A few more changes to support change to orin
Starter needs to accept orin hostname
foxglove_image_converter was missing
image_logger needed JoystickSTate to be shared
argus_camera had wrong parameter being set for picking the camera dev ID 0
Change-Id: I7753068d22b1f88c9935abff0992a2b13400940b
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index face963..0215156 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -10,7 +10,7 @@
ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
-elif [[ "$(hostname)" == "pi-"* ]]; then
+elif [[ "$(hostname)" == "pi-"* || "$(hostname)" == "orin-"* ]]; then
# We have systemd configured to handle restarting, so just exec.
export PATH="${PATH}:/home/pi/bin"
exec starterd --user=pi --purge_shm_base
diff --git a/frc971/orin/argus_camera.cc b/frc971/orin/argus_camera.cc
index 016bd81..f5a3e13 100644
--- a/frc971/orin/argus_camera.cc
+++ b/frc971/orin/argus_camera.cc
@@ -254,7 +254,7 @@
output_stream_.reset(
i_capture_session_->createOutputStream(stream_settings_.get()));
- LOG(INFO) << "Got sream";
+ LOG(INFO) << "Got image stream";
i_buffer_output_stream_ =
Argus::interface_cast<Argus::IBufferOutputStream>(output_stream_);
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
index 3c94b35..932261d 100644
--- a/frc971/vision/BUILD
+++ b/frc971/vision/BUILD
@@ -341,6 +341,7 @@
"//y2020:__subpackages__",
"//y2022:__subpackages__",
"//y2023:__subpackages__",
+ "//y2024:__subpackages__",
],
deps = [
":intrinsics_calibration_lib",
diff --git a/y2024/BUILD b/y2024/BUILD
index ecbb301..d056bf0 100644
--- a/y2024/BUILD
+++ b/y2024/BUILD
@@ -55,9 +55,11 @@
"//frc971/image_streamer:image_streamer",
"//y2023/vision:viewer",
"//y2024/constants:constants_sender",
+ "//y2024/vision:foxglove_image_converter",
],
data = [
":aos_config",
+ "//frc971/rockpi:rockpi_config.json",
"//y2024/constants:constants.json",
"//y2024/vision:image_streamer_start",
"//y2024/www:www_files",
diff --git a/y2024/vision/BUILD b/y2024/vision/BUILD
index 98b5197..632de2b 100644
--- a/y2024/vision/BUILD
+++ b/y2024/vision/BUILD
@@ -5,6 +5,17 @@
)
cc_binary(
+ name = "foxglove_image_converter",
+ srcs = ["foxglove_image_converter.cc"],
+ visibility = ["//y2024:__subpackages__"],
+ deps = [
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/vision:foxglove_image_converter_lib",
+ ],
+)
+
+cc_binary(
name = "image_logger",
srcs = [
"image_logger.cc",
diff --git a/y2024/y2024_imu.json b/y2024/y2024_imu.json
index 5094d64..5dd4710 100644
--- a/y2024/y2024_imu.json
+++ b/y2024/y2024_imu.json
@@ -4,7 +4,50 @@
"name": "/imu/aos",
"type": "aos.JoystickState",
"source_node": "imu",
- "frequency": 100
+ "frequency": 100,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "orin1",
+ "orin2"
+ ],
+ "destination_nodes": [
+ {
+ "name": "orin1",
+ "priority": 5,
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "orin2",
+ "priority": 5,
+ "time_to_live": 50000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ]
+ },
+ ]
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/orin1/imu/aos/aos-JoystickState",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 300,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/orin2/imu/aos/aos-JoystickState",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 300,
+ "num_senders": 2,
+ "max_size": 200
},
{
"name": "/imu/aos",
@@ -268,17 +311,23 @@
"nodes": [
{
"name": "imu",
- "hostname": "pi6",
+ "hostname": "orin3",
"hostnames": [
- "pi-971-6",
- "pi-7971-6",
- "pi-8971-6",
- "pi-9971-6"
+ "orin-971-3",
+ "orin-7971-3",
+ "orin-8971-3",
+ "orin-9971-3"
],
"port": 9971
},
{
"name": "roborio"
- }
+ },
+ {
+ "name": "orin1"
+ },
+ {
+ "name": "orin2"
+ },
]
}
diff --git a/y2024/y2024_orin_template.json b/y2024/y2024_orin_template.json
index 1e05e9a..04a63f0 100644
--- a/y2024/y2024_orin_template.json
+++ b/y2024/y2024_orin_template.json
@@ -257,7 +257,7 @@
"executable_name": "argus_camera",
"args": [
"--enable_ftrace",
- "--channel=0",
+ "--camera=0",
],
"user": "pi",
"nodes": [