Merge changes I87f6584a,I0d8e22bb
* changes:
Switch to generating pip packages in a Debian container
Add --local_test mode for mirror_pip_packages.py
diff --git a/aos/aos_cli_utils.cc b/aos/aos_cli_utils.cc
index 2016a71..a4ea95e 100644
--- a/aos/aos_cli_utils.cc
+++ b/aos/aos_cli_utils.cc
@@ -228,7 +228,7 @@
aos::FlatbufferToJson(
builder, channel->schema(), static_cast<const uint8_t *>(context.data),
{options.pretty, static_cast<size_t>(options.max_vector_size),
- options.pretty_max, options.use_hex});
+ options.pretty_max, options.hex});
if (options.json) {
std::cout << "{";
@@ -249,7 +249,7 @@
std::cout << "\"channel\": "
<< aos::configuration::StrippedChannelToString(channel)
- << ", \"data\": " << *builder << "}\n";
+ << ", \"data\": " << *builder << "}";
} else {
if (!node_name.empty()) {
std::cout << node_name << " ";
@@ -262,15 +262,15 @@
<< context.realtime_remote_time << " ("
<< context.monotonic_remote_time << ") "
<< channel->name()->c_str() << ' ' << channel->type()->c_str()
- << ": " << *builder << "\n";
+ << ": " << *builder;
} else {
std::cout << context.realtime_event_time << " ("
<< context.monotonic_event_time << ") "
<< channel->name()->c_str() << ' ' << channel->type()->c_str()
- << ": " << *builder << "\n";
+ << ": " << *builder;
}
} else {
- std::cout << *builder << '\n';
+ std::cout << *builder;
}
}
}
@@ -291,4 +291,68 @@
PrintMessage(node_name, channel, context, builder, options);
}
+Printer::Printer(PrintOptions options, bool flush)
+ : options_(options), flush_(flush) {
+ if (options_.json) {
+ std::cout << "[";
+ }
+}
+
+Printer::~Printer() {
+ if (options_.json) {
+ if (message_count_ > 0) {
+ std::cout << "\n]\n";
+ } else {
+ std::cout << "]\n";
+ }
+ }
+}
+
+void Printer::PrintMessage(const std::string_view node_name,
+ aos::NodeEventLoopFactory *node_factory,
+ const aos::Channel *channel,
+ const aos::Context &context) {
+ if (options_.json) {
+ if (message_count_ != 0) {
+ std::cout << ",\n ";
+ } else {
+ std::cout << "\n ";
+ }
+ }
+
+ aos::PrintMessage(node_name, node_factory, channel, context, &str_builder_,
+ options_);
+
+ if (!options_.json) {
+ if (flush_) {
+ std::cout << std::endl;
+ } else {
+ std::cout << "\n";
+ }
+ }
+ ++message_count_;
+}
+
+void Printer::PrintMessage(const aos::Channel *channel,
+ const aos::Context &context) {
+ if (options_.json) {
+ if (message_count_ != 0) {
+ std::cout << ",\n ";
+ } else {
+ std::cout << "\n ";
+ }
+ }
+
+ aos::PrintMessage(channel, context, &str_builder_, options_);
+
+ if (!options_.json) {
+ if (flush_) {
+ std::cout << std::endl;
+ } else {
+ std::cout << "\n";
+ }
+ }
+ ++message_count_;
+}
+
} // namespace aos
diff --git a/aos/aos_cli_utils.h b/aos/aos_cli_utils.h
index 7e143dd..35fb61f 100644
--- a/aos/aos_cli_utils.h
+++ b/aos/aos_cli_utils.h
@@ -23,7 +23,7 @@
// Print the distributed clock.
bool distributed_clock;
// Print numbers out in hex.
- bool use_hex;
+ bool hex;
};
// Print the flatbuffer out to stdout, both to remove the unnecessary cruft from
@@ -37,6 +37,36 @@
void PrintMessage(const aos::Channel *channel, const aos::Context &context,
aos::FastStringBuilder *builder, PrintOptions options);
+// RAII class to manage printing out sequences of messages, and to print them
+// all in a JSON array properly.
+class Printer {
+ public:
+ Printer(PrintOptions options, bool flush);
+ ~Printer();
+
+ // Number of messages that have been printed.
+ uint64_t message_count() const { return message_count_; }
+
+ // Prints a message.
+ void PrintMessage(const std::string_view node_name,
+ aos::NodeEventLoopFactory *node_factory,
+ const aos::Channel *channel, const aos::Context &context);
+ void PrintMessage(const aos::Channel *channel, const aos::Context &context);
+
+ private:
+ // Builder to make printing fast
+ aos::FastStringBuilder str_builder_;
+
+ // Number of messages
+ uint64_t message_count_ = 0;
+
+ // Options for printing.
+ const PrintOptions options_;
+
+ // If true, use std::endl to flush stdout, otherwise write a "\n"
+ const bool flush_;
+};
+
// The information needed by the main function of a CLI tool.
struct CliUtilInfo {
// If this returns true, main should return immediately with 0.
diff --git a/aos/aos_dump.cc b/aos/aos_dump.cc
index 9f3d01f..b76b1a3 100644
--- a/aos/aos_dump.cc
+++ b/aos/aos_dump.cc
@@ -27,7 +27,8 @@
DEFINE_int32(timeout, -1,
"The max time in milliseconds to wait for messages before "
"exiting. -1 means forever, 0 means don't wait.");
-DEFINE_bool(use_hex, false, "Are integers in the messages printed in hex notation.");
+DEFINE_bool(hex, false,
+ "Are integers in the messages printed in hex notation.");
int main(int argc, char **argv) {
gflags::SetUsageMessage(
@@ -51,32 +52,32 @@
uint64_t message_count = 0;
- aos::FastStringBuilder str_builder;
-
aos::monotonic_clock::time_point next_send_time =
aos::monotonic_clock::min_time;
+ aos::Printer printer(
+ {
+ .pretty = FLAGS_pretty,
+ .max_vector_size = static_cast<size_t>(FLAGS_max_vector_size),
+ .pretty_max = FLAGS_pretty_max,
+ .print_timestamps = FLAGS_print_timestamps,
+ .json = FLAGS_json,
+ .distributed_clock = false,
+ .hex = FLAGS_hex,
+ },
+ /*flush*/ true);
+
for (const aos::Channel *channel : cli_info.found_channels) {
if (FLAGS_fetch) {
const std::unique_ptr<aos::RawFetcher> fetcher =
cli_info.event_loop->MakeRawFetcher(channel);
if (fetcher->Fetch()) {
- PrintMessage(
- channel, fetcher->context(), &str_builder,
- {
- .pretty = FLAGS_pretty,
- .max_vector_size = static_cast<size_t>(FLAGS_max_vector_size),
- .pretty_max = FLAGS_pretty_max,
- .print_timestamps = FLAGS_print_timestamps,
- .json = FLAGS_json,
- .distributed_clock = false,
- .use_hex = FLAGS_use_hex,
- });
+ printer.PrintMessage(channel, fetcher->context());
++message_count;
}
}
- if (FLAGS_count > 0 && message_count >= FLAGS_count) {
+ if (FLAGS_count > 0 && printer.message_count() >= FLAGS_count) {
return 0;
}
@@ -85,28 +86,17 @@
}
cli_info.event_loop->MakeRawWatcher(
- channel,
- [channel, &str_builder, &cli_info, &message_count, &next_send_time](
- const aos::Context &context, const void * /*message*/) {
+ channel, [channel, &printer, &cli_info, &next_send_time](
+ const aos::Context &context, const void * /*message*/) {
if (context.monotonic_event_time > next_send_time) {
- if (FLAGS_count > 0 && message_count >= FLAGS_count) {
+ if (FLAGS_count > 0 && printer.message_count() >= FLAGS_count) {
return;
}
- PrintMessage(channel, context, &str_builder,
- {
- .pretty = FLAGS_pretty,
- .max_vector_size =
- static_cast<size_t>(FLAGS_max_vector_size),
- .pretty_max = FLAGS_pretty_max,
- .print_timestamps = FLAGS_print_timestamps,
- .json = FLAGS_json,
- .distributed_clock = false,
- .use_hex = FLAGS_use_hex,
- });
- ++message_count;
+
+ printer.PrintMessage(channel, context);
next_send_time = context.monotonic_event_time +
std::chrono::milliseconds(FLAGS_rate_limit);
- if (FLAGS_count > 0 && message_count >= FLAGS_count) {
+ if (FLAGS_count > 0 && printer.message_count() >= FLAGS_count) {
cli_info.event_loop->Exit();
}
}
diff --git a/aos/events/logging/log_cat.cc b/aos/events/logging/log_cat.cc
index f925651..a2441c8 100644
--- a/aos/events/logging/log_cat.cc
+++ b/aos/events/logging/log_cat.cc
@@ -59,7 +59,8 @@
DEFINE_double(monotonic_end_time, 0.0,
"If set, only print messages sent at or before this many seconds "
"after epoch.");
-DEFINE_bool(use_hex, false, "Are integers in the messages printed in hex notation.");
+DEFINE_bool(hex, false,
+ "Are integers in the messages printed in hex notation.");
using aos::monotonic_clock;
namespace chrono = std::chrono;
@@ -200,18 +201,16 @@
// This class prints out all data from a node on a boot.
class NodePrinter {
public:
- NodePrinter(aos::EventLoop *event_loop, uint64_t *message_print_counter,
- aos::SimulatedEventLoopFactory *factory,
- aos::FastStringBuilder *builder)
+ NodePrinter(aos::EventLoop *event_loop,
+ aos::SimulatedEventLoopFactory *factory, aos::Printer *printer)
: factory_(factory),
node_factory_(factory->GetNodeEventLoopFactory(event_loop->node())),
event_loop_(event_loop),
- message_print_counter_(message_print_counter),
node_name_(
event_loop_->node() == nullptr
? ""
: std::string(event_loop->node()->name()->string_view())),
- builder_(builder) {
+ printer_(printer) {
event_loop_->SkipTimingReport();
event_loop_->SkipAosLog();
@@ -253,6 +252,9 @@
if (!FLAGS_print) {
return;
}
+ if (FLAGS_count > 0 && printer_->message_count() >= FLAGS_count) {
+ return;
+ }
if (!FLAGS_fetch && !started_) {
return;
@@ -263,19 +265,8 @@
return;
}
- PrintMessage(
- node_name_, node_factory_, channel, context, builder_,
- {
- .pretty = FLAGS_pretty,
- .max_vector_size = static_cast<size_t>(FLAGS_max_vector_size),
- .pretty_max = FLAGS_pretty_max,
- .print_timestamps = FLAGS_print_timestamps,
- .json = FLAGS_json,
- .distributed_clock = FLAGS_distributed_clock,
- .use_hex = FLAGS_use_hex,
- });
- ++(*message_print_counter_);
- if (FLAGS_count > 0 && *message_print_counter_ >= FLAGS_count) {
+ printer_->PrintMessage(node_name_, node_factory_, channel, context);
+ if (FLAGS_count > 0 && printer_->message_count() >= FLAGS_count) {
factory_->Exit();
}
});
@@ -318,13 +309,11 @@
aos::NodeEventLoopFactory *node_factory_;
aos::EventLoop *event_loop_;
- uint64_t *message_print_counter_ = nullptr;
-
std::string node_name_;
bool started_ = false;
- aos::FastStringBuilder *builder_;
+ aos::Printer *printer_ = nullptr;
};
int main(int argc, char **argv) {
@@ -393,9 +382,17 @@
}
}
- aos::FastStringBuilder builder;
-
- uint64_t message_print_counter = 0;
+ aos::Printer printer(
+ {
+ .pretty = FLAGS_pretty,
+ .max_vector_size = static_cast<size_t>(FLAGS_max_vector_size),
+ .pretty_max = FLAGS_pretty_max,
+ .print_timestamps = FLAGS_print_timestamps,
+ .json = FLAGS_json,
+ .distributed_clock = FLAGS_distributed_clock,
+ .hex = FLAGS_hex,
+ },
+ false);
std::vector<NodePrinter *> printers;
printers.resize(aos::configuration::NodesCount(reader.configuration()),
@@ -413,12 +410,11 @@
// notified when the log starts and stops.
aos::NodeEventLoopFactory *node_factory =
event_loop_factory.GetNodeEventLoopFactory(node);
- node_factory->OnStartup([&event_loop_factory, node_factory,
- &message_print_counter, &builder, &printers,
- node_index]() {
- printers[node_index] = node_factory->AlwaysStart<NodePrinter>(
- "printer", &message_print_counter, &event_loop_factory, &builder);
- });
+ node_factory->OnStartup(
+ [&event_loop_factory, node_factory, &printer, &printers, node_index]() {
+ printers[node_index] = node_factory->AlwaysStart<NodePrinter>(
+ "printer", &event_loop_factory, &printer);
+ });
node_factory->OnShutdown(
[&printers, node_index]() { printers[node_index] = nullptr; });
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 8c48fa1..32d345a 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -1306,16 +1306,29 @@
// hitting this anymore. I'm also likely the one who will be debugging
// it next and would rather spend the time debugging it when I get a bug
// report.
- gradients[i].emplace_back(
- std::string("- ") +
- filter.filter->DebugOffsetError(
- filter.b_filter, NoncausalTimestampFilter::Pointer(),
- base_clock_[i], 0.0, base_clock_[filter.b_index], 0.0, i,
- filter.b_index));
- gradients[filter.b_index].emplace_back(filter.filter->DebugOffsetError(
- filter.b_filter, NoncausalTimestampFilter::Pointer(),
- base_clock_[i], 0.0, base_clock_[filter.b_index], 0.0, i,
- filter.b_index));
+ if (FLAGS_bounds_offset_error) {
+ gradients[i].emplace_back(
+ std::string("- ") +
+ filter.filter->DebugOffsetError(
+ nullptr, NoncausalTimestampFilter::Pointer(), base_clock_[i],
+ 0.0, base_clock_[filter.b_index], 0.0, i, filter.b_index));
+ gradients[filter.b_index].emplace_back(
+ filter.filter->DebugOffsetError(
+ nullptr, NoncausalTimestampFilter::Pointer(), base_clock_[i],
+ 0.0, base_clock_[filter.b_index], 0.0, i, filter.b_index));
+ } else {
+ gradients[i].emplace_back(
+ std::string("- ") +
+ filter.filter->DebugOffsetError(
+ filter.b_filter, NoncausalTimestampFilter::Pointer(),
+ base_clock_[i], 0.0, base_clock_[filter.b_index], 0.0, i,
+ filter.b_index));
+ gradients[filter.b_index].emplace_back(
+ filter.filter->DebugOffsetError(
+ filter.b_filter, NoncausalTimestampFilter::Pointer(),
+ base_clock_[i], 0.0, base_clock_[filter.b_index], 0.0, i,
+ filter.b_index));
+ }
}
}
}
diff --git a/aos/util/top.cc b/aos/util/top.cc
index 9a6bbd0..79ee2db 100644
--- a/aos/util/top.cc
+++ b/aos/util/top.cc
@@ -172,6 +172,7 @@
pids.insert(pid);
}
}
+ closedir(dir);
}
for (const pid_t pid : pids) {
diff --git a/frc971/zeroing/imu_zeroer.cc b/frc971/zeroing/imu_zeroer.cc
index 6bc2d0e..0872b1c 100644
--- a/frc971/zeroing/imu_zeroer.cc
+++ b/frc971/zeroing/imu_zeroer.cc
@@ -28,7 +28,6 @@
ImuZeroer::ImuZeroer(FaultBehavior fault_behavior)
: fault_behavior_(fault_behavior) {
gyro_average_.setZero();
- accel_average_.setZero();
last_gyro_sample_.setZero();
last_accel_sample_.setZero();
}
@@ -47,8 +46,7 @@
std::optional<Eigen::Vector3d> ImuZeroer::ZeroedAccel() const {
return Faulted() ? std::nullopt
- : std::make_optional<Eigen::Vector3d>(last_accel_sample_ -
- accel_average_);
+ : std::make_optional<Eigen::Vector3d>(last_accel_sample_);
}
Eigen::Vector3d ImuZeroer::GyroOffset() const { return gyro_average_; }
@@ -129,9 +127,9 @@
builder.add_gyro_y_average(GyroOffset().y());
builder.add_gyro_z_average(GyroOffset().z());
- builder.add_accel_x_average(accel_average_.x());
- builder.add_accel_y_average(accel_average_.y());
- builder.add_accel_z_average(accel_average_.z());
+ builder.add_accel_x_average(accel_averager_.GetAverage()[0]);
+ builder.add_accel_y_average(accel_averager_.GetAverage()[1]);
+ builder.add_accel_z_average(accel_averager_.GetAverage()[2]);
return builder.Finish();
}
diff --git a/frc971/zeroing/imu_zeroer.h b/frc971/zeroing/imu_zeroer.h
index f9ae4d2..7fad58c 100644
--- a/frc971/zeroing/imu_zeroer.h
+++ b/frc971/zeroing/imu_zeroer.h
@@ -70,7 +70,6 @@
Averager<double, kSamplesToAverage, 3> accel_averager_;
// The average zero position of the gyro.
Eigen::Vector3d gyro_average_;
- Eigen::Vector3d accel_average_;
Eigen::Vector3d last_gyro_sample_;
Eigen::Vector3d last_accel_sample_;
diff --git a/scouting/www/counter_button/counter_button.component.css b/scouting/www/counter_button/counter_button.component.css
index 35c1929..df95f65 100644
--- a/scouting/www/counter_button/counter_button.component.css
+++ b/scouting/www/counter_button/counter_button.component.css
@@ -8,3 +8,7 @@
* {
padding: 10px;
}
+
+.no-touch-action {
+ touch-action: manipulation;
+}
diff --git a/scouting/www/counter_button/counter_button.ng.html b/scouting/www/counter_button/counter_button.ng.html
index 4abf415..3300ff2 100644
--- a/scouting/www/counter_button/counter_button.ng.html
+++ b/scouting/www/counter_button/counter_button.ng.html
@@ -1,4 +1,11 @@
<h4><ng-content></ng-content></h4>
-<button (click)="update(1)" class="btn btn-secondary btn-block">+</button>
+<button (click)="update(1)" class="btn btn-secondary btn-block no-touch-action">
+ +
+</button>
<h3>{{value}}</h3>
-<button (click)="update(-1)" class="btn btn-secondary btn-block">-</button>
+<button
+ (click)="update(-1)"
+ class="btn btn-secondary btn-block no-touch-action"
+>
+ -
+</button>
diff --git a/scouting/www/entry/entry.component.css b/scouting/www/entry/entry.component.css
index 24e4127..6d13657 100644
--- a/scouting/www/entry/entry.component.css
+++ b/scouting/www/entry/entry.component.css
@@ -15,3 +15,12 @@
button {
touch-action: manipulation;
}
+
+#switchFldbtn {
+ width: 15%;
+ display: block;
+ margin: 0 auto;
+ box-shadow: 2px 2px 1px #ccc;
+ max-width: 105px;
+ text-align: center;
+}
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
index d6829c5..08f4dd4 100644
--- a/scouting/www/entry/entry.component.ts
+++ b/scouting/www/entry/entry.component.ts
@@ -38,6 +38,23 @@
f: 'Finals',
};
+const IMAGES_ARRAY = [
+ {
+ id: 'field_quadrants_image',
+ original_image:
+ '/sha256/cbb99a057a2504e80af526dae7a0a04121aed84c56a6f4889e9576fe1c20c61e/pictures/field/quadrants.jpeg',
+ reversed_image:
+ '/sha256/2c67fffbb722e9a7d0e1d270f1aad7f39a2dc8493c2e7ad1ae50bd6fa52d5bb7/pictures/field/reversed_quadrants.jpeg',
+ },
+ {
+ id: 'field_balls_image',
+ original_image:
+ '/sha256/e095cc8a75d804b0e2070e0a941fab37154176756d4c1a775e53cc48c3a732b9/pictures/field/balls.jpeg',
+ reversed_image:
+ '/sha256/fe4a4605c03598611c583d4dcdf28e06a056a17302ae91f5c527568966d95f3a/pictures/field/reversed_balls.jpeg',
+ },
+];
+
@Component({
selector: 'app-entry',
templateUrl: './entry.ng.html',
@@ -122,6 +139,14 @@
this.scrollToTop();
}
+ flipImages() {
+ for (let obj of IMAGES_ARRAY) {
+ let img = document.getElementById(obj.id) as HTMLImageElement;
+ img.src = img.src.endsWith(obj.original_image)
+ ? obj.reversed_image
+ : obj.original_image;
+ }
+ }
private scrollToTop() {
this.header.nativeElement.scrollIntoView();
}
diff --git a/scouting/www/entry/entry.ng.html b/scouting/www/entry/entry.ng.html
index 6dab39b..9be8db7 100644
--- a/scouting/www/entry/entry.ng.html
+++ b/scouting/www/entry/entry.ng.html
@@ -54,8 +54,12 @@
</div>
<div *ngSwitchCase="'Auto'" id="auto" class="container-fluid">
+ <button class="buttons" id="switch_field_button" (click)="flipImages()">
+ Flip
+ </button>
<div class="row">
<img
+ id="field_quadrants_image"
src="/sha256/cbb99a057a2504e80af526dae7a0a04121aed84c56a6f4889e9576fe1c20c61e/pictures/field/quadrants.jpeg"
alt="Quadrants Image"
/>
@@ -97,8 +101,9 @@
</div>
<div class="row">
<img
+ id="field_balls_image"
src="/sha256/e095cc8a75d804b0e2070e0a941fab37154176756d4c1a775e53cc48c3a732b9/pictures/field/balls.jpeg"
- alt="Image"
+ alt="Balls Image"
/>
<form>
<!--Choice for each ball location-->
diff --git a/third_party/y2022/field/reversed_balls.jpeg b/third_party/y2022/field/reversed_balls.jpeg
new file mode 100644
index 0000000..5a2dc93
--- /dev/null
+++ b/third_party/y2022/field/reversed_balls.jpeg
Binary files differ
diff --git a/third_party/y2022/field/reversed_quadrants.jpeg b/third_party/y2022/field/reversed_quadrants.jpeg
new file mode 100644
index 0000000..adacd8d
--- /dev/null
+++ b/third_party/y2022/field/reversed_quadrants.jpeg
Binary files differ
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index 612a17a..cdffecd 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -67,7 +67,8 @@
Eigen::Matrix<double, 2, 1> X_final) {
X_initial_ = X_initial;
X_final_ = X_final;
- objective_vector_ =
+ // If we mark this noalias(), it won't re-allocate the vector each time.
+ objective_vector_.noalias() =
X_initial(1, 0) * accel_q_ + final_q_ * (Af_ * X_initial - X_final);
auto status = solver_.SetObjectiveVector(objective_vector_);
diff --git a/y2022/vision/README.md b/y2022/vision/README.md
new file mode 100644
index 0000000..2073fa7
--- /dev/null
+++ b/y2022/vision/README.md
@@ -0,0 +1 @@
+# [Spartan Series Vision Presentation](https://docs.google.com/presentation/d/1QJ-c5YYI_HC-rvaBSfPz1umMqL3TcKnja0nijyAlbVE/edit?usp=sharing)
