Unify y2022 localizer into y2022/localizer folder
Somehow ended up creating multiple folders....
Change-Id: Ib8e7e69a7583379caecb9d0639042c77bba039ed
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index f86bc6d..686529f 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -52,8 +52,8 @@
"//y2020/control_loops/superstructure:hood_plotter",
"//y2020/control_loops/superstructure:turret_plotter",
"//y2021_bot3/control_loops/superstructure:superstructure_plotter",
- "//y2022/control_loops/localizer:localizer_plotter",
"//y2022/control_loops/superstructure:catapult_plotter",
+ "//y2022/localizer:localizer_plotter",
],
)
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 4235ba9..332db34 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -37,7 +37,7 @@
import {plotCatapult as plot2022Catapult} from
'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
import {plotLocalizer as plot2022Localizer} from
- 'org_frc971/y2022/control_loops/localizer/localizer_plotter'
+ 'org_frc971/y2022/localizer/localizer_plotter'
import {plotAccelerator} from
'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
import {plotHood} from
diff --git a/y2022/BUILD b/y2022/BUILD
index 1aa4fa1..44b81a5 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -35,7 +35,7 @@
"//y2020/vision:calibration",
"//y2022/vision:viewer",
"//y2022/localizer:imu_main",
- "//y2022/control_loops/localizer:localizer_main",
+ "//y2022/localizer:localizer_main",
],
data = [
":aos_config",
@@ -112,8 +112,8 @@
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
- "//y2022/control_loops/localizer:localizer_status_fbs",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_status_fbs",
+ "//y2022/localizer:localizer_output_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
diff --git a/y2022/control_loops/drivetrain/BUILD b/y2022/control_loops/drivetrain/BUILD
index 5381254..3442a39 100644
--- a/y2022/control_loops/drivetrain/BUILD
+++ b/y2022/control_loops/drivetrain/BUILD
@@ -80,7 +80,7 @@
"//aos/network:message_bridge_server_fbs",
"//frc971/control_loops/drivetrain:hybrid_ekf",
"//frc971/control_loops/drivetrain:localizer",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_output_fbs",
],
)
@@ -127,7 +127,7 @@
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_lib",
"//frc971/control_loops/drivetrain:drivetrain_test_lib",
- "//y2022/control_loops/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_output_fbs",
],
)
diff --git a/y2022/control_loops/drivetrain/localizer.h b/y2022/control_loops/drivetrain/localizer.h
index 50d083a..4505e9b 100644
--- a/y2022/control_loops/drivetrain/localizer.h
+++ b/y2022/control_loops/drivetrain/localizer.h
@@ -6,7 +6,7 @@
#include "aos/events/event_loop.h"
#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
#include "frc971/control_loops/drivetrain/localizer.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
#include "aos/network/message_bridge_server_generated.h"
namespace y2022 {
@@ -16,7 +16,7 @@
// This class handles the localization for the 2022 robot. Rather than actually
// doing any work on the roborio, we farm all the localization out to a
// raspberry pi and it then sends out LocalizerOutput messages that we treat as
-// measurement updates. See //y2022/control_loops/localizer.
+// measurement updates. See //y2022/localizer.
// TODO(james): Needs tests. Should refactor out some of the code from the 2020
// localizer test.
class Localizer : public frc971::control_loops::drivetrain::LocalizerInterface {
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
index 87fc3fd..1e33826 100644
--- a/y2022/control_loops/drivetrain/localizer_test.cc
+++ b/y2022/control_loops/drivetrain/localizer_test.cc
@@ -10,7 +10,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
#include "frc971/control_loops/team_number_test_environment.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
#include "gtest/gtest.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
diff --git a/y2022/control_loops/localizer/BUILD b/y2022/control_loops/localizer/BUILD
deleted file mode 100644
index f1bc2d1..0000000
--- a/y2022/control_loops/localizer/BUILD
+++ /dev/null
@@ -1,121 +0,0 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
-load("@npm//@bazel/typescript:index.bzl", "ts_library")
-
-ts_library(
- name = "localizer_plotter",
- srcs = ["localizer_plotter.ts"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//aos/network/www:aos_plotter",
- "//aos/network/www:colors",
- "//aos/network/www:proxy",
- "//frc971/wpilib:imu_plot_utils",
- ],
-)
-
-flatbuffer_cc_library(
- name = "localizer_output_fbs",
- srcs = [
- "localizer_output.fbs",
- ],
- gen_reflections = True,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
-
-flatbuffer_cc_library(
- name = "localizer_status_fbs",
- srcs = [
- "localizer_status.fbs",
- ],
- gen_reflections = True,
- includes = [
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
-)
-
-cc_static_flatbuffer(
- name = "localizer_schema",
- function = "frc971::controls::LocalizerStatusSchema",
- target = ":localizer_status_fbs_reflection_out",
- visibility = ["//visibility:public"],
-)
-
-cc_library(
- name = "localizer",
- srcs = ["localizer.cc"],
- hdrs = ["localizer.h"],
- visibility = ["//visibility:public"],
- deps = [
- ":localizer_output_fbs",
- ":localizer_status_fbs",
- "//aos/containers:ring_buffer",
- "//aos/events:event_loop",
- "//aos/time",
- "//frc971/control_loops:c2d",
- "//frc971/control_loops:control_loops_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
- "//frc971/control_loops/drivetrain:improved_down_estimator",
- "//frc971/control_loops/drivetrain:localizer_fbs",
- "//frc971/wpilib:imu_batch_fbs",
- "//frc971/wpilib:imu_fbs",
- "//frc971/zeroing:imu_zeroer",
- "//frc971/zeroing:wrap",
- "//y2020/vision/sift:sift_fbs",
- "//y2022:constants",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_binary(
- name = "localizer_main",
- srcs = ["localizer_main.cc"],
- visibility = ["//visibility:public"],
- deps = [
- ":localizer",
- "//aos:init",
- "//aos/events:shm_event_loop",
- "//y2022/control_loops/drivetrain:drivetrain_base",
- ],
-)
-
-cc_test(
- name = "localizer_test",
- srcs = ["localizer_test.cc"],
- data = [
- "//y2022:aos_config",
- ],
- shard_count = 10,
- deps = [
- ":localizer",
- "//aos/events:simulated_event_loop",
- "//aos/testing:googletest",
- "//frc971/control_loops/drivetrain:drivetrain_test_lib",
- ],
-)
-
-cc_binary(
- name = "localizer_replay",
- srcs = ["localizer_replay.cc"],
- data = [
- "//y2022:aos_config",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- deps = [
- ":localizer",
- ":localizer_schema",
- "//aos:configuration",
- "//aos:init",
- "//aos:json_to_flatbuffer",
- "//aos/events:simulated_event_loop",
- "//aos/events/logging:log_reader",
- "//aos/events/logging:log_writer",
- "//y2022/control_loops/drivetrain:drivetrain_base",
- ],
-)
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index c2afa55..e13159f 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -1,3 +1,125 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "localizer_plotter",
+ srcs = ["localizer_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ "//frc971/wpilib:imu_plot_utils",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_output_fbs",
+ srcs = [
+ "localizer_output.fbs",
+ ],
+ gen_reflections = True,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_status_fbs",
+ srcs = [
+ "localizer_status.fbs",
+ ],
+ gen_reflections = True,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_static_flatbuffer(
+ name = "localizer_schema",
+ function = "frc971::controls::LocalizerStatusSchema",
+ target = ":localizer_status_fbs_reflection_out",
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "localizer",
+ srcs = ["localizer.cc"],
+ hdrs = ["localizer.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer_output_fbs",
+ ":localizer_status_fbs",
+ "//aos/containers:ring_buffer",
+ "//aos/events:event_loop",
+ "//aos/time",
+ "//frc971/control_loops:c2d",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//frc971/zeroing:imu_zeroer",
+ "//frc971/zeroing:wrap",
+ "//y2020/vision/sift:sift_fbs",
+ "//y2022:constants",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_binary(
+ name = "localizer_main",
+ srcs = ["localizer_main.cc"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+cc_test(
+ name = "localizer_test",
+ srcs = ["localizer_test.cc"],
+ data = [
+ "//y2022:aos_config",
+ ],
+ shard_count = 10,
+ deps = [
+ ":localizer",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ ],
+)
+
+cc_binary(
+ name = "localizer_replay",
+ srcs = ["localizer_replay.cc"],
+ data = [
+ "//y2022:aos_config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":localizer",
+ ":localizer_schema",
+ "//aos:configuration",
+ "//aos:init",
+ "//aos:json_to_flatbuffer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_reader",
+ "//aos/events/logging:log_writer",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
cc_library(
name = "imu",
srcs = [
diff --git a/y2022/control_loops/localizer/localizer.cc b/y2022/localizer/localizer.cc
similarity index 99%
rename from y2022/control_loops/localizer/localizer.cc
rename to y2022/localizer/localizer.cc
index 56c2769..8d4f908 100644
--- a/y2022/control_loops/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -1,4 +1,4 @@
-#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/localizer/localizer.h"
#include "frc971/control_loops/c2d.h"
#include "frc971/wpilib/imu_batch_generated.h"
diff --git a/y2022/control_loops/localizer/localizer.h b/y2022/localizer/localizer.h
similarity index 96%
rename from y2022/control_loops/localizer/localizer.h
rename to y2022/localizer/localizer.h
index d1eaf5c..d7b6a23 100644
--- a/y2022/control_loops/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -1,5 +1,5 @@
-#ifndef Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
-#define Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
+#ifndef Y2022_LOCALIZER_LOCALIZER_H_
+#define Y2022_LOCALIZER_LOCALIZER_H_
#include "Eigen/Dense"
#include "Eigen/Geometry"
@@ -8,8 +8,8 @@
#include "aos/containers/ring_buffer.h"
#include "aos/time/time.h"
#include "y2020/vision/sift/sift_generated.h"
-#include "y2022/control_loops/localizer/localizer_status_generated.h"
-#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_status_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
@@ -245,4 +245,4 @@
zeroing::UnwrapSensor right_encoder_;
};
} // namespace frc971::controls
-#endif // Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
+#endif // Y2022_LOCALIZER_LOCALIZER_H_
diff --git a/y2022/control_loops/localizer/localizer_main.cc b/y2022/localizer/localizer_main.cc
similarity index 91%
rename from y2022/control_loops/localizer/localizer_main.cc
rename to y2022/localizer/localizer_main.cc
index 187a441..fab1d51 100644
--- a/y2022/control_loops/localizer/localizer_main.cc
+++ b/y2022/localizer/localizer_main.cc
@@ -1,6 +1,6 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/localizer/localizer.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
diff --git a/y2022/control_loops/localizer/localizer_output.fbs b/y2022/localizer/localizer_output.fbs
similarity index 100%
rename from y2022/control_loops/localizer/localizer_output.fbs
rename to y2022/localizer/localizer_output.fbs
diff --git a/y2022/control_loops/localizer/localizer_plotter.ts b/y2022/localizer/localizer_plotter.ts
similarity index 100%
rename from y2022/control_loops/localizer/localizer_plotter.ts
rename to y2022/localizer/localizer_plotter.ts
diff --git a/y2022/control_loops/localizer/localizer_replay.cc b/y2022/localizer/localizer_replay.cc
similarity index 96%
rename from y2022/control_loops/localizer/localizer_replay.cc
rename to y2022/localizer/localizer_replay.cc
index 199882c..d328948 100644
--- a/y2022/control_loops/localizer/localizer_replay.cc
+++ b/y2022/localizer/localizer_replay.cc
@@ -1,4 +1,3 @@
-
#include "aos/configuration.h"
#include "aos/events/logging/log_reader.h"
#include "aos/events/logging/log_writer.h"
@@ -6,8 +5,8 @@
#include "aos/init.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/network/team_number.h"
-#include "y2022/control_loops/localizer/localizer.h"
-#include "y2022/control_loops/localizer/localizer_schema.h"
+#include "y2022/localizer/localizer.h"
+#include "y2022/localizer/localizer_schema.h"
#include "gflags/gflags.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
diff --git a/y2022/control_loops/localizer/localizer_status.fbs b/y2022/localizer/localizer_status.fbs
similarity index 100%
rename from y2022/control_loops/localizer/localizer_status.fbs
rename to y2022/localizer/localizer_status.fbs
diff --git a/y2022/control_loops/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
similarity index 99%
rename from y2022/control_loops/localizer/localizer_test.cc
rename to y2022/localizer/localizer_test.cc
index c58f664..1997b80 100644
--- a/y2022/control_loops/localizer/localizer_test.cc
+++ b/y2022/localizer/localizer_test.cc
@@ -1,4 +1,4 @@
-#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/localizer/localizer.h"
#include "aos/events/simulated_event_loop.h"
#include "gtest/gtest.h"