Upgraded to bazel 0.6.1
Enable cpu environments so we can drop the NO_BUILD_* files!!!
Change-Id: I904612c5dcc1a1cd285e160c0836b7249ab5ce72
diff --git a/README.md b/README.md
index f037836..d6fa0b6 100644
--- a/README.md
+++ b/README.md
@@ -38,10 +38,9 @@
### Some useful Bazel commands:
* Build and test everything (on the host system):
```console
-bazel test //... -- $(cat NO_BUILD_AMD64)
-bazel build --cpu=roborio //... -- $(cat NO_BUILD_ROBORIO)
+bazel test //...
+bazel build --cpu=roborio //...
```
- The NO_BUILD_{AMD64,ROBORIO} files contain lists of the targets which are intentionally not built for the various CPUs.
* Build the code for a specific robot:
```console
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
diff --git a/aos/downloader/downloader.bzl b/aos/downloader/downloader.bzl
index de1cf1c..3fb2fc8 100644
--- a/aos/downloader/downloader.bzl
+++ b/aos/downloader/downloader.bzl
@@ -34,7 +34,7 @@
collect_data = True,
collect_default = True,
),
- files = set([ctx.outputs.executable]),
+ files = depset([ctx.outputs.executable]),
)
def _aos_downloader_dir_impl(ctx):
diff --git a/aos/externals/seasocks/gen_embedded.bzl b/aos/externals/seasocks/gen_embedded.bzl
index 07a3a33..a11e30a 100644
--- a/aos/externals/seasocks/gen_embedded.bzl
+++ b/aos/externals/seasocks/gen_embedded.bzl
@@ -9,7 +9,7 @@
)
return struct(
- files = set([ ctx.outputs.header ]),
+ files = depset([ ctx.outputs.header ]),
)
_do_gen_embedded = rule(
diff --git a/aos/vision/blob/BUILD b/aos/vision/blob/BUILD
index 7d57f50..bfdd562 100644
--- a/aos/vision/blob/BUILD
+++ b/aos/vision/blob/BUILD
@@ -52,7 +52,8 @@
':disjoint_set',
':range_image',
'//third_party/eigen',
- ]
+ ],
+ restricted_to = ['//tools:k8', '//tools:armhf-debian'],
)
cc_library(
diff --git a/debian/slycot.BUILD b/debian/slycot.BUILD
index 55274b1..2629e16 100644
--- a/debian/slycot.BUILD
+++ b/debian/slycot.BUILD
@@ -12,7 +12,8 @@
name = '_fortranwrapper_pyf',
srcs = ['slycot/src/_wrapper.pyf'],
outs = ['slycot/src/_fortranwrapper.pyf'],
- cmd = 'cat $(SRCS) | sed \'s/_wrapper/_fortranwrapper/\' > $(OUTS)'
+ cmd = 'cat $(SRCS) | sed \'s/_wrapper/_fortranwrapper/\' > $(OUTS)',
+ restricted_to = ['@//tools:k8'],
)
# Now generate the module wrapper.
@@ -27,6 +28,7 @@
],
outs = ['_fortranwrappermodule.c'],
cmd = '/usr/bin/python /usr/bin/f2py $(location :slycot/src/_fortranwrapper.pyf) --include-paths external/slycot_repo/slycot/src/ --coutput $(OUTS)',
+ restricted_to = ['@//tools:k8'],
)
# Build it.
@@ -48,6 +50,7 @@
'-Wno-missing-field-initializers',
'-Wno-unused-function',
],
+ restricted_to = ['@//tools:k8'],
)
# Now actually build the fortran files.
@@ -67,6 +70,7 @@
],
linkopts = ['-shared', '-lblas', '-llapack'],
linkstatic = False,
+ restricted_to = ['@//tools:k8'],
)
# Generate the _wrapper file which loads _fortranwrapper and pretends.
@@ -75,6 +79,7 @@
outs = ['slycot/_wrapper.py'],
cmd = 'echo "from external.slycot_repo._fortranwrapper import *" > $(OUTS)',
output_to_bindir = True,
+ restricted_to = ['@//tools:k8'],
)
# Now present a python library for slycot
@@ -93,4 +98,5 @@
':_fortranwrapper.so',
],
visibility = ['//visibility:public'],
+ restricted_to = ['@//tools:k8'],
)
diff --git a/frc971/control_loops/python/BUILD b/frc971/control_loops/python/BUILD
index ede85c0..b1897e0 100644
--- a/frc971/control_loops/python/BUILD
+++ b/frc971/control_loops/python/BUILD
@@ -16,6 +16,7 @@
data = [
'//third_party/cddlib:_cddlib.so',
],
+ restricted_to = ['//tools:k8'],
)
py_test(
@@ -26,6 +27,7 @@
deps = [
':controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -36,4 +38,5 @@
deps = [
':controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index b14144d..7f6b8e0 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -25,6 +25,7 @@
'//aos/common:mutex',
':dma',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -40,6 +41,7 @@
'//aos/common/logging',
':dma',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -57,6 +59,7 @@
'//aos/common:time',
'//aos/linux_code:init',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -73,6 +76,7 @@
'//third_party:wpilib',
'//aos/common/logging',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -88,6 +92,7 @@
'//aos/common/logging',
'//aos/common:time',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -109,6 +114,7 @@
'//aos/linux_code:init',
'//aos/common:time',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -125,6 +131,7 @@
'//frc971/queues:gyro',
'//aos/common:time',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -159,6 +166,7 @@
'//aos/common/network:team_number',
'//aos/common/logging:queue_logging',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -174,6 +182,7 @@
'//third_party:wpilib',
'//aos/common/logging:queue_logging',
],
+ restricted_to = ['//tools:roborio'],
)
queue_library(
@@ -198,6 +207,7 @@
'//aos/linux_code:init',
'//aos/common/util:phased_loop',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -208,6 +218,7 @@
deps = [
'//third_party:wpilib',
],
+ restricted_to = ['//tools:roborio'],
)
queue_library(
@@ -235,6 +246,7 @@
'//frc971/zeroing:averager',
'//third_party:wpilib',
],
+ restricted_to = ['//tools:roborio'],
)
cc_library(
@@ -248,4 +260,5 @@
deps = [
'//third_party:wpilib',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/motors/BUILD b/motors/BUILD
index defd1f9..ab9f239 100644
--- a/motors/BUILD
+++ b/motors/BUILD
@@ -8,6 +8,7 @@
'//motors/core',
'//motors/usb',
],
+ restricted_to = ['//tools:cortex-m4f'],
)
genrule(
@@ -21,6 +22,7 @@
cmd = '$(OBJCOPY) -O ihex $< $@',
executable = True,
output_to_bindir = True,
+ restricted_to = ['//tools:cortex-m4f'],
)
cc_library(
@@ -28,4 +30,5 @@
hdrs = [
'util.h',
],
+ restricted_to = ['//tools:cortex-m4f'],
)
diff --git a/motors/core/BUILD b/motors/core/BUILD
index 3172461..73a9d31 100644
--- a/motors/core/BUILD
+++ b/motors/core/BUILD
@@ -17,4 +17,5 @@
'nonstd.c',
'time.c',
],
+ restricted_to = ['//tools:cortex-m4f'],
)
diff --git a/motors/teensy_loader_cli/BUILD b/motors/teensy_loader_cli/BUILD
index 264ff85..ad92b11 100644
--- a/motors/teensy_loader_cli/BUILD
+++ b/motors/teensy_loader_cli/BUILD
@@ -10,4 +10,5 @@
deps = [
'@libusb//:libusb',
],
+ restricted_to = ['@//tools:k8'],
)
diff --git a/motors/usb/BUILD b/motors/usb/BUILD
index 801f926..ddb1bcc 100644
--- a/motors/usb/BUILD
+++ b/motors/usb/BUILD
@@ -21,4 +21,5 @@
deps = [
'//motors/core',
],
+ restricted_to = ['//tools:cortex-m4f'],
)
diff --git a/third_party/BUILD b/third_party/BUILD
index cef6fcf..3f7352f 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -3,4 +3,5 @@
deps = ['//third_party/allwpilib_2017:wpilib'],
visibility = ['//visibility:public'],
linkstatic = True,
+ restricted_to = ['//tools:roborio'],
)
diff --git a/third_party/allwpilib_2016/BUILD b/third_party/allwpilib_2016/BUILD
index fbe00dc..bbbdc9c 100644
--- a/third_party/allwpilib_2016/BUILD
+++ b/third_party/allwpilib_2016/BUILD
@@ -89,4 +89,5 @@
defines = [
'WPILIB2016=1',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/third_party/allwpilib_2017/BUILD b/third_party/allwpilib_2017/BUILD
index 2f4e558..3fbffe2 100644
--- a/third_party/allwpilib_2017/BUILD
+++ b/third_party/allwpilib_2017/BUILD
@@ -130,4 +130,5 @@
defines = [
'WPILIB2017=1',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/tools/BUILD b/tools/BUILD
index b8a4f1e..bab0b6e 100644
--- a/tools/BUILD
+++ b/tools/BUILD
@@ -39,3 +39,13 @@
name = 'has_ubsan',
values = {'define': 'have_ubsan=true'},
)
+
+environment(name = "k8")
+environment(name = "armhf-debian")
+environment(name = "roborio")
+environment(name = "cortex-m4f")
+environment_group(
+ name = "cpus",
+ environments = [":k8", ":roborio", ":armhf-debian", ":cortex-m4f"],
+ defaults = [":k8", ":roborio", ":armhf-debian"],
+)
diff --git a/tools/bazel b/tools/bazel
index 25266b8..d58a193 100755
--- a/tools/bazel
+++ b/tools/bazel
@@ -24,7 +24,7 @@
exec "${BAZEL_OVERRIDE}" "$@"
fi
-readonly VERSION="201701021712+4964f2c"
+readonly VERSION="0.6.1"
readonly DOWNLOAD_DIR="$(dirname "${BASH_SOURCE[0]}")/../bazel-downloads"
# Directory to unpack bazel into. This must change whenever bazel changes.
@@ -40,7 +40,7 @@
exit 1
fi
-readonly INSTALLER_NAME="bazel_${VERSION}_amd64.deb"
+readonly INSTALLER_NAME="bazel_${VERSION}-linux-x86_64.deb"
readonly DOWNLOAD_URL="http://frc971.org/Build-Dependencies/${INSTALLER_NAME}"
if [[ ! -d "${VERSION_DIR}" ]]; then
diff --git a/tools/bazel.rc b/tools/bazel.rc
index 0e3001f..513bc94 100644
--- a/tools/bazel.rc
+++ b/tools/bazel.rc
@@ -52,5 +52,13 @@
# Dump the output of the failing test to stdout.
test --test_output=errors
-build --experimental_sandbox_shm
+build --experimental_sandbox_base=/dev/shm/
build --experimental_multi_threaded_digest
+
+build --sandbox_fake_hostname=true
+build --sandbox_fake_username=true
+
+build --experimental_auto_cpu_environment_group=//tools:cpus
+startup --host_jvm_args=-Dbazel.DigestFunction=SHA1
+
+common --watchfs
diff --git a/tools/build_rules/fortran.bzl b/tools/build_rules/fortran.bzl
index 2d6e4db..e1f2abf 100644
--- a/tools/build_rules/fortran.bzl
+++ b/tools/build_rules/fortran.bzl
@@ -77,6 +77,7 @@
name = name + '_' + pic_o_file,
src = src,
visibility = ['//visibility:private'],
+ restricted_to = ['@//tools:k8'],
)
pic_o_files.append(pic_o_file)
@@ -88,4 +89,5 @@
'-lgfortran',
],
visibility = visibility,
+ restricted_to = ['@//tools:k8'],
)
diff --git a/tools/build_rules/ruby.bzl b/tools/build_rules/ruby.bzl
index 2c93596..cfab2e9 100644
--- a/tools/build_rules/ruby.bzl
+++ b/tools/build_rules/ruby.bzl
@@ -3,7 +3,7 @@
ruby_file_types = FileType(['.rb'])
def _collect_transitive_sources(ctx):
- source_files = set(order='compile')
+ source_files = depset(order='postorder')
for dep in ctx.attr.deps:
source_files += dep.transitive_ruby_files
@@ -34,7 +34,7 @@
)
return struct(
- files = set([executable]),
+ files = depset([executable]),
runfiles = ctx.runfiles(collect_data = True),
)
diff --git a/tools/ci/run-tests.sh b/tools/ci/run-tests.sh
index 4de8e30..98762e7 100755
--- a/tools/ci/run-tests.sh
+++ b/tools/ci/run-tests.sh
@@ -1,5 +1,5 @@
#!/bin/sh
set -e
-bazel --batch test -c opt --curses=no --color=no --jobs=1 //... -- $(cat NO_BUILD_AMD64)
-bazel --batch build -c opt --curses=no --color=no --jobs=1 //... --cpu=roborio -- $(cat NO_BUILD_ROBORIO)
+bazel --batch test -c opt --curses=no --color=no --jobs=1 //...
+bazel --batch build -c opt --curses=no --color=no --jobs=1 //... --cpu=roborio
diff --git a/vm/README.md b/vm/README.md
index 03e8965..628d219 100644
--- a/vm/README.md
+++ b/vm/README.md
@@ -59,6 +59,6 @@
git clone https://USERNAME@robotics.mvla.net/gerrit/971-Robot-Code
cd 971-Robot-Code
- bazel build //y2016/... -- $(cat NO_BUILD_AMD64)
+ bazel build //y2016/...
where USERNAME is the same username you use to log into SVN.
diff --git a/y2012/BUILD b/y2012/BUILD
index 5dac709..a0cdb4c 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -31,6 +31,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -65,4 +66,5 @@
'//third_party:wpilib',
'//y2012/control_loops/accessories:accessories_queue',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2012/control_loops/python/BUILD b/y2012/control_loops/python/BUILD
index 7e2b657..fc6319f 100644
--- a/y2012/control_loops/python/BUILD
+++ b/y2012/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,4 +38,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2014/BUILD b/y2014/BUILD
index 936c0cb..47bbbe0 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -58,6 +58,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -110,4 +111,5 @@
'//frc971/wpilib:pdp_fetcher',
'//frc971/wpilib:dma',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2014/control_loops/python/BUILD b/y2014/control_loops/python/BUILD
index 3802cb3..dfcaad8 100644
--- a/y2014/control_loops/python/BUILD
+++ b/y2014/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,6 +38,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -48,7 +51,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -60,7 +64,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -73,4 +78,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index 389e197..16466b6 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -34,6 +34,7 @@
srcs = [
'//aos:prime_binaries_stripped',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -68,4 +69,5 @@
'//y2014_bot3/control_loops/rollers:rollers_lib',
'//y2014_bot3/control_loops/drivetrain:drivetrain_base',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2014_bot3/control_loops/python/BUILD b/y2014_bot3/control_loops/python/BUILD
index 756b60e..c67611f 100644
--- a/y2014_bot3/control_loops/python/BUILD
+++ b/y2014_bot3/control_loops/python/BUILD
@@ -9,7 +9,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,4 +24,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2015/BUILD b/y2015/BUILD
index 1f3b8a1..6a0081d 100644
--- a/y2015/BUILD
+++ b/y2015/BUILD
@@ -69,6 +69,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -108,4 +109,5 @@
'//frc971/wpilib:pdp_fetcher',
'//frc971/wpilib:dma',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2015/control_loops/python/BUILD b/y2015/control_loops/python/BUILD
index 16fc62b..d13685e 100644
--- a/y2015/control_loops/python/BUILD
+++ b/y2015/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,6 +38,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -48,6 +51,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -60,6 +64,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -72,4 +77,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2015_bot3/BUILD b/y2015_bot3/BUILD
index 25b60b8..1e9961e 100644
--- a/y2015_bot3/BUILD
+++ b/y2015_bot3/BUILD
@@ -35,6 +35,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -71,4 +72,5 @@
'//y2015_bot3/control_loops/elevator:elevator_lib',
'//y2015_bot3/control_loops/intake:intake_lib',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2015_bot3/control_loops/python/BUILD b/y2015_bot3/control_loops/python/BUILD
index 640d929..fcbb8a5 100644
--- a/y2015_bot3/control_loops/python/BUILD
+++ b/y2015_bot3/control_loops/python/BUILD
@@ -9,7 +9,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -20,7 +21,8 @@
deps = [
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -34,6 +36,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -47,4 +50,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2016/BUILD b/y2016/BUILD
index 49e864c..163f90b 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -68,6 +68,7 @@
dirs = [
'//y2016/dashboard:www_files',
],
+ restricted_to = ['//tools:roborio'],
)
aos_downloader(
@@ -91,6 +92,7 @@
dirs = [
'//y2016/dashboard:www_files',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -133,4 +135,5 @@
'//y2016/control_loops/superstructure:superstructure_queue',
'//y2016/queues:ball_detector',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2016/control_loops/python/BUILD b/y2016/control_loops/python/BUILD
index 4c261e1..5b05da5 100644
--- a/y2016/control_loops/python/BUILD
+++ b/y2016/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,6 +38,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -47,7 +50,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -61,6 +65,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -74,6 +79,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -87,6 +93,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -100,6 +107,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -113,6 +121,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -128,6 +137,7 @@
'//frc971/control_loops/python:controls',
'//aos/common/util:py_trapezoid_profile',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
name = 'arm',
@@ -142,4 +152,5 @@
'//frc971/control_loops/python:controls',
'//aos/common/util:py_trapezoid_profile',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index d8ca87c..136cdee 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -77,7 +77,8 @@
],
)
-cc_binary(name = 'target_sender',
+cc_binary(
+ name = 'target_sender',
srcs = ['target_sender.cc'],
deps = [
'//aos/common:time',
@@ -93,22 +94,25 @@
':stereo_geometry',
':vision_data',
':calibration',
- ]
+ ],
+ restricted_to = ['//tools:k8', '//tools:armhf-debian'],
)
-cc_library(name = "blob_filters",
- srcs = ["blob_filters.cc"],
- hdrs = ["blob_filters.h"],
- deps = [
- "//aos/vision/math:vector",
- "//aos/vision/math:segment",
- "//aos/vision/blob:range_image",
- "//aos/vision/blob:threshold",
- "//aos/vision/blob:find_blob",
- "//aos/vision/blob:hierarchical_contour_merge",
- "//aos/vision/blob:codec",
- ],
+cc_library(
+ name = "blob_filters",
+ srcs = ["blob_filters.cc"],
+ hdrs = ["blob_filters.h"],
+ deps = [
+ "//aos/vision/math:vector",
+ "//aos/vision/math:segment",
+ "//aos/vision/blob:range_image",
+ "//aos/vision/blob:threshold",
+ "//aos/vision/blob:find_blob",
+ "//aos/vision/blob:hierarchical_contour_merge",
+ "//aos/vision/blob:codec",
+ ],
visibility = ['//visibility:public'],
+ restricted_to = ['//tools:k8', '//tools:armhf-debian'],
)
cc_binary(
diff --git a/y2016_bot3/BUILD b/y2016_bot3/BUILD
index bbfef34..6ed529f 100644
--- a/y2016_bot3/BUILD
+++ b/y2016_bot3/BUILD
@@ -35,6 +35,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
aos_downloader(
@@ -50,6 +51,7 @@
srcs = [
'//aos:prime_binaries_stripped',
],
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -92,4 +94,5 @@
'//y2016_bot3/control_loops/intake:intake_lib',
'//y2016_bot3/control_loops/drivetrain:drivetrain_base',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2016_bot3/control_loops/intake/intake.cc b/y2016_bot3/control_loops/intake/intake.cc
index 6fee1d2..3479ab5 100644
--- a/y2016_bot3/control_loops/intake/intake.cc
+++ b/y2016_bot3/control_loops/intake/intake.cc
@@ -170,8 +170,10 @@
// Calculate the loops for a cycle.
{
Eigen::Matrix<double, 3, 1> error = intake_.controller().error();
- status->intake.position_power = intake_.controller().K(0, 0) * error(0, 0);
- status->intake.velocity_power = intake_.controller().K(0, 1) * error(1, 0);
+ status->intake.position_power =
+ intake_.controller().controller().K(0, 0) * error(0, 0);
+ status->intake.velocity_power =
+ intake_.controller().controller().K(0, 1) * error(1, 0);
}
intake_.Update(disable);
diff --git a/y2016_bot3/control_loops/intake/intake_lib_test.cc b/y2016_bot3/control_loops/intake/intake_lib_test.cc
index 48b6946..0ec036b 100644
--- a/y2016_bot3/control_loops/intake/intake_lib_test.cc
+++ b/y2016_bot3/control_loops/intake/intake_lib_test.cc
@@ -28,10 +28,10 @@
explicit IntakePlant(StateFeedbackPlant<2, 1, 1> &&other)
: StateFeedbackPlant<2, 1, 1>(::std::move(other)) {}
- void CheckU() override {
- for (int i = 0; i < kNumInputs; ++i) {
- assert(U(i, 0) <= U_max(i, 0) + 0.00001 + voltage_offset_);
- assert(U(i, 0) >= U_min(i, 0) - 0.00001 + voltage_offset_);
+ void CheckU(const Eigen::Matrix<double, 1, 1> &U) override {
+ if (U(0, 0) > U_max(0, 0) + 0.00001 + voltage_offset_ ||
+ U(0, 0) < U_min(0, 0) - 0.00001 + voltage_offset_) {
+ LOG(FATAL, "U out of range\n");
}
}
@@ -94,8 +94,8 @@
EXPECT_TRUE(intake_queue_.output.FetchLatest());
// Feed voltages into physics simulation.
- intake_plant_->mutable_U() << intake_queue_.output->voltage_intake +
- intake_plant_->voltage_offset();
+ Eigen::Matrix<double, 1, 1> U;
+ U << intake_queue_.output->voltage_intake + intake_plant_->voltage_offset();
// Verify that the correct power limits are being respected depending on
// which mode we are in.
@@ -110,7 +110,7 @@
// Use the plant to generate the next physical state given the voltages to
// the motors.
- intake_plant_->Update();
+ intake_plant_->Update(U);
const double angle_intake = intake_plant_->Y(0, 0);
diff --git a/y2016_bot3/control_loops/python/BUILD b/y2016_bot3/control_loops/python/BUILD
index 1c2ef63..00cb7e7 100644
--- a/y2016_bot3/control_loops/python/BUILD
+++ b/y2016_bot3/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,6 +38,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -49,6 +52,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -62,4 +66,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2016_bot3/wpilib_interface.cc b/y2016_bot3/wpilib_interface.cc
index 5204aea..4f7b302 100644
--- a/y2016_bot3/wpilib_interface.cc
+++ b/y2016_bot3/wpilib_interface.cc
@@ -357,18 +357,18 @@
virtual void Write() override {
auto &queue = ::frc971::control_loops::drivetrain_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
- drivetrain_left_talon_0_->Set(queue->left_voltage / 12.0);
- drivetrain_left_talon_1_->Set(queue->left_voltage / 12.0);
- drivetrain_right_talon_0_->Set(-queue->right_voltage / 12.0);
- drivetrain_right_talon_1_->Set(-queue->right_voltage / 12.0);
+ drivetrain_left_talon_0_->SetSpeed(queue->left_voltage / 12.0);
+ drivetrain_left_talon_1_->SetSpeed(queue->left_voltage / 12.0);
+ drivetrain_right_talon_0_->SetSpeed(-queue->right_voltage / 12.0);
+ drivetrain_right_talon_1_->SetSpeed(-queue->right_voltage / 12.0);
}
virtual void Stop() override {
LOG(WARNING, "drivetrain output too old\n");
- drivetrain_left_talon_0_->Disable();
- drivetrain_right_talon_0_->Disable();
- drivetrain_left_talon_1_->Disable();
- drivetrain_right_talon_1_->Disable();
+ drivetrain_left_talon_0_->SetDisabled();
+ drivetrain_right_talon_0_->SetDisabled();
+ drivetrain_left_talon_1_->SetDisabled();
+ drivetrain_right_talon_1_->SetDisabled();
}
::std::unique_ptr<Talon> drivetrain_left_talon_0_, drivetrain_right_talon_0_,
@@ -401,17 +401,17 @@
virtual void Write() override {
auto &queue = ::y2016_bot3::control_loops::intake_queue.output;
LOG_STRUCT(DEBUG, "will output", *queue);
- intake_talon_->Set(::aos::Clip(queue->voltage_intake, -kMaxBringupPower,
+ intake_talon_->SetSpeed(::aos::Clip(queue->voltage_intake, -kMaxBringupPower,
kMaxBringupPower) /
12.0);
- top_rollers_talon_->Set(-queue->voltage_top_rollers / 12.0);
- intake_rollers_talon_->Set(-queue->voltage_intake_rollers / 12.0);
- bottom_rollers_talon_->Set(-queue->voltage_bottom_rollers / 12.0);
+ top_rollers_talon_->SetSpeed(-queue->voltage_top_rollers / 12.0);
+ intake_rollers_talon_->SetSpeed(-queue->voltage_intake_rollers / 12.0);
+ bottom_rollers_talon_->SetSpeed(-queue->voltage_bottom_rollers / 12.0);
}
virtual void Stop() override {
LOG(WARNING, "Intake output too old.\n");
- intake_talon_->Disable();
+ intake_talon_->SetDisabled();
}
::std::unique_ptr<Talon> intake_talon_, top_rollers_talon_,
diff --git a/y2016_bot4/BUILD b/y2016_bot4/BUILD
index deb763a..7edf333 100644
--- a/y2016_bot4/BUILD
+++ b/y2016_bot4/BUILD
@@ -30,6 +30,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
aos_downloader(
@@ -44,6 +45,7 @@
'//aos:prime_binaries_stripped',
],
default_target = 'roboRIO-6971-frc.local',
+ restricted_to = ['//tools:roborio'],
)
cc_binary(
@@ -82,4 +84,5 @@
'//y2016_bot4/control_loops/drivetrain:polydrivetrain_plants',
'//y2016_bot4/control_loops/drivetrain:drivetrain_base',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2016_bot4/control_loops/python/BUILD b/y2016_bot4/control_loops/python/BUILD
index 50f6038..0982e02 100644
--- a/y2016_bot4/control_loops/python/BUILD
+++ b/y2016_bot4/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,4 +38,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
diff --git a/y2017/BUILD b/y2017/BUILD
index 4163bd5..4bf45fa 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -1,4 +1,4 @@
-load('/aos/downloader/downloader', 'aos_downloader')
+load('//aos/downloader:downloader.bzl', 'aos_downloader')
cc_library(
name = 'constants',
@@ -80,6 +80,7 @@
'//frc971/wpilib:dma',
'//y2017/control_loops/superstructure:superstructure_queue',
],
+ restricted_to = ['//tools:roborio'],
)
aos_downloader(
@@ -96,6 +97,7 @@
srcs = [
'//aos:prime_binaries',
],
+ restricted_to = ['//tools:roborio'],
)
aos_downloader(
@@ -112,4 +114,5 @@
srcs = [
'//aos:prime_binaries_stripped',
],
+ restricted_to = ['//tools:roborio'],
)
diff --git a/y2017/control_loops/python/BUILD b/y2017/control_loops/python/BUILD
index dc5e021..7365124 100644
--- a/y2017/control_loops/python/BUILD
+++ b/y2017/control_loops/python/BUILD
@@ -10,6 +10,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -23,6 +24,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -36,6 +38,7 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -47,7 +50,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -59,7 +63,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -72,7 +77,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -85,7 +91,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -98,7 +105,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -111,7 +119,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_library(
@@ -123,7 +132,8 @@
'//external:python-gflags',
'//external:python-glog',
'//frc971/control_loops/python:controls',
- ]
+ ],
+ restricted_to = ['//tools:k8'],
)
py_binary(
@@ -138,4 +148,5 @@
'//external:python-glog',
'//frc971/control_loops/python:controls',
],
+ restricted_to = ['//tools:k8'],
)