Merge "Cleanup of warnings from y2020 python code"
diff --git a/WORKSPACE b/WORKSPACE
index 03335b4..c15c957 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -752,11 +752,18 @@
# I'm sure there is a better path, but that works...
yarn_install(
name = "npm",
+ frozen_lockfile = True,
package_json = "//:package.json",
symlink_node_modules = False,
yarn_lock = "//:yarn.lock",
)
+http_archive(
+ name = "io_bazel_rules_webtesting",
+ sha256 = "e9abb7658b6a129740c0b3ef6f5a2370864e102a5ba5ffca2cea565829ed825a",
+ urls = ["https://github.com/bazelbuild/rules_webtesting/releases/download/0.3.5/rules_webtesting.tar.gz"],
+)
+
# Flatbuffers
local_repository(
name = "com_github_google_flatbuffers",
@@ -926,6 +933,12 @@
http_archive(
name = "io_bazel_rules_go",
+ patch_args = [
+ "-p1",
+ ],
+ patches = [
+ "@//third_party:rules_go/0001-Disable-warnings-for-external-repositories.patch",
+ ],
sha256 = "2b1641428dff9018f9e85c0384f03ec6c10660d935b750e3fa1492a281a53b0f",
urls = [
"https://www.frc971.org/Build-Dependencies/rules_go-v0.29.0.zip",
diff --git a/aos/events/logging/log_namer.cc b/aos/events/logging/log_namer.cc
index 9a5d038..b41212c 100644
--- a/aos/events/logging/log_namer.cc
+++ b/aos/events/logging/log_namer.cc
@@ -46,11 +46,33 @@
}
}
-void NewDataWriter::Reboot() {
+void NewDataWriter::Reboot(const UUID &source_node_boot_uuid) {
parts_uuid_ = UUID::Random();
++parts_index_;
reopen_(this);
header_written_ = false;
+ for (State &state : state_) {
+ state.boot_uuid = UUID::Zero();
+ state.oldest_remote_monotonic_timestamp = monotonic_clock::max_time;
+ state.oldest_local_monotonic_timestamp = monotonic_clock::max_time;
+ state.oldest_remote_unreliable_monotonic_timestamp =
+ monotonic_clock::max_time;
+ state.oldest_local_unreliable_monotonic_timestamp =
+ monotonic_clock::max_time;
+ }
+
+ state_[node_index_].boot_uuid = source_node_boot_uuid;
+
+ VLOG(1) << "Rebooted " << filename();
+}
+
+void NewDataWriter::UpdateBoot(const UUID &source_node_boot_uuid) {
+ if (state_[node_index_].boot_uuid != source_node_boot_uuid) {
+ state_[node_index_].boot_uuid = source_node_boot_uuid;
+ if (header_written_) {
+ Reboot(source_node_boot_uuid);
+ }
+ }
}
void NewDataWriter::UpdateRemote(
@@ -77,7 +99,6 @@
rotate = true;
}
-
// Did the unreliable timestamps change?
if (!reliable) {
if (state.oldest_remote_unreliable_monotonic_timestamp >
@@ -113,18 +134,15 @@
const UUID &source_node_boot_uuid,
aos::monotonic_clock::time_point now) {
// Trigger a reboot if we detect the boot UUID change.
- if (state_[node_index_].boot_uuid != source_node_boot_uuid) {
- state_[node_index_].boot_uuid = source_node_boot_uuid;
- if (header_written_) {
- Reboot();
- }
+ UpdateBoot(source_node_boot_uuid);
+ if (!header_written_) {
QueueHeader(MakeHeader());
}
// If the start time has changed for this node, trigger a rotation.
if (log_namer_->monotonic_start_time(node_index_, source_node_boot_uuid) !=
- monotonic_start_time_) {
+ monotonic_start_time_) {
CHECK(header_written_);
Rotate();
}
diff --git a/aos/events/logging/log_namer.h b/aos/events/logging/log_namer.h
index 00e1856..c3fc5d4 100644
--- a/aos/events/logging/log_namer.h
+++ b/aos/events/logging/log_namer.h
@@ -59,6 +59,11 @@
const UUID &node_boot_uuid,
aos::monotonic_clock::time_point now);
+ // Updates the current boot for the source node. This is useful when you want
+ // to queue a message that may trigger a reboot rotation, but then need to
+ // update the remote timestamps.
+ void UpdateBoot(const UUID &source_node_boot_uuid);
+
// Returns the filename of the writer.
std::string_view filename() const {
return writer ? writer->filename() : "(closed)";
@@ -97,7 +102,7 @@
private:
// Signals that a node has rebooted.
- void Reboot();
+ void Reboot(const UUID &source_node_boot_uuid);
void QueueHeader(
aos::SizePrefixedFlatbufferDetachedBuffer<LogFileHeader> &&header);
diff --git a/aos/events/logging/log_writer.cc b/aos/events/logging/log_writer.cc
index f379ca4..8eaeb73 100644
--- a/aos/events/logging/log_writer.cc
+++ b/aos/events/logging/log_writer.cc
@@ -695,6 +695,20 @@
const auto end = event_loop_->monotonic_now();
RecordCreateMessageTime(start, end, &f);
+ // Timestamps tell us information about what happened too!
+ // Capture any reboots so UpdateRemote is properly recorded.
+ f.contents_writer->UpdateBoot(UUID::FromVector(msg->boot_uuid()));
+
+ // Start with recording info about the data flowing from our node to the
+ // remote.
+ f.contents_writer->UpdateRemote(
+ node_index_, event_loop_->boot_uuid(),
+ monotonic_clock::time_point(
+ chrono::nanoseconds(msg->monotonic_remote_time())),
+ monotonic_clock::time_point(
+ chrono::nanoseconds(msg->monotonic_sent_time())),
+ f.reliable_forwarding);
+
f.contents_writer->QueueMessage(
&fbb, UUID::FromVector(msg->boot_uuid()), end);
}
diff --git a/aos/events/logging/logfile_sorting.cc b/aos/events/logging/logfile_sorting.cc
index 7610295..5000ff9 100644
--- a/aos/events/logging/logfile_sorting.cc
+++ b/aos/events/logging/logfile_sorting.cc
@@ -297,7 +297,7 @@
std::set<std::string> config_sha256_list;
// Map from a observed pair of boots to the associated timestamps.
- // logger_node -> logger_node_boot_uuid -> destination_node index ->
+ // source_node -> source_node_boot_uuid -> destination_node index ->
// destination_boot_uuid -> list of all times from all parts.
absl::btree_map<
std::string,
@@ -544,7 +544,7 @@
}
VLOG(1) << "Parts: " << parts_uuid << ", source boot uuid "
- << source_boot_uuid << " " << parts_index;
+ << source_boot_uuid << " index " << parts_index;
auto it = log_it->second.unsorted_parts.find(
std::pair(parts_uuid, std::string(source_boot_uuid)));
if (it == log_it->second.unsorted_parts.end()) {
@@ -569,12 +569,12 @@
// We've got a newer log with boot_uuids, and oldest timestamps. Fill in
// this->boot_times with the info we have found.
if (HasNewTimestamps(&log_header->message())) {
- auto node_boot_times_it = boot_times.find(logger_node);
+ auto node_boot_times_it = boot_times.find(node);
if (node_boot_times_it == boot_times.end()) {
node_boot_times_it =
boot_times
.emplace(
- logger_node,
+ node,
absl::btree_map<
std::string,
absl::btree_map<
@@ -583,14 +583,15 @@
std::vector<BootPairTimes>>>>())
.first;
}
+
auto source_boot_times_it =
- node_boot_times_it->second.find(std::string(logger_boot_uuid));
+ node_boot_times_it->second.find(std::string(source_boot_uuid));
if (source_boot_times_it == node_boot_times_it->second.end()) {
source_boot_times_it =
node_boot_times_it->second
.emplace(
- logger_boot_uuid,
+ source_boot_uuid,
absl::btree_map<
size_t, absl::btree_map<std::string,
std::vector<BootPairTimes>>>())
@@ -616,6 +617,7 @@
.oldest_remote_unreliable_monotonic_timestamps()
->size());
CHECK(!logger_boot_uuid.empty());
+ CHECK(!source_boot_uuid.empty());
for (size_t node_index = 0; node_index < boot_uuids_size; ++node_index) {
const std::string_view boot_uuid =
log_header->message().boot_uuids()->Get(node_index)->string_view();
@@ -638,7 +640,7 @@
log_header->message()
.oldest_remote_unreliable_monotonic_timestamps()
->Get(node_index)));
- if (boot_uuid.empty() || boot_uuid == logger_boot_uuid) {
+ if (boot_uuid.empty() || boot_uuid == source_boot_uuid) {
CHECK_EQ(oldest_local_monotonic_timestamp, monotonic_clock::max_time);
CHECK_EQ(oldest_remote_monotonic_timestamp,
monotonic_clock::max_time);
@@ -775,31 +777,46 @@
<< *config_sha256_list.begin();
const Configuration *config = config_it->second.get();
- for (const auto &node_boot_times : boot_times) {
- const std::string &logger_node_name = node_boot_times.first;
+ // Map from a observed pair of boots to the associated timestamps.
+ // destination_node -> destination_node_boot_uuid -> source_node ->
+ // source_boot_uuid -> list of all times from all parts.
+ //
+ // This is boot_times but flipped inside out so we can order on destinations
+ // instead of sources for when we have the same destination for 2 different
+ // boots.
+ absl::btree_map<
+ std::string,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string,
+ absl::btree_map<std::string, BootPairTimes>>>>
+ reverse_boot_times;
- // We know nothing about the order of the logger node's boot, but we
+ for (const auto &node_boot_times : boot_times) {
+ const std::string &source_node_name = node_boot_times.first;
+
+ // We know nothing about the order of the source node's boot, but we
// know it happened. If there is only 1 single boot, the constraint
// code will happily mark it as boot 0. Otherwise we'll get the
// appropriate boot count if it can be computed or an error.
//
// Add it to the boots list to kick this off.
auto logger_node_boot_constraints_it =
- boot_constraints.find(logger_node_name);
+ boot_constraints.find(source_node_name);
if (logger_node_boot_constraints_it == boot_constraints.end()) {
logger_node_boot_constraints_it =
boot_constraints
- .insert(std::make_pair(logger_node_name, NodeBootState()))
+ .insert(std::make_pair(source_node_name, NodeBootState()))
.first;
}
- for (const auto &source_boot_time : node_boot_times.second) {
- const std::string &logger_boot_uuid = source_boot_time.first;
- logger_node_boot_constraints_it->second.boots.insert(logger_boot_uuid);
+ for (const auto &destination_boot_time : node_boot_times.second) {
+ const std::string &source_boot_uuid = destination_boot_time.first;
+ logger_node_boot_constraints_it->second.boots.insert(source_boot_uuid);
- for (const auto &source_nodes : source_boot_time.second) {
- const std::string source_node_name =
- config->nodes()->Get(source_nodes.first)->name()->str();
+ for (const auto &destination_nodes : destination_boot_time.second) {
+ const std::string destination_node_name =
+ config->nodes()->Get(destination_nodes.first)->name()->str();
// Now, we have a bunch of remote boots for the same local boot and
// remote node. We want to sort them by observed local time. This will
@@ -807,7 +824,7 @@
// node too so we can check for overlapping boots.
std::vector<std::tuple<std::string, BootPairTimes, BootPairTimes>>
source_boot_times;
- for (const auto &boot_time_list : source_nodes.second) {
+ for (const auto &boot_time_list : destination_nodes.second) {
// Track the first boot time we have evidence of.
BootPairTimes boot_time = boot_time_list.second[0];
// And the last one so we can look for overlapping boots.
@@ -817,13 +834,26 @@
if (next_boot_time.oldest_local_unreliable_monotonic_timestamp !=
aos::monotonic_clock::max_time) {
VLOG(1)
- << "Remote time "
+ << "Unreliable remote time "
<< next_boot_time.oldest_remote_unreliable_monotonic_timestamp
- << " " << boot_time_list.first;
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
VLOG(1)
- << "Local time "
+ << "Unreliable local time "
<< next_boot_time.oldest_local_unreliable_monotonic_timestamp
- << " " << boot_time_list.first;
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
+ }
+ if (next_boot_time.oldest_local_monotonic_timestamp !=
+ aos::monotonic_clock::max_time) {
+ VLOG(1) << "Reliable remote time "
+ << next_boot_time.oldest_remote_monotonic_timestamp
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
+ VLOG(1) << "Reliable local time "
+ << next_boot_time.oldest_local_monotonic_timestamp
+ << " remote " << boot_time_list.first << " local "
+ << source_boot_uuid;
}
// If we found an existing entry, update the min to be the min of
// all records. This lets us combine info from multiple part files.
@@ -867,6 +897,57 @@
}
source_boot_times.emplace_back(
std::make_tuple(boot_time_list.first, boot_time, max_boot_time));
+
+ // While we are building up the forwards set of constraints, build up
+ // a list of reverse constraints. This gives us a list of boots for
+ // the case when we have 2 logs from different boots, where the remote
+ // is both the same boot.
+
+ auto reverse_destination_node_it =
+ reverse_boot_times.find(destination_node_name);
+ if (reverse_destination_node_it == reverse_boot_times.end()) {
+ reverse_destination_node_it =
+ reverse_boot_times
+ .emplace(
+ destination_node_name,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string, BootPairTimes>>>())
+ .first;
+ }
+
+ auto reverse_destination_node_boot_uuid_it =
+ reverse_destination_node_it->second.find(boot_time_list.first);
+ if (reverse_destination_node_boot_uuid_it ==
+ reverse_destination_node_it->second.end()) {
+ reverse_destination_node_boot_uuid_it =
+ reverse_destination_node_it->second
+ .emplace(boot_time_list.first,
+ absl::btree_map<
+ std::string,
+ absl::btree_map<std::string, BootPairTimes>>())
+ .first;
+ }
+
+ auto reverse_source_node_it =
+ reverse_destination_node_boot_uuid_it->second.find(
+ source_node_name);
+ if (reverse_source_node_it ==
+ reverse_destination_node_boot_uuid_it->second.end()) {
+ reverse_source_node_it =
+ reverse_destination_node_boot_uuid_it->second
+ .emplace(source_node_name,
+ absl::btree_map<std::string, BootPairTimes>())
+ .first;
+ }
+
+ auto reverse_source_node_boot_uuid_it =
+ reverse_source_node_it->second.find(source_boot_uuid);
+ CHECK(reverse_source_node_boot_uuid_it ==
+ reverse_source_node_it->second.end());
+ reverse_source_node_it->second.emplace(source_boot_uuid, boot_time);
}
std::sort(
source_boot_times.begin(), source_boot_times.end(),
@@ -918,17 +999,17 @@
const std::string &fatal_source_boot_uuid =
std::get<0>(fatal_boot_time);
LOG(ERROR) << "Boot " << fatal_boot_id << ", "
- << fatal_source_boot_uuid << " on " << source_node_name
+ << fatal_source_boot_uuid << " on " << destination_node_name
<< " spans ["
<< std::get<1>(fatal_boot_time)
.oldest_local_unreliable_monotonic_timestamp
<< ", "
<< std::get<2>(fatal_boot_time)
.oldest_local_unreliable_monotonic_timestamp
- << "] on logger " << logger_node_name;
+ << "] on source " << destination_node_name;
}
- LOG(FATAL) << "Found overlapping boots on " << source_node_name
- << " logged on " << logger_node_name << ", "
+ LOG(FATAL) << "Found overlapping boots on " << destination_node_name
+ << " source node " << destination_node_name << ", "
<< std::get<1>(boot_time)
.oldest_local_unreliable_monotonic_timestamp
<< " < " << last_boot_time;
@@ -938,11 +1019,11 @@
.oldest_local_unreliable_monotonic_timestamp;
auto source_node_boot_constraints_it =
- boot_constraints.find(source_node_name);
+ boot_constraints.find(destination_node_name);
if (source_node_boot_constraints_it == boot_constraints.end()) {
source_node_boot_constraints_it =
boot_constraints
- .insert(std::make_pair(source_node_name, NodeBootState()))
+ .insert(std::make_pair(destination_node_name, NodeBootState()))
.first;
}
@@ -995,6 +1076,101 @@
}
}
+ // Now, sort the reverse direction so we can handle when we only get
+ // timestamps and need to make sense of the boots.
+ for (const auto &destination_node : reverse_boot_times) {
+ for (const auto &destination_node_boot_uuid : destination_node.second) {
+ for (const auto &source_node : destination_node_boot_uuid.second) {
+ // Now, we need to take all the boots + times and put them in a list to
+ // sort and derive constraints from.
+
+ std::vector<std::pair<std::string, BootPairTimes>>
+ destination_boot_times;
+ for (const auto &source_boot_uuid : source_node.second) {
+ destination_boot_times.emplace_back(source_boot_uuid);
+ }
+
+ std::sort(
+ destination_boot_times.begin(), destination_boot_times.end(),
+ [](const std::pair<std::string, BootPairTimes> &a,
+ const std::pair<std::string, BootPairTimes> &b) {
+ // There are cases where we will only have a reliable timestamp.
+ // In that case, we need to use oldest_remote_monotonic_timestamp.
+ // But, that may result in collisions if the same message gets
+ // forwarded to both boots, so it will have the same timestamp.
+ // Solve that by breaking the tie with the unreliable messages.
+ if (a.second.oldest_remote_monotonic_timestamp ==
+ b.second.oldest_remote_monotonic_timestamp) {
+ CHECK_NE(a.second.oldest_remote_unreliable_monotonic_timestamp,
+ b.second.oldest_remote_unreliable_monotonic_timestamp);
+ return a.second.oldest_remote_unreliable_monotonic_timestamp <
+ b.second.oldest_remote_unreliable_monotonic_timestamp;
+ } else {
+ return a.second.oldest_remote_monotonic_timestamp <
+ b.second.oldest_remote_monotonic_timestamp;
+ }
+ });
+
+ for (size_t boot_id = 0; boot_id < destination_boot_times.size();
+ ++boot_id) {
+ const std::pair<std::string, BootPairTimes> &boot_time =
+ destination_boot_times[boot_id];
+ const std::string &source_boot_uuid = boot_time.first;
+
+ auto destination_node_boot_constraints_it =
+ boot_constraints.find(source_node.first);
+ if (destination_node_boot_constraints_it == boot_constraints.end()) {
+ destination_node_boot_constraints_it =
+ boot_constraints
+ .insert(std::make_pair(source_node.first, NodeBootState()))
+ .first;
+ }
+
+ // Track that this boot happened.
+ destination_node_boot_constraints_it->second.boots.insert(
+ source_boot_uuid);
+ if (boot_id > 0) {
+ const std::pair<std::string, BootPairTimes> &prior_boot_time =
+ destination_boot_times[boot_id - 1];
+ const std::string &prior_boot_uuid = prior_boot_time.first;
+
+ std::map<std::string, std::vector<std::pair<std::string, bool>>>
+ &per_node_boot_constraints =
+ destination_node_boot_constraints_it->second.constraints;
+
+ auto first_per_boot_constraints =
+ per_node_boot_constraints.find(prior_boot_uuid);
+ if (first_per_boot_constraints == per_node_boot_constraints.end()) {
+ first_per_boot_constraints =
+ per_node_boot_constraints
+ .insert(std::make_pair(
+ prior_boot_uuid,
+ std::vector<std::pair<std::string, bool>>()))
+ .first;
+ }
+
+ auto second_per_boot_constraints =
+ per_node_boot_constraints.find(source_boot_uuid);
+ if (second_per_boot_constraints ==
+ per_node_boot_constraints.end()) {
+ second_per_boot_constraints =
+ per_node_boot_constraints
+ .insert(std::make_pair(
+ source_boot_uuid,
+ std::vector<std::pair<std::string, bool>>()))
+ .first;
+ }
+
+ first_per_boot_constraints->second.emplace_back(
+ std::make_pair(source_boot_uuid, true));
+ second_per_boot_constraints->second.emplace_back(
+ std::make_pair(prior_boot_uuid, false));
+ }
+ }
+ }
+ }
+ }
+
return boot_constraints;
}
diff --git a/aos/events/logging/logger.fbs b/aos/events/logging/logger.fbs
index 6d9f7cb..eb70184 100644
--- a/aos/events/logging/logger.fbs
+++ b/aos/events/logging/logger.fbs
@@ -136,6 +136,9 @@
// For all channels sent from a specific node, these vectors hold the
// timestamp of the oldest known message from that node, and the
// corresponding monotonic timestamp for when that was received on our node.
+ //
+ // The local node is the node that this log file is from the perspective of
+ // (field 6)
corrupted_oldest_remote_monotonic_timestamps:[int64] (id: 20, deprecated);
corrupted_oldest_local_monotonic_timestamps:[int64] (id: 21, deprecated);
oldest_remote_monotonic_timestamps:[int64] (id: 24);
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 1f784d3..55bf687 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -2518,6 +2518,244 @@
}
}
+// Tests that we can sort a log which only has timestamps from the remote
+// because the local message_bridge_client failed to connect.
+TEST_P(MultinodeLoggerTest, RemoteRebootOnlyTimestamps) {
+ const UUID pi1_boot0 = UUID::Random();
+ const UUID pi2_boot0 = UUID::Random();
+ const UUID pi2_boot1 = UUID::Random();
+ {
+ CHECK_EQ(pi1_index_, 0u);
+ CHECK_EQ(pi2_index_, 1u);
+
+ time_converter_.set_boot_uuid(pi1_index_, 0, pi1_boot0);
+ time_converter_.set_boot_uuid(pi2_index_, 0, pi2_boot0);
+ time_converter_.set_boot_uuid(pi2_index_, 1, pi2_boot1);
+
+ time_converter_.AddNextTimestamp(
+ distributed_clock::epoch(),
+ {BootTimestamp::epoch(), BootTimestamp::epoch()});
+ const chrono::nanoseconds reboot_time = chrono::milliseconds(10100);
+ time_converter_.AddNextTimestamp(
+ distributed_clock::epoch() + reboot_time,
+ {BootTimestamp::epoch() + reboot_time,
+ BootTimestamp{
+ .boot = 1,
+ .time = monotonic_clock::epoch() + chrono::milliseconds(1323)}});
+ }
+ pi2_->Disconnect(pi1_->node());
+
+ std::vector<std::string> filenames;
+ {
+ LoggerState pi1_logger = MakeLogger(pi1_);
+
+ event_loop_factory_.RunFor(chrono::milliseconds(95));
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi1")->boot_uuid(),
+ pi1_boot0);
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi2")->boot_uuid(),
+ pi2_boot0);
+
+ StartLogger(&pi1_logger);
+
+ event_loop_factory_.RunFor(chrono::milliseconds(10000));
+
+ VLOG(1) << "Reboot now!";
+
+ event_loop_factory_.RunFor(chrono::milliseconds(20000));
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi1")->boot_uuid(),
+ pi1_boot0);
+ EXPECT_EQ(event_loop_factory_.GetNodeEventLoopFactory("pi2")->boot_uuid(),
+ pi2_boot1);
+ pi1_logger.AppendAllFilenames(&filenames);
+ }
+
+ // Confirm that our new oldest timestamps properly update as we reboot and
+ // rotate.
+ size_t timestamp_file_count = 0;
+ for (const std::string &file : filenames) {
+ std::optional<SizePrefixedFlatbufferVector<LogFileHeader>> log_header =
+ ReadHeader(file);
+ CHECK(log_header);
+
+ if (log_header->message().has_configuration()) {
+ continue;
+ }
+
+ const monotonic_clock::time_point monotonic_start_time =
+ monotonic_clock::time_point(
+ chrono::nanoseconds(log_header->message().monotonic_start_time()));
+ const UUID source_node_boot_uuid = UUID::FromString(
+ log_header->message().source_node_boot_uuid()->string_view());
+
+ ASSERT_TRUE(log_header->message().has_oldest_remote_monotonic_timestamps());
+ ASSERT_EQ(
+ log_header->message().oldest_remote_monotonic_timestamps()->size(), 2u);
+ ASSERT_TRUE(log_header->message().has_oldest_local_monotonic_timestamps());
+ ASSERT_EQ(log_header->message().oldest_local_monotonic_timestamps()->size(),
+ 2u);
+ ASSERT_TRUE(log_header->message()
+ .has_oldest_remote_unreliable_monotonic_timestamps());
+ ASSERT_EQ(log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->size(),
+ 2u);
+ ASSERT_TRUE(log_header->message()
+ .has_oldest_local_unreliable_monotonic_timestamps());
+ ASSERT_EQ(log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->size(),
+ 2u);
+
+ if (log_header->message().node()->name()->string_view() != "pi1") {
+ ASSERT_TRUE(file.find("aos.message_bridge.RemoteMessage") !=
+ std::string::npos);
+
+ const std::optional<SizePrefixedFlatbufferVector<MessageHeader>> msg =
+ ReadNthMessage(file, 0);
+ CHECK(msg);
+
+ EXPECT_TRUE(msg->message().has_monotonic_sent_time());
+ EXPECT_TRUE(msg->message().has_monotonic_remote_time());
+
+ const monotonic_clock::time_point
+ expected_oldest_local_monotonic_timestamps(
+ chrono::nanoseconds(msg->message().monotonic_sent_time()));
+ const monotonic_clock::time_point
+ expected_oldest_remote_monotonic_timestamps(
+ chrono::nanoseconds(msg->message().monotonic_remote_time()));
+
+ EXPECT_NE(expected_oldest_local_monotonic_timestamps,
+ monotonic_clock::min_time);
+ EXPECT_NE(expected_oldest_remote_monotonic_timestamps,
+ monotonic_clock::min_time);
+
+ ++timestamp_file_count;
+ // Since the log file is from the perspective of the other node,
+ const monotonic_clock::time_point oldest_remote_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(
+ 0)));
+ const monotonic_clock::time_point oldest_local_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_local_monotonic_timestamps()->Get(
+ 0)));
+ const monotonic_clock::time_point
+ oldest_remote_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(0)));
+ const monotonic_clock::time_point
+ oldest_local_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(0)));
+ // Confirm that the oldest timestamps match what we expect. Based on what
+ // we are doing, we know that the oldest time is the first message's time.
+ //
+ // This makes the test robust to both the split and combined config tests.
+ switch (log_header->message().parts_index()) {
+ case 0:
+ case 1:
+ EXPECT_EQ(oldest_remote_monotonic_timestamps,
+ expected_oldest_remote_monotonic_timestamps);
+ EXPECT_EQ(oldest_local_monotonic_timestamps,
+ expected_oldest_local_monotonic_timestamps);
+ EXPECT_EQ(oldest_remote_unreliable_monotonic_timestamps,
+ expected_oldest_remote_monotonic_timestamps);
+ EXPECT_EQ(oldest_local_unreliable_monotonic_timestamps,
+ expected_oldest_local_monotonic_timestamps);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+
+ switch (log_header->message().parts_index()) {
+ case 0:
+ EXPECT_EQ(source_node_boot_uuid, pi2_boot0);
+ EXPECT_EQ(monotonic_start_time, monotonic_clock::min_time);
+ break;
+ case 1:
+ EXPECT_EQ(source_node_boot_uuid, pi2_boot1);
+ EXPECT_EQ(monotonic_start_time, monotonic_clock::min_time);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+
+ continue;
+ }
+ EXPECT_EQ(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message().oldest_local_monotonic_timestamps()->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+ EXPECT_EQ(log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(0),
+ monotonic_clock::max_time.time_since_epoch().count());
+
+ const monotonic_clock::time_point oldest_remote_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_remote_monotonic_timestamps()->Get(
+ 1)));
+ const monotonic_clock::time_point oldest_local_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message().oldest_local_monotonic_timestamps()->Get(1)));
+ const monotonic_clock::time_point
+ oldest_remote_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_remote_unreliable_monotonic_timestamps()
+ ->Get(1)));
+ const monotonic_clock::time_point
+ oldest_local_unreliable_monotonic_timestamps =
+ monotonic_clock::time_point(chrono::nanoseconds(
+ log_header->message()
+ .oldest_local_unreliable_monotonic_timestamps()
+ ->Get(1)));
+ switch (log_header->message().parts_index()) {
+ case 0:
+ EXPECT_EQ(oldest_remote_monotonic_timestamps,
+ monotonic_clock::max_time);
+ EXPECT_EQ(oldest_local_monotonic_timestamps, monotonic_clock::max_time);
+ EXPECT_EQ(oldest_remote_unreliable_monotonic_timestamps,
+ monotonic_clock::max_time);
+ EXPECT_EQ(oldest_local_unreliable_monotonic_timestamps,
+ monotonic_clock::max_time);
+ break;
+ default:
+ FAIL();
+ break;
+ }
+ }
+
+ EXPECT_TRUE(timestamp_file_count == 2u || timestamp_file_count == 4u);
+
+ // Confirm that we can actually sort the resulting log and read it.
+ {
+ LogReader reader(SortParts(filenames));
+
+ SimulatedEventLoopFactory log_reader_factory(reader.configuration());
+ log_reader_factory.set_send_delay(chrono::microseconds(0));
+
+ // This sends out the fetched messages and advances time to the start of
+ // the log file.
+ reader.Register(&log_reader_factory);
+
+ log_reader_factory.Run();
+
+ reader.Deregister();
+ }
+}
+
// Tests that we properly handle one direction of message_bridge being
// unavailable.
TEST_P(MultinodeLoggerTest, OneDirectionWithNegativeSlope) {
diff --git a/aos/network/multinode_timestamp_filter.cc b/aos/network/multinode_timestamp_filter.cc
index 72b1cc5..d6419a0 100644
--- a/aos/network/multinode_timestamp_filter.cc
+++ b/aos/network/multinode_timestamp_filter.cc
@@ -1355,7 +1355,10 @@
.boot = next_boot,
.time = timestamp_mappers_[node_a_index]->monotonic_start_time(
next_boot)};
- if (next_start_time < next_node_time) {
+ // If we don't have a start time, it doesn't make sense to solve for it.
+ // Ignore that case.
+ if (next_start_time < next_node_time &&
+ next_start_time.time != monotonic_clock::min_time) {
VLOG(1) << "Candidate for node " << node_a_index
<< " is the next startup time, " << next_start_time;
next_node_time = next_start_time;
diff --git a/build_tests/BUILD b/build_tests/BUILD
index 5d9c3bf..c74407e 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -111,4 +111,5 @@
importpath = "github.com/frc971/971-Robot-Code/build_tests",
target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:private"],
+ deps = ["//build_tests/go_greeter"],
)
diff --git a/build_tests/go_greeter/BUILD b/build_tests/go_greeter/BUILD
new file mode 100644
index 0000000..b4dbdc0
--- /dev/null
+++ b/build_tests/go_greeter/BUILD
@@ -0,0 +1,16 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_library", "go_test")
+
+go_library(
+ name = "go_greeter",
+ srcs = ["greeter.go"],
+ importpath = "github.com/frc971/971-Robot-Code/build_tests/go_greeter",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
+go_test(
+ name = "go_greeter_test",
+ srcs = ["greeter_test.go"],
+ embed = [":go_greeter"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
diff --git a/build_tests/go_greeter/greeter.go b/build_tests/go_greeter/greeter.go
new file mode 100644
index 0000000..53f837a
--- /dev/null
+++ b/build_tests/go_greeter/greeter.go
@@ -0,0 +1,5 @@
+package go_greeter
+
+func Greet(name string) string {
+ return "Hello, " + name
+}
diff --git a/build_tests/go_greeter/greeter_test.go b/build_tests/go_greeter/greeter_test.go
new file mode 100644
index 0000000..207f360
--- /dev/null
+++ b/build_tests/go_greeter/greeter_test.go
@@ -0,0 +1,18 @@
+package go_greeter
+
+import "testing"
+
+func TestGreetings(t *testing.T) {
+ cases := []struct {
+ input, expected string
+ }{
+ {"world", "Hello, world"},
+ {" foobar", "Hello, foobar"},
+ }
+ for _, c := range cases {
+ greeting := Greet(c.input)
+ if greeting != c.expected {
+ t.Errorf("Got %q, but expected %q.", greeting, c.expected)
+ }
+ }
+}
diff --git a/build_tests/hello.go b/build_tests/hello.go
index d2c4e91..2c741a8 100644
--- a/build_tests/hello.go
+++ b/build_tests/hello.go
@@ -1,7 +1,11 @@
package main
-import "fmt"
+import (
+ "fmt"
+
+ "github.com/frc971/971-Robot-Code/build_tests/go_greeter"
+)
func main() {
- fmt.Println("Hello world")
+ fmt.Println(go_greeter.Greet("world"))
}
diff --git a/frc971/vision/BUILD b/frc971/vision/BUILD
new file mode 100644
index 0000000..1e3ed58
--- /dev/null
+++ b/frc971/vision/BUILD
@@ -0,0 +1,35 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
+
+flatbuffer_cc_library(
+ name = "vision_fbs",
+ srcs = ["vision.fbs"],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "vision_ts_fbs",
+ srcs = ["vision.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "v4l2_reader",
+ srcs = [
+ "v4l2_reader.cc",
+ ],
+ hdrs = [
+ "v4l2_reader.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":vision_fbs",
+ "//aos/events:event_loop",
+ "//aos/scoped:scoped_fd",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/base",
+ ],
+)
diff --git a/y2020/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
similarity index 97%
rename from y2020/vision/v4l2_reader.cc
rename to frc971/vision/v4l2_reader.cc
index 3f24f1e..793d8cd 100644
--- a/y2020/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -1,4 +1,4 @@
-#include "y2020/vision/v4l2_reader.h"
+#include "frc971/vision/v4l2_reader.h"
#include <fcntl.h>
#include <linux/videodev2.h>
@@ -60,8 +60,8 @@
}
bool V4L2Reader::ReadLatestImage() {
- // First, enqueue any old buffer we already have. This is the one which may
- // have been sent.
+ // First, enqueue any old buffer we already have. This is the one which
+ // may have been sent.
if (saved_buffer_) {
EnqueueBuffer(saved_buffer_.index);
saved_buffer_.Clear();
@@ -189,8 +189,8 @@
if (result == 0) {
return;
}
- // Some devices (like Alex's webcam) return this if streaming isn't currently
- // on, unlike what the documentations says should happen.
+ // Some devices (like Alex's webcam) return this if streaming isn't
+ // currently on, unlike what the documentations says should happen.
if (errno == EBUSY) {
return;
}
diff --git a/y2020/vision/v4l2_reader.h b/frc971/vision/v4l2_reader.h
similarity index 95%
rename from y2020/vision/v4l2_reader.h
rename to frc971/vision/v4l2_reader.h
index b9b3ce4..6f90cec 100644
--- a/y2020/vision/v4l2_reader.h
+++ b/frc971/vision/v4l2_reader.h
@@ -1,5 +1,5 @@
-#ifndef Y2020_VISION_V4L2_READER_H_
-#define Y2020_VISION_V4L2_READER_H_
+#ifndef FRC971_VISION_V4L2_READER_H_
+#define FRC971_VISION_V4L2_READER_H_
#include <array>
#include <string>
@@ -9,7 +9,7 @@
#include "aos/events/event_loop.h"
#include "aos/scoped/scoped_fd.h"
-#include "y2020/vision/vision_generated.h"
+#include "frc971/vision/vision_generated.h"
namespace frc971 {
namespace vision {
@@ -119,4 +119,4 @@
} // namespace vision
} // namespace frc971
-#endif // Y2020_VISION_V4L2_READER_H_
+#endif // FRC971_VISION_V4L2_READER_H_
diff --git a/y2020/vision/vision.fbs b/frc971/vision/vision.fbs
similarity index 100%
rename from y2020/vision/vision.fbs
rename to frc971/vision/vision.fbs
diff --git a/package.json b/package.json
index 96033c5..f60c6d4 100644
--- a/package.json
+++ b/package.json
@@ -2,13 +2,24 @@
"name": "971-Robot-Code",
"license": "MIT",
"devDependencies": {
+ "@bazel/concatjs": "latest",
+ "@angular/animations": "latest",
+ "@angular/core": "latest",
+ "@angular/common": "latest",
+ "@angular/platform-browser": "latest",
+ "@angular/compiler": "latest",
+ "@angular/compiler-cli": "latest",
+ "@angular/cli": "latest",
"@types/flatbuffers": "latest",
- "@bazel/typescript": "latest",
+ "@bazel/typescript": "4.4.6",
"@bazel/rollup": "latest",
"@bazel/terser": "latest",
"@rollup/plugin-node-resolve": "latest",
"typescript": "latest",
"rollup": "latest",
- "terser": "latest"
+ "terser": "latest",
+ "@babel/cli": "^7.6.0",
+ "@babel/core": "^7.6.0",
+ "zone.js": "^0.11.4"
}
}
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
new file mode 100644
index 0000000..88cadab
--- /dev/null
+++ b/scouting/www/BUILD
@@ -0,0 +1,57 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_project")
+load("//tools/build_rules:js.bzl", "rollup_bundle")
+load("@npm//@bazel/concatjs:index.bzl", "concatjs_devserver")
+load("@npm//@babel/cli:index.bzl", "babel")
+
+ts_project(
+ name = "app",
+ srcs = glob([
+ "*.ts",
+ "*.ng.html",
+ ]),
+ tsc = "@npm//@angular/compiler-cli/bin:ngc",
+ tsconfig = "//:tsconfig.json",
+ visibility = ["//visibility:public"],
+ deps = [
+ "@npm//@angular/animations",
+ "@npm//@angular/common",
+ "@npm//@angular/compiler",
+ "@npm//@angular/core",
+ "@npm//@angular/platform-browser",
+ ],
+)
+
+rollup_bundle(
+ name = "main_bundle",
+ entry_point = "main.ts",
+ deps = [
+ "app",
+ ],
+)
+
+babel(
+ name = "main_bundle_compiled",
+ args = [
+ "$(execpath :main_bundle)",
+ "--no-babelrc",
+ "--source-maps",
+ "--plugins=@angular/compiler-cli/linker/babel",
+ "--out-dir",
+ "$(@D)",
+ ],
+ data = [
+ ":main_bundle",
+ "@npm//@angular/compiler-cli",
+ ],
+ output_dir = True,
+)
+
+concatjs_devserver(
+ name = "devserver",
+ serving_path = "/main_bundle.js",
+ static_files = [
+ ":index.html",
+ "@npm//:node_modules/zone.js/dist/zone.min.js",
+ ],
+ deps = [":main_bundle_compiled"],
+)
diff --git a/scouting/www/README.md b/scouting/www/README.md
new file mode 100644
index 0000000..f337ae5
--- /dev/null
+++ b/scouting/www/README.md
@@ -0,0 +1,4 @@
+Run using:
+bazel run //scouting/www:devserver
+
+Follow the instructions in the console to access locally.
diff --git a/scouting/www/app.ng.html b/scouting/www/app.ng.html
new file mode 100644
index 0000000..fb9ba26
--- /dev/null
+++ b/scouting/www/app.ng.html
@@ -0,0 +1,3 @@
+<h1>
+ This is an app.
+</h1>
diff --git a/scouting/www/app.ts b/scouting/www/app.ts
new file mode 100644
index 0000000..f6247d3
--- /dev/null
+++ b/scouting/www/app.ts
@@ -0,0 +1,8 @@
+import {Component} from '@angular/core';
+
+@Component({
+ selector: 'my-app',
+ templateUrl: './app.ng.html',
+})
+export class App {
+}
diff --git a/scouting/www/app_module.ts b/scouting/www/app_module.ts
new file mode 100644
index 0000000..3e34a17
--- /dev/null
+++ b/scouting/www/app_module.ts
@@ -0,0 +1,17 @@
+import {NgModule} from '@angular/core';
+import {BrowserModule} from '@angular/platform-browser';
+import {BrowserAnimationsModule} from '@angular/platform-browser/animations';
+
+import {App} from './app';
+
+@NgModule({
+ declarations: [App],
+ imports: [
+ BrowserModule,
+ BrowserAnimationsModule,
+ ],
+ exports: [App],
+ bootstrap: [App],
+})
+export class AppModule {
+}
diff --git a/scouting/www/index.html b/scouting/www/index.html
new file mode 100644
index 0000000..cbe8770
--- /dev/null
+++ b/scouting/www/index.html
@@ -0,0 +1,10 @@
+<html>
+ <head>
+ <base href="/">
+ <script src="./npm/node_modules/zone.js/dist/zone.min.js"></script>
+ </head>
+ <body>
+ <my-app></my-app>
+ <script src="./main_bundle_compiled/main_bundle.js"></script>
+ </body>
+</html>
diff --git a/scouting/www/main.ts b/scouting/www/main.ts
new file mode 100644
index 0000000..e1a4ab5
--- /dev/null
+++ b/scouting/www/main.ts
@@ -0,0 +1,4 @@
+import {platformBrowser} from '@angular/platform-browser';
+import {AppModule} from './app_module';
+
+platformBrowser().bootstrapModule(AppModule);
diff --git a/third_party/rules_go/0001-Disable-warnings-for-external-repositories.patch b/third_party/rules_go/0001-Disable-warnings-for-external-repositories.patch
new file mode 100644
index 0000000..fe8ae87
--- /dev/null
+++ b/third_party/rules_go/0001-Disable-warnings-for-external-repositories.patch
@@ -0,0 +1,28 @@
+From 3113c6d807095eb6068ee4ffbc2f04649f999c35 Mon Sep 17 00:00:00 2001
+From: Philipp Schrader <philipp.schrader@gmail.com>
+Date: Thu, 20 Jan 2022 22:28:10 -0800
+Subject: [PATCH] Disable warnings for external repositories
+
+---
+ go/private/rules/cgo.bzl | 5 +++++
+ 1 file changed, 5 insertions(+)
+
+diff --git a/go/private/rules/cgo.bzl b/go/private/rules/cgo.bzl
+index f75e3c95..ee2a2ca9 100644
+--- a/go/private/rules/cgo.bzl
++++ b/go/private/rules/cgo.bzl
+@@ -53,6 +53,11 @@ def cgo_configure(go, srcs, cdeps, cppopts, copts, cxxopts, clinkopts):
+ if not go.cgo_tools:
+ fail("Go toolchain does not support cgo")
+
++ # If we're not in the main repository, ignore all warnings. It's not worth
++ # our time to fix the warnings for third-party cgo code.
++ if go._ctx.label.workspace_name:
++ copts = copts + ["-Wno-everything"]
++
+ cppopts = list(cppopts)
+ copts = go.cgo_tools.c_compile_options + copts
+ cxxopts = go.cgo_tools.cxx_compile_options + cxxopts
+--
+2.30.2
+
diff --git a/y2020/BUILD b/y2020/BUILD
index 0a32370..82a7848 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -155,9 +155,9 @@
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -179,12 +179,12 @@
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//aos/network:remote_message_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
+ "//y2020/vision:galactic_search_path_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
- "//aos/network:remote_message_fbs",
- "//y2020/vision:galactic_search_path_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -209,11 +209,11 @@
flatbuffers = [
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
+ "//aos/network:remote_message_fbs",
"//aos/network:timestamp_fbs",
+ "//frc971/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision:vision_fbs",
- "//aos/network:remote_message_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index d94de5a..5156b59 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -1,12 +1,4 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
-
-flatbuffer_cc_library(
- name = "vision_fbs",
- srcs = ["vision.fbs"],
- gen_reflections = 1,
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
-)
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
flatbuffer_cc_library(
name = "galactic_search_path_fbs",
@@ -16,25 +8,6 @@
visibility = ["//y2020:__subpackages__"],
)
-cc_library(
- name = "v4l2_reader",
- srcs = [
- "v4l2_reader.cc",
- ],
- hdrs = [
- "v4l2_reader.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
- deps = [
- ":vision_fbs",
- "//aos/events:event_loop",
- "//aos/scoped:scoped_fd",
- "@com_github_google_glog//:glog",
- "@com_google_absl//absl/base",
- ],
-)
-
cc_binary(
name = "camera_reader",
srcs = [
@@ -61,13 +34,13 @@
"//y2020:config",
],
target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
+ visibility = ["//y2020:__subpackages__"] + ["//y2022:__subpackages__"],
deps = [
- ":v4l2_reader",
- ":vision_fbs",
"//aos:flatbuffer_merge",
"//aos/events:event_loop",
"//aos/network:team_number",
+ "//frc971/vision:v4l2_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
"//y2020/vision/sift:sift971",
"//y2020/vision/sift:sift_fbs",
@@ -76,13 +49,6 @@
],
)
-flatbuffer_ts_library(
- name = "vision_ts_fbs",
- srcs = ["vision.fbs"],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//y2020:__subpackages__"],
-)
-
cc_binary(
name = "viewer",
srcs = [
@@ -94,9 +60,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//aos:init",
"//aos/events:shm_event_loop",
+ "//frc971/vision:v4l2_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
"//y2020/vision/sift:sift_fbs",
],
@@ -113,12 +80,12 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//aos:flatbuffers",
"//aos/events:event_loop",
"//aos/network:message_bridge_server_fbs",
"//aos/network:team_number",
"//frc971/control_loops:quaternion_utils",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
@@ -142,10 +109,10 @@
visibility = ["//y2020:__subpackages__"],
deps = [
":charuco_lib",
- ":vision_fbs",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/vision:vision_fbs",
"//frc971/wpilib:imu_batch_fbs",
"//frc971/wpilib:imu_fbs",
"//third_party:opencv",
@@ -168,10 +135,10 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
- ":vision_fbs",
"//aos:init",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
],
)
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index 1e28e82..9966a5b 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -9,12 +9,12 @@
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift971.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-#include "y2020/vision/v4l2_reader.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_bool(skip_sift, false,
"If true don't run any feature extraction. Just forward images.");
diff --git a/y2020/vision/camera_reader.h b/y2020/vision/camera_reader.h
index c05ebea..37fb5a9 100644
--- a/y2020/vision/camera_reader.h
+++ b/y2020/vision/camera_reader.h
@@ -10,12 +10,12 @@
#include "aos/events/event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift971.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-#include "y2020/vision/v4l2_reader.h"
-#include "y2020/vision/vision_generated.h"
namespace frc971 {
namespace vision {
diff --git a/y2020/vision/charuco_lib.cc b/y2020/vision/charuco_lib.cc
index 21bdcc3..0df820b 100644
--- a/y2020/vision/charuco_lib.cc
+++ b/y2020/vision/charuco_lib.cc
@@ -11,11 +11,11 @@
#include "aos/flatbuffers.h"
#include "aos/network/team_number.h"
#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/vision_generated.h"
#include "glog/logging.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_uint32(min_targets, 10,
"The mininum number of targets required to match.");
@@ -133,8 +133,7 @@
const monotonic_clock::time_point eof = eof_source_node - offset;
- const monotonic_clock::duration age =
- event_loop_->monotonic_now() - eof;
+ const monotonic_clock::duration age = event_loop_->monotonic_now() - eof;
const double age_double =
std::chrono::duration_cast<std::chrono::duration<double>>(age).count();
if (age > std::chrono::milliseconds(100)) {
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index 1d4de28..c7ef752 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -12,13 +12,13 @@
#include "frc971/analysis/in_process_plotter.h"
#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/vision_generated.h"
#include "frc971/wpilib/imu_batch_generated.h"
#include "y2020/vision/calibration_accumulator.h"
#include "y2020/vision/charuco_lib.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
#include "y2020/vision/tools/python_code/sift_training_data.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
@@ -120,7 +120,7 @@
const Eigen::Quaternion<Scalar> &orientation() const { return orientation_; }
- std::vector<Eigen::Matrix<Scalar, 3, 1> > errors_;
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
// Returns the angular errors for each camera sample.
size_t num_errors() const { return errors_.size(); }
@@ -136,18 +136,18 @@
result.template block<4, 1>(0, 0) = q.coeffs();
result.template block<6, 1>(4, 0) = x_hat;
result.template block<36, 1>(10, 0) =
- Eigen::Map<Eigen::Matrix<Scalar, 36, 1> >(p.data(), p.size());
+ Eigen::Map<Eigen::Matrix<Scalar, 36, 1>>(p.data(), p.size());
return result;
}
std::tuple<Eigen::Quaternion<Scalar>, Eigen::Matrix<Scalar, 6, 1>,
- Eigen::Matrix<Scalar, 6, 6> >
+ Eigen::Matrix<Scalar, 6, 6>>
UnPack(Eigen::Matrix<Scalar, 46, 1> input) {
Eigen::Quaternion<Scalar> q(input.template block<4, 1>(0, 0));
Eigen::Matrix<Scalar, 6, 1> x_hat(input.template block<6, 1>(4, 0));
Eigen::Matrix<Scalar, 6, 6> p =
- Eigen::Map<Eigen::Matrix<Scalar, 6, 6> >(input.data() + 10, 6, 6);
+ Eigen::Map<Eigen::Matrix<Scalar, 6, 6>>(input.data() + 10, 6, 6);
return std::make_tuple(q, x_hat, p);
}
@@ -361,8 +361,8 @@
std::vector<double> imu_ratez;
std::vector<double> times_;
- std::vector<Eigen::Matrix<double, 6, 1> > x_hats_;
- std::vector<Eigen::Quaternion<double> > orientations_;
+ std::vector<Eigen::Matrix<double, 6, 1>> x_hats_;
+ std::vector<Eigen::Quaternion<double>> orientations_;
Eigen::Matrix<double, 3, 1> last_accel_ = Eigen::Matrix<double, 3, 1>::Zero();
};
diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index b495658..d259ba7 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -192,8 +192,8 @@
deps = [
":sift_training_data_test",
"//aos/testing:googletest",
+ "//frc971/vision:vision_fbs",
"//third_party:opencv",
- "//y2020/vision:vision_fbs",
"//y2020/vision/sift:sift_fbs",
"//y2020/vision/sift:sift_training_fbs",
],
diff --git a/y2020/vision/tools/python_code/camera_param_test.cc b/y2020/vision/tools/python_code/camera_param_test.cc
index 483fe75..a2d3a75 100644
--- a/y2020/vision/tools/python_code/camera_param_test.cc
+++ b/y2020/vision/tools/python_code/camera_param_test.cc
@@ -12,9 +12,9 @@
#include "y2020/vision/tools/python_code/sift_training_data.h"
#endif
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift_generated.h"
#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/vision_generated.h"
namespace frc971 {
namespace vision {
diff --git a/y2020/vision/viewer.cc b/y2020/vision/viewer.cc
index 2aff3fb..37ff4a3 100644
--- a/y2020/vision/viewer.cc
+++ b/y2020/vision/viewer.cc
@@ -8,8 +8,9 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/time/time.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/vision_generated.h"
DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_bool(show_features, true, "Show the SIFT features that matched.");
diff --git a/y2020/vision/viewer_replay.cc b/y2020/vision/viewer_replay.cc
index 93e531d..a818859 100644
--- a/y2020/vision/viewer_replay.cc
+++ b/y2020/vision/viewer_replay.cc
@@ -6,7 +6,7 @@
#include "aos/events/logging/log_reader.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/init.h"
-#include "y2020/vision/vision_generated.h"
+#include "frc971/vision/vision_generated.h"
DEFINE_string(node, "pi1", "Node name to replay.");
DEFINE_string(image_save_prefix, "/tmp/img",
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 27c0392..8467994 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -15,7 +15,7 @@
"//aos/network:connect_ts_fbs",
"//aos/network:web_proxy_ts_fbs",
"//aos/network/www:proxy",
- "//y2020/vision:vision_ts_fbs",
+ "//frc971/vision:vision_ts_fbs",
"//y2020/vision/sift:sift_ts_fbs",
"@com_github_google_flatbuffers//ts:flatbuffers_ts",
],
diff --git a/y2020/www/image_handler.ts b/y2020/www/image_handler.ts
index b254f2c..661100b 100644
--- a/y2020/www/image_handler.ts
+++ b/y2020/www/image_handler.ts
@@ -4,7 +4,7 @@
import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
import {Long} from 'org_frc971/external/com_github_google_flatbuffers/ts/long';
import * as sift from 'org_frc971/y2020/vision/sift/sift_generated'
-import * as vision from 'org_frc971/y2020/vision/vision_generated';
+import * as vision from 'org_frc971/frc971/vision/vision_generated';
import * as web_proxy from 'org_frc971/aos/network/web_proxy_generated';
import Channel = configuration.aos.Channel;
diff --git a/y2022/BUILD b/y2022/BUILD
index dba5796..9dcd85d 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -14,6 +14,27 @@
],
)
+robot_downloader(
+ name = "pi_download",
+ binaries = [
+ "//y2022/vision:viewer",
+ ],
+ data = [
+ ":config",
+ ],
+ dirs = [
+ ],
+ start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//aos/network:web_proxy_main",
+ "//y2022/vision:camera_reader",
+ ],
+ target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
+ target_type = "pi",
+)
+
cc_library(
name = "constants",
srcs = [
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index e69de29..d65814a 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -0,0 +1,74 @@
+cc_binary(
+ name = "camera_reader",
+ srcs = [
+ "camera_reader_main.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":camera_reader_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
+cc_library(
+ name = "camera_reader_lib",
+ srcs = [
+ "camera_reader.cc",
+ ],
+ hdrs = [
+ "camera_reader.h",
+ ],
+ data = [
+ "//y2022:config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ "//aos:flatbuffer_merge",
+ "//aos/events:event_loop",
+ "//aos/network:team_number",
+ "//frc971/vision:v4l2_reader",
+ "//frc971/vision:vision_fbs",
+ "//third_party:opencv",
+ "//y2020/vision/sift:sift_fbs",
+ "//y2020/vision/sift:sift_training_fbs",
+ "//y2020/vision/tools/python_code:sift_training_data",
+ ],
+)
+
+cc_library(
+ name = "blob_detector_lib",
+ srcs = [
+ "blob_detector.cc",
+ ],
+ hdrs = [
+ "blob_detector.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ "//aos/network:team_number",
+ "//third_party:opencv",
+ ],
+)
+
+cc_binary(
+ name = "viewer",
+ srcs = [
+ "viewer.cc",
+ ],
+ data = [
+ "//y2022:config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":blob_detector_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//frc971/vision:vision_fbs",
+ "//third_party:opencv",
+ ],
+)
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
new file mode 100644
index 0000000..bf5afd7
--- /dev/null
+++ b/y2022/vision/blob_detector.cc
@@ -0,0 +1,98 @@
+#include "y2022/vision/blob_detector.h"
+
+#include <opencv2/imgproc.hpp>
+
+#include "aos/network/team_number.h"
+
+DEFINE_uint64(green_delta, 50,
+ "Required difference between green pixels vs. red and blue");
+DEFINE_bool(use_outdoors, false,
+ "If true, change thresholds to handle outdoor illumination");
+
+namespace y2022 {
+namespace vision {
+
+cv::Mat BlobDetector::ThresholdImage(cv::Mat rgb_image) {
+ cv::Mat gray_image(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
+ for (int row = 0; row < rgb_image.rows; row++) {
+ for (int col = 0; col < rgb_image.cols; col++) {
+ cv::Vec3b pixel = rgb_image.at<cv::Vec3b>(row, col);
+ uint8_t blue = pixel.val[0];
+ uint8_t green = pixel.val[1];
+ uint8_t red = pixel.val[2];
+ // Simple filter that looks for green pixels sufficiently brigher than
+ // red and blue
+ if ((green > blue + 30) && (green > red + 50)) {
+ gray_image.at<uint8_t>(row, col) = 255;
+ } else {
+ gray_image.at<uint8_t>(row, col) = 0;
+ }
+ }
+ }
+
+ return gray_image;
+}
+
+std::vector<std::vector<cv::Point>> BlobDetector::FindBlobs(
+ cv::Mat binarized_image) {
+ // find the contours (blob outlines)
+ std::vector<std::vector<cv::Point>> contours;
+ std::vector<cv::Vec4i> hierarchy;
+ cv::findContours(binarized_image, contours, hierarchy, cv::RETR_CCOMP,
+ cv::CHAIN_APPROX_SIMPLE);
+
+ return contours;
+}
+
+// Filter blobs to get rid of noise, too large items, etc.
+std::vector<std::vector<cv::Point>> BlobDetector::FilterBlobs(
+ std::vector<std::vector<cv::Point>> blobs) {
+ // TODO: Put in some filters
+
+ std::vector<std::vector<cv::Point>> filtered_blobs;
+ for (auto blob : blobs) {
+ // for now, let's remove all blobs that are at the bottom of the image
+ if (blob[0].y < 400) {
+ filtered_blobs.push_back(blob);
+ } else {
+ // LOG(INFO) << "Found and removed blob";
+ }
+ }
+ return filtered_blobs;
+}
+
+void BlobDetector::DrawBlobs(
+ cv::Mat view_image, std::vector<std::vector<cv::Point>> unfiltered_blobs,
+ std::vector<std::vector<cv::Point>> filtered_blobs) {
+ CHECK_GT(view_image.cols, 0);
+ if (unfiltered_blobs.size() > 0) {
+ // Draw blobs unfilled, with red color border
+ drawContours(view_image, unfiltered_blobs, -1, cv::Scalar(0, 0, 255), 0);
+ }
+
+ drawContours(view_image, filtered_blobs, -1, cv::Scalar(0, 255, 0),
+ cv::FILLED);
+}
+
+std::vector<std::vector<cv::Point>> BlobDetector::ComputeStats(
+ std::vector<std::vector<cv::Point>> blobs) {
+ // Placeholder for now for this
+ // TODO<Jim>: need to compute stats on blobs, like centroid, aspect
+ // ratio, bounding box
+ return blobs;
+}
+
+void BlobDetector::ExtractBlobs(
+ cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ std::vector<std::vector<cv::Point>> &filtered_blobs,
+ std::vector<std::vector<cv::Point>> &unfiltered_blobs,
+ std::vector<std::vector<cv::Point>> &blob_stats) {
+ binarized_image = ThresholdImage(rgb_image);
+ unfiltered_blobs = FindBlobs(binarized_image);
+ filtered_blobs = FilterBlobs(unfiltered_blobs);
+ DrawBlobs(blob_image, unfiltered_blobs, filtered_blobs);
+ blob_stats = ComputeStats(filtered_blobs);
+}
+
+} // namespace vision
+} // namespace y2022
diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
new file mode 100644
index 0000000..3da3d4b
--- /dev/null
+++ b/y2022/vision/blob_detector.h
@@ -0,0 +1,43 @@
+#ifndef Y2022_BLOB_DETECTOR_H_
+#define Y2022_BLOB_DETECTOR_H_
+
+#include <opencv2/imgproc.hpp>
+
+namespace y2022 {
+namespace vision {
+
+class BlobDetector {
+ public:
+ BlobDetector() {}
+ // Given an image, threshold it to find "green" pixels
+ // Input: Color image
+ // Output: Grayscale (binarized) image with green pixels set to 255
+ static cv::Mat ThresholdImage(cv::Mat rgb_image);
+
+ // Given binary image, extract blobs
+ static std::vector<std::vector<cv::Point>> FindBlobs(cv::Mat threshold_image);
+
+ // Filter blobs to get rid of noise, too large items, etc.
+ static std::vector<std::vector<cv::Point>> FilterBlobs(
+ std::vector<std::vector<cv::Point>> blobs);
+
+ // Draw Blobs on image
+ // Optionally draw all blobs and filtered blobs
+ static void DrawBlobs(cv::Mat view_image,
+ std::vector<std::vector<cv::Point>> filtered_blobs,
+ std::vector<std::vector<cv::Point>> unfiltered_blobs);
+
+ // Extract stats for each blob
+ static std::vector<std::vector<cv::Point>> ComputeStats(
+ std::vector<std::vector<cv::Point>>);
+
+ static void ExtractBlobs(
+ cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ std::vector<std::vector<cv::Point>> &filtered_blobs,
+ std::vector<std::vector<cv::Point>> &unfiltered_blobs,
+ std::vector<std::vector<cv::Point>> &blob_stats);
+};
+} // namespace vision
+} // namespace y2022
+
+#endif // Y2022_BLOB_DETECTOR_H_
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
new file mode 100644
index 0000000..4fa6651
--- /dev/null
+++ b/y2022/vision/camera_reader.cc
@@ -0,0 +1,69 @@
+#include "y2022/vision/camera_reader.h"
+
+#include <math.h>
+
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2020/vision/sift/sift_training_generated.h"
+#include "y2020/vision/tools/python_code/sift_training_data.h"
+
+namespace y2022 {
+namespace vision {
+
+using namespace frc971::vision;
+
+const sift::CameraCalibration *CameraReader::FindCameraCalibration() const {
+ const std::string_view node_name = event_loop_->node()->name()->string_view();
+ const int team_number = aos::network::GetTeamNumber();
+ for (const sift::CameraCalibration *candidate :
+ *training_data_->camera_calibrations()) {
+ if (candidate->node_name()->string_view() != node_name) {
+ continue;
+ }
+ if (candidate->team_number() != team_number) {
+ continue;
+ }
+ return candidate;
+ }
+ LOG(FATAL) << ": Failed to find camera calibration for " << node_name
+ << " on " << team_number;
+}
+
+void CameraReader::ProcessImage(const CameraImage &image) {
+ // Remember, we're getting YUYV images, so we start by converting to RGB
+
+ // TOOD: Need to code this up for blob detection
+ cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
+ CHECK(image_mat.isContinuous());
+ const int number_pixels = image.rows() * image.cols();
+ for (int i = 0; i < number_pixels; ++i) {
+ reinterpret_cast<uint8_t *>(image_mat.data)[i] =
+ image.data()->data()[i * 2];
+ }
+
+ // Now, send our two messages-- one large, with details for remote
+ // debugging(features), and one smaller
+ // TODO: Send blobdetection and pose results
+}
+
+void CameraReader::ReadImage() {
+ if (!reader_->ReadLatestImage()) {
+ read_image_timer_->Setup(event_loop_->monotonic_now() +
+ std::chrono::milliseconds(10));
+ return;
+ }
+
+ ProcessImage(reader_->LatestImage());
+
+ reader_->SendLatestImage();
+ read_image_timer_->Setup(event_loop_->monotonic_now());
+}
+
+} // namespace vision
+} // namespace y2022
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
new file mode 100644
index 0000000..c302b15
--- /dev/null
+++ b/y2022/vision/camera_reader.h
@@ -0,0 +1,78 @@
+#ifndef Y2022_VISION_CAMERA_READER_H_
+#define Y2022_VISION_CAMERA_READER_H_
+
+#include <math.h>
+
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgproc.hpp>
+
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
+#include "frc971/vision/v4l2_reader.h"
+#include "frc971/vision/vision_generated.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2020/vision/sift/sift_training_generated.h"
+#include "y2020/vision/tools/python_code/sift_training_data.h"
+
+namespace y2022 {
+namespace vision {
+
+using namespace frc971::vision;
+
+// TODO<Jim/Milind>: Need to add in senders to send out the blob data/stats
+
+class CameraReader {
+ public:
+ CameraReader(aos::EventLoop *event_loop,
+ const sift::TrainingData *training_data, V4L2Reader *reader)
+ : event_loop_(event_loop),
+ training_data_(training_data),
+ camera_calibration_(FindCameraCalibration()),
+ reader_(reader),
+ image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
+ read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })) {
+ event_loop->OnRun(
+ [this]() { read_image_timer_->Setup(event_loop_->monotonic_now()); });
+ }
+
+ private:
+ const sift::CameraCalibration *FindCameraCalibration() const;
+
+ // Processes an image (including sending the results).
+ void ProcessImage(const CameraImage &image);
+
+ // Reads an image, and then performs all of our processing on it.
+ void ReadImage();
+
+ cv::Mat CameraIntrinsics() const {
+ const cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->intrinsics()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
+ return result;
+ }
+
+ cv::Mat CameraDistCoeffs() const {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
+ return result;
+ }
+
+ aos::EventLoop *const event_loop_;
+ const sift::TrainingData *const training_data_;
+ const sift::CameraCalibration *const camera_calibration_;
+ V4L2Reader *const reader_;
+ aos::Sender<CameraImage> image_sender_;
+
+ // We schedule this immediately to read an image. Having it on a timer means
+ // other things can run on the event loop in between.
+ aos::TimerHandler *const read_image_timer_;
+};
+
+} // namespace vision
+} // namespace y2022
+#endif // Y2022_VISION_CAMERA_READER_H_
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
new file mode 100644
index 0000000..6f65a6d
--- /dev/null
+++ b/y2022/vision/camera_reader_main.cc
@@ -0,0 +1,51 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2022/vision/camera_reader.h"
+
+// config used to allow running camera_reader independently. E.g.,
+// bazel run //y2022/vision:camera_reader -- --config y2022/config.json
+// --override_hostname pi-7971-1 --ignore_timestamps true
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_uint32(exposure, 5, "Exposure time, in 100us increments");
+
+namespace y2022 {
+namespace vision {
+namespace {
+
+using namespace frc971::vision;
+
+void CameraReaderMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ SiftTrainingData());
+ CHECK(training_data.Verify());
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ // First, log the data for future reference.
+ {
+ aos::Sender<sift::TrainingData> training_data_sender =
+ event_loop.MakeSender<sift::TrainingData>("/camera");
+ CHECK_EQ(training_data_sender.Send(training_data),
+ aos::RawSender::Error::kOk);
+ }
+
+ V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
+ v4l2_reader.SetExposure(FLAGS_exposure);
+
+ CameraReader camera_reader(&event_loop, &training_data.message(),
+ &v4l2_reader);
+
+ event_loop.Run();
+}
+
+} // namespace
+} // namespace vision
+} // namespace y2022
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ y2022::vision::CameraReaderMain();
+}
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
new file mode 100644
index 0000000..8959f53
--- /dev/null
+++ b/y2022/vision/viewer.cc
@@ -0,0 +1,147 @@
+#include <map>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <random>
+
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/time/time.h"
+#include "frc971/vision/vision_generated.h"
+#include "y2022/vision/blob_detector.h"
+
+DEFINE_string(capture, "",
+ "If set, capture a single image and save it to this filename.");
+DEFINE_string(channel, "/camera", "Channel name for the image.");
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+DEFINE_string(png_dir,
+ "/home/jim/code/FRC/971-Robot-Code/y2020/vision/LED_Ring_exp",
+ "Path to a set of images to display.");
+DEFINE_bool(show_features, true, "Show the blobs.");
+
+namespace y2022 {
+namespace vision {
+namespace {
+
+aos::Fetcher<frc971::vision::CameraImage> image_fetcher;
+
+bool DisplayLoop() {
+ int64_t image_timestamp = 0;
+ const frc971::vision::CameraImage *image;
+ // Read next image
+ if (!image_fetcher.FetchNext()) {
+ VLOG(2) << "Couldn't fetch next image";
+ return true;
+ }
+
+ image = image_fetcher.get();
+ CHECK(image != nullptr) << "Couldn't read image";
+ image_timestamp = image->monotonic_timestamp_ns();
+ VLOG(2) << "Got image at timestamp: " << image_timestamp;
+
+ // Create color image:
+ cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
+ (void *)image->data()->data());
+ cv::Mat rgb_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+ cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+
+ if (!FLAGS_capture.empty()) {
+ cv::imwrite(FLAGS_capture, rgb_image);
+ return false;
+ }
+
+ cv::Mat binarized_image, ret_image;
+ std::vector<std::vector<cv::Point>> unfiltered_blobs, filtered_blobs,
+ blob_stats;
+ BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
+ filtered_blobs, unfiltered_blobs, blob_stats);
+
+ LOG(INFO) << image->monotonic_timestamp_ns()
+ << ": # blobs: " << filtered_blobs.size();
+
+ // Downsize for viewing
+ cv::resize(rgb_image, rgb_image,
+ cv::Size(rgb_image.cols / 2, rgb_image.rows / 2),
+ cv::INTER_LINEAR);
+
+ cv::imshow("image", rgb_image);
+ cv::imshow("blobs", ret_image);
+
+ int keystroke = cv::waitKey(1);
+ if ((keystroke & 0xFF) == static_cast<int>('c')) {
+ // Convert again, to get clean image
+ cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+ std::stringstream name;
+ name << "capture-" << aos::realtime_clock::now() << ".png";
+ cv::imwrite(name.str(), rgb_image);
+ LOG(INFO) << "Saved image file: " << name.str();
+ } else if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return false;
+ }
+ return true;
+}
+
+void ViewerMain() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ image_fetcher =
+ event_loop.MakeFetcher<frc971::vision::CameraImage>(FLAGS_channel);
+
+ // Run the display loop
+ event_loop.AddPhasedLoop(
+ [&event_loop](int) {
+ if (!DisplayLoop()) {
+ LOG(INFO) << "Calling event_loop Exit";
+ event_loop.Exit();
+ };
+ },
+ ::std::chrono::milliseconds(100));
+
+ event_loop.Run();
+
+ image_fetcher = aos::Fetcher<frc971::vision::CameraImage>();
+}
+
+void ViewerLocal() {
+ std::vector<cv::String> file_list;
+ cv::glob(FLAGS_png_dir + "/*.png", file_list, false);
+ for (auto file : file_list) {
+ LOG(INFO) << "Reading file " << file;
+ cv::Mat rgb_image = cv::imread(file.c_str());
+ std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs,
+ blob_stats;
+ cv::Mat binarized_image =
+ cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
+ cv::Mat ret_image =
+ cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC3);
+
+ BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
+ filtered_blobs, unfiltered_blobs, blob_stats);
+
+ LOG(INFO) << ": # blobs: " << filtered_blobs.size() << " (# removed: "
+ << unfiltered_blobs.size() - filtered_blobs.size() << ")";
+ cv::imshow("image", rgb_image);
+ cv::imshow("blobs", ret_image);
+
+ int keystroke = cv::waitKey(1000);
+ if ((keystroke & 0xFF) == static_cast<int>('q')) {
+ return;
+ }
+ }
+}
+} // namespace
+} // namespace vision
+} // namespace y2022
+
+// Quick and lightweight viewer for images
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+ if (FLAGS_png_dir != "")
+ y2022::vision::ViewerLocal();
+ else
+ y2022::vision::ViewerMain();
+}
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
new file mode 100644
index 0000000..1c71234
--- /dev/null
+++ b/y2022/y2022_logger.json
@@ -0,0 +1,483 @@
+{
+ "channels": [
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger" : "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes" : ["roborio"]
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.IMUValuesBatch",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 2,
+ "time_to_live": 500000000
+ }
+ ]
+ },
+ {
+ "name": "/pi1/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.timing.Report",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "logger",
+ "frequency": 400,
+ "num_senders": 20
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "logger",
+ "frequency": 10,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "logger",
+ "frequency": 15,
+ "num_senders": 2,
+ "max_size": 400,
+ "destination_nodes": [
+ {
+ "name": "pi1",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi2",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi3",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi4",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "pi5",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/roborio/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi2/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi3/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi4/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi5/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/pi1/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi1",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi2/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi2",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi3/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi3",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi4/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi4",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi5/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi5",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 3,
+ "time_to_live": 5000000
+ }
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "logger"
+ },
+ "rename": {
+ "name": "/logger/aos"
+ }
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "args": ["--rmem=8388608"],
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "image_logger",
+ "executable_name": "logger_main",
+ "args": ["--snappy_compress", "--logging_folder", "", "--snappy_compress"],
+ "nodes": [
+ "logger"
+ ]
+ }
+ ],
+ "nodes": [
+ {
+ "name": "logger",
+ "hostname": "logger",
+ "hostnames": [
+ "pi-971-6",
+ "pi-9971-6",
+ "ASchuh-T480s",
+ "aschuh-3950x"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "pi1"
+ },
+ {
+ "name": "pi2"
+ },
+ {
+ "name": "pi3"
+ },
+ {
+ "name": "roborio"
+ },
+ {
+ "name": "pi4"
+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
new file mode 100644
index 0000000..81b96d2
--- /dev/null
+++ b/y2022/y2022_pi_template.json
@@ -0,0 +1,271 @@
+{
+ "channels": [
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.timing.Report",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 200,
+ "num_senders": 20
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.Status",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/pi{{ NUM }}/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 15,
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio"
+ ],
+ "max_size": 200,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ]
+ }
+ ]
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
+ "type": "frc971.vision.CameraImage",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 25,
+ "max_size": 620000,
+ "num_senders": 18
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/pi{{ NUM }}/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi{{ NUM }}/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ },
+ {
+ "name": "camera_reader",
+ "executable_name": "camera_reader",
+ "nodes": [
+ "pi{{ NUM }}"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/aos"
+ }
+ },
+ {
+ "match": {
+ "name": "/camera*",
+ "source_node": "pi{{ NUM }}"
+ },
+ "rename": {
+ "name": "/pi{{ NUM }}/camera"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "pi{{ NUM }}",
+ "hostname": "pi{{ NUM }}",
+ "hostnames": [
+ "pi-971-{{ NUM }}",
+ "pi-7971-{{ NUM }}",
+ "pi-8971-{{ NUM }}",
+ "pi-9971-{{ NUM }}"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "roborio"
+ }
+ ]
+}
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
new file mode 100644
index 0000000..24144a8
--- /dev/null
+++ b/y2022/y2022_roborio.json
@@ -0,0 +1,456 @@
+{
+ "channels": [
+ {
+ "name": "/roborio/aos",
+ "type": "aos.JoystickState",
+ "source_node": "roborio",
+ "frequency": 75
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.RobotState",
+ "source_node": "roborio",
+ "frequency": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.timing.Report",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "roborio",
+ "frequency": 500,
+ "max_size": 344,
+ "num_senders": 20
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "frequency": 10,
+ "max_size": 400,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "roborio",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "roborio",
+ "frequency": 15,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/logger/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 200,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi1/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi2/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi3/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi4/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio"
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/pi5/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "roborio",
+ "frequency": 15,
+ "num_senders": 2,
+ "max_size": 304,
+ "destination_nodes": [
+ {
+ "name": "pi1",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi2",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi3",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi4",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "pi5",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Goal",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 512
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Status",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Output",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 224
+ },
+ {
+ "name": "/superstructure",
+ "type": "y2022.control_loops.superstructure.Position",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 448
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.IMUValuesBatch",
+ "source_node": "roborio",
+ "frequency": 250,
+ "max_size": 2000,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.sensors.GyroReading",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.sensors.Uid",
+ "source_node": "roborio",
+ "frequency": 200,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.fb.Trajectory",
+ "source_node": "roborio",
+ "max_size": 600000,
+ "frequency": 10,
+ "logger": "NOT_LOGGED",
+ "num_senders": 2,
+ "read_method": "PIN",
+ "num_readers": 10
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.SplineGoal",
+ "source_node": "roborio",
+ "frequency": 10
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Goal",
+ "source_node": "roborio",
+ "max_size": 224,
+ "frequency": 200
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Position",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 112,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Output",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 80,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.Status",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 1616,
+ "num_senders": 2
+ },
+ {
+ "name": "/drivetrain",
+ "type": "frc971.control_loops.drivetrain.LocalizerControl",
+ "source_node": "roborio",
+ "frequency": 200,
+ "max_size": 96
+ },
+ {
+ "name": "/drivetrain",
+ "type": "y2019.control_loops.drivetrain.TargetSelectorHint",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "aos.common.actions.Status",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.Goal",
+ "source_node": "roborio"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.AutonomousMode",
+ "source_node": "roborio",
+ "frequency": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "frc971.PDPValues",
+ "source_node": "roborio",
+ "frequency": 55,
+ "max_size": 368
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "frc971.wpilib.PneumaticsToLog",
+ "source_node": "roborio",
+ "frequency": 50
+ }
+ ],
+ "applications": [
+ {
+ "name": "drivetrain",
+ "executable_name": "drivetrain",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "trajectory_generator",
+ "executable_name": "trajectory_generator",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "superstructure",
+ "executable_name": "superstructure",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "joystick_reader",
+ "executable_name": "joystick_reader",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "wpilib_interface",
+ "executable_name": "wpilib_interface",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "autonomous_action",
+ "executable_name": "autonomous_action",
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "args": ["--min_ice_port=5800", "--max_ice_port=5810"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "args": ["--rt_priority=16"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "args": ["--rt_priority=16"],
+ "nodes": [
+ "roborio"
+ ]
+ },
+ {
+ "name": "logger",
+ "executable_name": "logger_main",
+ "args": ["--snappy_compress"],
+ "nodes": [
+ "roborio"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "roborio"
+ },
+ "rename": {
+ "name": "/roborio/aos"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "roborio",
+ "hostname": "roborio",
+ "hostnames": [
+ "roboRIO-971-FRC",
+ "roboRIO-6971-FRC",
+ "roboRIO-7971-FRC",
+ "roboRIO-8971-FRC",
+ "roboRIO-9971-FRC"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "pi1"
+ },
+ {
+ "name": "pi2"
+ },
+ {
+ "name": "pi3"
+ },
+ {
+ "name": "pi4"
+ },
+ {
+ "name": "pi5"
+ }
+ ]
+}
diff --git a/yarn.lock b/yarn.lock
index dc90302..7c4ac25 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2,19 +2,1080 @@
# yarn lockfile v1
-"@bazel/rollup@latest":
- version "4.4.6"
- resolved "https://registry.yarnpkg.com/@bazel/rollup/-/rollup-4.4.6.tgz#936d34c9c8159d42f84f1ac3c9ebb1bed27f691a"
- integrity sha512-VujfM6QGuNpQZVzOf2nfAi3Xoi4EdA9nXXy6Gq4WiSaDPbgZrlXl/4Db+Hb6Nej5uvWqqppgvigCPHcWX9yM/w==
+"@angular-devkit/architect@0.1301.4":
+ version "0.1301.4"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/architect/-/architect-0.1301.4.tgz#2fc51bcae0dcb581c8be401e2fde7bbd10b43076"
+ integrity sha512-p6G8CEMnE+gYwxRyEttj3QGsuNJ3Kusi7iwBIzWyf2RpJSdGzXdwUEiRGg6iS0YHFr06/ZFfAWfnM2DQvNm4TA==
dependencies:
- "@bazel/worker" "4.4.6"
+ "@angular-devkit/core" "13.1.4"
+ rxjs "6.6.7"
+
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+ babel-plugin-polyfill-regenerator "^0.3.0"
+ core-js-compat "^3.20.2"
+ semver "^6.3.0"
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+ dependencies:
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+ to-fast-properties "^2.0.0"
+
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+ version "4.6.1"
+ resolved "https://registry.yarnpkg.com/@bazel/concatjs/-/concatjs-4.6.1.tgz#c40abc3fbe362cbad1e3383c4e78b58d1f4c8e13"
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+ dependencies:
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+ source-map-support "0.5.9"
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+
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+ version "4.6.1"
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+ dependencies:
+ "@bazel/worker" "4.6.1"
"@bazel/terser@latest":
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- resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.5.0.tgz#f5fe56b5e398d2a7f5ae8db0463b5f00cdc4e6dc"
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+ version "4.6.1"
+ resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.6.1.tgz#a3f70672cef7b9383b42930691d6fc8be4b8d993"
+ integrity sha512-LOXNSLCscyiNDxhLEgIL+Unj7UQpH6s+IkujizRpEyMrVVrhun5do972ab4TdqCXi9rxQKBBkgj8EL43gMimwg==
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version "4.4.6"
resolved "https://registry.yarnpkg.com/@bazel/typescript/-/typescript-4.4.6.tgz#fbaac22460b3aa4a0961c6c657d239af8f895778"
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@@ -32,6 +1093,83 @@
dependencies:
google-protobuf "^3.6.1"
+"@bazel/worker@4.6.1":
+ version "4.6.1"
+ resolved "https://registry.yarnpkg.com/@bazel/worker/-/worker-4.6.1.tgz#96925f5819344225d4fe40ffa630a3c5f4847a0b"
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+ dependencies:
+ google-protobuf "^3.6.1"
+
+"@gar/promisify@^1.0.1":
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/@gar/promisify/-/promisify-1.1.2.tgz#30aa825f11d438671d585bd44e7fd564535fc210"
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+
+"@nicolo-ribaudo/chokidar-2@2.1.8-no-fsevents.3":
+ version "2.1.8-no-fsevents.3"
+ resolved "https://registry.yarnpkg.com/@nicolo-ribaudo/chokidar-2/-/chokidar-2-2.1.8-no-fsevents.3.tgz#323d72dd25103d0c4fbdce89dadf574a787b1f9b"
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+
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+ version "1.1.0"
+ resolved "https://registry.yarnpkg.com/@npmcli/fs/-/fs-1.1.0.tgz#bec1d1b89c170d40e1b73ad6c943b0b75e7d2951"
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+ dependencies:
+ "@gar/promisify" "^1.0.1"
+ semver "^7.3.5"
+
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+ version "2.1.0"
+ resolved "https://registry.yarnpkg.com/@npmcli/git/-/git-2.1.0.tgz#2fbd77e147530247d37f325930d457b3ebe894f6"
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+ lru-cache "^6.0.0"
+ mkdirp "^1.0.4"
+ npm-pick-manifest "^6.1.1"
+ promise-inflight "^1.0.1"
+ promise-retry "^2.0.1"
+ semver "^7.3.5"
+ which "^2.0.2"
+
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+ version "1.0.7"
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+ dependencies:
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+ npm-normalize-package-bin "^1.0.1"
+
+"@npmcli/move-file@^1.0.1":
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/@npmcli/move-file/-/move-file-1.1.2.tgz#1a82c3e372f7cae9253eb66d72543d6b8685c674"
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+ dependencies:
+ mkdirp "^1.0.4"
+ rimraf "^3.0.2"
+
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+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/@npmcli/node-gyp/-/node-gyp-1.0.3.tgz#a912e637418ffc5f2db375e93b85837691a43a33"
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+
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+ resolved "https://registry.yarnpkg.com/@npmcli/promise-spawn/-/promise-spawn-1.3.2.tgz#42d4e56a8e9274fba180dabc0aea6e38f29274f5"
+ integrity sha512-QyAGYo/Fbj4MXeGdJcFzZ+FkDkomfRBrPM+9QYJSg+PxgAUL+LU3FneQk37rKR2/zjqkCV1BLHccX98wRXG3Sg==
+ dependencies:
+ infer-owner "^1.0.4"
+
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+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/@npmcli/run-script/-/run-script-2.0.0.tgz#9949c0cab415b17aaac279646db4f027d6f1e743"
+ integrity sha512-fSan/Pu11xS/TdaTpTB0MRn9guwGU8dye+x56mEVgBEd/QsybBbYcAL0phPXi8SGWFEChkQd6M9qL4y6VOpFig==
+ dependencies:
+ "@npmcli/node-gyp" "^1.0.2"
+ "@npmcli/promise-spawn" "^1.3.2"
+ node-gyp "^8.2.0"
+ read-package-json-fast "^2.0.1"
+
"@protobufjs/aspromise@^1.1.1", "@protobufjs/aspromise@^1.1.2":
version "1.1.2"
resolved "https://registry.yarnpkg.com/@protobufjs/aspromise/-/aspromise-1.1.2.tgz#9b8b0cc663d669a7d8f6f5d0893a14d348f30fbf"
@@ -106,6 +1244,20 @@
estree-walker "^1.0.1"
picomatch "^2.2.2"
+"@schematics/angular@13.1.4":
+ version "13.1.4"
+ resolved "https://registry.yarnpkg.com/@schematics/angular/-/angular-13.1.4.tgz#8b8c9ad40403c485bae9adeb51649711651189d2"
+ integrity sha512-P1YsHn1LLAmdpB9X2TBuUgrvEW/KaoBbHr8ifYO8/uQEXyeiIF+So8h/dnegkYkdsr3OwQ2X/j3UF6/+HS0odg==
+ dependencies:
+ "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/schematics" "13.1.4"
+ jsonc-parser "3.0.0"
+
+"@tootallnate/once@1":
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-1.1.2.tgz#ccb91445360179a04e7fe6aff78c00ffc1eeaf82"
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+
"@types/estree@0.0.39":
version "0.0.39"
resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
@@ -138,30 +1290,564 @@
dependencies:
"@types/node" "*"
+"@yarnpkg/lockfile@1.1.0":
+ version "1.1.0"
+ resolved "https://registry.yarnpkg.com/@yarnpkg/lockfile/-/lockfile-1.1.0.tgz#e77a97fbd345b76d83245edcd17d393b1b41fb31"
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+
+abbrev@1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/abbrev/-/abbrev-1.1.1.tgz#f8f2c887ad10bf67f634f005b6987fed3179aac8"
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+
+agent-base@6, agent-base@^6.0.2:
+ version "6.0.2"
+ resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-6.0.2.tgz#49fff58577cfee3f37176feab4c22e00f86d7f77"
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+ dependencies:
+ debug "4"
+
+agentkeepalive@^4.1.3:
+ version "4.2.0"
+ resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.0.tgz#616ce94ccb41d1a39a45d203d8076fe98713062d"
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+ dependencies:
+ debug "^4.1.0"
+ depd "^1.1.2"
+ humanize-ms "^1.2.1"
+
+aggregate-error@^3.0.0:
+ version "3.1.0"
+ resolved "https://registry.yarnpkg.com/aggregate-error/-/aggregate-error-3.1.0.tgz#92670ff50f5359bdb7a3e0d40d0ec30c5737687a"
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+ dependencies:
+ clean-stack "^2.0.0"
+ indent-string "^4.0.0"
+
+ajv-formats@2.1.1:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/ajv-formats/-/ajv-formats-2.1.1.tgz#6e669400659eb74973bbf2e33327180a0996b520"
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+ dependencies:
+ ajv "^8.0.0"
+
+ajv@8.8.2:
+ version "8.8.2"
+ resolved "https://registry.yarnpkg.com/ajv/-/ajv-8.8.2.tgz#01b4fef2007a28bf75f0b7fc009f62679de4abbb"
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+ json-schema-traverse "^1.0.0"
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+ uri-js "^4.2.2"
+
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+ uri-js "^4.2.2"
+
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+ version "4.3.2"
+ resolved "https://registry.yarnpkg.com/ansi-escapes/-/ansi-escapes-4.3.2.tgz#6b2291d1db7d98b6521d5f1efa42d0f3a9feb65e"
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+ dependencies:
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+
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+ dependencies:
+ escape-string-regexp "^1.0.5"
+
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+ version "7.0.1"
+ resolved "https://registry.yarnpkg.com/fill-range/-/fill-range-7.0.1.tgz#1919a6a7c75fe38b2c7c77e5198535da9acdda40"
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+ dependencies:
+ minipass "^3.0.0"
+
+fs-readdir-recursive@^1.1.0:
+ version "1.1.0"
+ resolved "https://registry.yarnpkg.com/fs-readdir-recursive/-/fs-readdir-recursive-1.1.0.tgz#e32fc030a2ccee44a6b5371308da54be0b397d27"
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+
+fs.realpath@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/fs.realpath/-/fs.realpath-1.0.0.tgz#1504ad2523158caa40db4a2787cb01411994ea4f"
+ integrity sha1-FQStJSMVjKpA20onh8sBQRmU6k8=
+
fsevents@~2.3.2:
version "2.3.2"
resolved "https://registry.yarnpkg.com/fsevents/-/fsevents-2.3.2.tgz#8a526f78b8fdf4623b709e0b975c52c24c02fd1a"
@@ -172,11 +1858,94 @@
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+gauge@^4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/gauge/-/gauge-4.0.0.tgz#afba07aa0374a93c6219603b1fb83eaa2264d8f8"
+ integrity sha512-F8sU45yQpjQjxKkm1UOAhf0U/O0aFt//Fl7hsrNVto+patMHjs7dPI9mFOGUKbhrgKm0S3EjW3scMFuQmWSROw==
+ dependencies:
+ ansi-regex "^5.0.1"
+ aproba "^1.0.3 || ^2.0.0"
+ color-support "^1.1.2"
+ console-control-strings "^1.0.0"
+ has-unicode "^2.0.1"
+ signal-exit "^3.0.0"
+ string-width "^4.2.3"
+ strip-ansi "^6.0.1"
+ wide-align "^1.1.2"
+
+gensync@^1.0.0-beta.2:
+ version "1.0.0-beta.2"
+ resolved "https://registry.yarnpkg.com/gensync/-/gensync-1.0.0-beta.2.tgz#32a6ee76c3d7f52d46b2b1ae5d93fea8580a25e0"
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+
+get-caller-file@^2.0.5:
+ version "2.0.5"
+ resolved "https://registry.yarnpkg.com/get-caller-file/-/get-caller-file-2.0.5.tgz#4f94412a82db32f36e3b0b9741f8a97feb031f7e"
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+
+get-intrinsic@^1.0.2:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/get-intrinsic/-/get-intrinsic-1.1.1.tgz#15f59f376f855c446963948f0d24cd3637b4abc6"
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+ function-bind "^1.1.1"
+ has "^1.0.3"
+ has-symbols "^1.0.1"
+
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+ version "5.1.2"
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+ version "7.2.0"
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+ dependencies:
+ fs.realpath "^1.0.0"
+ inflight "^1.0.4"
+ inherits "2"
+ minimatch "^3.0.4"
+ once "^1.3.0"
+ path-is-absolute "^1.0.0"
+
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+ version "11.12.0"
+ resolved "https://registry.yarnpkg.com/globals/-/globals-11.12.0.tgz#ab8795338868a0babd8525758018c2a7eb95c42e"
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+
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version "3.19.1"
resolved "https://registry.yarnpkg.com/google-protobuf/-/google-protobuf-3.19.1.tgz#5af5390e8206c446d8f49febaffd4b7f4ac28f41"
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+graceful-fs@^4.2.6:
+ version "4.2.9"
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+ version "3.0.0"
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+
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+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/has-symbols/-/has-symbols-1.0.2.tgz#165d3070c00309752a1236a479331e3ac56f1423"
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+
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+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/has-unicode/-/has-unicode-2.0.1.tgz#e0e6fe6a28cf51138855e086d1691e771de2a8b9"
+ integrity sha1-4Ob+aijPUROIVeCG0Wkedx3iqLk=
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version "1.0.3"
resolved "https://registry.yarnpkg.com/has/-/has-1.0.3.tgz#722d7cbfc1f6aa8241f16dd814e011e1f41e8796"
@@ -184,33 +1953,656 @@
dependencies:
function-bind "^1.1.1"
-is-core-module@^2.8.0:
+hosted-git-info@^4.0.1:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/hosted-git-info/-/hosted-git-info-4.1.0.tgz#827b82867e9ff1c8d0c4d9d53880397d2c86d224"
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+ dependencies:
+ lru-cache "^6.0.0"
+
+html-insert-assets@^0.14.2:
+ version "0.14.2"
+ resolved "https://registry.yarnpkg.com/html-insert-assets/-/html-insert-assets-0.14.2.tgz#134ccfbfcc847ddc37b4e4a610c29ccfd846eea8"
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+ dependencies:
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+ parse5 "^6.0.0"
+
+http-cache-semantics@^4.1.0:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/http-cache-semantics/-/http-cache-semantics-4.1.0.tgz#49e91c5cbf36c9b94bcfcd71c23d5249ec74e390"
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+
+http-proxy-agent@^4.0.1:
+ version "4.0.1"
+ resolved "https://registry.yarnpkg.com/http-proxy-agent/-/http-proxy-agent-4.0.1.tgz#8a8c8ef7f5932ccf953c296ca8291b95aa74aa3a"
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+ dependencies:
+ "@tootallnate/once" "1"
+ agent-base "6"
+ debug "4"
+
+https-proxy-agent@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/https-proxy-agent/-/https-proxy-agent-5.0.0.tgz#e2a90542abb68a762e0a0850f6c9edadfd8506b2"
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+ dependencies:
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+
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+ version "1.2.1"
+ resolved "https://registry.yarnpkg.com/humanize-ms/-/humanize-ms-1.2.1.tgz#c46e3159a293f6b896da29316d8b6fe8bb79bbed"
+ integrity sha1-xG4xWaKT9riW2ikxbYtv6Lt5u+0=
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+
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+ version "0.4.24"
+ resolved "https://registry.yarnpkg.com/iconv-lite/-/iconv-lite-0.4.24.tgz#2022b4b25fbddc21d2f524974a474aafe733908b"
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+ dependencies:
+ safer-buffer ">= 2.1.2 < 3"
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+ dependencies:
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resolved "https://registry.yarnpkg.com/protobufjs/-/protobufjs-6.8.8.tgz#c8b4f1282fd7a90e6f5b109ed11c84af82908e7c"
@@ -230,7 +2622,107 @@
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+regenerate@^1.4.2:
+ version "1.4.2"
+ resolved "https://registry.yarnpkg.com/regenerate/-/regenerate-1.4.2.tgz#b9346d8827e8f5a32f7ba29637d398b69014848a"
+ integrity sha512-zrceR/XhGYU/d/opr2EKO7aRHUeiBI8qjtfHqADTwZd6Szfy16la6kqD0MIUs5z5hx6AaKa+PixpPrR289+I0A==
+
+regenerator-runtime@^0.13.4:
+ version "0.13.9"
+ resolved "https://registry.yarnpkg.com/regenerator-runtime/-/regenerator-runtime-0.13.9.tgz#8925742a98ffd90814988d7566ad30ca3b263b52"
+ integrity sha512-p3VT+cOEgxFsRRA9X4lkI1E+k2/CtnKtU4gcxyaCUreilL/vqI6CdZ3wxVUx3UOUg+gnUOQQcRI7BmSI656MYA==
+
+regenerator-transform@^0.14.2:
+ version "0.14.5"
+ resolved "https://registry.yarnpkg.com/regenerator-transform/-/regenerator-transform-0.14.5.tgz#c98da154683671c9c4dcb16ece736517e1b7feb4"
+ integrity sha512-eOf6vka5IO151Jfsw2NO9WpGX58W6wWmefK3I1zEGr0lOD0u8rwPaNqQL1aRxUaxLeKO3ArNh3VYg1KbaD+FFw==
+ dependencies:
+ "@babel/runtime" "^7.8.4"
+
+regexpu-core@^4.7.1:
+ version "4.8.0"
+ resolved "https://registry.yarnpkg.com/regexpu-core/-/regexpu-core-4.8.0.tgz#e5605ba361b67b1718478501327502f4479a98f0"
+ integrity sha512-1F6bYsoYiz6is+oz70NWur2Vlh9KWtswuRuzJOfeYUrfPX2o8n74AnUVaOGDbUqVGO9fNHu48/pjJO4sNVwsOg==
+ dependencies:
+ regenerate "^1.4.2"
+ regenerate-unicode-properties "^9.0.0"
+ regjsgen "^0.5.2"
+ regjsparser "^0.7.0"
+ unicode-match-property-ecmascript "^2.0.0"
+ unicode-match-property-value-ecmascript "^2.0.0"
+
+regjsgen@^0.5.2:
+ version "0.5.2"
+ resolved "https://registry.yarnpkg.com/regjsgen/-/regjsgen-0.5.2.tgz#92ff295fb1deecbf6ecdab2543d207e91aa33733"
+ integrity sha512-OFFT3MfrH90xIW8OOSyUrk6QHD5E9JOTeGodiJeBS3J6IwlgzJMNE/1bZklWz5oTg+9dCMyEetclvCVXOPoN3A==
+
+regjsparser@^0.7.0:
+ version "0.7.0"
+ resolved "https://registry.yarnpkg.com/regjsparser/-/regjsparser-0.7.0.tgz#a6b667b54c885e18b52554cb4960ef71187e9968"
+ integrity sha512-A4pcaORqmNMDVwUjWoTzuhwMGpP+NykpfqAsEgI1FSH/EzC7lrN5TMd+kN8YCovX+jMpu8eaqXgXPCa0g8FQNQ==
+ dependencies:
+ jsesc "~0.5.0"
+
+require-directory@^2.1.1:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/require-directory/-/require-directory-2.1.1.tgz#8c64ad5fd30dab1c976e2344ffe7f792a6a6df42"
+ integrity sha1-jGStX9MNqxyXbiNE/+f3kqam30I=
+
+require-from-string@^2.0.2:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/require-from-string/-/require-from-string-2.0.2.tgz#89a7fdd938261267318eafe14f9c32e598c36909"
+ integrity sha512-Xf0nWe6RseziFMu+Ap9biiUbmplq6S9/p+7w7YXP/JBHhrUDDUhwa+vANyubuqfZWTveU//DYVGsDG7RKL/vEw==
+
+resolve@1.20.0:
+ version "1.20.0"
+ resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.20.0.tgz#629a013fb3f70755d6f0b7935cc1c2c5378b1975"
+ integrity sha512-wENBPt4ySzg4ybFQW2TT1zMQucPK95HSh/nq2CFTZVOGut2+pQvSsgtda4d26YrYcr067wjbmzOG8byDPBX63A==
+ dependencies:
+ is-core-module "^2.2.0"
+ path-parse "^1.0.6"
+
+resolve@^1.14.2, resolve@^1.19.0:
version "1.21.0"
resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.21.0.tgz#b51adc97f3472e6a5cf4444d34bc9d6b9037591f"
integrity sha512-3wCbTpk5WJlyE4mSOtDLhqQmGFi0/TD9VPwmiolnk8U0wRgMEktqCXd3vy5buTO3tljvalNvKrjHEfrd2WpEKA==
@@ -239,18 +2731,131 @@
path-parse "^1.0.7"
supports-preserve-symlinks-flag "^1.0.0"
+restore-cursor@^3.1.0:
+ version "3.1.0"
+ resolved "https://registry.yarnpkg.com/restore-cursor/-/restore-cursor-3.1.0.tgz#39f67c54b3a7a58cea5236d95cf0034239631f7e"
+ integrity sha512-l+sSefzHpj5qimhFSE5a8nufZYAM3sBSVMAPtYkmC+4EH2anSGaEMXSD0izRQbu9nfyQ9y5JrVmp7E8oZrUjvA==
+ dependencies:
+ onetime "^5.1.0"
+ signal-exit "^3.0.2"
+
+retry@^0.12.0:
+ version "0.12.0"
+ resolved "https://registry.yarnpkg.com/retry/-/retry-0.12.0.tgz#1b42a6266a21f07421d1b0b54b7dc167b01c013b"
+ integrity sha1-G0KmJmoh8HQh0bC1S33BZ7AcATs=
+
+rimraf@^3.0.2:
+ version "3.0.2"
+ resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-3.0.2.tgz#f1a5402ba6220ad52cc1282bac1ae3aa49fd061a"
+ integrity sha512-JZkJMZkAGFFPP2YqXZXPbMlMBgsxzE8ILs4lMIX/2o0L9UBw9O/Y3o6wFw/i9YLapcUJWwqbi3kdxIPdC62TIA==
+ dependencies:
+ glob "^7.1.3"
+
rollup@latest:
- version "2.60.2"
- resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.60.2.tgz#3f45ace36a9b10b4297181831ea0719922513463"
- integrity sha512-1Bgjpq61sPjgoZzuiDSGvbI1tD91giZABgjCQBKM5aYLnzjq52GoDuWVwT/cm/MCxCMPU8gqQvkj8doQ5C8Oqw==
+ version "2.64.0"
+ resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.64.0.tgz#f0f59774e21fbb56de438a37d06a2189632b207a"
+ integrity sha512-+c+lbw1lexBKSMb1yxGDVfJ+vchJH3qLbmavR+awDinTDA2C5Ug9u7lkOzj62SCu0PKUExsW36tpgW7Fmpn3yQ==
optionalDependencies:
fsevents "~2.3.2"
+run-async@^2.4.0:
+ version "2.4.1"
+ resolved "https://registry.yarnpkg.com/run-async/-/run-async-2.4.1.tgz#8440eccf99ea3e70bd409d49aab88e10c189a455"
+ integrity sha512-tvVnVv01b8c1RrA6Ep7JkStj85Guv/YrMcwqYQnwjsAS2cTmmPGBBjAjpCW7RrSodNSoE2/qg9O4bceNvUuDgQ==
+
+rxjs@6.6.7:
+ version "6.6.7"
+ resolved "https://registry.yarnpkg.com/rxjs/-/rxjs-6.6.7.tgz#90ac018acabf491bf65044235d5863c4dab804c9"
+ integrity sha512-hTdwr+7yYNIT5n4AMYp85KA6yw2Va0FLa3Rguvbpa4W3I5xynaBZo41cM3XM+4Q6fRMj3sBYIR1VAmZMXYJvRQ==
+ dependencies:
+ tslib "^1.9.0"
+
+rxjs@^7.2.0:
+ version "7.5.2"
+ resolved "https://registry.yarnpkg.com/rxjs/-/rxjs-7.5.2.tgz#11e4a3a1dfad85dbf7fb6e33cbba17668497490b"
+ integrity sha512-PwDt186XaL3QN5qXj/H9DGyHhP3/RYYgZZwqBv9Tv8rsAaiwFH1IsJJlcgD37J7UW5a6O67qX0KWKS3/pu0m4w==
+ dependencies:
+ tslib "^2.1.0"
+
+safe-buffer@~5.1.1:
+ version "5.1.2"
+ resolved "https://registry.yarnpkg.com/safe-buffer/-/safe-buffer-5.1.2.tgz#991ec69d296e0313747d59bdfd2b745c35f8828d"
+ integrity sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g==
+
+safe-buffer@~5.2.0:
+ version "5.2.1"
+ resolved "https://registry.yarnpkg.com/safe-buffer/-/safe-buffer-5.2.1.tgz#1eaf9fa9bdb1fdd4ec75f58f9cdb4e6b7827eec6"
+ integrity sha512-rp3So07KcdmmKbGvgaNxQSJr7bGVSVk5S9Eq1F+ppbRo70+YeaDxkw5Dd8NPN+GD6bjnYm2VuPuCXmpuYvmCXQ==
+
+"safer-buffer@>= 2.1.2 < 3", "safer-buffer@>= 2.1.2 < 3.0.0":
+ version "2.1.2"
+ resolved "https://registry.yarnpkg.com/safer-buffer/-/safer-buffer-2.1.2.tgz#44fa161b0187b9549dd84bb91802f9bd8385cd6a"
+ integrity sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg==
+
semver@5.6.0:
version "5.6.0"
resolved "https://registry.yarnpkg.com/semver/-/semver-5.6.0.tgz#7e74256fbaa49c75aa7c7a205cc22799cac80004"
integrity sha512-RS9R6R35NYgQn++fkDWaOmqGoj4Ek9gGs+DPxNUZKuwE183xjJroKvyo1IzVFeXvUrvmALy6FWD5xrdJT25gMg==
+semver@7.0.0:
+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/semver/-/semver-7.0.0.tgz#5f3ca35761e47e05b206c6daff2cf814f0316b8e"
+ integrity sha512-+GB6zVA9LWh6zovYQLALHwv5rb2PHGlJi3lfiqIHxR0uuwCgefcOJc59v9fv1w8GbStwxuuqqAjI9NMAOOgq1A==
+
+semver@7.3.5, semver@^7.0.0, semver@^7.1.1, semver@^7.3.4, semver@^7.3.5:
+ version "7.3.5"
+ resolved "https://registry.yarnpkg.com/semver/-/semver-7.3.5.tgz#0b621c879348d8998e4b0e4be94b3f12e6018ef7"
+ integrity sha512-PoeGJYh8HK4BTO/a9Tf6ZG3veo/A7ZVsYrSA6J8ny9nb3B1VrpkuN+z9OE5wfE5p6H4LchYZsegiQgbJD94ZFQ==
+ dependencies:
+ lru-cache "^6.0.0"
+
+semver@^5.6.0:
+ version "5.7.1"
+ resolved "https://registry.yarnpkg.com/semver/-/semver-5.7.1.tgz#a954f931aeba508d307bbf069eff0c01c96116f7"
+ integrity sha512-sauaDf/PZdVgrLTNYHRtpXa1iRiKcaebiKQ1BJdpQlWH2lCvexQdX55snPFyK7QzpudqbCI0qXFfOasHdyNDGQ==
+
+semver@^6.1.1, semver@^6.1.2, semver@^6.3.0:
+ version "6.3.0"
+ resolved "https://registry.yarnpkg.com/semver/-/semver-6.3.0.tgz#ee0a64c8af5e8ceea67687b133761e1becbd1d3d"
+ integrity sha512-b39TBaTSfV6yBrapU89p5fKekE2m/NwnDocOVruQFS1/veMgdzuPcnOM34M6CwxW8jH/lxEa5rBoDeUwu5HHTw==
+
+set-blocking@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/set-blocking/-/set-blocking-2.0.0.tgz#045f9782d011ae9a6803ddd382b24392b3d890f7"
+ integrity sha1-BF+XgtARrppoA93TgrJDkrPYkPc=
+
+signal-exit@^3.0.0, signal-exit@^3.0.2:
+ version "3.0.6"
+ resolved "https://registry.yarnpkg.com/signal-exit/-/signal-exit-3.0.6.tgz#24e630c4b0f03fea446a2bd299e62b4a6ca8d0af"
+ integrity sha512-sDl4qMFpijcGw22U5w63KmD3cZJfBuFlVNbVMKje2keoKML7X2UzWbc4XrmEbDwg0NXJc3yv4/ox7b+JWb57kQ==
+
+slash@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/slash/-/slash-2.0.0.tgz#de552851a1759df3a8f206535442f5ec4ddeab44"
+ integrity sha512-ZYKh3Wh2z1PpEXWr0MpSBZ0V6mZHAQfYevttO11c51CaWjGTaadiKZ+wVt1PbMlDV5qhMFslpZCemhwOK7C89A==
+
+smart-buffer@^4.1.0:
+ version "4.2.0"
+ resolved "https://registry.yarnpkg.com/smart-buffer/-/smart-buffer-4.2.0.tgz#6e1d71fa4f18c05f7d0ff216dd16a481d0e8d9ae"
+ integrity sha512-94hK0Hh8rPqQl2xXc3HsaBoOXKV20MToPkcXvwbISWLEs+64sBq5kFgn2kJDHb1Pry9yrP0dxrCI9RRci7RXKg==
+
+socks-proxy-agent@^6.0.0:
+ version "6.1.1"
+ resolved "https://registry.yarnpkg.com/socks-proxy-agent/-/socks-proxy-agent-6.1.1.tgz#e664e8f1aaf4e1fb3df945f09e3d94f911137f87"
+ integrity sha512-t8J0kG3csjA4g6FTbsMOWws+7R7vuRC8aQ/wy3/1OWmsgwA68zs/+cExQ0koSitUDXqhufF/YJr9wtNMZHw5Ew==
+ dependencies:
+ agent-base "^6.0.2"
+ debug "^4.3.1"
+ socks "^2.6.1"
+
+socks@^2.6.1:
+ version "2.6.1"
+ resolved "https://registry.yarnpkg.com/socks/-/socks-2.6.1.tgz#989e6534a07cf337deb1b1c94aaa44296520d30e"
+ integrity sha512-kLQ9N5ucj8uIcxrDwjm0Jsqk06xdpBjGNQtpXy4Q8/QY2k+fY7nZH8CARy+hkbG+SGAovmzzuauCpBlb8FrnBA==
+ dependencies:
+ ip "^1.1.5"
+ smart-buffer "^4.1.0"
+
source-map-support@0.5.9:
version "0.5.9"
resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.9.tgz#41bc953b2534267ea2d605bccfa7bfa3111ced5f"
@@ -266,20 +2871,91 @@
buffer-from "^1.0.0"
source-map "^0.6.0"
+source-map@0.7.3, source-map@~0.7.2:
+ version "0.7.3"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
+ integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
+
+source-map@^0.5.0:
+ version "0.5.7"
+ resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.5.7.tgz#8a039d2d1021d22d1ea14c80d8ea468ba2ef3fcc"
+ integrity sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=
+
source-map@^0.6.0:
version "0.6.1"
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.6.1.tgz#74722af32e9614e9c287a8d0bbde48b5e2f1a263"
-source-map@~0.7.2:
- version "0.7.3"
- resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
- integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
+sourcemap-codec@^1.4.4, sourcemap-codec@^1.4.8:
+ version "1.4.8"
+ resolved "https://registry.yarnpkg.com/sourcemap-codec/-/sourcemap-codec-1.4.8.tgz#ea804bd94857402e6992d05a38ef1ae35a9ab4c4"
+ integrity sha512-9NykojV5Uih4lgo5So5dtw+f0JgJX30KCNI8gwhz2J9A15wD0Ml6tjHKwf6fTSa6fAdVBdZeNOs9eJ71qCk8vA==
+
+ssri@^8.0.0, ssri@^8.0.1:
+ version "8.0.1"
+ resolved "https://registry.yarnpkg.com/ssri/-/ssri-8.0.1.tgz#638e4e439e2ffbd2cd289776d5ca457c4f51a2af"
+ integrity sha512-97qShzy1AiyxvPNIkLWoGua7xoQzzPjQ0HAH4B0rWKo7SZ6USuPcrUiAFrws0UH8RrbWmgq3LMTObhPIHbbBeQ==
+ dependencies:
+ minipass "^3.1.1"
+
+"string-width@^1.0.2 || 2 || 3 || 4", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3:
+ version "4.2.3"
+ resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010"
+ integrity sha512-wKyQRQpjJ0sIp62ErSZdGsjMJWsap5oRNihHhu6G7JVO/9jIB6UyevL+tXuOqrng8j/cxKTWyWUwvSTriiZz/g==
+ dependencies:
+ emoji-regex "^8.0.0"
+ is-fullwidth-code-point "^3.0.0"
+ strip-ansi "^6.0.1"
+
+string_decoder@^1.1.1:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/string_decoder/-/string_decoder-1.3.0.tgz#42f114594a46cf1a8e30b0a84f56c78c3edac21e"
+ integrity sha512-hkRX8U1WjJFd8LsDJ2yQ/wWWxaopEsABU1XfkM8A+j0+85JAGppt16cr1Whg6KIbb4okU6Mql6BOj+uup/wKeA==
+ dependencies:
+ safe-buffer "~5.2.0"
+
+strip-ansi@^6.0.0, strip-ansi@^6.0.1:
+ version "6.0.1"
+ resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-6.0.1.tgz#9e26c63d30f53443e9489495b2105d37b67a85d9"
+ integrity sha512-Y38VPSHcqkFrCpFnQ9vuSXmquuv5oXOKpGeT6aGrr3o3Gc9AlVa6JBfUSOCnbxGGZF+/0ooI7KrPuUSztUdU5A==
+ dependencies:
+ ansi-regex "^5.0.1"
+
+supports-color@^5.3.0:
+ version "5.5.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-5.5.0.tgz#e2e69a44ac8772f78a1ec0b35b689df6530efc8f"
+ integrity sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==
+ dependencies:
+ has-flag "^3.0.0"
+
+supports-color@^7.1.0:
+ version "7.2.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-7.2.0.tgz#1b7dcdcb32b8138801b3e478ba6a51caa89648da"
+ integrity sha512-qpCAvRl9stuOHveKsn7HncJRvv501qIacKzQlO/+Lwxc9+0q2wLyv4Dfvt80/DPn2pqOBsJdDiogXGR9+OvwRw==
+ dependencies:
+ has-flag "^4.0.0"
supports-preserve-symlinks-flag@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz#6eda4bd344a3c94aea376d4cc31bc77311039e09"
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+symbol-observable@4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/symbol-observable/-/symbol-observable-4.0.0.tgz#5b425f192279e87f2f9b937ac8540d1984b39205"
+ integrity sha512-b19dMThMV4HVFynSAM1++gBHAbk2Tc/osgLIBZMKsyqh34jb2e8Os7T6ZW/Bt3pJFdBTd2JwAnAAEQV7rSNvcQ==
+
+tar@^6.0.2, tar@^6.1.0, tar@^6.1.2:
+ version "6.1.11"
+ resolved "https://registry.yarnpkg.com/tar/-/tar-6.1.11.tgz#6760a38f003afa1b2ffd0ffe9e9abbd0eab3d621"
+ integrity sha512-an/KZQzQUkZCkuoAA64hM92X0Urb6VpRhAFllDzz44U2mcD5scmT3zBc4VgVpkugF580+DQn8eAFSyoQt0tznA==
+ dependencies:
+ chownr "^2.0.0"
+ fs-minipass "^2.0.0"
+ minipass "^3.0.0"
+ minizlib "^2.1.1"
+ mkdirp "^1.0.3"
+ yallist "^4.0.0"
+
terser@latest:
version "5.10.0"
resolved "https://registry.yarnpkg.com/terser/-/terser-5.10.0.tgz#b86390809c0389105eb0a0b62397563096ddafcc"
@@ -289,10 +2965,44 @@
source-map "~0.7.2"
source-map-support "~0.5.20"
+through@^2.3.6:
+ version "2.3.8"
+ resolved "https://registry.yarnpkg.com/through/-/through-2.3.8.tgz#0dd4c9ffaabc357960b1b724115d7e0e86a2e1f5"
+ integrity sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU=
+
+tmp@^0.0.33:
+ version "0.0.33"
+ resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.33.tgz#6d34335889768d21b2bcda0aa277ced3b1bfadf9"
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+ dependencies:
+ os-tmpdir "~1.0.2"
+
+to-fast-properties@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/to-fast-properties/-/to-fast-properties-2.0.0.tgz#dc5e698cbd079265bc73e0377681a4e4e83f616e"
+ integrity sha1-3F5pjL0HkmW8c+A3doGk5Og/YW4=
+
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+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/to-regex-range/-/to-regex-range-5.0.1.tgz#1648c44aae7c8d988a326018ed72f5b4dd0392e4"
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+ dependencies:
+ is-number "^7.0.0"
+
tslib@^1.8.1:
version "1.9.3"
resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
+tslib@^1.9.0:
+ version "1.14.1"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.14.1.tgz#cf2d38bdc34a134bcaf1091c41f6619e2f672d00"
+ integrity sha512-Xni35NKzjgMrwevysHTCArtLDpPvye8zV/0E4EyYn43P7/7qvQwPh9BGkHewbMulVntbigmcT7rdX3BNo9wRJg==
+
+tslib@^2.0.0, tslib@^2.1.0, tslib@^2.3.0:
+ version "2.3.1"
+ resolved "https://registry.yarnpkg.com/tslib/-/tslib-2.3.1.tgz#e8a335add5ceae51aa261d32a490158ef042ef01"
+ integrity sha512-77EbyPPpMz+FRFRuAFlWMtmgUWGe9UOG2Z25NqCwiIjRhOf5iKGuzSe5P2w1laq+FkRy4p+PCuVkJSGkzTEKVw==
+
tsutils@3.21.0:
version "3.21.0"
resolved "https://registry.yarnpkg.com/tsutils/-/tsutils-3.21.0.tgz#b48717d394cea6c1e096983eed58e9d61715b623"
@@ -300,7 +3010,143 @@
dependencies:
tslib "^1.8.1"
+type-fest@^0.21.3:
+ version "0.21.3"
+ resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-0.21.3.tgz#d260a24b0198436e133fa26a524a6d65fa3b2e37"
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+
typescript@latest:
- version "4.5.2"
- resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.2.tgz#8ac1fba9f52256fdb06fb89e4122fa6a346c2998"
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+ version "4.5.4"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.4.tgz#a17d3a0263bf5c8723b9c52f43c5084edf13c2e8"
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+
+unicode-canonical-property-names-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-canonical-property-names-ecmascript/-/unicode-canonical-property-names-ecmascript-2.0.0.tgz#301acdc525631670d39f6146e0e77ff6bbdebddc"
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+
+unicode-match-property-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-match-property-ecmascript/-/unicode-match-property-ecmascript-2.0.0.tgz#54fd16e0ecb167cf04cf1f756bdcc92eba7976c3"
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+ dependencies:
+ unicode-canonical-property-names-ecmascript "^2.0.0"
+ unicode-property-aliases-ecmascript "^2.0.0"
+
+unicode-match-property-value-ecmascript@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-match-property-value-ecmascript/-/unicode-match-property-value-ecmascript-2.0.0.tgz#1a01aa57247c14c568b89775a54938788189a714"
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+
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+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/unicode-property-aliases-ecmascript/-/unicode-property-aliases-ecmascript-2.0.0.tgz#0a36cb9a585c4f6abd51ad1deddb285c165297c8"
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+
+unique-filename@^1.1.1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/unique-filename/-/unique-filename-1.1.1.tgz#1d69769369ada0583103a1e6ae87681b56573230"
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+ dependencies:
+ unique-slug "^2.0.0"
+
+unique-slug@^2.0.0:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/unique-slug/-/unique-slug-2.0.2.tgz#baabce91083fc64e945b0f3ad613e264f7cd4e6c"
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+ dependencies:
+ imurmurhash "^0.1.4"
+
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+ version "4.4.1"
+ resolved "https://registry.yarnpkg.com/uri-js/-/uri-js-4.4.1.tgz#9b1a52595225859e55f669d928f88c6c57f2a77e"
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+ dependencies:
+ punycode "^2.1.0"
+
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+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/util-deprecate/-/util-deprecate-1.0.2.tgz#450d4dc9fa70de732762fbd2d4a28981419a0ccf"
+ integrity sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=
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+
+validate-npm-package-name@^3.0.0:
+ version "3.0.0"
+ resolved "https://registry.yarnpkg.com/validate-npm-package-name/-/validate-npm-package-name-3.0.0.tgz#5fa912d81eb7d0c74afc140de7317f0ca7df437e"
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+ resolved "https://registry.yarnpkg.com/wcwidth/-/wcwidth-1.0.1.tgz#f0b0dcf915bc5ff1528afadb2c0e17b532da2fe8"
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+ resolved "https://registry.yarnpkg.com/which/-/which-2.0.2.tgz#7c6a8dd0a636a0327e10b59c9286eee93f3f51b1"
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+ dependencies:
+ isexe "^2.0.0"
+
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+ version "1.1.5"
+ resolved "https://registry.yarnpkg.com/wide-align/-/wide-align-1.1.5.tgz#df1d4c206854369ecf3c9a4898f1b23fbd9d15d3"
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+ dependencies:
+ string-width "^1.0.2 || 2 || 3 || 4"
+
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+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
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+ string-width "^4.1.0"
+ strip-ansi "^6.0.0"
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+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
+ integrity sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=
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+
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+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/yallist/-/yallist-4.0.0.tgz#9bb92790d9c0effec63be73519e11a35019a3a72"
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+ version "21.0.0"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-21.0.0.tgz#a485d3966be4317426dd56bdb6a30131b281dc55"
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+
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+ version "17.3.1"
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+ dependencies:
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+
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+ resolved "https://registry.yarnpkg.com/zone.js/-/zone.js-0.11.4.tgz#0f70dcf6aba80f698af5735cbb257969396e8025"
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