Drive code works on Tantrum.
Need to write the spring code. Drive now supports doubles... What a
pain.
Change-Id: Id589acdc443dcd81242a21e3b0c26f81d6974dc8
diff --git a/aos/common/controls/BUILD b/aos/common/controls/BUILD
index 456cf44..46b5f24 100644
--- a/aos/common/controls/BUILD
+++ b/aos/common/controls/BUILD
@@ -1,89 +1,101 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos/build:queues.bzl", "queue_library")
+load("//tools:environments.bzl", "mcu_cpus")
cc_library(
- name = 'replay_control_loop',
- hdrs = [
- 'replay_control_loop.h',
- ],
- deps = [
- '//aos/common:queues',
- ':control_loop',
- '//aos/common/logging:replay',
- '//aos/common/logging:queue_logging',
- '//aos/common:time',
- ],
+ name = "replay_control_loop",
+ hdrs = [
+ "replay_control_loop.h",
+ ],
+ deps = [
+ ":control_loop",
+ "//aos/common:queues",
+ "//aos/common:time",
+ "//aos/common/logging:queue_logging",
+ "//aos/common/logging:replay",
+ ],
)
cc_library(
- name = 'control_loop_test',
- srcs = [
- 'control_loop_test.cc',
- ],
- hdrs = [
- 'control_loop_test.h',
- ],
- deps = [
- '//aos/common/logging:queue_logging',
- '//aos/common/messages:robot_state',
- '//aos/common:time',
- '//aos/testing:googletest',
- '//aos/testing:test_shm',
- ],
- testonly = True,
+ name = "control_loop_test",
+ testonly = True,
+ srcs = [
+ "control_loop_test.cc",
+ ],
+ hdrs = [
+ "control_loop_test.h",
+ ],
+ deps = [
+ "//aos/common:time",
+ "//aos/common/logging:queue_logging",
+ "//aos/common/messages:robot_state",
+ "//aos/testing:googletest",
+ "//aos/testing:test_shm",
+ ],
)
cc_library(
- name = 'polytope',
- hdrs = [
- 'polytope.h',
- ],
- deps = [
- '//third_party/eigen',
- '//third_party/cddlib',
- '//aos/common/logging',
- '//aos/common/logging:matrix_logging',
- ],
+ name = "polytope_uc",
+ hdrs = [
+ "polytope.h",
+ ],
+ restricted_to = mcu_cpus,
+ deps = [
+ "//third_party/eigen",
+ ],
+)
+
+cc_library(
+ name = "polytope",
+ hdrs = [
+ "polytope.h",
+ ],
+ deps = [
+ "//aos/common/logging",
+ "//aos/common/logging:matrix_logging",
+ "//third_party/cddlib",
+ "//third_party/eigen",
+ ],
)
cc_test(
- name = 'polytope_test',
- srcs = [
- 'polytope_test.cc',
- ],
- deps = [
- ':polytope',
- '//aos/testing:googletest',
- '//third_party/eigen',
- '//third_party/googletest:googlemock',
- '//aos/testing:test_logging',
- ],
+ name = "polytope_test",
+ srcs = [
+ "polytope_test.cc",
+ ],
+ deps = [
+ ":polytope",
+ "//aos/testing:googletest",
+ "//aos/testing:test_logging",
+ "//third_party/eigen",
+ "//third_party/googletest:googlemock",
+ ],
)
queue_library(
- name = 'control_loop_queues',
- srcs = [
- 'control_loops.q',
- ],
+ name = "control_loop_queues",
+ srcs = [
+ "control_loops.q",
+ ],
)
cc_library(
- name = 'control_loop',
- srcs = [
- 'control_loop.cc',
- 'control_loop-tmpl.h',
- ],
- hdrs = [
- 'control_loop.h',
- ],
- deps = [
- ':control_loop_queues',
- '//aos/common/logging',
- '//aos/common/logging:queue_logging',
- '//aos/common/messages:robot_state',
- '//aos/common/util:log_interval',
- '//aos/common:queues',
- '//aos/common:time',
- ],
+ name = "control_loop",
+ srcs = [
+ "control_loop.cc",
+ "control_loop-tmpl.h",
+ ],
+ hdrs = [
+ "control_loop.h",
+ ],
+ deps = [
+ ":control_loop_queues",
+ "//aos/common:queues",
+ "//aos/common:time",
+ "//aos/common/logging",
+ "//aos/common/logging:queue_logging",
+ "//aos/common/messages:robot_state",
+ "//aos/common/util:log_interval",
+ ],
)