Merge "Add a program which returns 0 if it sees 50 a's, and 1 elsewhise"
diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index 7300850..0221254 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -11,8 +11,8 @@
cc_library(
name = "constants",
- hdrs = ["constants.h"],
srcs = ["constants.cc"],
+ hdrs = ["constants.h"],
)
cc_library(
@@ -70,40 +70,53 @@
"//y2019/jevois:serial",
"//y2019/jevois:structures",
"//y2019/jevois:uart",
- "//y2019/jevois/camera:reader",
"//y2019/jevois/camera:image_stream",
+ "//y2019/jevois/camera:reader",
"@com_google_ceres_solver//:ceres",
],
)
cc_binary(
+ name = "serial_waiter",
+ srcs = ["serial_waiter.cc"],
+ restricted_to = VISION_TARGETS,
+ deps = [
+ "//aos/time",
+ "//y2019/jevois:serial",
+ ],
+)
+
+cc_binary(
name = "debug_serial",
srcs = ["debug_serial.cc"],
deps = [
+ "//aos/logging",
+ "//aos/logging:implementations",
"//y2019/jevois:serial",
"//y2019/jevois:structures",
"//y2019/jevois:uart",
- "//aos/logging",
- "//aos/logging:implementations",
],
)
cc_binary(
name = "global_calibration",
- srcs = ["global_calibration.cc", "constants_formatting.cc"],
- deps = [
- ":target_finder",
- "//aos/logging",
- "//aos/logging:implementations",
- "//aos/vision/blob:find_blob",
- "//aos/vision/blob:codec",
- "//aos/vision/events:epoll_events",
- "//aos/vision/events:socket_types",
- "//aos/vision/events:udp",
- "//aos/vision/image:image_stream",
- "//aos/vision/image:image_dataset",
- "//aos/vision/image:reader",
- "@com_google_ceres_solver//:ceres",
+ srcs = [
+ "constants_formatting.cc",
+ "global_calibration.cc",
],
restricted_to = VISION_TARGETS,
+ deps = [
+ ":target_finder",
+ "//aos/logging",
+ "//aos/logging:implementations",
+ "//aos/vision/blob:codec",
+ "//aos/vision/blob:find_blob",
+ "//aos/vision/events:epoll_events",
+ "//aos/vision/events:socket_types",
+ "//aos/vision/events:udp",
+ "//aos/vision/image:image_dataset",
+ "//aos/vision/image:image_stream",
+ "//aos/vision/image:reader",
+ "@com_google_ceres_solver//:ceres",
+ ],
)
diff --git a/y2019/vision/serial_waiter.cc b/y2019/vision/serial_waiter.cc
new file mode 100644
index 0000000..551e179
--- /dev/null
+++ b/y2019/vision/serial_waiter.cc
@@ -0,0 +1,48 @@
+#include <unistd.h>
+
+#include <chrono>
+
+#include "y2019/jevois/serial.h"
+#include "aos/time/time.h"
+
+using ::aos::monotonic_clock;
+using ::y2019::jevois::open_via_terminos;
+
+namespace chrono = ::std::chrono;
+
+int main(int /*argc*/, char ** /*argv*/) {
+ int serial_fd = open_via_terminos("/dev/ttyS0");
+
+ // Print out a startup message. The Teensy will ignore it as a corrupt
+ // packet, but it gives us some warm fuzzies that things are booting right.
+ (void)write(
+ serial_fd,
+ "Starting target_sender in 3 seconds. Press 10 a's to interrupt.\r\n",
+ 66);
+
+ // Give the user 3 seconds to press 10 a's. If they don't do it in time,
+ // return 0 to signal that we should boot, or 1 that we are asked not to boot.
+ constexpr int kACount = 10;
+ int a_count = 0;
+ const monotonic_clock::time_point end_time =
+ monotonic_clock::now() + chrono::seconds(3);
+ do {
+ constexpr size_t kBufferSize = 16;
+ char data[kBufferSize];
+ ssize_t n = ::read(serial_fd, &data[0], kBufferSize);
+ for (int i = 0; i < n; ++i) {
+ if (data[i] == 'a') {
+ ++a_count;
+ if (a_count > kACount) {
+ ::close(serial_fd);
+ return 1;
+ }
+ } else {
+ a_count = 0;
+ }
+ }
+ } while (monotonic_clock::now() < end_time);
+
+ ::close(serial_fd);
+ return 0;
+}