Gitiles
Code Review Sign In
realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 0fa8e70d101302e58aed1ba5c36c639212e5b8c2
commit0fa8e70d101302e58aed1ba5c36c639212e5b8c2[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Wed Sep 28 19:43:31 2016 -0700
committerGerrit Code Review <gerrit@robotics.mvla.net>Wed Sep 28 19:43:31 2016 -0700
tree861e54584983f5168ea1d9e5491274b5850f2ee2
parent59f7d9ff262de8510e30ba12ed0ce208e7c05e02 [diff]
parent34cb531a98a92b5760a66f529fd653ea557f9e6d [diff]
Merge "Write up the math for the ELQR paper"
tree: 861e54584983f5168ea1d9e5491274b5850f2ee2
  1. aos/
  2. build_tests/
  3. compilers/
  4. debian/
  5. doc/
  6. frc971/
  7. third_party/
  8. tools/
  9. y2012/
  10. y2014/
  11. y2014_bot3/
  12. y2015/
  13. y2015_bot3/
  14. y2016/
  15. .clang-format
  16. .gitignore
  17. LICENSE.txt
  18. NO_BUILD_AMD64
  19. NO_BUILD_ROBORIO
  20. README.md
  21. WORKSPACE
README.md

Introduction

This is FRC Team 971's main code repository. There are README* files throughout the source tree documenting specifics for their respective folders.

Access to the code

The main central location for our code is our Gerrit server at https://robotics.mvla.net/gerrit. To get a copy of the code on your computer to work with, follow these steps:

  1. Contact Michael Schuh to get an SVN account.
  2. Go to Gerrit and create an account.
  3. Contact Brian Silverman with your SVN username to get access to the code in Gerrit.
  4. Go to the 971-Robot-Code project in Gerrit and run the command. Running the clone with commit-msg hook command will save you trouble later.

To learn more about git, see git(1) (man git or git(1) (especially the NOTES section).

Code reviews

We want all code to at least have a second person look over it before it gets merged into the master branch. Gerrit has extensive documentation on starting reviews. TL;DR: git push origin HEAD:refs/for/master and then click on the link to add reviewers. If you just upload a change without adding any reviewers, it might sit around for a long time before anybody else notices it. git-review can make the upload process simpler.

Building the code

The currently supported operating system for building the code is amd64 Debian Jessie. It is likely to work on any x86_64 GNU/Linux system, but that's not at all well-tested.

We use Bazel to build the code. Bazel has extensive docs and does a nice job with fast, correct increment rebuilds.

Steps to set up a computer to build the code: 0. Set up the required APT repositories: Download frc971.list and llvm.org.list and put them in /etc/apt/sources.list.d/.

  1. Install the required packages:
apt-get install python libpython-dev bazel ruby clang-format-3.5 clang-3.6 gfortran libblas-dev liblapack-dev python-scipy python-matplotlib
  1. Allow Bazel's sandboxing to work

Some useful Bazel commands:

  • Build and test everything (on the host system):
bazel test //... -- $(cat NO_BUILD_AMD64)
bazel build --cpu=roborio //... -- $(cat NO_BUILD_ROBORIO)

The NO_BUILD_{AMD64,ROBORIO} files contain lists of the targets which are intentionally not built for the various CPUs.
  • Build the code for a specific robot:
bazel build --cpu=roborio --compilation_mode=opt //y2015/...
  • Download code to a robot:
bazel run --cpu=roborio --compilation_mode=opt //y2015:download roboRIO-971.local