| load("//aos:config.bzl", "aos_config") |
| load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library") |
| |
| package(default_visibility = ["//visibility:public"]) |
| |
| cc_library( |
| name = "control_loop_test", |
| testonly = True, |
| srcs = [ |
| "control_loop_test.cc", |
| ], |
| hdrs = [ |
| "control_loop_test.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "//aos:flatbuffers", |
| "//aos:json_to_flatbuffer", |
| "//aos/events:simulated_event_loop", |
| "//aos/testing:googletest", |
| "//aos/testing:test_logging", |
| "//aos/time", |
| "//frc971/input:joystick_state_fbs", |
| "//frc971/input:robot_state_fbs", |
| ], |
| ) |
| |
| cc_library( |
| name = "polytope", |
| hdrs = [ |
| "polytope.h", |
| ], |
| deps = [ |
| "@org_tuxfamily_eigen//:eigen", |
| ] + select({ |
| "@platforms//os:linux": [ |
| "//aos/logging", |
| "//third_party/cddlib", |
| "@com_github_google_glog//:glog", |
| ], |
| "//conditions:default": [], |
| }), |
| ) |
| |
| cc_test( |
| name = "polytope_test", |
| srcs = [ |
| "polytope_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":polytope", |
| "//aos/testing:googletest", |
| "//aos/testing:test_logging", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "control_loop", |
| srcs = [ |
| "control_loop.cc", |
| "control_loop-tmpl.h", |
| ], |
| hdrs = [ |
| "control_loop.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "//aos/events:event_loop", |
| "//aos/events:shm_event_loop", |
| "//aos/logging", |
| "//aos/time", |
| "//aos/util:log_interval", |
| "//frc971/input:joystick_state_fbs", |
| "//frc971/input:robot_state_fbs", |
| ], |
| ) |
| |
| cc_library( |
| name = "quaternion_utils", |
| srcs = [ |
| "quaternion_utils.cc", |
| ], |
| hdrs = [ |
| "quaternion_utils.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "@com_github_google_glog//:glog", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "quarternion_utils_test", |
| srcs = [ |
| "quaternion_utils_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":jacobian", |
| ":quaternion_utils", |
| ":runge_kutta", |
| "//aos/testing:googletest", |
| "//aos/testing:random_seed", |
| "@com_github_google_glog//:glog", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "team_number_test_environment", |
| testonly = True, |
| srcs = [ |
| "team_number_test_environment.cc", |
| ], |
| hdrs = [ |
| "team_number_test_environment.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "//aos/network:team_number", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_test( |
| name = "hybrid_state_feedback_loop_test", |
| srcs = [ |
| "hybrid_state_feedback_loop_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":hybrid_state_feedback_loop", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "pose", |
| hdrs = ["pose.h"], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "//aos/util:math", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "pose_test", |
| srcs = ["pose_test.cc"], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":pose", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "hall_effect_tracker", |
| hdrs = [ |
| "hall_effect_tracker.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":control_loops_fbs", |
| ], |
| ) |
| |
| flatbuffer_ts_library( |
| name = "control_loops_ts_fbs", |
| srcs = [ |
| "control_loops.fbs", |
| ], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "control_loops_fbs", |
| srcs = [ |
| "control_loops.fbs", |
| ], |
| ) |
| |
| cc_test( |
| name = "position_sensor_sim_test", |
| srcs = [ |
| "position_sensor_sim_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":control_loops_fbs", |
| ":position_sensor_sim", |
| "//aos/logging", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "position_sensor_sim", |
| testonly = True, |
| srcs = [ |
| "position_sensor_sim.cc", |
| ], |
| hdrs = [ |
| "position_sensor_sim.h", |
| ], |
| linkopts = [ |
| "-lm", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":control_loops_fbs", |
| ":gaussian_noise", |
| "//aos/testing:random_seed", |
| ], |
| ) |
| |
| cc_library( |
| name = "gaussian_noise", |
| srcs = [ |
| "gaussian_noise.cc", |
| ], |
| hdrs = [ |
| "gaussian_noise.h", |
| ], |
| linkopts = [ |
| "-lm", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| cc_library( |
| name = "coerce_goal", |
| srcs = [ |
| "coerce_goal.cc", |
| ], |
| hdrs = [ |
| "coerce_goal.h", |
| ], |
| linkopts = select({ |
| "@platforms//os:linux": ["-lm"], |
| "//conditions:default": [], |
| }), |
| deps = [ |
| "//frc971/control_loops:polytope", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "coerce_goal_test", |
| srcs = [ |
| "coerce_goal_test.cc", |
| ], |
| linkopts = [ |
| "-lm", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":coerce_goal", |
| "//aos/testing:googletest", |
| "//frc971/control_loops:polytope", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "state_feedback_loop", |
| hdrs = [ |
| "state_feedback_loop.h", |
| ], |
| deps = [ |
| "//aos:macros", |
| "@org_tuxfamily_eigen//:eigen", |
| ] + select({ |
| "@platforms//os:linux": ["//aos/logging"], |
| "//conditions:default": [], |
| }), |
| ) |
| |
| cc_library( |
| name = "hybrid_state_feedback_loop", |
| hdrs = [ |
| "hybrid_state_feedback_loop.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":c2d", |
| ":state_feedback_loop", |
| "//aos:macros", |
| "//aos/logging", |
| "//frc971/control_loops:control_loop", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "simple_capped_state_feedback_loop", |
| hdrs = [ |
| "simple_capped_state_feedback_loop.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":state_feedback_loop", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "runge_kutta", |
| hdrs = [ |
| "runge_kutta.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "runge_kutta_test", |
| srcs = [ |
| "runge_kutta_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":runge_kutta", |
| "//aos/testing:googletest", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "fixed_quadrature", |
| hdrs = [ |
| "fixed_quadrature.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| cc_test( |
| name = "fixed_quadrature_test", |
| srcs = [ |
| "fixed_quadrature_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":fixed_quadrature", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| flatbuffer_ts_library( |
| name = "profiled_subsystem_ts_fbs", |
| srcs = [ |
| "profiled_subsystem.fbs", |
| ], |
| deps = [ |
| ":control_loops_ts_fbs", |
| ], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "profiled_subsystem_fbs", |
| srcs = [ |
| "profiled_subsystem.fbs", |
| ], |
| includes = [ |
| ":control_loops_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| cc_library( |
| name = "profiled_subsystem", |
| srcs = [ |
| "profiled_subsystem.cc", |
| ], |
| hdrs = [ |
| "profiled_subsystem.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":control_loops_fbs", |
| ":profiled_subsystem_fbs", |
| ":simple_capped_state_feedback_loop", |
| ":state_feedback_loop", |
| "//aos/util:trapezoid_profile", |
| "//frc971/control_loops:control_loop", |
| "//frc971/zeroing", |
| ], |
| ) |
| |
| cc_library( |
| name = "jacobian", |
| hdrs = [ |
| "jacobian.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "jacobian_test", |
| srcs = [ |
| "jacobian_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":jacobian", |
| "//aos/testing:googletest", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_test( |
| name = "c2d_test", |
| srcs = [ |
| "c2d_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| visibility = ["//visibility:public"], |
| deps = [ |
| ":c2d", |
| ":runge_kutta", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "c2d", |
| hdrs = [ |
| "c2d.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| visibility = ["//visibility:public"], |
| deps = [ |
| "//aos/time", |
| "@org_tuxfamily_eigen//:eigen", |
| ], |
| ) |
| |
| cc_library( |
| name = "dlqr", |
| hdrs = [ |
| "dlqr.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| visibility = ["//visibility:public"], |
| deps = [ |
| "@org_tuxfamily_eigen//:eigen", |
| "@slycot_repo//:slicot", |
| ], |
| ) |
| |
| py_library( |
| name = "python_init", |
| srcs = ["__init__.py"], |
| target_compatible_with = ["@platforms//os:linux"], |
| visibility = ["//visibility:public"], |
| deps = ["//frc971:python_init"], |
| ) |
| |
| cc_library( |
| name = "binomial", |
| hdrs = ["binomial.h"], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| cc_test( |
| name = "binomial_test", |
| srcs = [ |
| "binomial_test.cc", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":binomial", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "capped_test_plant", |
| testonly = True, |
| srcs = [ |
| "capped_test_plant.cc", |
| ], |
| hdrs = [ |
| "capped_test_plant.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":state_feedback_loop", |
| "//aos/testing:googletest", |
| ], |
| ) |
| |
| cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem", |
| hdrs = [ |
| "static_zeroing_single_dof_profiled_subsystem.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| "//frc971/control_loops:profiled_subsystem", |
| ], |
| ) |
| |
| genrule( |
| name = "genrule_static_zeroing_single_dof_profiled_subsystem_test", |
| outs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_plant.h", |
| "static_zeroing_single_dof_profiled_subsystem_test_plant.cc", |
| "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.h", |
| "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.cc", |
| ], |
| cmd = "$(location //frc971/control_loops/python:static_zeroing_single_dof_profiled_subsystem_test) $(OUTS)", |
| target_compatible_with = ["@platforms//os:linux"], |
| tools = [ |
| "//frc971/control_loops/python:static_zeroing_single_dof_profiled_subsystem_test", |
| ], |
| ) |
| |
| cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_plants", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.cc", |
| "static_zeroing_single_dof_profiled_subsystem_test_plant.cc", |
| ], |
| hdrs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_integral_plant.h", |
| "static_zeroing_single_dof_profiled_subsystem_test_plant.h", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":state_feedback_loop", |
| ], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal.fbs", |
| ], |
| gen_reflections = 1, |
| includes = [ |
| ":control_loops_fbs_includes", |
| ":profiled_subsystem_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_subsystem_output.fbs", |
| ], |
| gen_reflections = 1, |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position.fbs", |
| ], |
| gen_reflections = 1, |
| includes = [ |
| ":control_loops_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_absolute_position.fbs", |
| ], |
| gen_reflections = 1, |
| includes = [ |
| ":control_loops_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status.fbs", |
| ], |
| gen_reflections = 1, |
| includes = [ |
| ":control_loops_fbs_includes", |
| ":profiled_subsystem_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| flatbuffer_cc_library( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status.fbs", |
| ], |
| gen_reflections = 1, |
| includes = [ |
| ":control_loops_fbs_includes", |
| ":profiled_subsystem_fbs_includes", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |
| |
| cc_test( |
| name = "static_zeroing_single_dof_profiled_subsystem_test", |
| srcs = [ |
| "static_zeroing_single_dof_profiled_subsystem_test.cc", |
| ], |
| data = [ |
| ":static_zeroing_single_dof_profiled_subsystem_test_config", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| deps = [ |
| ":capped_test_plant", |
| ":position_sensor_sim", |
| ":static_zeroing_single_dof_profiled_subsystem", |
| ":static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_plants", |
| ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs", |
| "//aos/testing:googletest", |
| "//frc971/control_loops:control_loop_test", |
| ], |
| ) |
| |
| aos_config( |
| name = "static_zeroing_single_dof_profiled_subsystem_test_config", |
| src = "static_zeroing_single_dof_profiled_subsystem_test_config_source.json", |
| flatbuffers = [ |
| "//frc971/input:joystick_state_fbs", |
| "//frc971/input:robot_state_fbs", |
| "//aos/logging:log_message_fbs", |
| "//aos/events:event_loop_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs", |
| ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs", |
| ], |
| target_compatible_with = ["@platforms//os:linux"], |
| ) |