Move aos/input and aos/robot_state to frc971/input
Neither folder makes any sense as part of aos/.
Change-Id: I10e0532da4e688c18a9354012b783c43566fd2a1
diff --git a/y2019/BUILD b/y2019/BUILD
index 0954157..64d825e 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -68,7 +68,7 @@
"//aos/controls:control_loop",
"//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/robot_state:robot_state_fbs",
+ "//frc971/input:robot_state_fbs",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:log_interval",
@@ -108,7 +108,7 @@
],
target_compatible_with = ["@platforms//os:linux"],
deps = [
- "//aos/input:drivetrain_input",
+ "//frc971/input:drivetrain_input",
"//frc971/zeroing:wrap",
],
)
@@ -136,9 +136,9 @@
":vision_proto",
"//aos:init",
"//aos/actions:action_lib",
- "//aos/input:action_joystick_input",
- "//aos/input:drivetrain_input",
- "//aos/input:joystick_input",
+ "//frc971/input:action_joystick_input",
+ "//frc971/input:drivetrain_input",
+ "//frc971/input:joystick_input",
"//aos/logging",
"//aos/network:team_number",
"//aos/stl_mutex",
@@ -194,7 +194,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
- "//aos/robot_state:config",
+ "//frc971/input:config",
"//frc971/autonomous:config",
"//frc971/control_loops/drivetrain:config",
"//frc971/wpilib:config",
diff --git a/y2019/joystick_angle.h b/y2019/joystick_angle.h
index 09ab8af..dfd8bb9 100644
--- a/y2019/joystick_angle.h
+++ b/y2019/joystick_angle.h
@@ -1,10 +1,10 @@
#ifndef Y2019_JOYSTICK_ANGLE_H_
#define Y2019_JOYSTICK_ANGLE_H_
-#include "aos/input/driver_station_data.h"
+#include "frc971/input/driver_station_data.h"
-using ::aos::input::driver_station::JoystickAxis;
-using ::aos::input::driver_station::Data;
+using ::frc971::input::driver_station::Data;
+using ::frc971::input::driver_station::JoystickAxis;
namespace y2019 {
namespace input {
diff --git a/y2019/joystick_angle_test.cc b/y2019/joystick_angle_test.cc
index dc29004..7173b80 100644
--- a/y2019/joystick_angle_test.cc
+++ b/y2019/joystick_angle_test.cc
@@ -1,10 +1,12 @@
#include "y2019/joystick_angle.h"
+
#include <iostream>
-#include "aos/input/driver_station_data.h"
+
+#include "frc971/input/driver_station_data.h"
#include "gtest/gtest.h"
-using y2019::input::joysticks::JoystickAngle;
using y2019::input::joysticks::GetJoystickPosition;
+using y2019::input::joysticks::JoystickAngle;
TEST(JoystickAngleTest, JoystickAngleTest) {
EXPECT_EQ(JoystickAngle::kUpperRight, GetJoystickPosition(0.75, 0.75));
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 823507d..7351130 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -2,14 +2,11 @@
#include <stdio.h>
#include <string.h>
#include <unistd.h>
+
#include <chrono>
#include "aos/actions/actions.h"
#include "aos/init.h"
-#include "aos/input/action_joystick_input.h"
-#include "aos/input/driver_station_data.h"
-#include "aos/input/drivetrain_input.h"
-#include "aos/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
@@ -17,7 +14,10 @@
#include "external/com_google_protobuf/src/google/protobuf/stubs/stringprintf.h"
#include "frc971/autonomous/base_autonomous_actor.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
-
+#include "frc971/input/action_joystick_input.h"
+#include "frc971/input/driver_station_data.h"
+#include "frc971/input/drivetrain_input.h"
+#include "frc971/input/joystick_input.h"
#include "y2019/camera_log_generated.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/target_selector_generated.h"
@@ -27,16 +27,16 @@
#include "y2019/vision.pb.h"
using aos::events::ProtoTXUdpSocket;
-using aos::input::driver_station::ButtonLocation;
-using aos::input::driver_station::ControlBit;
-using aos::input::driver_station::JoystickAxis;
-using aos::input::driver_station::POVLocation;
using frc971::CreateProfileParameters;
using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::drivetrain::LocalizerControl;
-using y2019::control_loops::superstructure::SuctionGoal;
+using frc971::input::driver_station::ButtonLocation;
+using frc971::input::driver_station::ControlBit;
+using frc971::input::driver_station::JoystickAxis;
+using frc971::input::driver_station::POVLocation;
using y2019::control_loops::superstructure::CreateSuctionGoal;
+using y2019::control_loops::superstructure::SuctionGoal;
namespace chrono = ::std::chrono;
@@ -138,13 +138,13 @@
const ElevatorWristPosition kBallIntakePos{0.309, 2.13};
-class Reader : public ::aos::input::ActionJoystickInput {
+class Reader : public ::frc971::input::ActionJoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
- : ::aos::input::ActionJoystickInput(
+ : ::frc971::input::ActionJoystickInput(
event_loop,
::y2019::control_loops::drivetrain::GetDrivetrainConfig(),
- ::aos::input::DrivetrainInputReader::InputType::kPistol,
+ ::frc971::input::DrivetrainInputReader::InputType::kPistol,
{.run_teleop_in_auto = true,
.cancel_auto_button = kCancelAutoMode}),
target_selector_hint_sender_(
@@ -186,7 +186,8 @@
switch_ball_ = false;
}
- void HandleTeleop(const ::aos::input::driver_station::Data &data) override {
+ void HandleTeleop(
+ const ::frc971::input::driver_station::Data &data) override {
::aos::monotonic_clock::time_point monotonic_now =
::aos::monotonic_clock::now();
superstructure_position_fetcher_.Fetch();
@@ -270,16 +271,16 @@
const double cargo_joy_x = data.GetAxis(kCargoSelectorX);
if (cargo_joy_y > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::NEAR_SHIP);
+ control_loops::drivetrain::SelectionHint::NEAR_SHIP);
} else if (cargo_joy_y < -0.5) {
target_selector_hint_builder.add_suggested_target(
control_loops::drivetrain::SelectionHint::FAR_SHIP);
} else if (::std::abs(cargo_joy_x) > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
} else {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint::NONE);
+ control_loops::drivetrain::SelectionHint::NONE);
}
}
if (!builder.Send(target_selector_hint_builder.Finish())) {
@@ -514,8 +515,10 @@
->mutate_max_acceleration(1.25);
} else if (data.IsPressed(kHalfStilt)) {
was_above_ = false;
- mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal ( 0.345);
- mutable_superstructure_goal->mutable_stilts()->mutable_profile_params()->mutate_max_velocity ( 0.65);
+ mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(0.345);
+ mutable_superstructure_goal->mutable_stilts()
+ ->mutable_profile_params()
+ ->mutate_max_velocity(0.65);
} else if (data.IsPressed(kDeployStilt) || was_above_) {
mutable_superstructure_goal->mutable_stilts()->mutate_unsafe_goal(
kDeployStiltPosition);
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index b6d432f..00ec2ab 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -10,13 +10,13 @@
#include <mutex>
#include <thread>
+#include "ctre/phoenix/CANifier.h"
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
#include "frc971/wpilib/ahal/DriverStation.h"
#include "frc971/wpilib/ahal/Encoder.h"
#include "frc971/wpilib/ahal/VictorSP.h"
-#include "ctre/phoenix/CANifier.h"
#undef ERROR
#include "aos/commonmath.h"
@@ -26,7 +26,6 @@
#include "aos/logging/logging.h"
#include "aos/make_unique.h"
#include "aos/realtime.h"
-#include "aos/robot_state/robot_state_generated.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
@@ -34,6 +33,7 @@
#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
#include "frc971/autonomous/auto_mode_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
+#include "frc971/input/robot_state_generated.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
@@ -58,8 +58,8 @@
#define M_PI 3.14159265358979323846
#endif
-using ::y2019::constants::Values;
using ::aos::monotonic_clock;
+using ::y2019::constants::Values;
namespace superstructure = ::y2019::control_loops::superstructure;
namespace chrono = ::std::chrono;
using aos::make_unique;
@@ -800,8 +800,8 @@
camera_reader.set_activate_passthrough(make_unique<frc::DigitalInput>(25));
auto imu_trigger = make_unique<frc::DigitalInput>(0);
- ::frc971::wpilib::ADIS16448 imu(&imu_event_loop, frc::SPI::Port::kOnboardCS1,
- imu_trigger.get());
+ ::frc971::wpilib::ADIS16448 imu(
+ &imu_event_loop, frc::SPI::Port::kOnboardCS1, imu_trigger.get());
imu.set_spi_idle_callback(
[&camera_reader]() { camera_reader.DoSpiTransaction(); });
auto imu_reset = make_unique<frc::DigitalOutput>(1);
diff --git a/y2019/y2019.json b/y2019/y2019.json
index cbff0a5..7a30be4 100644
--- a/y2019/y2019.json
+++ b/y2019/y2019.json
@@ -47,7 +47,7 @@
}
],
"imports": [
- "../aos/robot_state/robot_state_config.json",
+ "../frc971/input/robot_state_config.json",
"../frc971/control_loops/drivetrain/drivetrain_config.json",
"../frc971/autonomous/autonomous_config.json",
"../frc971/wpilib/wpilib_config.json"