Create y2024_bot3 folder
Change-Id: Iee232bde58c0425920a49eee145a0f93c7485391
Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>
Signed-off-by: James (Peilun) Li <jamespeilunli@gmail.com>
diff --git a/y2024_bot3/BUILD b/y2024_bot3/BUILD
new file mode 100644
index 0000000..c766a54
--- /dev/null
+++ b/y2024_bot3/BUILD
@@ -0,0 +1,309 @@
+load("//aos:config.bzl", "aos_config")
+load("//aos/util:config_validator_macro.bzl", "config_validator_test")
+load("//frc971:downloader.bzl", "robot_downloader")
+
+config_validator_test(
+ name = "config_validator_test",
+ config = "//y2024_bot3:aos_config",
+)
+
+robot_downloader(
+ binaries = [
+ "//aos/network:web_proxy_main",
+ "//aos/events/logging:log_cat",
+ "//y2024_bot3/constants:constants_sender",
+ "//aos/events:aos_timing_report_streamer",
+ ],
+ data = [
+ ":aos_config",
+ "//aos/starter:roborio_irq_config.json",
+ "//y2024_bot3/constants:constants.json",
+ "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix6_tools_athena//:shared_libraries",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
+ ],
+ dirs = [
+ "//y2024_bot3/www:www_files",
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ ":joystick_reader",
+ ":wpilib_interface",
+ "//frc971/can_logger",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//y2024_bot3/control_loops/superstructure:superstructure",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+robot_downloader(
+ name = "orin_download",
+ binaries = [
+ "//frc971/wpilib:joystick_republish",
+ "//aos/events:aos_timing_report_streamer",
+ "//aos/events/logging:log_cat",
+ "//aos:aos_jitter",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ "//aos/util:foxglove_websocket",
+ "//frc971/image_streamer:image_streamer",
+ "//frc971/orin:hardware_monitor",
+ "//frc971/orin:argus_monitor",
+ "//frc971/vision:intrinsics_calibration",
+ "//aos/util:filesystem_monitor",
+ "//y2024_bot3/vision:viewer",
+ "//y2024_bot3/constants:constants_sender",
+ "//frc971/orin:localizer_logger",
+ "//frc971/vision:foxglove_image_converter",
+ ],
+ data = [
+ ":aos_config",
+ "//frc971/orin:orin_irq_config.json",
+ "//y2024_bot3/constants:constants.json",
+ "//y2024_bot3/vision:image_streamer_start",
+ "//y2024_bot3/www:www_files",
+ ],
+ dirs = [
+ "//y2024_bot3/www:www_files",
+ "//frc971/image_streamer/www:www_files",
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//frc971/imu_fdcan:can_translator",
+ "//frc971/imu_fdcan:dual_imu_blender",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//aos/network:web_proxy_main",
+ "//aos/starter:irq_affinity",
+ "//frc971/orin:argus_camera",
+ "//y2024_bot3/orin:can_logger",
+ "//y2024_bot3/vision:apriltag_detector",
+ "//frc971/vision:image_logger",
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
+ target_type = "pi",
+)
+
+aos_config(
+ name = "aos_config",
+ src = "y2024_bot3.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//frc971/vision:vision_fbs",
+ "//frc971/vision:target_map_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":config_imu",
+ ":config_orin1",
+ ":config_roborio",
+ ],
+)
+
+aos_config(
+ name = "config_imu",
+ src = "y2024_bot3_imu.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//frc971/imu_fdcan:dual_imu_fbs",
+ "//frc971/imu_fdcan:can_translator_status_fbs",
+ "//frc971/imu_fdcan:dual_imu_blender_status_fbs",
+ "//y2024_bot3/constants:constants_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//frc971/can_logger:can_logging_fbs",
+ "//frc971/orin:hardware_stats_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/util:filesystem_fbs",
+ "//aos/network:remote_message_fbs",
+ "//frc971/vision:calibration_fbs",
+ "//frc971/vision:target_map_fbs",
+ "//frc971/vision:vision_fbs",
+ "@com_github_foxglove_schemas//:schemas",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ ],
+)
+
+aos_config(
+ name = "config_roborio",
+ src = "y2024_bot3_roborio.json",
+ flatbuffers = [
+ "//frc971:can_configuration_fbs",
+ "//aos/network:remote_message_fbs",
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//frc971/wpilib:pdp_values_fbs",
+ "//y2024_bot3/constants:constants_fbs",
+ "//aos/network:timestamp_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_goal_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_can_position_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_output_fbs",
+ "//frc971/control_loops/drivetrain:rio_localizer_inputs_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_position_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_status_fbs",
+ "//frc971/can_logger:can_logging_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ ],
+)
+
+aos_config(
+ name = "config_orin1",
+ src = "y2024_bot3_orin1.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//y2024_bot3/constants:constants_fbs",
+ "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//frc971/orin:hardware_stats_fbs",
+ "//frc971/vision:calibration_fbs",
+ "//frc971/vision:target_map_fbs",
+ "//frc971/vision:vision_fbs",
+ "//aos/util:filesystem_fbs",
+ "@com_github_foxglove_schemas//:schemas",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:aos_config",
+ "//frc971/control_loops/drivetrain:aos_config",
+ "//frc971/input:aos_config",
+ ],
+)
+
+cc_library(
+ name = "constants",
+ srcs = [
+ "constants.cc",
+ ],
+ hdrs = [
+ "constants.h",
+ ],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/mutex",
+ "//aos/network:team_number",
+ "//frc971:constants",
+ "//frc971/control_loops:pose",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "//frc971/zeroing:absolute_encoder",
+ "//frc971/zeroing:pot_and_absolute_encoder",
+ "//y2024_bot3/constants:constants_fbs",
+ "@com_google_absl//absl/base",
+ "@com_google_absl//absl/log",
+ "@com_google_absl//absl/log:check",
+ ],
+)
+
+cc_binary(
+ name = "wpilib_interface",
+ srcs = [
+ "wpilib_interface.cc",
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:roborio"],
+ deps = [
+ ":constants",
+ "//aos:init",
+ "//aos:math",
+ "//aos/containers:sized_array",
+ "//aos/events:shm_event_loop",
+ "//aos/logging",
+ "//aos/stl_mutex",
+ "//aos/time",
+ "//aos/util:log_interval",
+ "//aos/util:phased_loop",
+ "//aos/util:wrapping_counter",
+ "//frc971:can_configuration_fbs",
+ "//frc971/constants:constants_sender_lib",
+ "//frc971/control_loops:control_loop",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//frc971/queues:gyro_fbs",
+ "//frc971/wpilib:ADIS16448",
+ "//frc971/wpilib:buffered_pcm",
+ "//frc971/wpilib:can_drivetrain_writer",
+ "//frc971/wpilib:can_sensor_reader",
+ "//frc971/wpilib:dma",
+ "//frc971/wpilib:drivetrain_writer",
+ "//frc971/wpilib:encoder_and_potentiometer",
+ "//frc971/wpilib:generic_can_writer",
+ "//frc971/wpilib:joystick_sender",
+ "//frc971/wpilib:logging_fbs",
+ "//frc971/wpilib:pdp_fetcher",
+ "//frc971/wpilib:sensor_reader",
+ "//frc971/wpilib:talonfx",
+ "//frc971/wpilib:wpilib_robot_base",
+ "//third_party:phoenix",
+ "//third_party:phoenix6",
+ "//third_party:wpilib",
+ "//y2024_bot3/constants:constants_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_can_position_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_output_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_position_fbs",
+ ],
+)
+
+cc_binary(
+ name = "joystick_reader",
+ srcs = [
+ ":joystick_reader.cc",
+ ],
+ deps = [
+ ":constants",
+ "//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/logging",
+ "//frc971/constants:constants_sender_lib",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
+ "//frc971/input:action_joystick_input",
+ "//frc971/input:drivetrain_input",
+ "//frc971/input:joystick_input",
+ "//frc971/input:redundant_joystick_data",
+ "//y2024_bot3/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2024_bot3/control_loops/superstructure:superstructure_status_fbs",
+ ],
+)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+sh_binary(
+ name = "log_web_proxy",
+ srcs = ["log_web_proxy.sh"],
+ data = [
+ ":aos_config",
+ "//aos/network:log_web_proxy_main",
+ "//frc971/www:starter_main_bundle.min.js",
+ "//y2024_bot3/www:field_main_bundle.min.js",
+ "//y2024_bot3/www:files",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)