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