_logger",
"executable_name": "logger_main",
"autostart": false,
"args": [
- "--snappy_compress",
"--logging_folder",
"",
- "--snappy_compress",
"--rotate_every",
- "60.0"
+ "60.0",
+ "--direct",
+ "--flush_size=4194304"
],
"nodes": [
"logger"
@@ -460,6 +496,13 @@
"nodes": [
"logger"
]
+ },
+ {
+ "name": "constants_sender",
+ "autorestart": false,
+ "nodes": [
+ "logger"
+ ]
}
],
"nodes": [
@@ -469,7 +512,9 @@
"hostnames": [
"pi-971-6",
"pi-9971-6",
+ "pi-7971-6",
"ASchuh-T480s",
+ "tarvalon",
"aschuh-3950x"
],
"port": 9971
diff --git a/y2023/y2023_pi_template.json b/y2023/y2023_pi_template.json
index cf87798..b6eaf04 100644
--- a/y2023/y2023_pi_template.json
+++ b/y2023/y2023_pi_template.json
@@ -165,17 +165,31 @@
"source_node": "pi{{ NUM }}",
"frequency": 40,
"max_size": 1843456,
- "num_readers": 4,
+ "num_readers": 6,
"read_method": "PIN",
"num_senders": 18
},
{
"name": "/pi{{ NUM }}/camera",
+ "type": "foxglove.CompressedImage",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 40,
+ "max_size": 300000
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
+ "type": "foxglove.ImageAnnotations",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 40,
+ "max_size": 50000
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
"type": "frc971.vision.TargetMap",
"source_node": "pi{{ NUM }}",
"frequency": 40,
"num_senders": 2,
- "max_size": 40000,
+ "max_size": 1024,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
"imu",
@@ -203,6 +217,15 @@
]
},
{
+ "name": "/pi{{ NUM }}/camera",
+ "type": "y2023.vision.AprilDebug",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 40,
+ "num_senders": 2,
+ "max_size": 40000,
+ "logger": "LOCAL_LOGGER"
+ },
+ {
"name": "/pi{{ NUM }}/aos/remote_timestamps/imu/pi{{ NUM }}/camera/frc971-vision-TargetMap",
"type": "aos.message_bridge.RemoteMessage",
"frequency": 80,
@@ -315,6 +338,14 @@
"frequency": 50,
"num_senders": 2,
"max_size": 200
+ },
+ {
+ "name": "/pi{{ NUM }}/constants",
+ "type": "y2023.Constants",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 1,
+ "num_senders": 2,
+ "max_size": 4096
}
],
"applications": [
@@ -322,7 +353,6 @@
"name": "message_bridge_client",
"args": ["--rt_priority=16"],
"user": "pi",
- "executable_name": "message_bridge_client.sh",
"nodes": [
"pi{{ NUM }}"
]
@@ -362,6 +392,22 @@
]
},
{
+ "name": "image_logger",
+ "executable_name": "logger_main",
+ "autostart": false,
+ "args": [
+ "--logging_folder",
+ "",
+ "--rotate_every",
+ "60.0",
+ "--direct",
+ "--flush_size=4194304"
+ ],
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
"name": "aprilrobotics",
"executable_name": "aprilrobotics",
"args": ["--enable_ftrace"],
@@ -369,6 +415,28 @@
"nodes": [
"pi{{ NUM }}"
]
+ },
+ {
+ "name": "foxglove_websocket",
+ "user": "pi",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "foxglove_image_converter",
+ "user": "pi",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "constants_sender",
+ "autorestart": false,
+ "user": "pi",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
}
],
"maps": [
@@ -383,6 +451,15 @@
},
{
"match": {
+ "name": "/constants*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/constants"
+ }
+ },
+ {
+ "match": {
"name": "/camera*",
"source_node": "pi{{ NUM }}"
},
diff --git a/y2023/y2023_roborio.json b/y2023/y2023_roborio.json
index e1306c2..e12d612 100644
--- a/y2023/y2023_roborio.json
+++ b/y2023/y2023_roborio.json
@@ -287,6 +287,14 @@
},
{
"name": "/drivetrain",
+ "type": "y2023.control_loops.drivetrain.CANPosition",
+ "source_node": "roborio",
+ "frequency": 220,
+ "num_senders": 2,
+ "max_size": 400
+ },
+ {
+ "name": "/drivetrain",
"type": "frc971.sensors.GyroReading",
"source_node": "roborio",
"frequency": 200,
@@ -435,6 +443,14 @@
"type": "frc971.wpilib.PneumaticsToLog",
"source_node": "roborio",
"frequency": 50
+ },
+ {
+ "name": "/roborio/constants",
+ "type": "y2023.Constants",
+ "source_node": "roborio",
+ "frequency": 1,
+ "num_senders": 2,
+ "max_size": 4096
}
],
"applications": [
@@ -476,12 +492,13 @@
{
"name": "autonomous_action",
"executable_name": "autonomous_action",
+ "autostart": false,
"nodes": [
"roborio"
]
},
{
- "name": "web_proxy",
+ "name": "roborio_web_proxy",
"executable_name": "web_proxy_main",
"args": ["--min_ice_port=5800", "--max_ice_port=5810"],
"nodes": [
@@ -490,14 +507,14 @@
},
{
"name": "roborio_message_bridge_client",
- "executable_name": "message_bridge_client.sh",
+ "executable_name": "message_bridge_client",
"args": ["--rt_priority=16"],
"nodes": [
"roborio"
]
},
{
- "name": "message_bridge_server",
+ "name": "roborio_message_bridge_server",
"executable_name": "message_bridge_server",
"args": ["--rt_priority=16"],
"nodes": [
@@ -511,11 +528,27 @@
"nodes": [
"roborio"
]
+ },
+ {
+ "name": "constants_sender",
+ "autorestart": false,
+ "nodes": [
+ "roborio"
+ ]
}
],
"maps": [
{
"match": {
+ "name": "/constants*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/constants"
+ }
+ },
+ {
+ "match": {
"name": "/aos*",
"source_node": "roborio"
},
