Merge "Split 2022 vision math code into library"
diff --git a/BUILD b/BUILD
index 232ac67..0d79e19 100644
--- a/BUILD
+++ b/BUILD
@@ -15,12 +15,14 @@
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response //scouting/webserver/requests/messages:error_response_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting //scouting/webserver/requests/messages:submit_data_scouting_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response //scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs
-# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response //scouting/webserver/requests/messages:query_data_scouting_response_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response //scouting/webserver/requests/messages:request_data_scouting_response_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting //scouting/webserver/requests/messages:request_data_scouting_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response //scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team //scouting/webserver/requests/messages:request_matches_for_team_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response //scouting/webserver/requests/messages:request_all_matches_response_go_fbs
# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches //scouting/webserver/requests/messages:request_all_matches_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list //scouting/webserver/requests/messages:refresh_match_list_go_fbs
+# gazelle:resolve go github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response //scouting/webserver/requests/messages:refresh_match_list_response_go_fbs
gazelle(
name = "gazelle",
diff --git a/WORKSPACE b/WORKSPACE
index acda914..398202c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -752,7 +752,7 @@
# I'm sure there is a better path, but that works...
yarn_install(
name = "npm",
- frozen_lockfile = False,
+ frozen_lockfile = True,
package_json = "//:package.json",
symlink_node_modules = False,
yarn_lock = "//:yarn.lock",
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index 686529f..20f1a01 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -53,6 +53,9 @@
"//y2020/control_loops/superstructure:turret_plotter",
"//y2021_bot3/control_loops/superstructure:superstructure_plotter",
"//y2022/control_loops/superstructure:catapult_plotter",
+ "//y2022/control_loops/superstructure:climber_plotter",
+ "//y2022/control_loops/superstructure:intake_plotter",
+ "//y2022/control_loops/superstructure:turret_plotter",
"//y2022/localizer:localizer_plotter",
],
)
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 332db34..bbaa0ce 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -28,22 +28,28 @@
import {plotDownEstimator} from 'org_frc971/frc971/control_loops/drivetrain/down_estimator_plotter';
import {plotRobotState} from
'org_frc971/frc971/control_loops/drivetrain/robot_state_plotter'
-import {plotFinisher} from
+import {plotFinisher as plot2020Finisher} from
'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
-import {plotTurret} from
+import {plotTurret as plot2020Turret} from
'org_frc971/y2020/control_loops/superstructure/turret_plotter'
import {plotLocalizer as plot2020Localizer} from
'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+import {plotAccelerator as plot2020Accelerator} from
+ 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
+import {plotHood as plot2020Hood} from
+ 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+import {plotSuperstructure as plot2021Superstructure} from
+ 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+import {plotTurret as plot2022Turret} from
+ 'org_frc971/y2022/control_loops/superstructure/turret_plotter'
import {plotCatapult as plot2022Catapult} from
'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
+import {plotIntakeFront as plot2022IntakeFront, plotIntakeBack as plot2022IntakeBack} from
+ 'org_frc971/y2022/control_loops/superstructure/intake_plotter'
+import {plotClimber as plot2022Climber} from
+ 'org_frc971/y2022/control_loops/superstructure/climber_plotter'
import {plotLocalizer as plot2022Localizer} from
'org_frc971/y2022/localizer/localizer_plotter'
-import {plotAccelerator} from
- 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
-import {plotHood} from
- 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
-import {plotSuperstructure} from
- 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
@@ -104,15 +110,19 @@
['Spline Debug', new PlotState(plotDiv, plotSpline)],
['Down Estimator', new PlotState(plotDiv, plotDownEstimator)],
['Robot State', new PlotState(plotDiv, plotRobotState)],
- ['Finisher', new PlotState(plotDiv, plotFinisher)],
- ['Accelerator', new PlotState(plotDiv, plotAccelerator)],
- ['Hood', new PlotState(plotDiv, plotHood)],
- ['Turret', new PlotState(plotDiv, plotTurret)],
- ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
+ ['2020 Finisher', new PlotState(plotDiv, plot2020Finisher)],
+ ['2020 Accelerator', new PlotState(plotDiv, plot2020Accelerator)],
+ ['2020 Hood', new PlotState(plotDiv, plot2020Hood)],
+ ['2020 Turret', new PlotState(plotDiv, plot2020Turret)],
['2020 Localizer', new PlotState(plotDiv, plot2020Localizer)],
+ ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
['2022 Catapult', new PlotState(plotDiv, plot2022Catapult)],
+ ['2022 Intake Front', new PlotState(plotDiv, plot2022IntakeFront)],
+ ['2022 Intake Back', new PlotState(plotDiv, plot2022IntakeBack)],
+ ['2022 Climber', new PlotState(plotDiv, plot2022Climber)],
+ ['2022 Turret', new PlotState(plotDiv, plot2022Turret)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
- ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plotSuperstructure)],
+ ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plot2021Superstructure)],
]);
const invalidSelectValue = 'null';
diff --git a/frc971/control_loops/python/constants.py b/frc971/control_loops/python/constants.py
index b515626..0a3ad18 100644
--- a/frc971/control_loops/python/constants.py
+++ b/frc971/control_loops/python/constants.py
@@ -33,6 +33,7 @@
Robot2019 = RobotType(width=0.65, length=0.8)
Robot2020 = RobotType(width=0.8128, length=0.8636) # 32 in x 34 in
Robot2021 = Robot2020
+Robot2022 = Robot2021
FIELDS = {
"2019 Field":
@@ -116,14 +117,25 @@
length=4.572,
robot=Robot2021,
field_id="autonav_bounce"),
+ "2022 Field":
+ FieldType(
+ "2022 Field",
+ tags=[],
+ year=2022,
+ width=16.4592,
+ length=8.2296,
+ robot=Robot2022,
+ field_id="2022"),
}
-FIELD = FIELDS["2020 Field"]
+FIELD = FIELDS["2022 Field"]
def get_json_folder(field):
if field.year == 2020 or field.year == 2021:
return "y2020/actors/splines"
+ elif field.year == 2022:
+ return "y2022/actors/splines"
else:
return "frc971/control_loops/python/spline_jsons"
diff --git a/frc971/control_loops/python/field_images/2022.png b/frc971/control_loops/python/field_images/2022.png
new file mode 100644
index 0000000..68087bd
--- /dev/null
+++ b/frc971/control_loops/python/field_images/2022.png
Binary files differ
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index df460d3..35a670c 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -7,7 +7,6 @@
import gi
import numpy as np
gi.require_version('Gtk', '3.0')
-gi.require_version('Gdk', '3.0')
from gi.repository import Gdk, Gtk, GLib
import cairo
from libspline import Spline
@@ -57,7 +56,7 @@
self.held_x = 0
self.spline_edit = -1
- self.transform = cairo.Matrix()
+ self.zoom_transform = cairo.Matrix()
self.set_events(Gdk.EventMask.BUTTON_PRESS_MASK
| Gdk.EventMask.BUTTON_PRESS_MASK
@@ -73,16 +72,28 @@
self.field.field_id + ".png")
except cairo.Error:
self.field_png = None
+
self.queue_draw()
+ def invert(self, transform):
+ xx, yx, xy, yy, x0, y0 = transform
+ matrix = cairo.Matrix(xx, yx, xy, yy, x0, y0)
+ matrix.invert()
+ return matrix
+
# returns the transform from widget space to field space
@property
def input_transform(self):
- xx, yx, xy, yy, x0, y0 = self.transform
- matrix = cairo.Matrix(xx, yx, xy, yy, x0, y0)
# the transform for input needs to be the opposite of the transform for drawing
- matrix.invert()
- return matrix
+ return self.invert(self.field_transform.multiply(self.zoom_transform))
+
+ @property
+ def field_transform(self):
+ field_transform = cairo.Matrix()
+ field_transform.scale(1, -1) # flipped y-axis
+ field_transform.scale(1 / self.pxToM_scale(), 1 / self.pxToM_scale())
+ field_transform.translate(self.field.width / 2, -1 * self.field.length / 2)
+ return field_transform
# returns the scale from pixels in field space to meters in field space
def pxToM_scale(self):
@@ -97,19 +108,19 @@
return m / self.pxToM_scale()
def draw_robot_at_point(self, cr, i, p, spline):
- p1 = [self.mToPx(spline.Point(i)[0]), self.mToPx(spline.Point(i)[1])]
+ p1 = [spline.Point(i)[0], spline.Point(i)[1]]
p2 = [
- self.mToPx(spline.Point(i + p)[0]),
- self.mToPx(spline.Point(i + p)[1])
+ spline.Point(i + p)[0],
+ spline.Point(i + p)[1]
]
#Calculate Robot
distance = np.sqrt((p2[1] - p1[1])**2 + (p2[0] - p1[0])**2)
x_difference_o = p2[0] - p1[0]
y_difference_o = p2[1] - p1[1]
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2) / distance
front_middle = []
@@ -123,9 +134,9 @@
slope = [-(1 / x_difference_o) / (1 / y_difference_o)]
angle = np.arctan(slope)
- x_difference = np.sin(angle[0]) * self.mToPx(
+ x_difference = np.sin(angle[0]) * (
self.field.robot.width / 2)
- y_difference = np.cos(angle[0]) * self.mToPx(
+ y_difference = np.cos(angle[0]) * (
self.field.robot.width / 2)
front_1 = []
@@ -144,9 +155,9 @@
back_2.append(back_middle[0] + x_difference)
back_2.append(back_middle[1] + y_difference)
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
#Calculate Ball
@@ -154,9 +165,9 @@
ball_center.append(p1[0] + x_difference)
ball_center.append(p1[1] + y_difference)
- x_difference = x_difference_o * self.mToPx(
+ x_difference = x_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
- y_difference = y_difference_o * self.mToPx(
+ y_difference = y_difference_o * (
self.field.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
#Calculate Panel
@@ -164,8 +175,8 @@
panel_center.append(p1[0] + x_difference)
panel_center.append(p1[1] + y_difference)
- x_difference = np.sin(angle[0]) * self.mToPx(HATCH_PANEL_WIDTH / 2)
- y_difference = np.cos(angle[0]) * self.mToPx(HATCH_PANEL_WIDTH / 2)
+ x_difference = np.sin(angle[0]) * (HATCH_PANEL_WIDTH / 2)
+ y_difference = np.cos(angle[0]) * (HATCH_PANEL_WIDTH / 2)
panel_1 = []
panel_1.append(panel_center[0] + x_difference)
@@ -188,7 +199,7 @@
set_color(cr, palette["ORANGE"], 0.5)
cr.move_to(back_middle[0], back_middle[1])
cr.line_to(ball_center[0], ball_center[1])
- cr.arc(ball_center[0], ball_center[1], self.mToPx(BALL_RADIUS), 0,
+ cr.arc(ball_center[0], ball_center[1], BALL_RADIUS, 0,
2 * np.pi)
cr.stroke()
@@ -201,23 +212,24 @@
cr.set_source_rgba(0, 0, 0, 1)
def do_draw(self, cr): # main
- cr.set_matrix(self.transform.multiply(cr.get_matrix()))
+ cr.set_matrix(self.field_transform.multiply(self.zoom_transform).multiply(cr.get_matrix()))
cr.save()
set_color(cr, palette["BLACK"])
- cr.set_line_width(1.0)
- cr.rectangle(0, 0, self.mToPx(self.field.width),
- self.mToPx(self.field.length))
+ cr.set_line_width(self.pxToM(2))
+ cr.rectangle(-0.5 * self.field.width, -0.5 * self.field.length, self.field.width,
+ self.field.length)
cr.set_line_join(cairo.LINE_JOIN_ROUND)
cr.stroke()
if self.field_png:
cr.save()
+ cr.translate(-0.5 * self.field.width, 0.5 * self.field.length)
cr.scale(
- self.mToPx(self.field.width) / self.field_png.get_width(),
- self.mToPx(self.field.length) / self.field_png.get_height(),
+ self.field.width / self.field_png.get_width(),
+ -self.field.length / self.field_png.get_height(),
)
cr.set_source_surface(self.field_png)
cr.paint()
@@ -225,11 +237,11 @@
# update everything
- cr.set_line_width(2.0)
+ cr.set_line_width(self.pxToM(2))
if self.mode == Mode.kPlacing or self.mode == Mode.kViewing:
set_color(cr, palette["BLACK"])
for i, point in enumerate(self.points.getPoints()):
- draw_px_x(cr, self.mToPx(point[0]), self.mToPx(point[1]), 10)
+ draw_px_x(cr, point[0], point[1], self.pxToM(5))
set_color(cr, palette["WHITE"])
elif self.mode == Mode.kEditing:
set_color(cr, palette["BLACK"])
@@ -237,17 +249,17 @@
self.draw_splines(cr)
for i, points in enumerate(self.points.getSplines()):
points = [
- np.array([self.mToPx(x), self.mToPx(y)])
+ np.array([x, y])
for (x, y) in points
]
- draw_control_points(cr, points)
+ draw_control_points(cr, points, width=self.pxToM(10), radius=self.pxToM(4))
p0, p1, p2, p3, p4, p5 = points
first_tangent = p0 + 2.0 * (p1 - p0)
second_tangent = p5 + 2.0 * (p4 - p5)
cr.set_source_rgb(0, 0.5, 0)
cr.move_to(p0[0], p0[1])
- cr.set_line_width(1.0)
+ cr.set_line_width(self.pxToM(1.0))
cr.line_to(first_tangent[0], first_tangent[1])
cr.move_to(first_tangent[0], first_tangent[1])
cr.line_to(p2[0], p2[1])
@@ -259,27 +271,27 @@
cr.line_to(p3[0], p3[1])
cr.stroke()
- cr.set_line_width(2.0)
+ cr.set_line_width(self.pxToM(2))
set_color(cr, palette["WHITE"])
cr.paint_with_alpha(0.2)
- draw_px_cross(cr, self.mousex, self.mousey, 10)
+ draw_px_cross(cr, self.mousex, self.mousey, self.pxToM(8))
cr.restore()
def draw_splines(self, cr):
for i, spline in enumerate(self.points.getLibsplines()):
- for k in np.linspace(0.01, 1, 100):
+ for k in np.linspace(0.02, 1, 200):
cr.move_to(
- self.mToPx(spline.Point(k - 0.01)[0]),
- self.mToPx(spline.Point(k - 0.01)[1]))
+ spline.Point(k - 0.008)[0],
+ spline.Point(k - 0.008)[1])
cr.line_to(
- self.mToPx(spline.Point(k)[0]),
- self.mToPx(spline.Point(k)[1]))
+ spline.Point(k)[0],
+ spline.Point(k)[1])
cr.stroke()
if i == 0:
- self.draw_robot_at_point(cr, 0.00, 0.01, spline)
- self.draw_robot_at_point(cr, 1, 0.01, spline)
+ self.draw_robot_at_point(cr, 0, 0.008, spline)
+ self.draw_robot_at_point(cr, 1, 0.008, spline)
def export_json(self, file_name):
self.path_to_export = os.path.join(
@@ -394,8 +406,8 @@
if self.mode == Mode.kEditing:
if self.index_of_edit > -1 and self.held_x != self.mousex:
self.points.setSplines(self.spline_edit, self.index_of_edit,
- self.pxToM(self.mousex),
- self.pxToM(self.mousey))
+ self.mousex,
+ self.mousey)
self.points.splineExtrapolate(self.spline_edit)
@@ -411,7 +423,7 @@
if self.mode == Mode.kPlacing:
if self.points.add_point(
- self.pxToM(self.mousex), self.pxToM(self.mousey)):
+ self.mousex, self.mousey):
self.mode = Mode.kEditing
self.graph.schedule_recalculate(self.points)
elif self.mode == Mode.kEditing:
@@ -421,7 +433,7 @@
# Get clicked point
# Find nearest
# Move nearest to clicked
- cur_p = [self.pxToM(self.mousex), self.pxToM(self.mousey)]
+ cur_p = [self.mousex, self.mousey]
# Get the distance between each for x and y
# Save the index of the point closest
nearest = 1 # Max distance away a the selected point can be in meters
@@ -448,23 +460,24 @@
event.x, event.y)
dif_x = self.mousex - old_x
dif_y = self.mousey - old_y
- difs = np.array([self.pxToM(dif_x), self.pxToM(dif_y)])
+ difs = np.array([dif_x, dif_y])
if self.mode == Mode.kEditing and self.spline_edit != -1:
self.points.updates_for_mouse_move(self.index_of_edit,
self.spline_edit,
- self.pxToM(self.mousex),
- self.pxToM(self.mousey), difs)
+ self.mousex,
+ self.mousey, difs)
self.points.update_lib_spline()
self.graph.schedule_recalculate(self.points)
self.queue_draw()
def do_scroll_event(self, event):
+
self.mousex, self.mousey = self.input_transform.transform_point(
event.x, event.y)
- step_size = 20 # px
+ step_size = self.pxToM(20) # px
if event.direction == Gdk.ScrollDirection.UP:
# zoom out
@@ -475,32 +488,27 @@
else:
return
- apparent_width, apparent_height = self.transform.transform_distance(
- self.mToPx(FIELD.width), self.mToPx(FIELD.length))
- scale = (apparent_width + scale_by) / apparent_width
-
- # scale from point in field coordinates
- point = self.mousex, self.mousey
+ scale = (self.field.width + scale_by) / self.field.width
# This restricts the amount it can be scaled.
- if self.transform.xx <= 0.75:
+ if self.zoom_transform.xx <= 0.5:
scale = max(scale, 1)
- elif self.transform.xx >= 16:
+ elif self.zoom_transform.xx >= 16:
scale = min(scale, 1)
# move the origin to point
- self.transform.translate(point[0], point[1])
+ self.zoom_transform.translate(event.x, event.y)
# scale from new origin
- self.transform.scale(scale, scale)
+ self.zoom_transform.scale(scale, scale)
# move back
- self.transform.translate(-point[0], -point[1])
+ self.zoom_transform.translate(-event.x, -event.y)
# snap to the edge when near 1x scaling
- if 0.99 < self.transform.xx < 1.01 and -50 < self.transform.x0 < 50:
- self.transform.x0 = 0
- self.transform.y0 = 0
+ if 0.99 < self.zoom_transform.xx < 1.01 and -50 < self.zoom_transform.x0 < 50:
+ self.zoom_transform.x0 = 0
+ self.zoom_transform.y0 = 0
print("snap")
self.queue_draw()
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
index 04d93c4..d6e8f15 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h
@@ -126,6 +126,8 @@
void TriggerEstimatorError() { profiled_subsystem_.TriggerEstimatorError(); }
+ void Estop() { state_ = State::ESTOP; }
+
void set_controller_index(int index) {
profiled_subsystem_.set_controller_index(index);
}
diff --git a/frc971/raspi/rootfs/change_hostname.sh b/frc971/raspi/rootfs/change_hostname.sh
index f555048..20ff635 100755
--- a/frc971/raspi/rootfs/change_hostname.sh
+++ b/frc971/raspi/rootfs/change_hostname.sh
@@ -52,7 +52,7 @@
# Put corret team number in imu's address, or add it if missing
if grep '^10\.[0-9]*\.[0-9]*\.105\s.*\s*imu$' /etc/hosts >/dev/null;
then
- sed -i "s/^10\.[0-9]*\.[0-9]*\(\.105\s.*imu\)$/${IP_BASE}\1/" /etc/hosts
+ sed -i "s/^10\.[0-9]*\.[0-9]*\(\.[0-9]*\s*pi-\)[0-9]*\(-[0-9] pi5 imu\)$/${IP_BASE}\1${TEAM_NUMBER}\2/" /etc/hosts
else
if grep '^10\.[0-9]*\.[0-9]*\.105\s*pi-[0-9]*-[0-9]*\s*pi5$' /etc/hosts
then
diff --git a/frc971/raspi/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
index 388d291..06f481b 100755
--- a/frc971/raspi/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -3,6 +3,7 @@
set -ex
mkdir -p /root/bin
+mkdir -p /home/pi/bin
# Give it a static IP
cp /tmp/dhcpcd.conf /etc/
diff --git a/frc971/wpilib/ahal/AnalogInput.cc b/frc971/wpilib/ahal/AnalogInput.cc
index 8d814ad..7482476 100644
--- a/frc971/wpilib/ahal/AnalogInput.cc
+++ b/frc971/wpilib/ahal/AnalogInput.cc
@@ -41,6 +41,8 @@
HAL_GetErrorMessage(status));
m_channel = std::numeric_limits<int>::max();
m_port = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status)
+ << ": Failed to make AnalogInput channel " << channel;
return;
}
@@ -69,6 +71,7 @@
int32_t status = 0;
int value = HAL_GetAnalogValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -91,6 +94,7 @@
int32_t status = 0;
int value = HAL_GetAnalogAverageValue(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -107,6 +111,7 @@
int32_t status = 0;
double voltage = HAL_GetAnalogVoltage(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return voltage;
}
@@ -129,6 +134,7 @@
int32_t status = 0;
double voltage = HAL_GetAnalogAverageVoltage(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return voltage;
}
@@ -144,6 +150,7 @@
int32_t status = 0;
int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return lsbWeight;
}
@@ -159,6 +166,7 @@
int32_t status = 0;
int offset = HAL_GetAnalogOffset(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return offset;
}
@@ -188,6 +196,7 @@
int32_t status = 0;
HAL_SetAnalogAverageBits(m_port, bits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -202,6 +211,7 @@
int32_t status = 0;
int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return averageBits;
}
@@ -220,6 +230,7 @@
int32_t status = 0;
HAL_SetAnalogOversampleBits(m_port, bits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -236,6 +247,7 @@
int32_t status = 0;
int oversampleBits = HAL_GetAnalogOversampleBits(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return oversampleBits;
}
@@ -251,6 +263,7 @@
int32_t status = 0;
HAL_SetAnalogSampleRate(samplesPerSecond, &status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -262,5 +275,6 @@
int32_t status = 0;
double sampleRate = HAL_GetAnalogSampleRate(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return sampleRate;
}
diff --git a/frc971/wpilib/ahal/AnalogTrigger.cc b/frc971/wpilib/ahal/AnalogTrigger.cc
index 825a655..bd63189 100644
--- a/frc971/wpilib/ahal/AnalogTrigger.cc
+++ b/frc971/wpilib/ahal/AnalogTrigger.cc
@@ -32,6 +32,7 @@
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status);
return;
}
int index = GetIndex();
@@ -46,6 +47,7 @@
if (status != 0) {
wpi_setHALError(status);
m_trigger = HAL_kInvalidHandle;
+ HAL_CHECK_STATUS(status);
return;
}
int index = GetIndex();
@@ -56,6 +58,7 @@
AnalogTrigger::~AnalogTrigger() {
int32_t status = 0;
HAL_CleanAnalogTrigger(m_trigger, &status);
+ HAL_CHECK_STATUS(status);
if (m_ownsAnalog) {
delete m_analogInput;
@@ -83,6 +86,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetLimitsDutyCycle(double lower, double upper) {
@@ -90,6 +94,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsDutyCycle(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetLimitsRaw(int lower, int upper) {
@@ -97,6 +102,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetAveraged(bool useAveragedValue) {
@@ -104,6 +110,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerAveraged(m_trigger, useAveragedValue, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void AnalogTrigger::SetFiltered(bool useFilteredValue) {
@@ -111,6 +118,7 @@
int32_t status = 0;
HAL_SetAnalogTriggerFiltered(m_trigger, useFilteredValue, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
int AnalogTrigger::GetIndex() const {
@@ -118,6 +126,7 @@
int32_t status = 0;
auto ret = HAL_GetAnalogTriggerFPGAIndex(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return ret;
}
@@ -126,6 +135,7 @@
int32_t status = 0;
bool result = HAL_GetAnalogTriggerInWindow(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return result;
}
@@ -134,6 +144,7 @@
int32_t status = 0;
bool result = HAL_GetAnalogTriggerTriggerState(m_trigger, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return result;
}
diff --git a/frc971/wpilib/ahal/Counter.cc b/frc971/wpilib/ahal/Counter.cc
index 81e2c61..8e91c82 100644
--- a/frc971/wpilib/ahal/Counter.cc
+++ b/frc971/wpilib/ahal/Counter.cc
@@ -19,6 +19,7 @@
int32_t status = 0;
m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
SetMaxPeriod(0.5);
@@ -77,6 +78,7 @@
}
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
SetDownSourceEdge(inverted, true);
}
@@ -86,6 +88,7 @@
int32_t status = 0;
HAL_FreeCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpSource(int channel) {
@@ -119,6 +122,7 @@
m_counter, source->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpSource(DigitalSource& source) {
@@ -136,6 +140,7 @@
int32_t status = 0;
HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::ClearUpSource() {
@@ -144,6 +149,7 @@
int32_t status = 0;
HAL_ClearCounterUpSource(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetDownSource(int channel) {
@@ -182,6 +188,7 @@
m_counter, source->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(), &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
@@ -194,6 +201,7 @@
int32_t status = 0;
HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::ClearDownSource() {
@@ -202,6 +210,7 @@
int32_t status = 0;
HAL_ClearCounterDownSource(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpDownCounterMode() {
@@ -209,6 +218,7 @@
int32_t status = 0;
HAL_SetCounterUpDownMode(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetExternalDirectionMode() {
@@ -216,6 +226,7 @@
int32_t status = 0;
HAL_SetCounterExternalDirectionMode(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
@@ -223,6 +234,7 @@
int32_t status = 0;
HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetPulseLengthMode(double threshold) {
@@ -230,6 +242,7 @@
int32_t status = 0;
HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetReverseDirection(bool reverseDirection) {
@@ -237,6 +250,7 @@
int32_t status = 0;
HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetSamplesToAverage(int samplesToAverage) {
@@ -248,12 +262,14 @@
int32_t status = 0;
HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
int Counter::GetSamplesToAverage() const {
int32_t status = 0;
int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return samples;
}
@@ -264,6 +280,7 @@
int32_t status = 0;
int value = HAL_GetCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -272,6 +289,7 @@
int32_t status = 0;
HAL_ResetCounter(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
double Counter::GetPeriod() const {
@@ -279,6 +297,7 @@
int32_t status = 0;
double value = HAL_GetCounterPeriod(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -287,6 +306,7 @@
int32_t status = 0;
HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
void Counter::SetUpdateWhenEmpty(bool enabled) {
@@ -294,6 +314,7 @@
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
}
bool Counter::GetStopped() const {
@@ -301,6 +322,7 @@
int32_t status = 0;
bool value = HAL_GetCounterStopped(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -309,5 +331,6 @@
int32_t status = 0;
bool value = HAL_GetCounterDirection(m_counter, &status);
wpi_setHALError(status);
+ HAL_CHECK_STATUS(status);
return value;
}
diff --git a/frc971/wpilib/ahal/DigitalInput.cc b/frc971/wpilib/ahal/DigitalInput.cc
index 3e07208..d922cae 100644
--- a/frc971/wpilib/ahal/DigitalInput.cc
+++ b/frc971/wpilib/ahal/DigitalInput.cc
@@ -43,6 +43,7 @@
channel, HAL_GetErrorMessage(status));
m_handle = HAL_kInvalidHandle;
m_channel = std::numeric_limits<int>::max();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
return;
}
@@ -72,6 +73,7 @@
int32_t status = 0;
bool value = HAL_GetDIO(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
diff --git a/frc971/wpilib/ahal/DigitalOutput.cc b/frc971/wpilib/ahal/DigitalOutput.cc
index cc1f3d2..ac00df3 100644
--- a/frc971/wpilib/ahal/DigitalOutput.cc
+++ b/frc971/wpilib/ahal/DigitalOutput.cc
@@ -43,6 +43,7 @@
if (status != 0) {
wpi_setErrorWithContextRange(status, 0, HAL_GetNumDigitalChannels(),
channel, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
@@ -75,6 +76,7 @@
int32_t status = 0;
HAL_SetDIO(m_handle, value, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -88,6 +90,7 @@
int32_t status = 0;
bool val = HAL_GetDIO(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return val;
}
@@ -110,6 +113,7 @@
int32_t status = 0;
HAL_Pulse(m_handle, length, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -123,6 +127,7 @@
int32_t status = 0;
bool value = HAL_IsPulsing(m_handle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -142,6 +147,7 @@
int32_t status = 0;
HAL_SetDigitalPWMRate(rate, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ HAL_CHECK_STATUS(status);
}
/**
@@ -173,6 +179,8 @@
if (StatusIsFatal()) return;
HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_CHECK_STATUS(status);
}
/**
@@ -194,6 +202,8 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
m_pwmGenerator = HAL_kInvalidHandle;
+
+ HAL_CHECK_STATUS(status);
}
/**
@@ -210,6 +220,8 @@
int32_t status = 0;
HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+ HAL_CHECK_STATUS(status);
}
/**
diff --git a/frc971/wpilib/ahal/Encoder.cc b/frc971/wpilib/ahal/Encoder.cc
index b452720..417792d 100644
--- a/frc971/wpilib/ahal/Encoder.cc
+++ b/frc971/wpilib/ahal/Encoder.cc
@@ -9,11 +9,10 @@
#include "hal/HAL.h"
#include "frc971/wpilib/ahal/DigitalInput.h"
+#include "frc971/wpilib/ahal/WPIErrors.h"
using namespace frc;
-#define HAL_FATAL_WITH_STATUS(status)
-
/**
* Common initialization code for Encoders.
*
@@ -40,7 +39,7 @@
m_bSource->GetPortHandleForRouting(),
(HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(),
reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
@@ -84,7 +83,7 @@
Encoder::~Encoder() {
int32_t status = 0;
HAL_FreeEncoder(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
}
/**
@@ -110,7 +109,7 @@
int Encoder::GetRaw() const {
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -129,7 +128,7 @@
double Encoder::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return value;
}
/**
@@ -151,12 +150,12 @@
void Encoder::SetMaxPeriod(double maxPeriod) {
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
}
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
- HAL_FATAL_WITH_STATUS(status);
+ HAL_CHECK_STATUS(status);
return val;
}
diff --git a/frc971/wpilib/ahal/PWM.cc b/frc971/wpilib/ahal/PWM.cc
index 31b9863..7184643 100644
--- a/frc971/wpilib/ahal/PWM.cc
+++ b/frc971/wpilib/ahal/PWM.cc
@@ -17,8 +17,6 @@
using namespace frc;
-#define HAL_FATAL_ERROR()
-
/**
* Allocate a PWM given a channel number.
*
@@ -42,7 +40,7 @@
// wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(),
// channel,
// HAL_GetErrorMessage(status));
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
m_channel = std::numeric_limits<int>::max();
m_handle = HAL_kInvalidHandle;
return;
@@ -51,10 +49,10 @@
m_channel = channel;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
status = 0;
HAL_SetPWMEliminateDeadband(m_handle, false, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status) << ": Channel " << channel;
HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
}
@@ -68,10 +66,10 @@
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
HAL_FreePWMPort(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -85,7 +83,7 @@
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
int32_t status = 0;
HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -106,7 +104,7 @@
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -127,7 +125,7 @@
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -148,7 +146,7 @@
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -164,7 +162,7 @@
void PWM::SetPosition(double pos) {
int32_t status = 0;
HAL_SetPWMPosition(m_handle, pos, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -180,7 +178,7 @@
double PWM::GetPosition() const {
int32_t status = 0;
double position = HAL_GetPWMPosition(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return position;
}
@@ -200,7 +198,7 @@
void PWM::SetSpeed(double speed) {
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -218,7 +216,7 @@
double PWM::GetSpeed() const {
int32_t status = 0;
double speed = HAL_GetPWMSpeed(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return speed;
}
@@ -232,7 +230,7 @@
void PWM::SetRaw(uint16_t value) {
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -245,7 +243,7 @@
uint16_t PWM::GetRaw() const {
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
return value;
}
@@ -274,7 +272,7 @@
LOG(FATAL) << "Invalid multiplier " << mult;
}
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
/**
@@ -285,12 +283,12 @@
int32_t status = 0;
HAL_SetPWMDisabled(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
void PWM::SetZeroLatch() {
int32_t status = 0;
HAL_LatchPWMZero(m_handle, &status);
- HAL_FATAL_ERROR();
+ HAL_CHECK_STATUS(status);
}
diff --git a/frc971/wpilib/ahal/WPIErrors.h b/frc971/wpilib/ahal/WPIErrors.h
index 482240c..601e65a 100644
--- a/frc971/wpilib/ahal/WPIErrors.h
+++ b/frc971/wpilib/ahal/WPIErrors.h
@@ -9,6 +9,8 @@
#include <cstdint>
+#include "glog/logging.h"
+
#ifdef WPI_ERRORS_DEFINE_STRINGS
#define S(label, offset, message) \
const char *wpi_error_s_##label = message; \
@@ -19,6 +21,9 @@
const int wpi_error_value_##label = offset
#endif
+#define HAL_CHECK_STATUS(status) \
+ CHECK(status == 0) << HAL_GetLastError(&(status))
+
/*
* Fatal errors
*/
diff --git a/package.json b/package.json
index 7e6885b..d16aed7 100644
--- a/package.json
+++ b/package.json
@@ -2,34 +2,37 @@
"name": "971-Robot-Code",
"license": "MIT",
"devDependencies": {
- "@types/jasmine": "latest",
- "@types/node": "latest",
- "jasmine": "latest",
- "karma-requirejs": "latest",
- "karma-sourcemap-loader": "latest",
- "karma-chrome-launcher": "latest",
- "karma-firefox-launcher": "latest",
- "karma": "latest",
- "karma-jasmine": "latest",
- "requirejs": "latest",
- "@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": "4.4.6",
- "@bazel/rollup": "latest",
- "@bazel/terser": "latest",
- "@rollup/plugin-node-resolve": "latest",
- "typescript": "latest",
- "rollup": "latest",
- "terser": "latest",
+ "@angular/animations": "13.2.0",
+ "@angular/common": "13.2.0",
+ "@angular/compiler": "13.2.0",
+ "@angular/compiler-cli": "13.2.0",
+ "@angular/core": "13.2.0",
+ "@angular/forms": "13.2.0",
+ "@angular/platform-browser": "13.2.0",
+ "@angular/cli": "13.2.0",
"@babel/cli": "^7.6.0",
"@babel/core": "^7.6.0",
+ "@bazel/concatjs": "4.4.6",
+ "@bazel/protractor": "4.4.6",
+ "@bazel/rollup": "4.4.6",
+ "@bazel/typescript": "4.4.6",
+ "@bazel/terser": "4.4.6",
+ "@types/jasmine": "3.10.3",
+ "jasmine": "3.10.0",
+ "karma": "6.3.12",
+ "karma-chrome-launcher": "3.1.0",
+ "karma-firefox-launcher": "2.1.2",
+ "karma-jasmine": "4.0.1",
+ "karma-requirejs": "1.1.0",
+ "karma-sourcemap-loader": "0.3.8",
+ "protractor": "7.0.0",
+ "requirejs": "2.3.6",
+ "rollup": "2.66.1",
+ "@rollup/plugin-node-resolve": "13.1.3",
+ "@types/flatbuffers": "1.10.0",
+ "@types/node": "17.0.21",
+ "typescript": "4.5.5",
+ "terser": "5.10.0",
"zone.js": "^0.11.4"
}
}
diff --git a/scouting/BUILD b/scouting/BUILD
index 9b8adee..0ed540b 100644
--- a/scouting/BUILD
+++ b/scouting/BUILD
@@ -1,5 +1,5 @@
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
-load("//tools/build_rules:js.bzl", "turn_files_into_runfiles")
+load("//tools/build_rules:js.bzl", "protractor_ts_test", "turn_files_into_runfiles")
go_binary(
name = "sql_demo",
@@ -35,12 +35,11 @@
],
)
-py_test(
+protractor_ts_test(
name = "scouting_test",
srcs = [
- "scouting_test.py",
+ ":scouting_test.ts",
],
- data = [
- ":scouting",
- ],
+ on_prepare = ":scouting_test.protractor.on-prepare.js",
+ server = ":scouting",
)
diff --git a/scouting/db/db.go b/scouting/db/db.go
index 1d0081b..5d68e0f 100644
--- a/scouting/db/db.go
+++ b/scouting/db/db.go
@@ -12,18 +12,18 @@
}
type Match struct {
- matchNumber, round int
- compLevel string
- r1, r2, r3, b1, b2, b3 int
+ MatchNumber, Round int32
+ CompLevel string
+ R1, R2, R3, B1, B2, B3 int32
// Each of these variables holds the matchID of the corresponding Stats row
r1ID, r2ID, r3ID, b1ID, b2ID, b3ID int
}
type Stats struct {
- teamNumber, matchNumber int
- shotsMissed, upperGoalShots, lowerGoalShots int
- shotsMissedAuto, upperGoalAuto, lowerGoalAuto, playedDefense int
- climbing int
+ TeamNumber, MatchNumber int32
+ ShotsMissed, UpperGoalShots, LowerGoalShots int32
+ ShotsMissedAuto, UpperGoalAuto, LowerGoalAuto, PlayedDefense int32
+ Climbing int32
}
// Opens a database at the specified path. If the path refers to a non-existent
@@ -32,14 +32,14 @@
database := new(Database)
database.DB, _ = sql.Open("sqlite3", path)
statement, error_ := database.Prepare("CREATE TABLE IF NOT EXISTS matches " +
- "(id INTEGER PRIMARY KEY, matchNumber INTEGER, round INTEGER, compLevel INTEGER, r1 INTEGER, r2 INTEGER, r3 INTEGER, b1 INTEGER, b2 INTEGER, b3 INTEGER, r1ID INTEGER, r2ID INTEGER, r3ID INTEGER, b1ID INTEGER, b2ID INTEGER, b3ID INTEGER)")
+ "(id INTEGER PRIMARY KEY, MatchNumber INTEGER, Round INTEGER, CompLevel INTEGER, R1 INTEGER, R2 INTEGER, R3 INTEGER, B1 INTEGER, B2 INTEGER, B3 INTEGER, r1ID INTEGER, r2ID INTEGER, r3ID INTEGER, b1ID INTEGER, b2ID INTEGER, b3ID INTEGER)")
defer statement.Close()
if error_ != nil {
fmt.Println(error_)
return nil, error_
}
_, error_ = statement.Exec()
- statement, error_ = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (id INTEGER PRIMARY KEY, teamNumber INTEGER, matchNumber DOUBLE, shotsMissed INTEGER, upperGoalShots INTEGER, lowerGoalShots INTEGER, shotsMissedAuto INTEGER, upperGoalAuto INTEGER, lowerGoalAuto INTEGER, playedDefense INTEGER, climbing INTEGER)")
+ statement, error_ = database.Prepare("CREATE TABLE IF NOT EXISTS team_match_stats (id INTEGER PRIMARY KEY, TeamNumber INTEGER, MatchNumber DOUBLE, ShotsMissed INTEGER, UpperGoalShots INTEGER, LowerGoalShots INTEGER, ShotsMissedAuto INTEGER, UpperGoalAuto INTEGER, LowerGoalAuto INTEGER, PlayedDefense INTEGER, Climbing INTEGER)")
defer statement.Close()
if error_ != nil {
fmt.Println(error_)
@@ -67,28 +67,28 @@
// This function will also populate the Stats table with six empty rows every time a match is added
func (database *Database) AddToMatch(m Match) error {
- statement, error_ := database.Prepare("INSERT INTO team_match_stats(teamNumber, matchNumber, shotsMissed, upperGoalShots, lowerGoalShots, shotsMissedAuto, upperGoalAuto, lowerGoalAuto, playedDefense, climbing) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
+ statement, error_ := database.Prepare("INSERT INTO team_match_stats(TeamNumber, MatchNumber, ShotsMissed, UpperGoalShots, LowerGoalShots, ShotsMissedAuto, UpperGoalAuto, LowerGoalAuto, PlayedDefense, Climbing) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
defer statement.Close()
if error_ != nil {
fmt.Println("failed to prepare stats database:", error_)
return (error_)
}
var rowIds [6]int64
- for i, teamNumber := range []int{m.r1, m.r2, m.r3, m.b1, m.b2, m.b3} {
- result, error_ := statement.Exec(teamNumber, m.matchNumber, 0, 0, 0, 0, 0, 0, 0, 0)
+ for i, TeamNumber := range []int32{m.R1, m.R2, m.R3, m.B1, m.B2, m.B3} {
+ result, error_ := statement.Exec(TeamNumber, m.MatchNumber, 0, 0, 0, 0, 0, 0, 0, 0)
if error_ != nil {
fmt.Println("failed to execute statement 2:", error_)
return (error_)
}
rowIds[i], error_ = result.LastInsertId()
}
- statement, error_ = database.Prepare("INSERT INTO matches(matchNumber, round, compLevel, r1, r2, r3, b1, b2, b3, r1ID, r2ID, r3ID, b1ID, b2ID, b3ID) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
+ statement, error_ = database.Prepare("INSERT INTO matches(MatchNumber, Round, CompLevel, R1, R2, R3, B1, B2, B3, r1ID, r2ID, r3ID, b1ID, b2ID, b3ID) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)")
defer statement.Close()
if error_ != nil {
fmt.Println("failed to prepare match database:", error_)
return (error_)
}
- _, error_ = statement.Exec(m.matchNumber, m.round, m.compLevel, m.r1, m.r2, m.r3, m.b1, m.b2, m.b3, rowIds[0], rowIds[1], rowIds[2], rowIds[3], rowIds[4], rowIds[5])
+ _, error_ = statement.Exec(m.MatchNumber, m.Round, m.CompLevel, m.R1, m.R2, m.R3, m.B1, m.B2, m.B3, rowIds[0], rowIds[1], rowIds[2], rowIds[3], rowIds[4], rowIds[5])
if error_ != nil {
fmt.Println(error_)
return (error_)
@@ -97,12 +97,12 @@
}
func (database *Database) AddToStats(s Stats) error {
- statement, error_ := database.Prepare("UPDATE team_match_stats SET teamNumber = ?, matchNumber = ?, shotsMissed = ?, upperGoalShots = ?, lowerGoalShots = ?, shotsMissedAuto = ?, upperGoalAuto = ?, lowerGoalAuto = ?, playedDefense = ?, climbing = ? WHERE matchNumber = ? AND teamNumber = ?")
+ statement, error_ := database.Prepare("UPDATE team_match_stats SET TeamNumber = ?, MatchNumber = ?, ShotsMissed = ?, UpperGoalShots = ?, LowerGoalShots = ?, ShotsMissedAuto = ?, UpperGoalAuto = ?, LowerGoalAuto = ?, PlayedDefense = ?, Climbing = ? WHERE MatchNumber = ? AND TeamNumber = ?")
if error_ != nil {
fmt.Println(error_)
return (error_)
}
- _, error_ = statement.Exec(s.teamNumber, s.matchNumber, s.shotsMissed, s.upperGoalShots, s.lowerGoalShots, s.shotsMissedAuto, s.upperGoalAuto, s.lowerGoalAuto, s.playedDefense, s.climbing, s.matchNumber, s.teamNumber)
+ _, error_ = statement.Exec(s.TeamNumber, s.MatchNumber, s.ShotsMissed, s.UpperGoalShots, s.LowerGoalShots, s.ShotsMissedAuto, s.UpperGoalAuto, s.LowerGoalAuto, s.PlayedDefense, s.Climbing, s.MatchNumber, s.TeamNumber)
if error_ != nil {
fmt.Println(error_)
return (error_)
@@ -117,7 +117,7 @@
for rows.Next() {
var match Match
var id int
- error_ := rows.Scan(&id, &match.matchNumber, &match.round, &match.compLevel, &match.r1, &match.r2, &match.r3, &match.b1, &match.b2, &match.b3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ error_ := rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel, &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
if error_ != nil {
fmt.Println(nil, error_)
return nil, error_
@@ -134,7 +134,7 @@
var id int
for rows.Next() {
var team Stats
- error_ := rows.Scan(&id, &team.teamNumber, &team.matchNumber, &team.shotsMissed, &team.upperGoalShots, &team.lowerGoalShots, &team.shotsMissedAuto, &team.upperGoalAuto, &team.lowerGoalAuto, &team.playedDefense, &team.climbing)
+ error_ := rows.Scan(&id, &team.TeamNumber, &team.MatchNumber, &team.ShotsMissed, &team.UpperGoalShots, &team.LowerGoalShots, &team.ShotsMissedAuto, &team.UpperGoalAuto, &team.LowerGoalAuto, &team.PlayedDefense, &team.Climbing)
if error_ != nil {
fmt.Println(error_)
return nil, error_
@@ -144,8 +144,8 @@
return teams, nil
}
-func (database *Database) QueryMatches(teamNumber_ int) ([]Match, error) {
- rows, error_ := database.Query("SELECT * FROM matches WHERE r1 = ? OR r2 = ? OR r3 = ? OR b1 = ? OR b2 = ? OR b3 = ?", teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_)
+func (database *Database) QueryMatches(teamNumber_ int32) ([]Match, error) {
+ rows, error_ := database.Query("SELECT * FROM matches WHERE R1 = ? OR R2 = ? OR R3 = ? OR B1 = ? OR B2 = ? OR B3 = ?", teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_, teamNumber_)
if error_ != nil {
fmt.Println("failed to execute statement 1:", error_)
return nil, error_
@@ -155,14 +155,14 @@
var id int
for rows.Next() {
var match Match
- rows.Scan(&id, &match.matchNumber, &match.round, &match.compLevel, &match.r1, &match.r2, &match.r3, &match.b1, &match.b2, &match.b3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
+ rows.Scan(&id, &match.MatchNumber, &match.Round, &match.CompLevel, &match.R1, &match.R2, &match.R3, &match.B1, &match.B2, &match.B3, &match.r1ID, &match.r2ID, &match.r3ID, &match.b1ID, &match.b2ID, &match.b3ID)
matches = append(matches, match)
}
return matches, nil
}
func (database *Database) QueryStats(teamNumber_ int) ([]Stats, error) {
- rows, error_ := database.Query("SELECT * FROM team_match_stats WHERE teamNumber = ?", teamNumber_)
+ rows, error_ := database.Query("SELECT * FROM team_match_stats WHERE TeamNumber = ?", teamNumber_)
if error_ != nil {
fmt.Println("failed to execute statement 3:", error_)
return nil, error_
@@ -172,9 +172,9 @@
for rows.Next() {
var team Stats
var id int
- error_ = rows.Scan(&id, &team.teamNumber, &team.matchNumber, &team.shotsMissed,
- &team.upperGoalShots, &team.lowerGoalShots, &team.shotsMissedAuto, &team.upperGoalAuto,
- &team.lowerGoalAuto, &team.playedDefense, &team.climbing)
+ error_ = rows.Scan(&id, &team.TeamNumber, &team.MatchNumber, &team.ShotsMissed,
+ &team.UpperGoalShots, &team.LowerGoalShots, &team.ShotsMissedAuto, &team.UpperGoalAuto,
+ &team.LowerGoalAuto, &team.PlayedDefense, &team.Climbing)
teams = append(teams, team)
}
if error_ != nil {
diff --git a/scouting/db/db_test.go b/scouting/db/db_test.go
index 39f12e3..85ad339 100644
--- a/scouting/db/db_test.go
+++ b/scouting/db/db_test.go
@@ -23,7 +23,7 @@
db := createDatabase(t)
defer db.Delete()
- correct := []Match{Match{matchNumber: 7, round: 1, compLevel: "quals", r1: 9999, r2: 1000, r3: 777, b1: 0000, b2: 4321, b3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6}}
+ correct := []Match{Match{MatchNumber: 7, Round: 1, CompLevel: "quals", R1: 9999, R2: 1000, R3: 777, B1: 0000, B2: 4321, B3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6}}
db.AddToMatch(correct[0])
got, error_ := db.ReturnMatches()
if error_ != nil {
@@ -39,14 +39,14 @@
defer db.Delete()
correct := []Stats{
- Stats{teamNumber: 1236, matchNumber: 7, shotsMissed: 9, upperGoalShots: 5, lowerGoalShots: 4, shotsMissedAuto: 3, upperGoalAuto: 2, lowerGoalAuto: 1, playedDefense: 2, climbing: 3},
- Stats{teamNumber: 1001, matchNumber: 7, shotsMissed: 6, upperGoalShots: 9, lowerGoalShots: 9, shotsMissedAuto: 0, upperGoalAuto: 0, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 777, matchNumber: 7, shotsMissed: 5, upperGoalShots: 7, lowerGoalShots: 12, shotsMissedAuto: 0, upperGoalAuto: 4, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 1000, matchNumber: 7, shotsMissed: 12, upperGoalShots: 6, lowerGoalShots: 10, shotsMissedAuto: 0, upperGoalAuto: 7, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 4321, matchNumber: 7, shotsMissed: 14, upperGoalShots: 12, lowerGoalShots: 3, shotsMissedAuto: 0, upperGoalAuto: 7, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
- Stats{teamNumber: 1234, matchNumber: 7, shotsMissed: 3, upperGoalShots: 4, lowerGoalShots: 0, shotsMissedAuto: 0, upperGoalAuto: 9, lowerGoalAuto: 0, playedDefense: 0, climbing: 0},
+ Stats{TeamNumber: 1236, MatchNumber: 7, ShotsMissed: 9, UpperGoalShots: 5, LowerGoalShots: 4, ShotsMissedAuto: 3, UpperGoalAuto: 2, LowerGoalAuto: 1, PlayedDefense: 2, Climbing: 3},
+ Stats{TeamNumber: 1001, MatchNumber: 7, ShotsMissed: 6, UpperGoalShots: 9, LowerGoalShots: 9, ShotsMissedAuto: 0, UpperGoalAuto: 0, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 777, MatchNumber: 7, ShotsMissed: 5, UpperGoalShots: 7, LowerGoalShots: 12, ShotsMissedAuto: 0, UpperGoalAuto: 4, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 1000, MatchNumber: 7, ShotsMissed: 12, UpperGoalShots: 6, LowerGoalShots: 10, ShotsMissedAuto: 0, UpperGoalAuto: 7, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 4321, MatchNumber: 7, ShotsMissed: 14, UpperGoalShots: 12, LowerGoalShots: 3, ShotsMissedAuto: 0, UpperGoalAuto: 7, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
+ Stats{TeamNumber: 1234, MatchNumber: 7, ShotsMissed: 3, UpperGoalShots: 4, LowerGoalShots: 0, ShotsMissedAuto: 0, UpperGoalAuto: 9, LowerGoalAuto: 0, PlayedDefense: 0, Climbing: 0},
}
- db.AddToMatch(Match{matchNumber: 7, round: 1, compLevel: "quals", r1: 1236, r2: 1001, r3: 777, b1: 1000, b2: 4321, b3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6})
+ db.AddToMatch(Match{MatchNumber: 7, Round: 1, CompLevel: "quals", R1: 1236, R2: 1001, R3: 777, B1: 1000, B2: 4321, B3: 1234, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6})
for i := 0; i < len(correct); i++ {
db.AddToStats(correct[i])
}
@@ -64,10 +64,10 @@
defer db.Delete()
testDatabase := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149},
- Match{matchNumber: 4, round: 1, compLevel: "quals", r1: 198, r2: 135, r3: 777, b1: 999, b2: 434, b3: 698},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262},
- Match{matchNumber: 6, round: 1, compLevel: "quals", r1: 191, r2: 132, r3: 773, b1: 994, b2: 435, b3: 696},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149},
+ Match{MatchNumber: 4, Round: 1, CompLevel: "quals", R1: 198, R2: 135, R3: 777, B1: 999, B2: 434, B3: 698},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262},
+ Match{MatchNumber: 6, Round: 1, CompLevel: "quals", R1: 191, R2: 132, R3: 773, B1: 994, B2: 435, B3: 696},
}
for i := 0; i < len(testDatabase); i++ {
@@ -75,8 +75,8 @@
}
correct := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
}
got, error_ := db.QueryMatches(538)
@@ -93,19 +93,19 @@
defer db.Delete()
testDatabase := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
- Stats{teamNumber: 1234, matchNumber: 94, shotsMissed: 4, upperGoalShots: 4, lowerGoalShots: 4, shotsMissedAuto: 4, upperGoalAuto: 4, lowerGoalAuto: 4, playedDefense: 7, climbing: 2},
- Stats{teamNumber: 1233, matchNumber: 94, shotsMissed: 3, upperGoalShots: 3, lowerGoalShots: 3, shotsMissedAuto: 3, upperGoalAuto: 3, lowerGoalAuto: 3, playedDefense: 3, climbing: 3},
- Stats{teamNumber: 1232, matchNumber: 94, shotsMissed: 5, upperGoalShots: 5, lowerGoalShots: 5, shotsMissedAuto: 5, upperGoalAuto: 5, lowerGoalAuto: 5, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1231, matchNumber: 94, shotsMissed: 6, upperGoalShots: 6, lowerGoalShots: 6, shotsMissedAuto: 6, upperGoalAuto: 6, lowerGoalAuto: 6, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1239, matchNumber: 94, shotsMissed: 7, upperGoalShots: 7, lowerGoalShots: 7, shotsMissedAuto: 7, upperGoalAuto: 7, lowerGoalAuto: 3, playedDefense: 7, climbing: 1},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
+ Stats{TeamNumber: 1234, MatchNumber: 94, ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4, ShotsMissedAuto: 4, UpperGoalAuto: 4, LowerGoalAuto: 4, PlayedDefense: 7, Climbing: 2},
+ Stats{TeamNumber: 1233, MatchNumber: 94, ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3, ShotsMissedAuto: 3, UpperGoalAuto: 3, LowerGoalAuto: 3, PlayedDefense: 3, Climbing: 3},
+ Stats{TeamNumber: 1232, MatchNumber: 94, ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5, ShotsMissedAuto: 5, UpperGoalAuto: 5, LowerGoalAuto: 5, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1231, MatchNumber: 94, ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6, ShotsMissedAuto: 6, UpperGoalAuto: 6, LowerGoalAuto: 6, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1239, MatchNumber: 94, ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7, ShotsMissedAuto: 7, UpperGoalAuto: 7, LowerGoalAuto: 3, PlayedDefense: 7, Climbing: 1},
}
- db.AddToMatch(Match{matchNumber: 94, round: 1, compLevel: "quals", r1: 1235, r2: 1234, r3: 1233, b1: 1232, b2: 1231, b3: 1239})
+ db.AddToMatch(Match{MatchNumber: 94, Round: 1, CompLevel: "quals", R1: 1235, R2: 1234, R3: 1233, B1: 1232, B2: 1231, B3: 1239})
for i := 0; i < len(testDatabase); i++ {
db.AddToStats(testDatabase[i])
}
correct := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
}
got, error_ := db.QueryStats(1235)
if error_ != nil {
@@ -121,11 +121,11 @@
defer db.Delete()
correct := []Match{
- Match{matchNumber: 2, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 253, b2: 538, b3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
- Match{matchNumber: 3, round: 1, compLevel: "quals", r1: 147, r2: 421, r3: 538, b1: 126, b2: 448, b3: 262, r1ID: 7, r2ID: 8, r3ID: 9, b1ID: 10, b2ID: 11, b3ID: 12},
- Match{matchNumber: 4, round: 1, compLevel: "quals", r1: 251, r2: 169, r3: 286, b1: 653, b2: 538, b3: 149, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
- Match{matchNumber: 5, round: 1, compLevel: "quals", r1: 198, r2: 1421, r3: 538, b1: 26, b2: 448, b3: 262, r1ID: 19, r2ID: 20, r3ID: 21, b1ID: 22, b2ID: 23, b3ID: 24},
- Match{matchNumber: 6, round: 1, compLevel: "quals", r1: 251, r2: 188, r3: 286, b1: 555, b2: 538, b3: 149, r1ID: 25, r2ID: 26, r3ID: 27, b1ID: 28, b2ID: 29, b3ID: 30},
+ Match{MatchNumber: 2, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 253, B2: 538, B3: 149, r1ID: 1, r2ID: 2, r3ID: 3, b1ID: 4, b2ID: 5, b3ID: 6},
+ Match{MatchNumber: 3, Round: 1, CompLevel: "quals", R1: 147, R2: 421, R3: 538, B1: 126, B2: 448, B3: 262, r1ID: 7, r2ID: 8, r3ID: 9, b1ID: 10, b2ID: 11, b3ID: 12},
+ Match{MatchNumber: 4, Round: 1, CompLevel: "quals", R1: 251, R2: 169, R3: 286, B1: 653, B2: 538, B3: 149, r1ID: 13, r2ID: 14, r3ID: 15, b1ID: 16, b2ID: 17, b3ID: 18},
+ Match{MatchNumber: 5, Round: 1, CompLevel: "quals", R1: 198, R2: 1421, R3: 538, B1: 26, B2: 448, B3: 262, r1ID: 19, r2ID: 20, r3ID: 21, b1ID: 22, b2ID: 23, b3ID: 24},
+ Match{MatchNumber: 6, Round: 1, CompLevel: "quals", R1: 251, R2: 188, R3: 286, B1: 555, B2: 538, B3: 149, r1ID: 25, r2ID: 26, r3ID: 27, b1ID: 28, b2ID: 29, b3ID: 30},
}
for i := 0; i < len(correct); i++ {
db.AddToMatch(correct[i])
@@ -144,14 +144,14 @@
defer db.Delete()
correct := []Stats{
- Stats{teamNumber: 1235, matchNumber: 94, shotsMissed: 2, upperGoalShots: 2, lowerGoalShots: 2, shotsMissedAuto: 2, upperGoalAuto: 2, lowerGoalAuto: 2, playedDefense: 2, climbing: 2},
- Stats{teamNumber: 1236, matchNumber: 94, shotsMissed: 4, upperGoalShots: 4, lowerGoalShots: 4, shotsMissedAuto: 4, upperGoalAuto: 4, lowerGoalAuto: 4, playedDefense: 7, climbing: 2},
- Stats{teamNumber: 1237, matchNumber: 94, shotsMissed: 3, upperGoalShots: 3, lowerGoalShots: 3, shotsMissedAuto: 3, upperGoalAuto: 3, lowerGoalAuto: 3, playedDefense: 3, climbing: 3},
- Stats{teamNumber: 1238, matchNumber: 94, shotsMissed: 5, upperGoalShots: 5, lowerGoalShots: 5, shotsMissedAuto: 5, upperGoalAuto: 5, lowerGoalAuto: 5, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1239, matchNumber: 94, shotsMissed: 6, upperGoalShots: 6, lowerGoalShots: 6, shotsMissedAuto: 6, upperGoalAuto: 6, lowerGoalAuto: 6, playedDefense: 7, climbing: 1},
- Stats{teamNumber: 1233, matchNumber: 94, shotsMissed: 7, upperGoalShots: 7, lowerGoalShots: 7, shotsMissedAuto: 7, upperGoalAuto: 7, lowerGoalAuto: 3, playedDefense: 7, climbing: 1},
+ Stats{TeamNumber: 1235, MatchNumber: 94, ShotsMissed: 2, UpperGoalShots: 2, LowerGoalShots: 2, ShotsMissedAuto: 2, UpperGoalAuto: 2, LowerGoalAuto: 2, PlayedDefense: 2, Climbing: 2},
+ Stats{TeamNumber: 1236, MatchNumber: 94, ShotsMissed: 4, UpperGoalShots: 4, LowerGoalShots: 4, ShotsMissedAuto: 4, UpperGoalAuto: 4, LowerGoalAuto: 4, PlayedDefense: 7, Climbing: 2},
+ Stats{TeamNumber: 1237, MatchNumber: 94, ShotsMissed: 3, UpperGoalShots: 3, LowerGoalShots: 3, ShotsMissedAuto: 3, UpperGoalAuto: 3, LowerGoalAuto: 3, PlayedDefense: 3, Climbing: 3},
+ Stats{TeamNumber: 1238, MatchNumber: 94, ShotsMissed: 5, UpperGoalShots: 5, LowerGoalShots: 5, ShotsMissedAuto: 5, UpperGoalAuto: 5, LowerGoalAuto: 5, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1239, MatchNumber: 94, ShotsMissed: 6, UpperGoalShots: 6, LowerGoalShots: 6, ShotsMissedAuto: 6, UpperGoalAuto: 6, LowerGoalAuto: 6, PlayedDefense: 7, Climbing: 1},
+ Stats{TeamNumber: 1233, MatchNumber: 94, ShotsMissed: 7, UpperGoalShots: 7, LowerGoalShots: 7, ShotsMissedAuto: 7, UpperGoalAuto: 7, LowerGoalAuto: 3, PlayedDefense: 7, Climbing: 1},
}
- db.AddToMatch(Match{matchNumber: 94, round: 1, compLevel: "quals", r1: 1235, r2: 1236, r3: 1237, b1: 1238, b2: 1239, b3: 1233})
+ db.AddToMatch(Match{MatchNumber: 94, Round: 1, CompLevel: "quals", R1: 1235, R2: 1236, R3: 1237, B1: 1238, B2: 1239, B3: 1233})
for i := 0; i < len(correct); i++ {
db.AddToStats(correct[i])
}
diff --git a/scouting/scouting_test.protractor.on-prepare.js b/scouting/scouting_test.protractor.on-prepare.js
new file mode 100644
index 0000000..7919fe7
--- /dev/null
+++ b/scouting/scouting_test.protractor.on-prepare.js
@@ -0,0 +1,22 @@
+// The function exported from this file is used by the protractor_web_test_suite.
+// It is passed to the `onPrepare` configuration setting in protractor and executed
+// before running tests.
+//
+// If the function returns a promise, as it does here, protractor will wait
+// for the promise to resolve before running tests.
+
+const protractorUtils = require('@bazel/protractor/protractor-utils');
+const protractor = require('protractor');
+
+module.exports = function(config) {
+ // In this example, `@bazel/protractor/protractor-utils` is used to run
+ // the server. protractorUtils.runServer() runs the server on a randomly
+ // selected port (given a port flag to pass to the server as an argument).
+ // The port used is returned in serverSpec and the protractor serverUrl
+ // is the configured.
+ return protractorUtils
+ .runServer(config.workspace, config.server, '--port', [])
+ .then(serverSpec => {
+ protractor.browser.baseUrl = `http://localhost:${serverSpec.port}`;
+ });
+};
diff --git a/scouting/scouting_test.py b/scouting/scouting_test.py
deleted file mode 100644
index 3b62224..0000000
--- a/scouting/scouting_test.py
+++ /dev/null
@@ -1,38 +0,0 @@
-# TODO(phil): Delete this and replace it with a selenium test. Preferably
-# written in either Javascript or Go.
-
-import socket
-import subprocess
-import time
-import unittest
-import urllib.request
-
-class TestDebugCli(unittest.TestCase):
-
- def setUp(self):
- self.webserver = subprocess.Popen(["scouting/scouting"])
-
- # Wait for the server to respond to requests.
- while True:
- try:
- connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- connection.connect(("localhost", 8080))
- connection.close()
- break
- except ConnectionRefusedError:
- connection.close()
- time.sleep(0.01)
-
- def tearDown(self):
- self.webserver.terminate()
- self.webserver.wait()
-
- def test_index_html(self):
- """Makes sure that we the scouting server is serving our main index.html file."""
- with urllib.request.urlopen("http://localhost:8080/") as file:
- html = file.read().decode("utf-8")
- self.assertIn("<my-app></my-app>", html)
-
-
-if __name__ == "__main__":
- unittest.main()
diff --git a/scouting/scouting_test.ts b/scouting/scouting_test.ts
new file mode 100644
index 0000000..68dba52
--- /dev/null
+++ b/scouting/scouting_test.ts
@@ -0,0 +1,32 @@
+import {browser, by, element} from 'protractor';
+
+class AppPage {
+ async navigateTo() {
+ await browser.get(browser.baseUrl);
+ }
+
+ // Wait for basically forever for these elements to appear.
+ // Bazel will manage the timeouts.
+ async waitForElement(el, timeout = 1000000) {
+ await browser.wait(() => el.isPresent(), timeout);
+ await browser.wait(() => el.isDisplayed(), timeout);
+ return el;
+ }
+
+ async getParagraphText() {
+ return (await this.waitForElement(element(by.css('.header')))).getText();
+ }
+}
+
+describe('The scouting web page', () => {
+ let page: AppPage;
+
+ beforeEach(() => {
+ page = new AppPage();
+ });
+
+ it('should display: This is an app.', async () => {
+ await page.navigateTo();
+ expect(await page.getParagraphText()).toEqual('Team Selection');
+ });
+});
diff --git a/scouting/scraping/BUILD b/scouting/scraping/BUILD
index d9248f8..8681ddd 100644
--- a/scouting/scraping/BUILD
+++ b/scouting/scraping/BUILD
@@ -1,5 +1,14 @@
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+filegroup(
+ name = "test_data",
+ srcs = [
+ # Generated with: bazel run //scouting/scraping:scraping_demo -- --json
+ "test_data/2016_nytr.json",
+ ],
+ visibility = ["//visibility:public"],
+)
+
go_library(
name = "scraping",
srcs = [
diff --git a/scouting/scraping/scrape.go b/scouting/scraping/scrape.go
index fa20f7b..170fe50 100644
--- a/scouting/scraping/scrape.go
+++ b/scouting/scraping/scrape.go
@@ -4,15 +4,17 @@
import (
"encoding/json"
"errors"
+ "fmt"
"io/ioutil"
- "log"
"net/http"
"os"
+ "strconv"
)
// Stores the TBA API key to access the API.
-type params struct {
- ApiKey string `json:"api_key"`
+type scrapingConfig struct {
+ ApiKey string `json:"api_key"`
+ BaseUrl string `json:"base_url"`
}
// Takes in year and FIRST event code and returns all matches in that event according to TBA.
@@ -22,64 +24,64 @@
//{
// api_key:"myTBAapiKey"
//}
-func AllMatches(year, eventCode, filePath string) ([]Match, error) {
- if filePath == "" {
- filePath = os.Getenv("BUILD_WORKSPACE_DIRECTORY") + "/scouting_config.json"
+func AllMatches(year int32, eventCode, configPath string) ([]Match, error) {
+ if configPath == "" {
+ configPath = os.Getenv("BUILD_WORKSPACE_DIRECTORY") + "/scouting_config.json"
}
+
// Takes the filepath and grabs the api key from the json.
- content, err := ioutil.ReadFile(filePath)
+ content, err := ioutil.ReadFile(configPath)
if err != nil {
- log.Fatal(err)
+ return nil, errors.New(fmt.Sprint("Failed to open config at ", configPath, ": ", err))
}
// Parses the JSON parameters into a struct.
- var passed_params params
- error := json.Unmarshal([]byte(content), &passed_params)
- if error != nil {
- log.Fatalf("You forgot to add the api_key parameter in the json file")
- log.Fatalf("%s", err)
+ var config scrapingConfig
+ if err := json.Unmarshal([]byte(content), &config); err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to parse config file as JSON: ", err))
+ }
+
+ // Perform some basic validation on the data.
+ if config.ApiKey == "" {
+ return nil, errors.New("Missing 'api_key' in config JSON.")
+ }
+ if config.BaseUrl == "" {
+ config.BaseUrl = "https://www.thebluealliance.com"
}
// Create the TBA event key for the year and event code.
- eventKey := year + eventCode
-
- // Create the client for HTTP requests.
- client := &http.Client{}
+ eventKey := strconv.Itoa(int(year)) + eventCode
// Create a get request for the match info.
- req, err := http.NewRequest("GET", "https://www.thebluealliance.com/api/v3/event/"+eventKey+"/matches", nil)
-
+ req, err := http.NewRequest("GET", config.BaseUrl+"/api/v3/event/"+eventKey+"/matches", nil)
if err != nil {
- return nil, errors.New("failed to build http request")
+ return nil, errors.New(fmt.Sprint("Failed to build http request: ", err))
}
// Add the auth key header to the request.
- req.Header.Add("X-TBA-Auth-Key", passed_params.ApiKey)
+ req.Header.Add("X-TBA-Auth-Key", config.ApiKey)
- // Make the API request
+ // Make the API request.
+ client := &http.Client{}
resp, err := client.Do(req)
-
if err != nil {
- return nil, err
+ return nil, errors.New(fmt.Sprint("Failed to make TBA API request: ", err))
}
- if resp.Status != "200 OK" {
- return nil, errors.New("Recieved a status of " + resp.Status + " expected : 200 OK")
- }
-
- // Wait until the response is done.
defer resp.Body.Close()
+ if resp.StatusCode != 200 {
+ return nil, errors.New(fmt.Sprint("Got unexpected status code from TBA API request: ", resp.Status))
+ }
// Get all bytes from response body.
bodyBytes, err := ioutil.ReadAll(resp.Body)
if err != nil {
- return nil, errors.New("failed to read response body with error :" + err.Error())
+ return nil, errors.New(fmt.Sprint("Failed to read TBA API response: ", err))
}
var matches []Match
// Unmarshal json into go usable format.
- jsonError := json.Unmarshal([]byte(bodyBytes), &matches)
- if jsonError != nil {
- return nil, errors.New("failed to unmarshal json recieved from TBA")
+ if err := json.Unmarshal([]byte(bodyBytes), &matches); err != nil {
+ return nil, errors.New(fmt.Sprint("Failed to parse JSON received from TBA: ", err))
}
return matches, nil
diff --git a/scouting/scraping/scraping_demo.go b/scouting/scraping/scraping_demo.go
index 1d727f3..0ea3e53 100644
--- a/scouting/scraping/scraping_demo.go
+++ b/scouting/scraping/scraping_demo.go
@@ -2,6 +2,9 @@
// To run the demo, ensure that you have a file named scouting_config.json at the workspace root with your TBA api key in it.
import (
+ "encoding/json"
+ "flag"
+ "fmt"
"log"
"github.com/davecgh/go-spew/spew"
@@ -9,12 +12,23 @@
)
func main() {
+ jsonPtr := flag.Bool("json", false, "If set, dump as JSON, rather than Go debug output.")
+ flag.Parse()
+
// Get all the matches.
- matches, err := scraping.AllMatches("2016", "nytr", "")
- // Fail on error.
+ matches, err := scraping.AllMatches(2016, "nytr", "")
if err != nil {
- log.Fatal("Error:", err.Error)
+ log.Fatal("Failed to scrape match list: ", err)
}
+
// Dump the matches.
- spew.Dump(matches)
+ if *jsonPtr {
+ jsonData, err := json.MarshalIndent(matches, "", " ")
+ if err != nil {
+ log.Fatal("Failed to turn match list into JSON: ", err)
+ }
+ fmt.Println(string(jsonData))
+ } else {
+ spew.Dump(matches)
+ }
}
diff --git a/scouting/scraping/test_data/2016_nytr.json b/scouting/scraping/test_data/2016_nytr.json
new file mode 100644
index 0000000..120d6d3
--- /dev/null
+++ b/scouting/scraping/test_data/2016_nytr.json
@@ -0,0 +1,10812 @@
+[
+ {
+ "Key": "2016nytr_f1m1",
+ "comp_level": "f",
+ "set_number": 1,
+ "match_number": 1,
+ "alliances": {
+ "red": {
+ "score": 168,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 115,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458418140,
+ "predicted_time": 0,
+ "actual_time": 1458417643,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_f1m2",
+ "comp_level": "f",
+ "set_number": 1,
+ "match_number": 2,
+ "alliances": {
+ "red": {
+ "score": 134,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 136,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "blue",
+ "event_key": "2016nytr",
+ "time": 1458418920,
+ "predicted_time": 0,
+ "actual_time": 1458418685,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_f1m3",
+ "comp_level": "f",
+ "set_number": 1,
+ "match_number": 3,
+ "alliances": {
+ "red": {
+ "score": 164,
+ "team_keys": [
+ "frc3990",
+ "frc359",
+ "frc4508"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 147,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458419700,
+ "predicted_time": 0,
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+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m1",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 1,
+ "alliances": {
+ "red": {
+ "score": 107,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc229"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 111,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "blue",
+ "event_key": "2016nytr",
+ "time": 1458415140,
+ "predicted_time": 0,
+ "actual_time": 1458414793,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m2",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 2,
+ "alliances": {
+ "red": {
+ "score": 149,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 106,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458415980,
+ "predicted_time": 0,
+ "actual_time": 1458415857,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ },
+ {
+ "Key": "2016nytr_sf2m3",
+ "comp_level": "sf",
+ "set_number": 2,
+ "match_number": 3,
+ "alliances": {
+ "red": {
+ "score": 149,
+ "team_keys": [
+ "frc20",
+ "frc5254",
+ "frc1665"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ },
+ "blue": {
+ "score": 90,
+ "team_keys": [
+ "frc2791",
+ "frc5236",
+ "frc3624"
+ ],
+ "surrogate_team_keys": [],
+ "dq_team_keys": []
+ }
+ },
+ "winning_alliance": "red",
+ "event_key": "2016nytr",
+ "time": 1458417180,
+ "predicted_time": 0,
+ "actual_time": 1458416630,
+ "post_result_time": 0,
+ "score_breakdowns": {
+ "blue": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ },
+ "red": {
+ "taxiRobot1": "",
+ "endgameRobot1": "",
+ "taxiRobot2": "",
+ "endgameRobot2": "",
+ "taxiRobot3": "",
+ "endgameRobot3": "",
+ "autoCargoLowerNear": 0,
+ "autoCargoLowerFar": 0,
+ "autoCargoLowerBlue": 0,
+ "autoCargoLowerRed": 0,
+ "autoCargoUpperNear": 0,
+ "autoCargoUpperFar": 0,
+ "autoCargoUpperBlue": 0,
+ "autoCargoUpperRed": 0,
+ "autoCargoTotal": 0,
+ "teleopCargoLowerNear": 0,
+ "teleopCargoLowerFar": 0,
+ "teleopCargoLowerBlue": 0,
+ "teleopCargoLowerRed": 0,
+ "teleopCargoUpperNear": 0,
+ "teleopCargoUpperFar": 0,
+ "teleopCargoUpperBlue": 0,
+ "teleopCargoUpperRed": 0,
+ "teleopCargoTotal": 0,
+ "matchCargoTotal": 0,
+ "autoTaxiPoints": 0,
+ "autoCargoPoints": 0,
+ "autoPoints": 0,
+ "quintetAchieved": false,
+ "teleopCargoPoints": 0,
+ "endgamePoints": 0,
+ "teleopPoints": 0,
+ "cargoBonusRankingPoint": false,
+ "hangarBonusRankingPoint": false,
+ "foulCount": false,
+ "techFoulCount": 0,
+ "adjustPoints": 0,
+ "foulPoints": 0,
+ "rp": 0,
+ "totalPoints": 0
+ }
+ }
+ }
+]
diff --git a/scouting/webserver/BUILD b/scouting/webserver/BUILD
index 66db8e8..745852a 100644
--- a/scouting/webserver/BUILD
+++ b/scouting/webserver/BUILD
@@ -8,6 +8,7 @@
visibility = ["//visibility:private"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
"//scouting/webserver/requests",
"//scouting/webserver/server",
"//scouting/webserver/static",
diff --git a/scouting/webserver/main.go b/scouting/webserver/main.go
index 3c699fd..94e0222 100644
--- a/scouting/webserver/main.go
+++ b/scouting/webserver/main.go
@@ -1,6 +1,7 @@
package main
import (
+ "errors"
"flag"
"fmt"
"io/ioutil"
@@ -11,6 +12,7 @@
"syscall"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
"github.com/frc971/971-Robot-Code/scouting/webserver/static"
@@ -40,6 +42,10 @@
portPtr := flag.Int("port", 8080, "The port number to bind to.")
dirPtr := flag.String("directory", ".", "The directory to serve at /.")
dbPathPtr := flag.String("database", getDefaultDatabasePath(), "The path to the database.")
+ blueAllianceConfigPtr := flag.String("tba_config", "",
+ "The path to your The Blue Alliance JSON config. "+
+ "It needs an \"api_key\" field with your TBA API key. "+
+ "Optionally, it can have a \"url\" field with the TBA API base URL.")
flag.Parse()
database, err := db.NewDatabase(*dbPathPtr)
@@ -47,9 +53,16 @@
log.Fatal("Failed to connect to database: ", err)
}
+ scrapeMatchList := func(year int32, eventCode string) ([]scraping.Match, error) {
+ if *blueAllianceConfigPtr == "" {
+ return nil, errors.New("Cannot scrape TBA's match list without a config file.")
+ }
+ return scraping.AllMatches(year, eventCode, *blueAllianceConfigPtr)
+ }
+
scoutingServer := server.NewScoutingServer()
static.ServePages(scoutingServer, *dirPtr)
- requests.HandleRequests(database, scoutingServer)
+ requests.HandleRequests(database, scrapeMatchList, scoutingServer)
scoutingServer.Start(*portPtr)
fmt.Println("Serving", *dirPtr, "on port", *portPtr)
diff --git a/scouting/webserver/requests/BUILD b/scouting/webserver/requests/BUILD
index 15e4c05..df487f2 100644
--- a/scouting/webserver/requests/BUILD
+++ b/scouting/webserver/requests/BUILD
@@ -8,7 +8,16 @@
visibility = ["//visibility:public"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
"//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
"//scouting/webserver/server",
@@ -23,7 +32,17 @@
target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
"//scouting/db",
+ "//scouting/scraping",
+ "//scouting/webserver/requests/debug",
"//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
"//scouting/webserver/server",
diff --git a/scouting/webserver/requests/debug/BUILD b/scouting/webserver/requests/debug/BUILD
index cfeee2f..402503f 100644
--- a/scouting/webserver/requests/debug/BUILD
+++ b/scouting/webserver/requests/debug/BUILD
@@ -8,6 +8,10 @@
visibility = ["//visibility:public"],
deps = [
"//scouting/webserver/requests/messages:error_response_go_fbs",
+ "//scouting/webserver/requests/messages:refresh_match_list_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_all_matches_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_data_scouting_response_go_fbs",
+ "//scouting/webserver/requests/messages:request_matches_for_team_response_go_fbs",
"//scouting/webserver/requests/messages:submit_data_scouting_response_go_fbs",
],
)
diff --git a/scouting/webserver/requests/debug/cli/BUILD b/scouting/webserver/requests/debug/cli/BUILD
index aba9177..903f8c8 100644
--- a/scouting/webserver/requests/debug/cli/BUILD
+++ b/scouting/webserver/requests/debug/cli/BUILD
@@ -10,7 +10,10 @@
importpath = "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug/cli",
target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:private"],
- deps = ["//scouting/webserver/requests/debug"],
+ deps = [
+ "//scouting/webserver/requests/debug",
+ "@com_github_davecgh_go_spew//spew",
+ ],
)
go_binary(
@@ -27,6 +30,7 @@
],
data = [
":cli",
+ "//scouting/scraping:test_data",
"//scouting/webserver",
],
)
diff --git a/scouting/webserver/requests/debug/cli/cli_test.py b/scouting/webserver/requests/debug/cli/cli_test.py
index 87c22c0..a737d59 100644
--- a/scouting/webserver/requests/debug/cli/cli_test.py
+++ b/scouting/webserver/requests/debug/cli/cli_test.py
@@ -1,5 +1,8 @@
+# TODO(phil): Rewrite this in Go.
+
import json
import os
+import re
from pathlib import Path
import shutil
import socket
@@ -8,11 +11,10 @@
from typing import Any, Dict, List
import unittest
-def write_json(content: Dict[str, Any]):
+def write_json_request(content: Dict[str, Any]):
"""Writes a JSON file with the specified dict content."""
json_path = Path(os.environ["TEST_TMPDIR"]) / "test.json"
- with open(json_path, "w") as file:
- file.write(json.dumps(content))
+ json_path.write_text(json.dumps(content))
return json_path
def run_debug_cli(args: List[str]):
@@ -28,28 +30,81 @@
run_result.stderr.decode("utf-8"),
)
+def wait_for_server(port: int):
+ """Waits for the server at the specified port to respond to TCP connections."""
+ while True:
+ try:
+ connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ connection.connect(("localhost", port))
+ connection.close()
+ break
+ except ConnectionRefusedError:
+ connection.close()
+ time.sleep(0.01)
+
+
class TestDebugCli(unittest.TestCase):
def setUp(self):
- self.webserver = subprocess.Popen(["scouting/webserver/webserver_/webserver"])
+ tmpdir = Path(os.environ["TEST_TMPDIR"]) / "temp"
+ try:
+ shutil.rmtree(tmpdir)
+ except FileNotFoundError:
+ pass
+ os.mkdir(tmpdir)
- # Wait for the server to respond to requests.
- while True:
- try:
- connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- connection.connect(("localhost", 8080))
- connection.close()
- break
- except ConnectionRefusedError:
- connection.close()
- time.sleep(0.01)
+ # Copy the test data into place so that the final API call can be
+ # emulated.
+ tba_api_dir = tmpdir / "api" / "v3" / "event" / "1234event_key"
+ os.makedirs(tba_api_dir)
+ (tba_api_dir / "matches").write_text(
+ Path("scouting/scraping/test_data/2016_nytr.json").read_text()
+ )
+
+ # Create a fake TBA server to serve the static match list.
+ self.fake_tba_api = subprocess.Popen(
+ ["python3", "-m", "http.server", "7000"],
+ cwd=tmpdir,
+ )
+
+ # Configure the scouting webserver to scrape data from our fake TBA
+ # server.
+ scouting_config = tmpdir / "scouting_config.json"
+ scouting_config.write_text(json.dumps({
+ "api_key": "dummy_key_that_is_not_actually_used_in_this_test",
+ "base_url": "http://localhost:7000",
+ }))
+
+ # Run the scouting webserver.
+ self.webserver = subprocess.Popen([
+ "scouting/webserver/webserver_/webserver",
+ "-port=8080",
+ "-database=%s/database.db" % tmpdir,
+ "-tba_config=%s/scouting_config.json" % tmpdir,
+ ])
+
+ # Wait for the servers to be reachable.
+ wait_for_server(7000)
+ wait_for_server(8080)
def tearDown(self):
+ self.fake_tba_api.terminate()
self.webserver.terminate()
+ self.fake_tba_api.wait()
self.webserver.wait()
+ def refresh_match_list(self):
+ """Triggers the webserver to fetch the match list."""
+ json_path = write_json_request({
+ "year": 1234,
+ "event_code": "event_key",
+ })
+ exit_code, stdout, stderr = run_debug_cli(["-refreshMatchList", json_path])
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("(refresh_match_list_response.RefreshMatchListResponseT)", stdout)
+
def test_submit_data_scouting(self):
- json_path = write_json({
+ json_path = write_json_request({
"team": 971,
"match": 42,
"missed_shots_auto": 9971,
@@ -67,5 +122,38 @@
self.assertEqual(exit_code, 1)
self.assertIn("/requests/submit/data_scouting returned 501 Not Implemented", stderr)
+ def test_request_all_matches(self):
+ self.refresh_match_list()
+
+ # RequestAllMatches has no fields.
+ json_path = write_json_request({})
+ exit_code, stdout, stderr = run_debug_cli(["-requestAllMatches", json_path])
+
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("MatchList: ([]*request_all_matches_response.MatchT) (len=90 cap=90) {", stdout)
+ self.assertEqual(stdout.count("MatchNumber:"), 90)
+
+ def test_request_matches_for_team(self):
+ self.refresh_match_list()
+
+ json_path = write_json_request({
+ "team": 4856,
+ })
+ exit_code, stdout, stderr = run_debug_cli(["-requestMatchesForTeam", json_path])
+
+ # Team 4856 has 12 matches.
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("MatchList: ([]*request_matches_for_team_response.MatchT) (len=12 cap=12) {", stdout)
+ self.assertEqual(stdout.count("MatchNumber:"), 12)
+ self.assertEqual(len(re.findall(r": \(int32\) 4856[,\n]", stdout)), 12)
+
+ def test_request_data_scouting(self):
+ json_path = write_json_request({})
+ exit_code, stdout, stderr = run_debug_cli(["-requestDataScouting", json_path])
+
+ # TODO(phil): Actually add data here before querying it.
+ self.assertEqual(exit_code, 0, stderr)
+ self.assertIn("(request_data_scouting_response.RequestDataScoutingResponseT)", stdout)
+
if __name__ == "__main__":
unittest.main()
diff --git a/scouting/webserver/requests/debug/cli/main.go b/scouting/webserver/requests/debug/cli/main.go
index ac24b25..03032be 100644
--- a/scouting/webserver/requests/debug/cli/main.go
+++ b/scouting/webserver/requests/debug/cli/main.go
@@ -11,6 +11,7 @@
"os/exec"
"path/filepath"
+ "github.com/davecgh/go-spew/spew"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug"
)
@@ -50,9 +51,9 @@
// Execute the `flatc` command.
flatcCommand := exec.Command(absFlatcPath, "--binary", absFbsPath, jsonSymlink)
flatcCommand.Dir = dir
- err = flatcCommand.Run()
+ output, err := flatcCommand.CombinedOutput()
if err != nil {
- log.Fatal("Failed to execute flatc: ", err)
+ log.Fatal("Failed to execute flatc: ", err, ": ", string(output))
}
// Read the serialized flatbuffer and return it.
@@ -70,6 +71,14 @@
"The end point where the server is listening.")
submitDataScoutingPtr := flag.String("submitDataScouting", "",
"If specified, parse the file as a SubmitDataScouting JSON request.")
+ requestAllMatchesPtr := flag.String("requestAllMatches", "",
+ "If specified, parse the file as a RequestAllMatches JSON request.")
+ requestMatchesForTeamPtr := flag.String("requestMatchesForTeam", "",
+ "If specified, parse the file as a RequestMatchesForTeam JSON request.")
+ requestDataScoutingPtr := flag.String("requestDataScouting", "",
+ "If specified, parse the file as a RequestDataScouting JSON request.")
+ refreshMatchListPtr := flag.String("refreshMatchList", "",
+ "If specified, parse the file as a RefreshMatchList JSON request.")
flag.Parse()
// Handle the actual arguments.
@@ -82,6 +91,50 @@
if err != nil {
log.Fatal("Failed SubmitDataScouting: ", err)
}
- log.Printf("%+v", response)
+ spew.Dump(*response)
+ }
+ if *requestAllMatchesPtr != "" {
+ log.Printf("Sending RequestAllMatches to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_all_matches.fbs",
+ *requestAllMatchesPtr)
+ response, err := debug.RequestAllMatches(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestAllMatches: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *requestMatchesForTeamPtr != "" {
+ log.Printf("Sending RequestMatchesForTeam to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_matches_for_team.fbs",
+ *requestMatchesForTeamPtr)
+ response, err := debug.RequestMatchesForTeam(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestMatchesForTeam: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *requestDataScoutingPtr != "" {
+ log.Printf("Sending RequestDataScouting to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/request_data_scouting.fbs",
+ *requestDataScoutingPtr)
+ response, err := debug.RequestDataScouting(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RequestDataScouting: ", err)
+ }
+ spew.Dump(*response)
+ }
+ if *refreshMatchListPtr != "" {
+ log.Printf("Sending RefreshMatchList to %s", *addressPtr)
+ binaryRequest := parseJson(
+ "scouting/webserver/requests/messages/refresh_match_list.fbs",
+ *refreshMatchListPtr)
+ response, err := debug.RefreshMatchList(*addressPtr, binaryRequest)
+ if err != nil {
+ log.Fatal("Failed RefreshMatchList: ", err)
+ }
+ spew.Dump(*response)
}
}
diff --git a/scouting/webserver/requests/debug/debug.go b/scouting/webserver/requests/debug/debug.go
index dd70c1b..81be3d1 100644
--- a/scouting/webserver/requests/debug/debug.go
+++ b/scouting/webserver/requests/debug/debug.go
@@ -9,11 +9,19 @@
"net/http"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
)
// Use aliases to make the rest of the code more readable.
type SubmitDataScoutingResponseT = submit_data_scouting_response.SubmitDataScoutingResponseT
+type RequestAllMatchesResponseT = request_all_matches_response.RequestAllMatchesResponseT
+type RequestMatchesForTeamResponseT = request_matches_for_team_response.RequestMatchesForTeamResponseT
+type RequestDataScoutingResponseT = request_data_scouting_response.RequestDataScoutingResponseT
+type RefreshMatchListResponseT = refresh_match_list_response.RefreshMatchListResponseT
// A struct that can be used as an `error`. It contains information about the
// why the server was unhappy and what the corresponding request was.
@@ -85,3 +93,51 @@
response := submit_data_scouting_response.GetRootAsSubmitDataScoutingResponse(responseBytes, 0)
return response.UnPack(), nil
}
+
+// Sends a `RequestAllMatches` message to the server and returns the
+// deserialized response.
+func RequestAllMatches(server string, requestBytes []byte) (*RequestAllMatchesResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/all_matches", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestAllMatchesResponse")
+ response := request_all_matches_response.GetRootAsRequestAllMatchesResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RequestMatchesForTeam` message to the server and returns the
+// deserialized response.
+func RequestMatchesForTeam(server string, requestBytes []byte) (*RequestMatchesForTeamResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/matches_for_team", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestMatchesForTeamResponse")
+ response := request_matches_for_team_response.GetRootAsRequestMatchesForTeamResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RequestDataScouting` message to the server and returns the
+// deserialized response.
+func RequestDataScouting(server string, requestBytes []byte) (*RequestDataScoutingResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/request/data_scouting", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RequestDataScoutingResponse")
+ response := request_data_scouting_response.GetRootAsRequestDataScoutingResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
+
+// Sends a `RefreshMatchList` message to the server and returns the
+// deserialized response.
+func RefreshMatchList(server string, requestBytes []byte) (*RefreshMatchListResponseT, error) {
+ responseBytes, err := performPost(server+"/requests/refresh_match_list", requestBytes)
+ if err != nil {
+ return nil, err
+ }
+ log.Printf("Parsing RefreshMatchListResponse")
+ response := refresh_match_list_response.GetRootAsRefreshMatchListResponse(responseBytes, 0)
+ return response.UnPack(), nil
+}
diff --git a/scouting/webserver/requests/messages/BUILD b/scouting/webserver/requests/messages/BUILD
index 53ceab2..c27f730 100644
--- a/scouting/webserver/requests/messages/BUILD
+++ b/scouting/webserver/requests/messages/BUILD
@@ -10,6 +10,8 @@
"request_matches_for_team_response",
"request_data_scouting",
"request_data_scouting_response",
+ "refresh_match_list",
+ "refresh_match_list_response",
)
filegroup(
diff --git a/scouting/webserver/requests/messages/refresh_match_list.fbs b/scouting/webserver/requests/messages/refresh_match_list.fbs
new file mode 100644
index 0000000..c4384c7
--- /dev/null
+++ b/scouting/webserver/requests/messages/refresh_match_list.fbs
@@ -0,0 +1,8 @@
+namespace scouting.webserver.requests;
+
+table RefreshMatchList {
+ year: int (id: 0);
+ event_code: string (id: 1);
+}
+
+root_type RefreshMatchList;
diff --git a/scouting/webserver/requests/messages/refresh_match_list_response.fbs b/scouting/webserver/requests/messages/refresh_match_list_response.fbs
new file mode 100644
index 0000000..ba80272
--- /dev/null
+++ b/scouting/webserver/requests/messages/refresh_match_list_response.fbs
@@ -0,0 +1,6 @@
+namespace scouting.webserver.requests;
+
+table RefreshMatchListResponse {
+}
+
+root_type RefreshMatchListResponse;
diff --git a/scouting/webserver/requests/messages/request_all_matches.fbs b/scouting/webserver/requests/messages/request_all_matches.fbs
index 1d4acc2..2ec9aa1 100644
--- a/scouting/webserver/requests/messages/request_all_matches.fbs
+++ b/scouting/webserver/requests/messages/request_all_matches.fbs
@@ -1,6 +1,6 @@
namespace scouting.webserver.requests;
-table RequestMatchList {
+table RequestAllMatches {
}
-root_type RequestMatchList;
\ No newline at end of file
+root_type RequestAllMatches;
diff --git a/scouting/webserver/requests/messages/request_all_matches_response.fbs b/scouting/webserver/requests/messages/request_all_matches_response.fbs
index d4a1658..90401e3 100644
--- a/scouting/webserver/requests/messages/request_all_matches_response.fbs
+++ b/scouting/webserver/requests/messages/request_all_matches_response.fbs
@@ -12,8 +12,8 @@
b3:int (id: 8);
}
-table RequestMatchListResponse {
+table RequestAllMatchesResponse {
match_list:[Match] (id:0);
}
-root_type RequestMatchListResponse;
\ No newline at end of file
+root_type RequestAllMatchesResponse;
diff --git a/scouting/webserver/requests/messages/request_data_scouting.fbs b/scouting/webserver/requests/messages/request_data_scouting.fbs
index 45f6308..884c1a6 100644
--- a/scouting/webserver/requests/messages/request_data_scouting.fbs
+++ b/scouting/webserver/requests/messages/request_data_scouting.fbs
@@ -1,7 +1,7 @@
namespace scouting.webserver.requests;
-table QueryDataScouting {
+table RequestDataScouting {
// TODO: Implement this.
}
-root_type QueryDataScouting;
\ No newline at end of file
+root_type RequestDataScouting;
diff --git a/scouting/webserver/requests/messages/request_data_scouting_response.fbs b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
index 83f5cd0..e30ab42 100644
--- a/scouting/webserver/requests/messages/request_data_scouting_response.fbs
+++ b/scouting/webserver/requests/messages/request_data_scouting_response.fbs
@@ -1,6 +1,6 @@
namespace scouting.webserver.requests;
-struct Stats {
+table Stats {
team:int (id: 0);
match:int (id: 1);
missed_shots_auto:int (id: 2);
@@ -13,8 +13,8 @@
climbing:int (id:9);
}
-table QueryDataScoutingResponse {
+table RequestDataScoutingResponse {
stats_list:[Stats] (id:0);
}
-root_type QueryDataScoutingResponse;
\ No newline at end of file
+root_type RequestDataScoutingResponse;
diff --git a/scouting/webserver/requests/messages/request_matches_for_team.fbs b/scouting/webserver/requests/messages/request_matches_for_team.fbs
index 388533e..dd1b217 100644
--- a/scouting/webserver/requests/messages/request_matches_for_team.fbs
+++ b/scouting/webserver/requests/messages/request_matches_for_team.fbs
@@ -1,7 +1,7 @@
namespace scouting.webserver.requests;
-table QueryMatchList {
+table RequestMatchesForTeam {
team:int (id: 0);
}
-root_type QueryMatchList;
\ No newline at end of file
+root_type RequestMatchesForTeam;
diff --git a/scouting/webserver/requests/messages/request_matches_for_team_response.fbs b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
index 7345520..cbb1895 100644
--- a/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
+++ b/scouting/webserver/requests/messages/request_matches_for_team_response.fbs
@@ -13,8 +13,8 @@
}
//TODO(Sabina): de-duplicate the Match struct in request_all_matches
-table QueryMatchListResponse {
+table RequestMatchesForTeamResponse {
match_list:[Match] (id:0);
}
-root_type QueryMatchListResponse;
\ No newline at end of file
+root_type RequestMatchesForTeamResponse;
diff --git a/scouting/webserver/requests/messages/submit_data_scouting.fbs b/scouting/webserver/requests/messages/submit_data_scouting.fbs
index 6213dd5..755e70b 100644
--- a/scouting/webserver/requests/messages/submit_data_scouting.fbs
+++ b/scouting/webserver/requests/messages/submit_data_scouting.fbs
@@ -9,7 +9,17 @@
missed_shots_tele:int (id: 5);
upper_goal_tele:int (id:6);
lower_goal_tele:int (id:7);
+ // The rating that is used to rate the defense that this robot played on
+ // other robots.
+ // TODO: Document what the different values mean. E.g. 0 means no defense
+ // played?
defense_rating:int (id:8);
+ // The amount of defense that other robots played on this robot.
+ // TODO: Document what the different values mean. E.g. 0 means no defense
+ // played against this robot?
+ defense_received_rating:int (id:10);
+ // The rating that this robot gets for its climbing.
+ // TODO: Change into an enum to make the different values self-documenting.
climbing:int (id:9);
}
diff --git a/scouting/webserver/requests/requests.go b/scouting/webserver/requests/requests.go
index 2462ccb..93ee128 100644
--- a/scouting/webserver/requests/requests.go
+++ b/scouting/webserver/requests/requests.go
@@ -1,18 +1,40 @@
package requests
import (
+ "errors"
"fmt"
"io"
"net/http"
+ "strconv"
+ "strings"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting"
_ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
flatbuffers "github.com/google/flatbuffers/go"
)
+type SubmitDataScouting = submit_data_scouting.SubmitDataScouting
+type RequestAllMatches = request_all_matches.RequestAllMatches
+type RequestAllMatchesResponseT = request_all_matches_response.RequestAllMatchesResponseT
+type RequestMatchesForTeam = request_matches_for_team.RequestMatchesForTeam
+type RequestMatchesForTeamResponseT = request_matches_for_team_response.RequestMatchesForTeamResponseT
+type RequestDataScouting = request_data_scouting.RequestDataScouting
+type RequestDataScoutingResponseT = request_data_scouting_response.RequestDataScoutingResponseT
+type RefreshMatchList = refresh_match_list.RefreshMatchList
+type RefreshMatchListResponseT = refresh_match_list_response.RefreshMatchListResponseT
+
// The interface we expect the database abstraction to conform to.
// We use an interface here because it makes unit testing easier.
type Database interface {
@@ -20,10 +42,12 @@
AddToStats(db.Stats) error
ReturnMatches() ([]db.Match, error)
ReturnStats() ([]db.Stats, error)
- QueryMatches(int) ([]db.Match, error)
+ QueryMatches(int32) ([]db.Match, error)
QueryStats(int) ([]db.Stats, error)
}
+type ScrapeMatchList func(int32, string) ([]scraping.Match, error)
+
// Handles unknown requests. Just returns a 404.
func unknown(w http.ResponseWriter, req *http.Request) {
w.WriteHeader(http.StatusNotFound)
@@ -43,7 +67,7 @@
}
// TODO(phil): Can we turn this into a generic?
-func parseSubmitDataScouting(w http.ResponseWriter, buf []byte) (*submit_data_scouting.SubmitDataScouting, bool) {
+func parseSubmitDataScouting(w http.ResponseWriter, buf []byte) (*SubmitDataScouting, bool) {
success := true
defer func() {
if r := recover(); r != nil {
@@ -79,7 +103,283 @@
respondNotImplemented(w)
}
-func HandleRequests(db Database, scoutingServer server.ScoutingServer) {
+// TODO(phil): Can we turn this into a generic?
+func parseRequestAllMatches(w http.ResponseWriter, buf []byte) (*RequestAllMatches, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_all_matches.GetRootAsRequestAllMatches(buf, 0)
+ return result, success
+}
+
+// Handles a RequestAllMaches request.
+type requestAllMatchesHandler struct {
+ db Database
+}
+
+func (handler requestAllMatchesHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ _, success := parseRequestAllMatches(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.db.ReturnMatches()
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestAllMatchesResponseT
+ for _, match := range matches {
+ response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
+ MatchNumber: match.MatchNumber,
+ Round: match.Round,
+ CompLevel: match.CompLevel,
+ R1: match.R1,
+ R2: match.R2,
+ R3: match.R3,
+ B1: match.B1,
+ B2: match.B2,
+ B3: match.B3,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRequestMatchesForTeam(w http.ResponseWriter, buf []byte) (*RequestMatchesForTeam, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_matches_for_team.GetRootAsRequestMatchesForTeam(buf, 0)
+ return result, success
+}
+
+// Handles a RequestMatchesForTeam request.
+type requestMatchesForTeamHandler struct {
+ db Database
+}
+
+func (handler requestMatchesForTeamHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ request, success := parseRequestMatchesForTeam(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.db.QueryMatches(request.Team())
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestAllMatchesResponseT
+ for _, match := range matches {
+ response.MatchList = append(response.MatchList, &request_all_matches_response.MatchT{
+ MatchNumber: match.MatchNumber,
+ Round: match.Round,
+ CompLevel: match.CompLevel,
+ R1: match.R1,
+ R2: match.R2,
+ R3: match.R3,
+ B1: match.B1,
+ B2: match.B2,
+ B3: match.B3,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRequestDataScouting(w http.ResponseWriter, buf []byte) (*RequestDataScouting, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse SubmitDataScouting: %v", r))
+ success = false
+ }
+ }()
+ result := request_data_scouting.GetRootAsRequestDataScouting(buf, 0)
+ return result, success
+}
+
+// Handles a RequestDataScouting request.
+type requestDataScoutingHandler struct {
+ db Database
+}
+
+func (handler requestDataScoutingHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ _, success := parseRequestDataScouting(w, requestBytes)
+ if !success {
+ return
+ }
+
+ stats, err := handler.db.ReturnStats()
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to query database: ", err))
+ return
+ }
+
+ var response RequestDataScoutingResponseT
+ for _, stat := range stats {
+ response.StatsList = append(response.StatsList, &request_data_scouting_response.StatsT{
+ Team: stat.TeamNumber,
+ Match: stat.MatchNumber,
+ MissedShotsAuto: stat.ShotsMissedAuto,
+ UpperGoalAuto: stat.UpperGoalAuto,
+ LowerGoalAuto: stat.LowerGoalAuto,
+ MissedShotsTele: stat.ShotsMissed,
+ UpperGoalTele: stat.UpperGoalShots,
+ LowerGoalTele: stat.LowerGoalShots,
+ DefenseRating: stat.PlayedDefense,
+ Climbing: stat.Climbing,
+ })
+ }
+
+ builder := flatbuffers.NewBuilder(50 * 1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+// TODO(phil): Can we turn this into a generic?
+func parseRefreshMatchList(w http.ResponseWriter, buf []byte) (*RefreshMatchList, bool) {
+ success := true
+ defer func() {
+ if r := recover(); r != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprintf("Failed to parse RefreshMatchList: %v", r))
+ success = false
+ }
+ }()
+ result := refresh_match_list.GetRootAsRefreshMatchList(buf, 0)
+ return result, success
+}
+
+func parseTeamKey(teamKey string) (int, error) {
+ // TBA prefixes teams with "frc". Not sure why. Get rid of that.
+ teamKey = strings.TrimPrefix(teamKey, "frc")
+ return strconv.Atoi(teamKey)
+}
+
+// Parses the alliance data from the specified match and returns the three red
+// teams and the three blue teams.
+func parseTeamKeys(match *scraping.Match) ([3]int32, [3]int32, error) {
+ redKeys := match.Alliances.Red.TeamKeys
+ blueKeys := match.Alliances.Blue.TeamKeys
+
+ if len(redKeys) != 3 || len(blueKeys) != 3 {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Found %d red teams and %d blue teams.", len(redKeys), len(blueKeys)))
+ }
+
+ var red [3]int32
+ for i, key := range redKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse red %d team '%s' as integer: %v", i+1, key, err))
+ }
+ red[i] = int32(team)
+ }
+ var blue [3]int32
+ for i, key := range blueKeys {
+ team, err := parseTeamKey(key)
+ if err != nil {
+ return [3]int32{}, [3]int32{}, errors.New(fmt.Sprintf(
+ "Failed to parse blue %d team '%s' as integer: %v", i+1, key, err))
+ }
+ blue[i] = int32(team)
+ }
+ return red, blue, nil
+}
+
+type refreshMatchListHandler struct {
+ db Database
+ scrape ScrapeMatchList
+}
+
+func (handler refreshMatchListHandler) ServeHTTP(w http.ResponseWriter, req *http.Request) {
+ requestBytes, err := io.ReadAll(req.Body)
+ if err != nil {
+ respondWithError(w, http.StatusBadRequest, fmt.Sprint("Failed to read request bytes:", err))
+ return
+ }
+
+ request, success := parseRefreshMatchList(w, requestBytes)
+ if !success {
+ return
+ }
+
+ matches, err := handler.scrape(request.Year(), string(request.EventCode()))
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprint("Faled to scrape match list: ", err))
+ return
+ }
+
+ for _, match := range matches {
+ // Make sure the data is valid.
+ red, blue, err := parseTeamKeys(&match)
+ if err != nil {
+ respondWithError(w, http.StatusInternalServerError, fmt.Sprintf(
+ "TheBlueAlliance data for match %d is malformed: %v", match.MatchNumber, err))
+ return
+ }
+ // Add the match to the database.
+ handler.db.AddToMatch(db.Match{
+ MatchNumber: int32(match.MatchNumber),
+ // TODO(phil): What does Round mean?
+ Round: 1,
+ CompLevel: match.CompLevel,
+ R1: red[0],
+ R2: red[1],
+ R3: red[2],
+ B1: blue[0],
+ B2: blue[1],
+ B3: blue[2],
+ })
+ }
+
+ var response RefreshMatchListResponseT
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&response).Pack(builder))
+ w.Write(builder.FinishedBytes())
+}
+
+func HandleRequests(db Database, scrape ScrapeMatchList, scoutingServer server.ScoutingServer) {
scoutingServer.HandleFunc("/requests", unknown)
scoutingServer.Handle("/requests/submit/data_scouting", submitDataScoutingHandler{db})
+ scoutingServer.Handle("/requests/request/all_matches", requestAllMatchesHandler{db})
+ scoutingServer.Handle("/requests/request/matches_for_team", requestMatchesForTeamHandler{db})
+ scoutingServer.Handle("/requests/request/data_scouting", requestDataScoutingHandler{db})
+ scoutingServer.Handle("/requests/refresh_match_list", refreshMatchListHandler{db, scrape})
}
diff --git a/scouting/webserver/requests/requests_test.go b/scouting/webserver/requests/requests_test.go
index 0125da5..999e955 100644
--- a/scouting/webserver/requests/requests_test.go
+++ b/scouting/webserver/requests/requests_test.go
@@ -4,10 +4,21 @@
"bytes"
"io"
"net/http"
+ "reflect"
"testing"
"github.com/frc971/971-Robot-Code/scouting/db"
+ "github.com/frc971/971-Robot-Code/scouting/scraping"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/debug"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/error_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/refresh_match_list_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_all_matches_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_data_scouting_response"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team"
+ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/request_matches_for_team_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting"
_ "github.com/frc971/971-Robot-Code/scouting/webserver/requests/messages/submit_data_scouting_response"
"github.com/frc971/971-Robot-Code/scouting/webserver/server"
@@ -18,7 +29,7 @@
func Test404(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -35,7 +46,7 @@
func TestSubmitDataScoutingError(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -63,7 +74,7 @@
func TestSubmitDataScouting(t *testing.T) {
db := MockDatabase{}
scoutingServer := server.NewScoutingServer()
- HandleRequests(&db, scoutingServer)
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
scoutingServer.Start(8080)
defer scoutingServer.Stop()
@@ -92,12 +103,258 @@
// TODO(phil): Can we use scouting/webserver/requests/debug here?
}
+// Validates that we can request the full match list.
+func TestRequestAllMatches(t *testing.T) {
+ db := MockDatabase{
+ matches: []db.Match{
+ {
+ MatchNumber: 1, Round: 1, CompLevel: "qual",
+ R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
+ },
+ {
+ MatchNumber: 2, Round: 1, CompLevel: "qual",
+ R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
+ },
+ {
+ MatchNumber: 3, Round: 1, CompLevel: "qual",
+ R1: 7, R2: 44, R3: 602, B1: 973, B2: 402, B3: 202,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_all_matches.RequestAllMatchesT{}).Pack(builder))
+
+ response, err := debug.RequestAllMatches("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_all_matches_response.RequestAllMatchesResponseT{
+ MatchList: []*request_all_matches_response.MatchT{
+ // MatchNumber, Round, CompLevel
+ // R1, R2, R3, B1, B2, B3
+ {
+ 1, 1, "qual",
+ 5, 42, 600, 971, 400, 200,
+ },
+ {
+ 2, 1, "qual",
+ 6, 43, 601, 972, 401, 201,
+ },
+ {
+ 3, 1, "qual",
+ 7, 44, 602, 973, 402, 202,
+ },
+ },
+ }
+ if len(expected.MatchList) != len(response.MatchList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.MatchList {
+ if !reflect.DeepEqual(*match, *response.MatchList[i]) {
+ t.Fatal("Expected for match", i, ":", *match, ", but got:", *response.MatchList[i])
+ }
+ }
+}
+
+// Validates that we can request the full match list.
+func TestRequestMatchesForTeam(t *testing.T) {
+ db := MockDatabase{
+ matches: []db.Match{
+ {
+ MatchNumber: 1, Round: 1, CompLevel: "qual",
+ R1: 5, R2: 42, R3: 600, B1: 971, B2: 400, B3: 200,
+ },
+ {
+ MatchNumber: 2, Round: 1, CompLevel: "qual",
+ R1: 6, R2: 43, R3: 601, B1: 972, B2: 401, B3: 201,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_matches_for_team.RequestMatchesForTeamT{
+ Team: 971,
+ }).Pack(builder))
+
+ response, err := debug.RequestMatchesForTeam("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_matches_for_team_response.RequestMatchesForTeamResponseT{
+ MatchList: []*request_matches_for_team_response.MatchT{
+ // MatchNumber, Round, CompLevel
+ // R1, R2, R3, B1, B2, B3
+ {
+ 1, 1, "qual",
+ 5, 42, 600, 971, 400, 200,
+ },
+ },
+ }
+ if len(expected.MatchList) != len(response.MatchList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.MatchList {
+ if !reflect.DeepEqual(*match, *response.MatchList[i]) {
+ t.Fatal("Expected for match", i, ":", *match, ", but got:", *response.MatchList[i])
+ }
+ }
+}
+
+// Validates that we can request the stats.
+func TestRequestDataScouting(t *testing.T) {
+ db := MockDatabase{
+ stats: []db.Stats{
+ {
+ TeamNumber: 971, MatchNumber: 1,
+ ShotsMissed: 1, UpperGoalShots: 2, LowerGoalShots: 3,
+ ShotsMissedAuto: 4, UpperGoalAuto: 5, LowerGoalAuto: 6,
+ PlayedDefense: 7, Climbing: 8,
+ },
+ {
+ TeamNumber: 972, MatchNumber: 1,
+ ShotsMissed: 2, UpperGoalShots: 3, LowerGoalShots: 4,
+ ShotsMissedAuto: 5, UpperGoalAuto: 6, LowerGoalAuto: 7,
+ PlayedDefense: 8, Climbing: 9,
+ },
+ },
+ }
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&db, scrapeEmtpyMatchList, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&request_data_scouting.RequestDataScoutingT{}).Pack(builder))
+
+ response, err := debug.RequestDataScouting("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ expected := request_data_scouting_response.RequestDataScoutingResponseT{
+ StatsList: []*request_data_scouting_response.StatsT{
+ // Team, Match,
+ // MissedShotsAuto, UpperGoalAuto, LowerGoalAuto,
+ // MissedShotsTele, UpperGoalTele, LowerGoalTele,
+ // DefenseRating, Climbing,
+ {
+ 971, 1,
+ 4, 5, 6,
+ 1, 2, 3,
+ 7, 8,
+ },
+ {
+ 972, 1,
+ 5, 6, 7,
+ 2, 3, 4,
+ 8, 9,
+ },
+ },
+ }
+ if len(expected.StatsList) != len(response.StatsList) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+ for i, match := range expected.StatsList {
+ if !reflect.DeepEqual(*match, *response.StatsList[i]) {
+ t.Fatal("Expected for stats", i, ":", *match, ", but got:", *response.StatsList[i])
+ }
+ }
+}
+
+// Validates that we can download the schedule from The Blue Alliance.
+func TestRefreshMatchList(t *testing.T) {
+ scrapeMockSchedule := func(int32, string) ([]scraping.Match, error) {
+ return []scraping.Match{
+ {
+ CompLevel: "qual",
+ MatchNumber: 1,
+ Alliances: scraping.Alliances{
+ Red: scraping.Alliance{
+ TeamKeys: []string{
+ "100",
+ "200",
+ "300",
+ },
+ },
+ Blue: scraping.Alliance{
+ TeamKeys: []string{
+ "101",
+ "201",
+ "301",
+ },
+ },
+ },
+ WinningAlliance: "",
+ EventKey: "",
+ Time: 0,
+ PredictedTime: 0,
+ ActualTime: 0,
+ PostResultTime: 0,
+ ScoreBreakdowns: scraping.ScoreBreakdowns{},
+ },
+ }, nil
+ }
+
+ database := MockDatabase{}
+ scoutingServer := server.NewScoutingServer()
+ HandleRequests(&database, scrapeMockSchedule, scoutingServer)
+ scoutingServer.Start(8080)
+ defer scoutingServer.Stop()
+
+ builder := flatbuffers.NewBuilder(1024)
+ builder.Finish((&refresh_match_list.RefreshMatchListT{}).Pack(builder))
+
+ response, err := debug.RefreshMatchList("http://localhost:8080", builder.FinishedBytes())
+ if err != nil {
+ t.Fatal("Failed to request all matches: ", err)
+ }
+
+ // Validate the response.
+ expected := refresh_match_list_response.RefreshMatchListResponseT{}
+ if !reflect.DeepEqual(expected, *response) {
+ t.Fatal("Expected ", expected, ", but got ", *response)
+ }
+
+ // Make sure that the data made it into the database.
+ expectedMatches := []db.Match{
+ {
+ MatchNumber: 1,
+ Round: 1,
+ CompLevel: "qual",
+ R1: 100,
+ R2: 200,
+ R3: 300,
+ B1: 101,
+ B2: 201,
+ B3: 301,
+ },
+ }
+ if !reflect.DeepEqual(expectedMatches, database.matches) {
+ t.Fatal("Expected ", expectedMatches, ", but got ", database.matches)
+ }
+}
+
// A mocked database we can use for testing. Add functionality to this as
// needed for your tests.
-type MockDatabase struct{}
+type MockDatabase struct {
+ matches []db.Match
+ stats []db.Stats
+}
-func (database *MockDatabase) AddToMatch(db.Match) error {
+func (database *MockDatabase) AddToMatch(match db.Match) error {
+ database.matches = append(database.matches, match)
return nil
}
@@ -106,17 +363,31 @@
}
func (database *MockDatabase) ReturnMatches() ([]db.Match, error) {
- return []db.Match{}, nil
+ return database.matches, nil
}
func (database *MockDatabase) ReturnStats() ([]db.Stats, error) {
- return []db.Stats{}, nil
+ return database.stats, nil
}
-func (database *MockDatabase) QueryMatches(int) ([]db.Match, error) {
- return []db.Match{}, nil
+func (database *MockDatabase) QueryMatches(requestedTeam int32) ([]db.Match, error) {
+ var matches []db.Match
+ for _, match := range database.matches {
+ for _, team := range []int32{match.R1, match.R2, match.R3, match.B1, match.B2, match.B3} {
+ if team == requestedTeam {
+ matches = append(matches, match)
+ break
+ }
+ }
+ }
+ return matches, nil
}
func (database *MockDatabase) QueryStats(int) ([]db.Stats, error) {
return []db.Stats{}, nil
}
+
+// Returns an empty match list from the fake The Blue Alliance scraping.
+func scrapeEmtpyMatchList(int32, string) ([]scraping.Match, error) {
+ return nil, nil
+}
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
index aa2ad7b..39246d8 100644
--- a/scouting/www/BUILD
+++ b/scouting/www/BUILD
@@ -14,12 +14,14 @@
]),
angular_assets = glob([
"*.ng.html",
+ "*.css",
]),
compiler = "//tools:tsc_wrapped_with_angular",
target_compatible_with = ["@platforms//cpu:x86_64"],
use_angular_plugin = True,
visibility = ["//visibility:public"],
deps = [
+ "//scouting/www/entry",
"@npm//@angular/animations",
"@npm//@angular/common",
"@npm//@angular/core",
diff --git a/scouting/www/app.ng.html b/scouting/www/app.ng.html
index fb9ba26..f763b7d 100644
--- a/scouting/www/app.ng.html
+++ b/scouting/www/app.ng.html
@@ -1,3 +1,5 @@
-<h1>
- This is an app.
-</h1>
+<!--Progress Bar-->
+<!--<div class="row">
+ <h1 class="text-end">Match {{matchNumber}}, Team {{teamNumber}}</h1>
+</div>-->
+<app-entry></app-entry>
diff --git a/scouting/www/app_module.ts b/scouting/www/app_module.ts
index 3e34a17..6a6fff0 100644
--- a/scouting/www/app_module.ts
+++ b/scouting/www/app_module.ts
@@ -1,6 +1,7 @@
import {NgModule} from '@angular/core';
import {BrowserModule} from '@angular/platform-browser';
import {BrowserAnimationsModule} from '@angular/platform-browser/animations';
+import {EntryModule} from './entry/entry.module';
import {App} from './app';
@@ -9,6 +10,7 @@
imports: [
BrowserModule,
BrowserAnimationsModule,
+ EntryModule,
],
exports: [App],
bootstrap: [App],
diff --git a/scouting/www/entry/BUILD b/scouting/www/entry/BUILD
new file mode 100644
index 0000000..55b6937
--- /dev/null
+++ b/scouting/www/entry/BUILD
@@ -0,0 +1,25 @@
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "entry",
+ srcs = glob([
+ "*.ts",
+ ]),
+ angular_assets = glob([
+ "*.ng.html",
+ "*.css",
+ ]),
+ compiler = "//tools:tsc_wrapped_with_angular",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ use_angular_plugin = True,
+ visibility = ["//visibility:public"],
+ deps = [
+ "//scouting/webserver/requests/messages:error_response_ts_fbs",
+ "//scouting/webserver/requests/messages:submit_data_scouting_response_ts_fbs",
+ "//scouting/webserver/requests/messages:submit_data_scouting_ts_fbs",
+ "@com_github_google_flatbuffers//ts:flatbuffers_ts",
+ "@npm//@angular/common",
+ "@npm//@angular/core",
+ "@npm//@angular/forms",
+ ],
+)
diff --git a/scouting/www/entry/entry.component.css b/scouting/www/entry/entry.component.css
new file mode 100644
index 0000000..2cb500f
--- /dev/null
+++ b/scouting/www/entry/entry.component.css
@@ -0,0 +1,24 @@
+* {
+ padding: 10px;
+}
+
+.center-column {
+ display: flex;
+ align-items: stretch;
+ flex-direction: column;
+ text-align: center;
+}
+
+.buttons {
+ display: flex;
+ justify-content: space-between;
+}
+
+textarea {
+ width: 300px;
+ height: 150px;
+}
+
+.error_message {
+ color: red;
+}
diff --git a/scouting/www/entry/entry.component.ts b/scouting/www/entry/entry.component.ts
new file mode 100644
index 0000000..ddc31df
--- /dev/null
+++ b/scouting/www/entry/entry.component.ts
@@ -0,0 +1,161 @@
+import { Component, OnInit } from '@angular/core';
+
+import * as flatbuffer_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
+import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
+import * as error_response from 'org_frc971/scouting/webserver/requests/messages/error_response_generated';
+import * as submit_data_scouting_response from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_response_generated';
+import * as submit_data_scouting from 'org_frc971/scouting/webserver/requests/messages/submit_data_scouting_generated';
+import SubmitDataScouting = submit_data_scouting.scouting.webserver.requests.SubmitDataScouting;
+import SubmitDataScoutingResponse = submit_data_scouting_response.scouting.webserver.requests.SubmitDataScoutingResponse;
+import ErrorResponse = error_response.scouting.webserver.requests.ErrorResponse;
+
+type Section = 'Team Selection'|'Auto'|'TeleOp'|'Climb'|'Defense'|'Review and Submit'|'Home'
+type Level = 'Low'|'Medium'|'High'|'Transversal'
+
+@Component({
+ selector: 'app-entry',
+ templateUrl: './entry.ng.html',
+ styleUrls: ['./entry.component.css']
+})
+export class EntryComponent {
+ section: Section = 'Team Selection';
+ matchNumber: number = 1
+ teamNumber: number = 1
+ autoUpperShotsMade: number = 0;
+ autoLowerShotsMade: number = 0;
+ autoShotsMissed: number = 0;
+ teleUpperShotsMade: number = 0;
+ teleLowerShotsMade: number = 0;
+ teleShotsMissed: number = 0;
+ defensePlayedOnScore: number = 3;
+ defensePlayedScore: number = 3;
+ level: Level;
+ proper: boolean = false;
+ climbed: boolean = false;
+ errorMessage: string = '';
+
+ toggleProper() {
+ this.proper = !this.proper;
+ }
+
+ setLow() {
+ this.level = 'Low';
+ }
+
+ setMedium() {
+ this.level = 'Medium';
+ }
+
+ setHigh() {
+ this.level = 'High';
+ }
+
+ setTransversal() {
+ this.level = 'Transversal';
+ }
+
+ defensePlayedOnSlider(event) {
+ this.defensePlayedOnScore = event.target.value;
+ }
+
+ defensePlayedSlider(event) {
+ this.defensePlayedScore = event.target.value;
+ }
+
+ setClimbedTrue() {
+ this.climbed = true;
+ }
+
+ setClimbedFalse() {
+ this.climbed = false;
+ }
+
+ nextSection() {
+ if (this.section === 'Team Selection') {
+ this.section = 'Auto';
+ } else if (this.section === 'Auto') {
+ this.section = 'TeleOp';
+ } else if (this.section === 'TeleOp') {
+ this.section = 'Climb';
+ } else if (this.section === 'Climb') {
+ this.section = 'Defense';
+ } else if (this.section === 'Defense') {
+ this.section = 'Review and Submit';
+ } else if (this.section === 'Review and Submit') {
+ this.submitDataScouting();
+ }
+ }
+
+ prevSection() {
+ if (this.section === 'Auto') {
+ this.section = 'Team Selection';
+ } else if (this.section === 'TeleOp') {
+ this.section = 'Auto';
+ } else if (this.section === 'Climb') {
+ this.section = 'TeleOp';
+ } else if (this.section === 'Defense') {
+ this.section = 'Climb';
+ } else if (this.section === 'Review and Submit') {
+ this.section = 'Defense';
+ }
+ }
+
+ adjustAutoUpper(by: number) {
+ this.autoUpperShotsMade = Math.max(0, this.autoUpperShotsMade + by);
+ }
+
+ adjustAutoLower(by: number) {
+ this.autoLowerShotsMade = Math.max(0, this.autoLowerShotsMade + by);
+ }
+
+ adjustAutoMissed(by: number) {
+ this.autoShotsMissed = Math.max(0, this.autoShotsMissed + by);
+ }
+
+ adjustTeleUpper(by: number) {
+ this.teleUpperShotsMade = Math.max(0, this.teleUpperShotsMade + by);
+ }
+
+ adjustTeleLower(by: number) {
+ this.teleLowerShotsMade = Math.max(0, this.teleLowerShotsMade + by);
+ }
+
+ adjustTeleMissed(by: number) {
+ this.teleShotsMissed = Math.max(0, this.teleShotsMissed + by);
+ }
+
+ async submitDataScouting() {
+ const builder = new flatbuffer_builder.Builder() as unknown as flatbuffers.Builder;
+ SubmitDataScouting.startSubmitDataScouting(builder);
+ SubmitDataScouting.addTeam(builder, this.teamNumber);
+ SubmitDataScouting.addMatch(builder, this.matchNumber);
+ SubmitDataScouting.addMissedShotsAuto(builder, this.autoShotsMissed);
+ SubmitDataScouting.addUpperGoalAuto(builder, this.autoUpperShotsMade);
+ SubmitDataScouting.addLowerGoalAuto(builder, this.autoLowerShotsMade);
+ SubmitDataScouting.addMissedShotsTele(builder, this.teleShotsMissed);
+ SubmitDataScouting.addUpperGoalTele(builder, this.teleUpperShotsMade);
+ SubmitDataScouting.addLowerGoalTele(builder, this.teleLowerShotsMade);
+ SubmitDataScouting.addDefenseRating(builder, this.defensePlayedScore);
+ // TODO(phil): Add support for defensePlayedOnScore.
+ // TODO(phil): Fix the Climbing score.
+ SubmitDataScouting.addClimbing(builder, 1);
+ builder.finish(SubmitDataScouting.endSubmitDataScouting(builder));
+
+ const buffer = builder.asUint8Array();
+ const res = await fetch(
+ '/requests/submit/data_scouting', {method: 'POST', body: buffer});
+
+ if (res.ok) {
+ // We successfully submitted the data. Go back to Home.
+ this.section = 'Home';
+ } else {
+ const resBuffer = await res.arrayBuffer();
+ const fbBuffer = new ByteBuffer(new Uint8Array(resBuffer));
+ const parsedResponse = ErrorResponse.getRootAsErrorResponse(
+ fbBuffer as unknown as flatbuffers.ByteBuffer);
+
+ const errorMessage = parsedResponse.errorMessage();
+ this.errorMessage = `Received ${res.status} ${res.statusText}: "${errorMessage}"`;
+ }
+ }
+}
diff --git a/scouting/www/entry/entry.module.ts b/scouting/www/entry/entry.module.ts
new file mode 100644
index 0000000..35ecd26
--- /dev/null
+++ b/scouting/www/entry/entry.module.ts
@@ -0,0 +1,12 @@
+import {NgModule} from '@angular/core';
+import {CommonModule} from '@angular/common';
+import {EntryComponent} from './entry.component';
+import {FormsModule} from '@angular/forms';
+
+@NgModule({
+ declarations: [EntryComponent],
+ exports: [EntryComponent],
+ imports: [CommonModule, FormsModule],
+})
+export class EntryModule {
+}
diff --git a/scouting/www/entry/entry.ng.html b/scouting/www/entry/entry.ng.html
new file mode 100644
index 0000000..e52e6bc
--- /dev/null
+++ b/scouting/www/entry/entry.ng.html
@@ -0,0 +1,219 @@
+<div class="header">
+ <h2>{{section}}</h2>
+</div>
+
+<ng-container [ngSwitch]="section">
+ <div *ngSwitchCase="'Team Selection'" id="team_selection" class="container-fluid">
+ <div class="row">
+ <label for="match_number">Match Number</label>
+ <input [(ngModel)]="matchNumber" type="number" id="match_number" min="1" max="999">
+ </div>
+ <div class="row">
+ <label for="team_number">Team Number</label>
+ <input [(ngModel)]="teamNumber" type="number" id="team_number" min="1" max="9999">
+ </div>
+ <div class="text-right">
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Auto'" id="auto" class="container-fluid">
+ <div class="row">
+ <!--Image here-->
+ <h4>Image</h4>
+ <form>
+ <!--Choice for each ball location-->
+ <input type="radio" name="balls" value="1" id="ball-1"><label for="ball-1">Ball 1</label>
+ <input type="radio" name="balls" value="2" id="ball-2"><label for="ball-2">Ball 2</label><br>
+ <input type="radio" name="balls" value="3" id="ball-3"><label for="ball-3">Ball 3</label>
+ <input type="radio" name="balls" value="4" id="ball-4"><label for="ball-4">Ball 4</label>
+ </form>
+ </div>
+ <div class="row">
+ <!--Image here-->
+ <h4>Image</h4>
+ <form>
+ <input type="radio" name="quadrant" id="first" value="Quadrant 1">
+ <label for="first">Quadrant 1</label>
+ <input type="radio" name="quadrant" id="second" value="Quadrant 2">
+ <label for="second">Quadrant 2</label><br>
+ <input type="radio" name="quadrant" id="third" value="Quadrant 3">
+ <label for="third">Quadrant 3</label>
+ <input type="radio" name="quadrant" id="fourth" value="Quadrant 4">
+ <label for="fourth">Quadrant 4</label>
+ </form>
+ </div>
+ <div class="row justify-content-center">
+ <span class="col-4 center-column">
+ <h4>Upper</h4>
+ <button (click)="adjustAutoUpper(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoUpperShotsMade}}</h3>
+ <button (click)="adjustAutoUpper(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Lower</h4>
+ <button (click)="adjustAutoLower(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoLowerShotsMade}}</h3>
+ <button (click)="adjustAutoLower(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Missed</h4>
+ <button (click)="adjustAutoMissed(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{autoShotsMissed}}</h3>
+ <button (click)="adjustAutoMissed(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+ </div>
+ <div class="buttons">
+ <!-- hack to right align the next button -->
+ <div></div>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'TeleOp'" id="teleop" class="container-fluid">
+ <div class="row justify-content-center">
+ <span class="col-4 center-column">
+ <h4>Upper</h4>
+ <button (click)="adjustTeleUpper(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleUpperShotsMade}}</h3>
+ <button (click)="adjustTeleUpper(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Lower</h4>
+ <button (click)="adjustTeleLower(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleLowerShotsMade}}</h3>
+ <button (click)="adjustTeleLower(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+
+ <span class="col-4 center-column">
+ <h4>Missed</h4>
+ <button (click)="adjustTeleMissed(1)" class="btn btn-secondary btn-block">+</button>
+ <h3>{{teleShotsMissed}}</h3>
+ <button (click)="adjustTeleMissed(-1)" class="btn btn-secondary btn-block">-</button>
+ </span>
+ </div>
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Climb'" id="climb" class="container-fluid">
+ <div class="row">
+ <form>
+ <input (click)="setClimbedFalse()" type="radio" name="climbing" id="continue"><label for="continue">Kept Shooting</label><br>
+ <input (click)="setClimbedTrue()" type="radio" name="climbing" id="climbed"><label for="climbed">Attempted to Climb</label><br>
+ </form>
+ </div>
+ <div *ngIf="climbed">
+ <h4>Bar Made</h4>
+ <form>
+ <input (click)="setLow()" type="radio" name="level" id="low"><label for="low">Low</label><br>
+ <input (click)="setMedium()" type="radio" name="level" id="medium"><label for="medium">Medium</label><br>
+ <input (click)="setHigh()" type="radio" name="level" id="high"><label for="high">High</label><br>
+ <input (click)="setTransversal()" type="radio" name="level" id="transversal"><label for="transversal">Transversal</label><br>
+ <input (click)="toggleProper()" type="checkbox" id="proper"><label for="proper">~10 seconds to attempt next level?</label>
+ </form>
+ </div>
+ <div class="row">
+ <h4>Comments</h4>
+ <textarea></textarea>
+ </div>
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Defense'" id="defense" class="container-fluid">
+ <h4 class="text-center">How much defense did other robots play on this robot?</h4>
+
+ <div class="row" style="min-height: 50px">
+ <div class="col">
+ <h6>None</h6>
+ </div>
+
+ <div class="col">
+ <input type="range" min="1" max="5" value="3" (input)="defensePlayedOnSlider($event)">
+ </div>
+
+ <div class="col">
+ <h6>A lot</h6>
+ </div>
+ </div>
+
+ <h6 class="text-center">{{defensePlayedOnScore}}</h6>
+
+ <h4 class="text-center">How much defense did this robot play?</h4>
+
+ <div class="row">
+
+ <div class="col">
+ <h6>None</h6>
+ </div>
+
+ <div class="col">
+ <input type="range" min="1" max="5" value="3" (input)="defensePlayedSlider($event)">
+ </div>
+
+ <div class="col">
+ <h6>A lot</h6>
+ </div>
+ </div>
+ <h6 class="text-center">{{defensePlayedScore}}</h6>
+
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Next</button>
+ </div>
+ </div>
+
+ <div *ngSwitchCase="'Review and Submit'" id="review" class="container-fluid">
+ <h4>Team Selection</h4>
+ <ul>
+ <li>Match number: {{matchNumber}}</li>
+ <li>Team number: {{teamNumber}}</li>
+ </ul>
+
+ <h4>Auto</h4>
+ <ul>
+ <li>Upper Shots Made: {{autoUpperShotsMade}}</li>
+ <li>Lower Shots Made: {{autoLowerShotsMade}}</li>
+ <li>Missed Shots: {{autoShotsMissed}}</li>
+ </ul>
+
+ <h4>TeleOp</h4>
+ <ul>
+ <li>Upper Shots Made: {{teleUpperShotsMade}}</li>
+ <li>Lower Shots Made: {{teleLowerShotsMade}}</li>
+ <li>Missed Shots {{teleShotsMissed}}</li>
+ </ul>
+
+ <h4>Climb</h4>
+ <ul>
+ <div *ngIf="climbed">
+ <li *ngIf="climbed">Attempted to Climb?: Yes</li>
+ <li>Level: {{level}}</li>
+ <li *ngIf="proper">Proper Attempt: Yes</li>
+ <li *ngIf="!proper">Proper Attempt: No</li>
+ </div>
+ <li *ngIf="!climbed">Attempted to Climb: No</li>
+ </ul>
+
+ <h4>Defense</h4>
+ <ul>
+ <li>Defense Played On Rating: {{defensePlayedOnScore}}</li>
+ <li>Defense Played Raing: {{defensePlayedScore}}</li>
+ </ul>
+
+ <div class="error_message">{{ errorMessage }}</div>
+
+ <div class="buttons">
+ <button class="btn btn-primary" (click)="prevSection()">Back</button>
+ <button class="btn btn-primary" (click)="nextSection()">Submit</button>
+ </div>
+ </div>
+</ng-container>
diff --git a/scouting/www/index.html b/scouting/www/index.html
index cbe8770..3a09dfd 100644
--- a/scouting/www/index.html
+++ b/scouting/www/index.html
@@ -1,7 +1,10 @@
+<!DOCTYPE html>
<html>
<head>
+ <meta name="viewport" content="width=device-width, initial-scale=1">
<base href="/">
<script src="./npm/node_modules/zone.js/dist/zone.min.js"></script>
+ <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.1.3/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-1BmE4kWBq78iYhFldvKuhfTAU6auU8tT94WrHftjDbrCEXSU1oBoqyl2QvZ6jIW3" crossorigin="anonymous">
</head>
<body>
<my-app></my-app>
diff --git a/tools/build_rules/js.bzl b/tools/build_rules/js.bzl
index be6826c..eeb5594 100644
--- a/tools/build_rules/js.bzl
+++ b/tools/build_rules/js.bzl
@@ -1,6 +1,9 @@
load("@build_bazel_rules_nodejs//:providers.bzl", "JSModuleInfo")
load("@npm//@bazel/rollup:index.bzl", upstream_rollup_bundle = "rollup_bundle")
load("@npm//@bazel/terser:index.bzl", "terser_minified")
+load("@bazel_skylib//lib:paths.bzl", "paths")
+load("@npm//@bazel/protractor:index.bzl", "protractor_web_test_suite")
+load("@npm//@bazel/typescript:index.bzl", "ts_project")
def rollup_bundle(name, deps, visibility = None, **kwargs):
"""Calls the upstream rollup_bundle() and exposes a .min.js file.
@@ -78,3 +81,36 @@
),
},
)
+
+def protractor_ts_test(name, srcs, deps = None, **kwargs):
+ """Wraps upstream protractor_web_test_suite() to reduce boilerplate.
+
+ This is largely based on the upstream protractor example:
+ https://github.com/bazelbuild/rules_nodejs/blob/stable/examples/angular/e2e/BUILD.bazel
+
+ See the documentation for more information:
+ https://bazelbuild.github.io/rules_nodejs/Protractor.html#protractor_web_test_suite
+ """
+ ts_project(
+ name = name + "__lib",
+ srcs = srcs,
+ testonly = 1,
+ deps = (deps or []) + [
+ # Implicit deps that are necessary to get tests of this kind to
+ # work.
+ "@npm//@types/jasmine",
+ "@npm//jasmine",
+ "@npm//protractor",
+ "@npm//@types/node",
+ ],
+ tsconfig = {},
+ declaration = True,
+ declaration_map = True,
+ )
+
+ protractor_web_test_suite(
+ name = name,
+ srcs = [paths.replace_extension(src, ".js") for src in srcs],
+ deps = [":%s__lib" % name],
+ **kwargs
+ )
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 474c8a4..f2127f5 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -39,7 +39,6 @@
ballsShotPlot.plot.setDefaultYRange([0.0, 20.0]);
ballsShotPlot.addMessageLine(status, ['shooter', 'balls_shot']).setColor(BLUE).setPointSize(0.0);
-
const voltagePlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
@@ -51,7 +50,6 @@
voltagePlot.addMessageLine(status, ['shooter', 'finisher', 'voltage_error']).setColor(RED).setPointSize(0.0);
voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(0.0);
-
const currentPlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentPlot.plot.getAxisLabels().setTitle('Current');
diff --git a/y2022/BUILD b/y2022/BUILD
index cc3aa93..1a5f692 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -1,9 +1,11 @@
load("//frc971:downloader.bzl", "robot_downloader")
load("//aos:config.bzl", "aos_config")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
binaries = [
+ ":setpoint_setter",
"//aos/network:web_proxy_main",
],
data = [
@@ -114,6 +116,7 @@
"//aos/network:remote_message_fbs",
"//y2022/localizer:localizer_status_fbs",
"//y2022/localizer:localizer_output_fbs",
+ "//y2022/localizer:localizer_visualization_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -147,6 +150,7 @@
name = "config_roborio",
src = "y2022_roborio.json",
flatbuffers = [
+ ":setpoint_fbs",
"//aos/network:remote_message_fbs",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
@@ -252,6 +256,8 @@
":joystick_reader.cc",
],
deps = [
+ ":constants",
+ ":setpoint_fbs",
"//aos:init",
"//aos/actions:action_lib",
"//aos/logging",
@@ -267,6 +273,27 @@
],
)
+flatbuffer_cc_library(
+ name = "setpoint_fbs",
+ srcs = [
+ "setpoint.fbs",
+ ],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+cc_binary(
+ name = "setpoint_setter",
+ srcs = ["setpoint_setter.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":constants",
+ ":setpoint_fbs",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 1ec0349..225ed87 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -101,8 +101,8 @@
flipper_arms.subsystem_params.default_profile_params = {6.0, 1.0};
flipper_arms.subsystem_params.range = Values::kFlipperArmRange();
- auto *const flipper_arm_right = &r.flipper_arm_left;
- auto *const flipper_arm_left = &r.flipper_arm_right;
+ auto *const flipper_arm_right = &r.flipper_arm_right;
+ auto *const flipper_arm_left = &r.flipper_arm_left;
*flipper_arm_right = flipper_arms;
*flipper_arm_left = flipper_arms;
@@ -152,20 +152,25 @@
case kCompTeamNumber:
climber->potentiometer_offset = 0.0;
- intake_front->potentiometer_offset = 0.0;
- intake_front->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- intake_back->potentiometer_offset = 0.0;
- intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- turret->potentiometer_offset = 0.0;
- turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.0;
- flipper_arm_left->potentiometer_offset = 0.0;
- flipper_arm_right->potentiometer_offset = 0.0;
- catapult_params->zeroing_constants.measured_absolute_position = 0.0;
- catapult->potentiometer_offset = 0.0;
+ intake_front->potentiometer_offset = 2.79628370453323;
+ intake_front->subsystem_params.zeroing_constants
+ .measured_absolute_position = 0.248921954833972;
+
+ intake_back->potentiometer_offset = 3.1409576474047;
+ intake_back->subsystem_params.zeroing_constants
+ .measured_absolute_position = 0.280099007470002;
+
+ turret->potentiometer_offset = -9.99970387166721;
+ turret->subsystem_params.zeroing_constants.measured_absolute_position =
+ 0.638321248163561;
+
+ flipper_arm_left->potentiometer_offset = -6.4;
+ flipper_arm_right->potentiometer_offset = -5.66;
+
+ catapult_params->zeroing_constants.measured_absolute_position =
+ 1.71723370408082;
+ catapult->potentiometer_offset = -2.03383240293769;
break;
case kPracticeTeamNumber:
diff --git a/y2022/constants.h b/y2022/constants.h
index fc9083a..5b8fe64 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -48,6 +48,9 @@
return 22 * 0.25 * 0.0254;
}
static constexpr double kClimberPotRatio() { return 1.0; }
+ // TODO(milind): figure this out
+ // Climber position when it's comfortably above the mid rung.
+ static constexpr double kClimberMidRungHeight() { return 1.0; }
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
@@ -63,7 +66,7 @@
static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
static constexpr double kIntakeEncoderRatio() {
- return (16.0 / 64.0) * (20.0 / 50.0);
+ return (16.0 / 64.0) * (18.0 / 62.0);
}
static constexpr double kIntakePotRatio() { return 16.0 / 64.0; }
@@ -87,31 +90,57 @@
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kIntakeRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.5, // Back Hard
- .upper_hard = 2.85 + 0.05, // Front Hard
- .lower = -0.300, // Back Soft
- .upper = 2.725 // Front Soft
+ .lower_hard = -0.85, // Back Hard
+ .upper_hard = 1.85, // Front Hard
+ .lower = -0.400, // Back Soft
+ .upper = 1.57 // Front Soft
};
}
+ // When the intake is atleast this much out, always spin the rollers
+ static constexpr double kIntakeSlightlyOutPosition() {
+ return kIntakeRange().middle();
+ }
+ static constexpr double kIntakeOutPosition() { return 1.24; }
+
// Intake rollers
static constexpr double kIntakeRollerSupplyCurrentLimit() { return 40.0; }
static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
+ // Transfer rollers
+ // Positive voltage means front transfer rollers pull in and back spits out,
+ // and vice versa
+ static constexpr double kTransferRollerFrontVoltage() { return 12.0; }
+ static constexpr double kTransferRollerBackVoltage() {
+ return -kTransferRollerFrontVoltage();
+ }
+
+ // Voltage to wiggle the transfer rollers and keep a ball in.
+ static constexpr double kTransferRollerFrontWiggleVoltage() { return 5.0; }
+ static constexpr double kTransferRollerBackWiggleVoltage() {
+ return -kTransferRollerFrontWiggleVoltage();
+ }
+ // Minimum roller speed when the intake is slightly out
+ static constexpr double kMinIntakeSlightlyOutRollerSpeed() { return 6.0; }
+ // Roller speeds when intake is out
+ static constexpr double kIntakeOutRollerSpeed() { return 7.0; }
+
// Turret
PotAndAbsEncoderConstants turret;
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.1, // Back Hard
- .upper_hard = 4.71, // Front Hard
- .lower = 0.0, // Back Soft
- .upper = 3.3 // Front Soft
+ .lower_hard = -6.0, // Back Hard
+ .upper_hard = 4.0, // Front Hard
+ .lower = -5.0, // Back Soft
+ .upper = 3.7 // Front Soft
};
}
- // Turret
+ static constexpr double kTurretBackIntakePos() { return 0.0; }
+ static constexpr double kTurretFrontIntakePos() { return M_PI; }
+
static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
static constexpr double kTurretEncoderRatio() { return kTurretPotRatio(); }
static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
@@ -126,11 +155,44 @@
static constexpr double kFlipperArmSupplyCurrentLimit() { return 30.0; }
static constexpr double kFlipperArmStatorCurrentLimit() { return 40.0; }
+ // Voltage to open the flippers for firing
+ static constexpr double kFlipperOpenVoltage() { return 3.0; }
+ // Voltage to keep the flippers open for firing once they already are
+ static constexpr double kFlipperHoldVoltage() { return 2.5; }
+ // Voltage to feed a ball from the transfer rollers to the catpult with the
+ // flippers
+ static constexpr double kFlipperFeedVoltage() { return -8.0; }
+
+ // Ball is fed into catapult for atleast this time no matter what
+ static constexpr std::chrono::milliseconds kExtraLoadingTime() {
+ return std::chrono::milliseconds(100);
+ }
+ // If we have been trying to transfer the ball for this amount of time, it
+ // probably got lost so abort
+ static constexpr std::chrono::seconds kBallLostTime() {
+ return std::chrono::seconds(2);
+ }
+ // If the flippers took more than this amount of time to open for firing,
+ // reseat the ball
+ static constexpr std::chrono::milliseconds kFlipperOpeningTimeout() {
+ return std::chrono::milliseconds(250);
+ }
+ // Don't use flipper velocity readings more than this amount of time in the
+ // past
+ static constexpr std::chrono::milliseconds kFlipperVelocityValidTime() {
+ return std::chrono::milliseconds(100);
+ }
+
// TODO: (Griffin) this needs to be set
static constexpr ::frc971::constants::Range kFlipperArmRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.6, .lower = 0.0, .upper = 0.5};
+ .lower_hard = -0.01, .upper_hard = 0.4, .lower = 0.0, .upper = 0.5};
}
+ // Position of the flippers when they are open
+ static constexpr double kFlipperOpenPosition() { return 0.15; }
+ // If the flippers were open but now moved back, reseat the ball if they go
+ // below this position
+ static constexpr double kReseatFlipperPosition() { return 0.1; }
static constexpr double kFlipperArmsPotRatio() { return 16.0 / 36.0; }
@@ -145,6 +207,9 @@
static constexpr double kCatapultEncoderCountsPerRevolution() {
return 4096.0;
}
+ static constexpr double kDefaultCatapultShotPosition() { return 3.0; }
+ static constexpr double kDefaultCatapultShotVelocity() { return 3.0; }
+ static constexpr double kCatapultReturnPosition() { return -0.85; }
static constexpr double kMaxCatapultEncoderPulsesPerSecond() {
return control_loops::superstructure::catapult::kFreeSpeed / (2.0 * M_PI) *
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index ac91668..14fd403 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -77,6 +77,7 @@
],
deps = [
":collision_avoidance_lib",
+ ":superstructure_can_position_fbs",
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
@@ -177,3 +178,36 @@
"//aos/network/www:proxy",
],
)
+
+ts_library(
+ name = "intake_plotter",
+ srcs = ["intake_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "turret_plotter",
+ srcs = ["turret_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "climber_plotter",
+ srcs = ["climber_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index e4d76d3..adc13c7 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -23,7 +23,7 @@
instance.constraint_matrix =
Eigen::SparseMatrix<double, Eigen::ColMajor, osqp::c_int>(horizon,
- horizon);
+ horizon);
instance.constraint_matrix.setIdentity();
instance.lower_bounds =
@@ -313,7 +313,7 @@
const flatbuffers::Offset<
frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
Catapult::Iterate(const Goal *unsafe_goal, const Position *position,
- double *catapult_voltage,
+ double *catapult_voltage, bool fire,
flatbuffers::FlatBufferBuilder *fbb) {
const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
*catapult_goal = unsafe_goal != nullptr && unsafe_goal->has_catapult()
@@ -326,13 +326,12 @@
if (catapult_disabled) {
catapult_state_ = CatapultState::PROFILE;
} else if (catapult_.running() && unsafe_goal &&
- unsafe_goal->has_catapult() && unsafe_goal->catapult()->fire() &&
- !last_firing_) {
+ unsafe_goal->has_catapult() && fire && !last_firing_) {
catapult_state_ = CatapultState::FIRING;
}
if (catapult_.running() && unsafe_goal && unsafe_goal->has_catapult()) {
- last_firing_ = unsafe_goal->catapult()->fire();
+ last_firing_ = fire;
}
use_profile_ = true;
@@ -379,8 +378,7 @@
use_profile_ = false;
}
} else {
- if (unsafe_goal && unsafe_goal->has_catapult() &&
- !unsafe_goal->catapult()->fire()) {
+ if (unsafe_goal && unsafe_goal->has_catapult() && !fire) {
// Eh, didn't manage to solve before it was time to fire. Give up.
catapult_state_ = CatapultState::PROFILE;
}
@@ -417,7 +415,8 @@
}
}
- catapult_.UpdateObserver(catapult_voltage != nullptr ? *catapult_voltage : 0.0);
+ catapult_.UpdateObserver(catapult_voltage != nullptr ? *catapult_voltage
+ : 0.0);
return catapult_.MakeStatus(fbb);
}
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index a8141a0..ccd4b06 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -192,6 +192,8 @@
// Resets all state for when WPILib restarts.
void Reset() { catapult_.Reset(); }
+ void Estop() { catapult_.Estop(); }
+
bool zeroed() const { return catapult_.zeroed(); }
bool estopped() const { return catapult_.estopped(); }
double solve_time() const { return catapult_mpc_.solve_time(); }
@@ -201,12 +203,16 @@
// Returns the number of shots taken.
int shot_count() const { return shot_count_; }
+ // Returns the estimated position
+ double estimated_position() const { return catapult_.estimated_position(); }
+
// Runs either the MPC or the profiled subsystem depending on if we are
// shooting or not. Returns the status.
const flatbuffers::Offset<
frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
Iterate(const Goal *unsafe_goal, const Position *position,
- double *catapult_voltage, flatbuffers::FlatBufferBuilder *fbb);
+ double *catapult_voltage, bool fire,
+ flatbuffers::FlatBufferBuilder *fbb);
private:
// TODO(austin): Prototype is just an encoder. Catapult has both an encoder
diff --git a/y2022/control_loops/superstructure/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
new file mode 100644
index 0000000..e24a993
--- /dev/null
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotClimber(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('Position');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('rad');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(status, ['climber', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlot.addMessageLine(output, ['climber_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['climber', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
index 5d0fe27..01b0463 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -58,7 +58,7 @@
if (turret_position_wrapped >= min_turret_collision_position &&
turret_position_wrapped <= max_turret_collision_position) {
// Reterns true if the intake is raised.
- if (intake_position <= kCollisionZoneIntake) {
+ if (intake_position > kCollisionZoneIntake) {
return true;
}
} else {
@@ -67,8 +67,10 @@
return false;
}
-void CollisionAvoidance::UpdateGoal(const CollisionAvoidance::Status &status,
- const Goal *unsafe_goal) {
+void CollisionAvoidance::UpdateGoal(
+ const CollisionAvoidance::Status &status,
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *unsafe_turret_goal) {
// Start with our constraints being wide open.
clear_max_turret_goal();
clear_min_turret_goal();
@@ -81,10 +83,9 @@
const double intake_back_position = status.intake_back_position;
const double turret_position = status.turret_position;
- const double turret_goal =
- (unsafe_goal != nullptr && unsafe_goal->turret() != nullptr
- ? unsafe_goal->turret()->unsafe_goal()
- : std::numeric_limits<double>::quiet_NaN());
+ const double turret_goal = (unsafe_turret_goal != nullptr
+ ? unsafe_turret_goal->unsafe_goal()
+ : std::numeric_limits<double>::quiet_NaN());
// Calculating the avoidance with either intake, and when the turret is
// wrapped.
@@ -143,14 +144,14 @@
if (turret_pos_unsafe || turret_moving_past_intake) {
// If the turret is unsafe, limit the intake
if (intake_front) {
- update_min_intake_front_goal(kCollisionZoneIntake + kEpsIntake);
+ update_max_intake_front_goal(kCollisionZoneIntake - kEpsIntake);
} else {
- update_min_intake_back_goal(kCollisionZoneIntake + kEpsIntake);
+ update_max_intake_back_goal(kCollisionZoneIntake - kEpsIntake);
}
// If the intake is in the way, limit the turret until moved. Otherwise,
// let'errip!
- if (!turret_pos_unsafe && (intake_position <= kCollisionZoneIntake)) {
+ if (!turret_pos_unsafe && (intake_position > kCollisionZoneIntake)) {
if (turret_position < min_turret_collision_goal_unwrapped) {
update_max_turret_goal(min_turret_collision_goal_unwrapped -
kEpsTurret);
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 94b454c..a64bbd3 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -52,8 +52,8 @@
static constexpr double kMinCollisionZoneBackTurret = -kCollisionZoneTurret;
static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
- // Minimum (highest in reality) of the intake, in order to avoid collisions
- static constexpr double kCollisionZoneIntake = M_PI / 6.0;
+ // Maximum position of the intake to avoid collisions
+ static constexpr double kCollisionZoneIntake = 1.4;
// Tolerance for the turret.
static constexpr double kEpsTurret = 0.05;
@@ -69,7 +69,10 @@
double min_turret_collision_position,
double max_turret_collision_position);
// Checks and alters goals to make sure they're safe.
- void UpdateGoal(const Status &status, const Goal *unsafe_goal);
+ void UpdateGoal(
+ const Status &status,
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *unsafe_turret_goal);
// Limits if goal is in collision spots.
void CalculateAvoidance(bool intake_front, double intake_position,
double turret_goal, double mix_turret_collision_goal,
diff --git a/y2022/control_loops/superstructure/collision_avoidance_test.cc b/y2022/control_loops/superstructure/collision_avoidance_test.cc
index 616a10b..adf672b 100644
--- a/y2022/control_loops/superstructure/collision_avoidance_test.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance_test.cc
@@ -2,8 +2,8 @@
#include "aos/commonmath.h"
#include "aos/flatbuffers.h"
-#include "gtest/gtest.h"
#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
@@ -84,22 +84,18 @@
status_({0.0, 0.0, 0.0}),
prev_status_({0.0, 0.0, 0.0}) {}
- int t = 0;
- int d = 0;
void Simulate() {
FlatbufferDetachedBuffer<Goal> safe_goal = MakeZeroGoal();
- t++;
// Don't simulate if already collided
if (avoidance_.IsCollided(status_)) {
- d++;
return;
}
bool moving = true;
while (moving) {
// Compute the safe goal
- avoidance_.UpdateGoal(status_, &unsafe_goal_.message());
+ avoidance_.UpdateGoal(status_, unsafe_goal_.message().turret());
// The system should never be collided
ASSERT_FALSE(avoidance_.IsCollided(status_));
@@ -142,11 +138,11 @@
switch (intake_state) {
case IntakeState::kSafe:
- intake_angle = CollisionAvoidance::kCollisionZoneIntake +
+ intake_angle = CollisionAvoidance::kCollisionZoneIntake -
CollisionAvoidance::kEpsIntake;
break;
case IntakeState::kUnsafe:
- intake_angle = CollisionAvoidance::kCollisionZoneIntake -
+ intake_angle = CollisionAvoidance::kCollisionZoneIntake +
CollisionAvoidance::kEpsIntake;
break;
}
@@ -271,7 +267,7 @@
intake_front_goal(), turret_goal(),
CollisionAvoidance::kMinCollisionZoneFrontTurret,
CollisionAvoidance::kMaxCollisionZoneFrontTurret)) {
- EXPECT_GE(status_.intake_front_position,
+ EXPECT_LE(status_.intake_front_position,
CollisionAvoidance::kCollisionZoneIntake);
} else {
EXPECT_NEAR(intake_front_goal(), status_.intake_front_position,
@@ -282,7 +278,7 @@
intake_back_goal(), turret_goal(),
CollisionAvoidance::kMinCollisionZoneBackTurret,
CollisionAvoidance::kMaxCollisionZoneBackTurret)) {
- EXPECT_GE(status_.intake_back_position,
+ EXPECT_LE(status_.intake_back_position,
CollisionAvoidance::kCollisionZoneIntake);
} else {
EXPECT_NEAR(intake_back_goal(), status_.intake_back_position, 0.001);
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
new file mode 100644
index 0000000..8904d8b
--- /dev/null
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -0,0 +1,88 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotIntakeFront(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotFront.addMessageLine(status, ['intake_front', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotFront.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotFront.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotFront.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotFront.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotFront.addMessageLine(output, ['intake_voltage_front']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
+
+export function plotIntakeBack(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ const positionPlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotBack.plot.getAxisLabels().setTitle('Position');
+ positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotBack.plot.getAxisLabels().setYLabel('rad');
+ positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+
+ const voltagePlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotBack.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotBack.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotBack.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotBack.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotBack.addMessageLine(output, ['intake_voltage_back']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index bf94b08..affc25b 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -21,10 +21,12 @@
intake_front_(values_->intake_front.subsystem_params),
intake_back_(values_->intake_back.subsystem_params),
turret_(values_->turret.subsystem_params),
+ catapult_(*values_),
drivetrain_status_fetcher_(
event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
"/drivetrain")),
- catapult_(*values_) {
+ can_position_fetcher_(
+ event_loop->MakeFetcher<CANPosition>("/superstructure")) {
event_loop->SetRuntimeRealtimePriority(30);
}
@@ -32,8 +34,6 @@
const Position *position,
aos::Sender<Output>::Builder *output,
aos::Sender<Status>::Builder *status) {
- OutputT output_struct;
-
if (WasReset()) {
AOS_LOG(ERROR, "WPILib reset, restarting\n");
intake_front_.Reset();
@@ -43,27 +43,28 @@
catapult_.Reset();
}
- collision_avoidance_.UpdateGoal(
- {.intake_front_position = intake_front_.estimated_position(),
- .intake_back_position = intake_back_.estimated_position(),
- .turret_position = turret_.estimated_position()},
- unsafe_goal);
+ OutputT output_struct;
- turret_.set_min_position(collision_avoidance_.min_turret_goal());
- turret_.set_max_position(collision_avoidance_.max_turret_goal());
- intake_front_.set_min_position(collision_avoidance_.min_intake_front_goal());
- intake_front_.set_max_position(collision_avoidance_.max_intake_front_goal());
- intake_back_.set_min_position(collision_avoidance_.min_intake_back_goal());
- intake_back_.set_max_position(collision_avoidance_.max_intake_back_goal());
+ aos::FlatbufferFixedAllocatorArray<
+ frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal, 64>
+ turret_goal_buffer;
+
+ const aos::monotonic_clock::time_point timestamp =
+ event_loop()->context().monotonic_event_time;
drivetrain_status_fetcher_.Fetch();
const float velocity = robot_velocity();
- double roller_speed_compensated_front = 0;
- double roller_speed_compensated_back = 0;
- double transfer_roller_speed = 0;
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *turret_goal = nullptr;
+ double roller_speed_compensated_front = 0.0;
+ double roller_speed_compensated_back = 0.0;
+ double transfer_roller_speed = 0.0;
+ double flipper_arms_voltage = 0.0;
if (unsafe_goal != nullptr) {
+ turret_goal = unsafe_goal->turret();
+
roller_speed_compensated_front =
unsafe_goal->roller_speed_front() +
std::max(velocity * unsafe_goal->roller_speed_compensation(), 0.0);
@@ -75,45 +76,308 @@
transfer_roller_speed = unsafe_goal->transfer_roller_speed();
}
+ // TODO: Aimer sets turret_goal here
+ // Supersturcture state machine:
+ // 1. IDLE: Wait until an intake beambreak is triggerred, meaning that a ball
+ // is being intaked. This means that the transfer rollers have a ball. If
+ // we've been waiting here for too long without any beambreak triggered, the
+ // ball got lost, so reset.
+ // 2. TRANSFERRING: Until the turret reaches the loading position where the
+ // ball can be transferred into the catapult, wiggle the ball in place.
+ // Once the turret reaches the loading position, send the ball forward with
+ // the transfer rollers until the turret beambreak is triggered.
+ // If we have been in this state for too long, the ball probably got lost so
+ // reset back to IDLE.
+ // 3. LOADING: To load the ball into the catapult, put the flippers at the
+ // feeding speed. Wait for a timeout, and then wait until the ball has gone
+ // past the turret beambreak and the flippers have stopped moving, meaning
+ // that the ball is fully loaded in the catapult.
+ // 4. LOADED: Wait until the user asks us to fire to transition to the
+ // shooting stage. If asked to cancel the shot, reset back to the IDLE state.
+ // 5. SHOOTING: Open the flippers to get ready for the shot. If they don't
+ // open quickly enough, try reseating the ball and going back to the LOADING
+ // stage, which moves the flippers in the opposite direction first.
+ // Now, hold the flippers open and wait until the turret has reached its
+ // aiming goal. Once the turret is ready, tell the catapult to fire.
+ // If the flippers move back for some reason now, it could damage the
+ // catapult, so estop it. Otherwise, wait until the catapult shoots a ball and
+ // goes back to its return position. We have now finished the shot, so return
+ // to IDLE.
+
+ const bool is_spitting = ((intake_state_ == IntakeState::INTAKE_FRONT_BALL &&
+ transfer_roller_speed < 0) ||
+ (intake_state_ == IntakeState::INTAKE_BACK_BALL &&
+ transfer_roller_speed > 0));
+
+ // Intake handling should happen regardless of the turret state
+ if (position->intake_beambreak_front() || position->intake_beambreak_back()) {
+ if (intake_state_ == IntakeState::NO_BALL) {
+ if (position->intake_beambreak_front()) {
+ intake_state_ = IntakeState::INTAKE_FRONT_BALL;
+ } else if (position->intake_beambreak_back()) {
+ intake_state_ = IntakeState::INTAKE_BACK_BALL;
+ }
+ }
+
+ intake_beambreak_timer_ = timestamp;
+ }
+
+ if (intake_state_ != IntakeState::NO_BALL) {
+ // Block intaking in
+ roller_speed_compensated_front = 0.0;
+ roller_speed_compensated_back = 0.0;
+
+ const double wiggle_voltage =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTransferRollerFrontWiggleVoltage()
+ : constants::Values::kTransferRollerBackWiggleVoltage());
+ // Wiggle transfer rollers: send the ball back and forth while waiting
+ // for the turret or waiting for another shot to be completed
+ if ((intake_state_ == IntakeState::INTAKE_FRONT_BALL &&
+ position->intake_beambreak_front()) ||
+ (intake_state_ == IntakeState::INTAKE_BACK_BALL &&
+ position->intake_beambreak_back())) {
+ transfer_roller_speed = -wiggle_voltage;
+ } else {
+ transfer_roller_speed = wiggle_voltage;
+ }
+ }
+
+ switch (state_) {
+ case SuperstructureState::IDLE: {
+ if (timestamp >
+ intake_beambreak_timer_ + constants::Values::kBallLostTime()) {
+ intake_state_ = IntakeState::NO_BALL;
+ }
+
+ if (is_spitting) {
+ intake_state_ = IntakeState::NO_BALL;
+ }
+
+ if (intake_state_ == IntakeState::NO_BALL ||
+ !(position->intake_beambreak_front() ||
+ position->intake_beambreak_back())) {
+ break;
+ }
+
+ state_ = SuperstructureState::TRANSFERRING;
+ transferring_timer_ = timestamp;
+
+ // Save the side the ball is on for later
+
+ break;
+ }
+ case SuperstructureState::TRANSFERRING: {
+ // If we've been transferring for too long, the ball probably got lost
+ if (timestamp >
+ transferring_timer_ + constants::Values::kBallLostTime()) {
+ intake_state_ = IntakeState::NO_BALL;
+ break;
+ }
+
+ if (intake_state_ == IntakeState::NO_BALL) {
+ state_ = SuperstructureState::IDLE;
+ break;
+ }
+
+ double turret_loading_position =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTurretFrontIntakePos()
+ : constants::Values::kTurretBackIntakePos());
+
+ turret_goal_buffer.Finish(
+ frc971::control_loops::
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *turret_goal_buffer.fbb(), turret_loading_position));
+ turret_goal = &turret_goal_buffer.message();
+
+ const bool turret_near_goal =
+ std::abs(turret_.estimated_position() - turret_loading_position) <
+ kTurretGoalThreshold;
+ if (!turret_near_goal) {
+ break; // Wait for turret to reach the chosen intake
+ }
+
+ // Transfer rollers and flipper arm belt on
+ transfer_roller_speed =
+ (intake_state_ == IntakeState::INTAKE_FRONT_BALL
+ ? constants::Values::kTransferRollerFrontVoltage()
+ : constants::Values::kTransferRollerBackVoltage());
+ flipper_arms_voltage = constants::Values::kFlipperFeedVoltage();
+
+ // Ball is in catapult
+ if (position->turret_beambreak()) {
+ intake_state_ = IntakeState::NO_BALL;
+ state_ = SuperstructureState::LOADING;
+ loading_timer_ = timestamp;
+ }
+ break;
+ }
+ case SuperstructureState::LOADING: {
+ flipper_arms_voltage = constants::Values::kFlipperFeedVoltage();
+
+ // Keep feeding for kExtraLoadingTime
+
+ can_position_fetcher_.Fetch();
+ const bool flipper_arm_roller_is_stopped =
+ can_position_fetcher_.get() != nullptr &&
+ std::abs(
+ can_position_fetcher_->flipper_arm_integrated_sensor_velocity()) <
+ 0.01;
+
+ const bool reading_is_recent =
+ can_position_fetcher_.get() != nullptr &&
+ (timestamp < can_position_fetcher_.context().monotonic_event_time +
+ constants::Values::kFlipperVelocityValidTime());
+
+ // The ball should go past the turret beambreak to be loaded.
+ // If we got a CAN reading not too long ago, the flippers should have also
+ // stopped.
+ // TODO(milind): maybe it's better to update loading_timer_ as long as the
+ // turret beambreak is triggered.
+ if (timestamp > loading_timer_ + constants::Values::kExtraLoadingTime() &&
+ !position->turret_beambreak() &&
+ (flipper_arm_roller_is_stopped || !reading_is_recent)) {
+ state_ = SuperstructureState::LOADED;
+ reseating_in_catapult_ = false;
+ }
+ break;
+ }
+ case SuperstructureState::LOADED: {
+ if (unsafe_goal != nullptr) {
+ if (unsafe_goal->cancel_shot()) {
+ // Cancel the shot process
+ state_ = SuperstructureState::IDLE;
+ } else if (unsafe_goal->fire()) {
+ // Start if we were asked to and the turret is at goal
+ state_ = SuperstructureState::SHOOTING;
+ prev_shot_count_ = catapult_.shot_count();
+
+ // Reset opening timeout
+ flipper_opening_start_time_ = timestamp;
+ }
+ }
+ break;
+ }
+ case SuperstructureState::SHOOTING: {
+ // Opening flipper arms could fail, wait until they are open using their
+ // potentiometers (the member below is just named encoder).
+ // Be a little more lenient if the flippers were already open in case of
+ // noise or collisions.
+ const double flipper_open_position =
+ (flippers_open_ ? constants::Values::kReseatFlipperPosition()
+ : constants::Values::kFlipperOpenPosition());
+ flippers_open_ =
+ position->flipper_arm_left()->encoder() >= flipper_open_position &&
+ position->flipper_arm_right()->encoder() >= flipper_open_position;
+
+ if (flippers_open_) {
+ // Hold at kFlipperHoldVoltage
+ flipper_arms_voltage = constants::Values::kFlipperHoldVoltage();
+ } else {
+ // Open at kFlipperOpenVoltage
+ flipper_arms_voltage = constants::Values::kFlipperOpenVoltage();
+ }
+
+ if (!flippers_open_ &&
+ timestamp >
+ loading_timer_ + constants::Values::kFlipperOpeningTimeout()) {
+ // Reseat the ball and try again
+ state_ = SuperstructureState::LOADING;
+ loading_timer_ = timestamp;
+ reseating_in_catapult_ = true;
+ break;
+ }
+
+ const bool turret_near_goal =
+ turret_goal != nullptr &&
+ std::abs(turret_goal->unsafe_goal() - turret_.position()) <
+ kTurretGoalThreshold;
+
+ // If the turret reached the aiming goal, fire!
+ if (flippers_open_ && turret_near_goal) {
+ fire_ = true;
+ }
+
+ // If we started firing and the flippers closed a bit, estop to prevent
+ // damage
+ if (fire_ && !flippers_open_) {
+ catapult_.Estop();
+ }
+
+ const bool near_return_position =
+ (unsafe_goal != nullptr && unsafe_goal->has_catapult() &&
+ unsafe_goal->catapult()->has_return_position() &&
+ std::abs(unsafe_goal->catapult()->return_position()->unsafe_goal() -
+ catapult_.estimated_position()) < kCatapultGoalThreshold);
+
+ // Once the shot is complete and the catapult is back to its return
+ // position, go back to IDLE
+ if (catapult_.shot_count() > prev_shot_count_ && near_return_position) {
+ prev_shot_count_ = catapult_.shot_count();
+ fire_ = false;
+ state_ = SuperstructureState::IDLE;
+ }
+
+ break;
+ }
+ }
+
+ collision_avoidance_.UpdateGoal(
+ {.intake_front_position = intake_front_.estimated_position(),
+ .intake_back_position = intake_back_.estimated_position(),
+ .turret_position = turret_.estimated_position()},
+ turret_goal);
+
+ turret_.set_min_position(collision_avoidance_.min_turret_goal());
+ turret_.set_max_position(collision_avoidance_.max_turret_goal());
+ intake_front_.set_min_position(collision_avoidance_.min_intake_front_goal());
+ intake_front_.set_max_position(collision_avoidance_.max_intake_front_goal());
+ intake_back_.set_min_position(collision_avoidance_.min_intake_back_goal());
+ intake_back_.set_max_position(collision_avoidance_.max_intake_back_goal());
+
+ // Disable the catapult if we want to restart to prevent damage with flippers
const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
- catapult_status_offset = catapult_.Iterate(
- unsafe_goal, position,
- output != nullptr ? &(output_struct.catapult_voltage) : nullptr,
- status->fbb());
+ catapult_status_offset =
+ catapult_.Iterate(unsafe_goal, position,
+ output != nullptr && !catapult_.estopped()
+ ? &(output_struct.catapult_voltage)
+ : nullptr,
+ fire_, status->fbb());
- flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
+ const flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
climber_status_offset = climber_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->climber() : nullptr,
position->climber(),
- output != nullptr ? &(output_struct.climber_voltage) : nullptr,
+ output != nullptr ? &output_struct.climber_voltage : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_front = intake_front_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_front() : nullptr,
position->intake_front(),
- output != nullptr ? &(output_struct.intake_voltage_front) : nullptr,
+ output != nullptr ? &output_struct.intake_voltage_front : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_back = intake_back_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_back() : nullptr,
position->intake_back(),
- output != nullptr ? &(output_struct.intake_voltage_back) : nullptr,
+ output != nullptr ? &output_struct.intake_voltage_back : nullptr,
status->fbb());
- flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
+ const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
turret_status_offset = turret_.Iterate(
- unsafe_goal != nullptr ? unsafe_goal->turret() : nullptr,
- position->turret(),
- output != nullptr ? &(output_struct.turret_voltage) : nullptr,
+ turret_goal, position->turret(),
+ output != nullptr ? &output_struct.turret_voltage : nullptr,
status->fbb());
if (output != nullptr) {
output_struct.roller_voltage_front = roller_speed_compensated_front;
output_struct.roller_voltage_back = roller_speed_compensated_back;
output_struct.transfer_roller_voltage = transfer_roller_speed;
+ output_struct.flipper_arms_voltage = flipper_arms_voltage;
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
@@ -121,9 +385,11 @@
Status::Builder status_builder = status->MakeBuilder<Status>();
const bool zeroed = intake_front_.zeroed() && intake_back_.zeroed() &&
- turret_.zeroed() && climber_.zeroed() && catapult_.zeroed();
+ turret_.zeroed() && climber_.zeroed() &&
+ catapult_.zeroed();
const bool estopped = intake_front_.estopped() || intake_back_.estopped() ||
- turret_.estopped() || climber_.estopped() || catapult_.estopped();
+ turret_.estopped() || climber_.estopped() ||
+ catapult_.estopped();
status_builder.add_zeroed(zeroed);
status_builder.add_estopped(estopped);
@@ -132,10 +398,17 @@
status_builder.add_intake_back(intake_status_offset_back);
status_builder.add_turret(turret_status_offset);
status_builder.add_climber(climber_status_offset);
+
status_builder.add_catapult(catapult_status_offset);
status_builder.add_solve_time(catapult_.solve_time());
- status_builder.add_mpc_active(catapult_.mpc_active());
status_builder.add_shot_count(catapult_.shot_count());
+ status_builder.add_mpc_active(catapult_.mpc_active());
+
+ status_builder.add_flippers_open(flippers_open_);
+ status_builder.add_reseating_in_catapult(reseating_in_catapult_);
+ status_builder.add_fire(fire_);
+ status_builder.add_state(state_);
+ status_builder.add_intake_state(intake_state_);
(void)status->Send(status_builder.Finish());
}
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index dfd4265..13a790a 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -7,6 +7,7 @@
#include "y2022/constants.h"
#include "y2022/control_loops/superstructure/catapult/catapult.h"
#include "y2022/control_loops/superstructure/collision_avoidance.h"
+#include "y2022/control_loops/superstructure/superstructure_can_position_generated.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_output_generated.h"
#include "y2022/control_loops/superstructure/superstructure_position_generated.h"
@@ -29,6 +30,11 @@
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
+ static constexpr double kTurretGoalThreshold = 0.01;
+ static constexpr double kCatapultGoalThreshold = 0.01;
+ // potentiometer will be more noisy
+ static constexpr double kFlipperGoalThreshold = 0.05;
+
explicit Superstructure(::aos::EventLoop *event_loop,
std::shared_ptr<const constants::Values> values,
const ::std::string &name = "/superstructure");
@@ -58,15 +64,32 @@
PotAndAbsoluteEncoderSubsystem intake_front_;
PotAndAbsoluteEncoderSubsystem intake_back_;
PotAndAbsoluteEncoderSubsystem turret_;
+ catapult::Catapult catapult_;
CollisionAvoidance collision_avoidance_;
aos::Fetcher<frc971::control_loops::drivetrain::Status>
drivetrain_status_fetcher_;
+ aos::Fetcher<CANPosition> can_position_fetcher_;
+
+ int prev_shot_count_ = 0;
+
+ bool flippers_open_ = false;
+ bool reseating_in_catapult_ = false;
+ bool fire_ = false;
+
+ aos::monotonic_clock::time_point intake_beambreak_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point transferring_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point loading_timer_ =
+ aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point flipper_opening_start_time_ =
+ aos::monotonic_clock::min_time;
+ SuperstructureState state_ = SuperstructureState::IDLE;
+ IntakeState intake_state_ = IntakeState::NO_BALL;
DISALLOW_COPY_AND_ASSIGN(Superstructure);
-
- catapult::Catapult catapult_;
};
} // namespace superstructure
diff --git a/y2022/control_loops/superstructure/superstructure_goal.fbs b/y2022/control_loops/superstructure/superstructure_goal.fbs
index ada39a2..379f6ba 100644
--- a/y2022/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2022/control_loops/superstructure/superstructure_goal.fbs
@@ -3,8 +3,9 @@
namespace y2022.control_loops.superstructure;
table CatapultGoal {
- // If true, fire! The robot will only fire when ready.
- fire:bool (id: 0);
+ // Old fire flag, only kept for backwards-compatability with logs.
+ // Use the fire flag in the root Goal instead
+ fire:bool (id: 0, deprecated);
// The target shot position and velocity. If these are provided before fire
// is called, the optimizer can pre-compute the trajectory.
@@ -37,6 +38,15 @@
// Catapult goal state.
catapult:CatapultGoal (id: 8);
+
+ // If true, fire! The robot will only fire when ready.
+ fire:bool (id: 9);
+
+ // Aborts the shooting process if the ball has been loaded into the catapult
+ // and the superstructure is in the LOADED state.
+ cancel_shot:bool (id: 10);
}
+
+
root_type Goal;
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 06dee7b..7425ac0 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -244,6 +244,18 @@
flatbuffers::Offset<frc971::RelativePosition> climber_offset =
climber_.encoder()->GetSensorValues(&climber_builder);
+ frc971::RelativePosition::Builder flipper_arm_left_builder =
+ builder.MakeBuilder<frc971::RelativePosition>();
+ flipper_arm_left_builder.add_encoder(flipper_arm_left_);
+ flatbuffers::Offset<frc971::RelativePosition> flipper_arm_left_offset =
+ flipper_arm_left_builder.Finish();
+
+ frc971::RelativePosition::Builder flipper_arm_right_builder =
+ builder.MakeBuilder<frc971::RelativePosition>();
+ flipper_arm_right_builder.add_encoder(flipper_arm_right_);
+ flatbuffers::Offset<frc971::RelativePosition> flipper_arm_right_offset =
+ flipper_arm_left_builder.Finish();
+
Position::Builder position_builder = builder.MakeBuilder<Position>();
position_builder.add_intake_front(intake_front_offset);
@@ -251,6 +263,11 @@
position_builder.add_turret(turret_offset);
position_builder.add_catapult(catapult_offset);
position_builder.add_climber(climber_offset);
+ position_builder.add_intake_beambreak_front(intake_beambreak_front_);
+ position_builder.add_intake_beambreak_back(intake_beambreak_back_);
+ position_builder.add_turret_beambreak(turret_beambreak_);
+ position_builder.add_flipper_arm_left(flipper_arm_left_offset);
+ position_builder.add_flipper_arm_right(flipper_arm_right_offset);
CHECK_EQ(builder.Send(position_builder.Finish()),
aos::RawSender::Error::kOk);
@@ -262,6 +279,19 @@
PotAndAbsoluteEncoderSimulator *catapult() { return &catapult_; }
RelativeEncoderSimulator *climber() { return &climber_; }
+ void set_intake_beambreak_front(bool triggered) {
+ intake_beambreak_front_ = triggered;
+ }
+
+ void set_intake_beambreak_back(bool triggered) {
+ intake_beambreak_back_ = triggered;
+ }
+
+ void set_turret_beambreak(bool triggered) { turret_beambreak_ = triggered; }
+
+ void set_flipper_arm_left(double pos) { flipper_arm_left_ = pos; }
+ void set_flipper_arm_right(double pos) { flipper_arm_right_ = pos; }
+
private:
::aos::EventLoop *event_loop_;
const chrono::nanoseconds dt_;
@@ -273,6 +303,11 @@
bool first_ = true;
+ bool intake_beambreak_front_ = false;
+ bool intake_beambreak_back_ = false;
+ bool turret_beambreak_ = false;
+ double flipper_arm_left_ = 0.0;
+ double flipper_arm_right_ = 0.0;
PotAndAbsoluteEncoderSimulator intake_front_;
PotAndAbsoluteEncoderSimulator intake_back_;
PotAndAbsoluteEncoderSimulator turret_;
@@ -343,11 +378,6 @@
0.001);
}
- if (superstructure_goal_fetcher_->has_turret()) {
- EXPECT_NEAR(superstructure_goal_fetcher_->turret()->unsafe_goal(),
- superstructure_status_fetcher_->turret()->position(), 0.001);
- }
-
if (superstructure_goal_fetcher_->has_catapult() &&
superstructure_goal_fetcher_->catapult()->has_return_position()) {
EXPECT_NEAR(superstructure_goal_fetcher_->catapult()
@@ -361,7 +391,23 @@
EXPECT_NEAR(superstructure_goal_fetcher_->climber()->unsafe_goal(),
superstructure_status_fetcher_->climber()->position(), 0.001);
}
- }
+
+ if (superstructure_status_fetcher_->intake_state() !=
+ IntakeState::NO_BALL) {
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ }
+
+ EXPECT_NEAR(superstructure_goal_fetcher_->climber()->unsafe_goal(),
+ superstructure_status_fetcher_->climber()->position(), 0.001);
+
+ if (superstructure_goal_fetcher_->has_turret() &&
+ superstructure_status_fetcher_->state() !=
+ SuperstructureState::TRANSFERRING) {
+ EXPECT_NEAR(superstructure_goal_fetcher_->turret()->unsafe_goal(),
+ superstructure_status_fetcher_->turret()->position(), 0.001);
+ }
+ } // namespace testing
void CheckIfZeroed() {
superstructure_status_fetcher_.Fetch();
@@ -392,7 +438,7 @@
}
void TestRollerFront(double roller_speed_front,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_roller_speed_front(roller_speed_front);
@@ -400,18 +446,11 @@
builder.CheckOk(builder.Send(goal_builder.Finish()));
RunFor(dt() * 2);
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(),
- roller_speed_front + std::max((superstructure_.robot_velocity() *
- roller_speed_compensation),
- 0.0));
- if (superstructure_.robot_velocity() <= 0) {
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(),
- roller_speed_front);
- }
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), expected);
}
void TestRollerBack(double roller_speed_back,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_roller_speed_back(roller_speed_back);
@@ -420,18 +459,12 @@
RunFor(dt() * 2);
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(),
- roller_speed_back - std::min(superstructure_.robot_velocity() *
- roller_speed_compensation,
- 0.0));
- if (superstructure_.robot_velocity() >= 0) {
- EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(),
- roller_speed_back);
- }
+
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), expected);
}
void TestTransferRoller(double transfer_roller_speed,
- double roller_speed_compensation) {
+ double roller_speed_compensation, double expected) {
auto builder = superstructure_goal_sender_.MakeBuilder();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
goal_builder.add_transfer_roller_speed(transfer_roller_speed);
@@ -441,7 +474,7 @@
ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
- transfer_roller_speed);
+ expected);
}
std::shared_ptr<const constants::Values> values_;
@@ -466,7 +499,7 @@
std::unique_ptr<aos::EventLoop> logger_event_loop_;
std::unique_ptr<aos::logger::Logger> logger_;
-};
+}; // namespace testing
// Tests that the superstructure does nothing when the goal is to remain
// still.
@@ -537,22 +570,22 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().upper,
+ *builder.fbb(), constants::Values::kTurretRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kClimberRange().upper,
+ *builder.fbb(), constants::Values::kClimberRange().lower,
CreateProfileParameters(*builder.fbb(), 1.0, 0.2));
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -587,11 +620,11 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().lower);
+ *builder.fbb(), constants::Values::kIntakeRange().upper);
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().lower);
+ *builder.fbb(), constants::Values::kIntakeRange().upper);
// Keep the turret away from the intakes because they start in the collision
// area
@@ -601,7 +634,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kClimberRange().lower);
+ *builder.fbb(), constants::Values::kClimberRange().upper);
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -624,22 +657,22 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_front = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
intake_offset_back = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kIntakeRange().upper,
+ *builder.fbb(), constants::Values::kIntakeRange().lower,
CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kTurretRange().upper,
+ *builder.fbb(), constants::Values::kTurretRange().lower,
CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), constants::Values::kClimberRange().upper,
+ *builder.fbb(), constants::Values::kClimberRange().lower,
CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
@@ -699,28 +732,265 @@
WaitUntilZeroed();
SendRobotVelocity(3.0);
- TestRollerFront(-12.0, 1.5);
- TestRollerFront(12.0, 1.5);
- TestRollerFront(0.0, 1.5);
+ TestRollerFront(-12.0, 1.5, -7.5);
+ TestRollerFront(12.0, 1.5, 16.5);
+ TestRollerFront(0.0, 1.5, 4.5);
SendRobotVelocity(-3.0);
- TestRollerFront(-12.0, 1.5);
- TestRollerFront(12.0, 1.5);
- TestRollerFront(0.0, 1.5);
+ TestRollerFront(-12.0, 1.5, -12.0);
+ TestRollerFront(12.0, 1.5, 12.0);
+ TestRollerFront(0.0, 1.5, 0.0);
SendRobotVelocity(3.0);
- TestRollerBack(-12.0, 1.5);
- TestRollerBack(12.0, 1.5);
- TestRollerBack(0.0, 1.5);
+ TestRollerBack(-12.0, 1.5, -12.0);
+ TestRollerBack(12.0, 1.5, 12.0);
+ TestRollerBack(0.0, 1.5, 0.0);
SendRobotVelocity(-3.0);
- TestRollerBack(-12.0, 1.5);
- TestRollerBack(12.0, 1.5);
- TestRollerBack(0.0, 1.5);
+ TestRollerBack(-12.0, 1.5, -7.5);
+ TestRollerBack(12.0, 1.5, 16.5);
+ TestRollerBack(0.0, 1.5, 4.5);
- TestTransferRoller(-12.0, 1.5);
- TestTransferRoller(12.0, 1.5);
- TestTransferRoller(0.0, 1.5);
+ TestTransferRoller(-12.0, 1.5, -12.0);
+ TestTransferRoller(12.0, 1.5, 12.0);
+ TestTransferRoller(0.0, 1.5, 0.0);
+}
+
+// Tests the whole shooting statemachine - from loading to shooting
+TEST_F(SuperstructureTest, LoadingToShooting) {
+ SetEnabled(true);
+ WaitUntilZeroed();
+
+ SendRobotVelocity(3.0);
+
+ constexpr double kTurretGoal = 3.0;
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kTurretGoal);
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_roller_speed_front(12.0);
+ goal_builder.add_roller_speed_back(12.0);
+ goal_builder.add_roller_speed_compensation(0.0);
+ goal_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ }
+ RunFor(std::chrono::seconds(2));
+
+ // Make sure that the rollers are spinning, but the superstructure hasn't
+ // transitioned away from idle because the beambreaks haven't been triggered.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(true);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ RunFor(dt());
+
+ // Make sure that the turret goal is set to be loading from the front intake
+ // and the supersturcture is transferring from the front intake, since that
+ // beambreak was trigerred. Also, the outside rollers should be stopped
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::TRANSFERRING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_FRONT_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+
+ RunFor(chrono::seconds(1));
+
+ // Make sure that we are still transferring and the front transfer rollers
+ // still have a ball. The turret should now be at the loading position and the
+ // flippers should be feeding the ball.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::TRANSFERRING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_FRONT_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperFeedVoltage());
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(),
+ constants::Values::kTransferRollerFrontVoltage());
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(),
+ constants::Values::kTurretFrontIntakePos(), 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(false);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ superstructure_plant_.set_turret_beambreak(true);
+ RunFor(dt() * 2);
+
+ // Now that the turret beambreak has been triggered, we should be loading the
+ // ball. The outside rollers shouldn't be limited anymore, and the transfer
+ // rollers should be off. The flippers should still be feeding the ball, and
+ // the intake state should reflect that the ball has been transferred away
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperFeedVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_turret_beambreak(false);
+ RunFor(constants::Values::kExtraLoadingTime() + dt());
+
+ // Now that the ball has gone past the turret beambreak,
+ // it should be loaded in the catapult and ready for firing.
+ // The flippers should be off.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ RunFor(std::chrono::seconds(2));
+
+ // After a few seconds, the turret should be at it's aiming goal. The flippers
+ // should still be off and we should still be loaded and ready to fire.
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 12.0);
+ EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(), 0.0);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_intake_beambreak_front(false);
+ superstructure_plant_.set_intake_beambreak_back(true);
+ RunFor(dt() * 2);
+
+ // A ball being intaked from the back should be held by wiggling the transfer
+ // rollers, but we shound't abort the shot from the front intake for it and
+ // move the turret.
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ LOG(INFO) << superstructure_output_fetcher_->transfer_roller_voltage();
+ EXPECT_TRUE(superstructure_output_fetcher_->transfer_roller_voltage() !=
+ 0.0 &&
+ superstructure_output_fetcher_->transfer_roller_voltage() <=
+ constants::Values::kTransferRollerFrontWiggleVoltage() &&
+ superstructure_output_fetcher_->transfer_roller_voltage() >=
+ -constants::Values::kTransferRollerFrontWiggleVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADED);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), kTurretGoal);
+
+ const auto catapult_return_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(*builder.fbb(),
+ -0.87);
+ auto catapult_builder = builder.MakeBuilder<CatapultGoal>();
+ catapult_builder.add_shot_position(0.3);
+ catapult_builder.add_shot_velocity(15.0);
+ catapult_builder.add_return_position(catapult_return_offset);
+ auto catapult_offset = catapult_builder.Finish();
+
+ Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_roller_speed_front(12.0);
+ goal_builder.add_roller_speed_back(12.0);
+ goal_builder.add_roller_speed_compensation(0.0);
+ goal_builder.add_catapult(catapult_offset);
+ goal_builder.add_fire(true);
+ goal_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(goal_builder.Finish()));
+ }
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+ RunFor(dt() * 2);
+
+ // Now that we were asked to fire and the flippers are open,
+ // we should be shooting the ball and holding the flippers open.
+ // The turret should still be at its goal, and we should still be wiggling the
+ // transfer rollers to keep the ball in the back intake
+ ASSERT_TRUE(superstructure_output_fetcher_.Fetch());
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_front(), 0.0);
+ EXPECT_EQ(superstructure_output_fetcher_->roller_voltage_back(), 0.0);
+ EXPECT_TRUE(superstructure_output_fetcher_->transfer_roller_voltage() !=
+ 0.0 &&
+ superstructure_output_fetcher_->transfer_roller_voltage() <=
+ constants::Values::kTransferRollerFrontWiggleVoltage() &&
+ superstructure_output_fetcher_->transfer_roller_voltage() >=
+ -constants::Values::kTransferRollerFrontWiggleVoltage());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::SHOOTING);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+ EXPECT_TRUE(superstructure_status_fetcher_->flippers_open());
+ EXPECT_EQ(superstructure_output_fetcher_->flipper_arms_voltage(),
+ constants::Values::kFlipperHoldVoltage());
+ EXPECT_NEAR(superstructure_status_fetcher_->turret()->position(), kTurretGoal,
+ 0.001);
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
+
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_intake_beambreak_back(false);
+ RunFor(std::chrono::seconds(2));
+
+ // After a bit, we should have completed the shot and be idle.
+ // Since the beambreak was triggered a bit ago, it should still think a ball
+ // is there
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::INTAKE_BACK_BALL);
+
+ // Since the intake beambreak hasn't triggered in a while, it should realize
+ // the ball was lost
+ RunFor(std::chrono::seconds(1));
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
+ EXPECT_EQ(superstructure_status_fetcher_->intake_state(),
+ IntakeState::NO_BALL);
}
// Make sure that the front and back intakes are never switched
@@ -776,9 +1046,11 @@
TEST_F(SuperstructureTest, ShootCatapult) {
SetEnabled(true);
superstructure_plant_.intake_front()->InitializePosition(
- constants::Values::kIntakeRange().middle());
+ constants::Values::kIntakeRange().upper);
superstructure_plant_.intake_back()->InitializePosition(
- constants::Values::kIntakeRange().middle());
+ constants::Values::kIntakeRange().upper);
+ superstructure_plant_.turret()->InitializePosition(
+ constants::Values::kTurretFrontIntakePos());
WaitUntilZeroed();
@@ -794,7 +1066,6 @@
CatapultGoal::Builder catapult_goal_builder =
builder.MakeBuilder<CatapultGoal>();
- catapult_goal_builder.add_fire(false);
catapult_goal_builder.add_shot_position(0.3);
catapult_goal_builder.add_shot_velocity(15.0);
catapult_goal_builder.add_return_position(catapult_return_position_offset);
@@ -802,6 +1073,7 @@
catapult_goal_builder.Finish();
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_fire(false);
goal_builder.add_catapult(catapult_goal_offset);
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
@@ -817,6 +1089,10 @@
auto builder = superstructure_goal_sender_.MakeBuilder();
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_goal_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), constants::Values::kTurretFrontIntakePos());
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
catapult_return_position_offset =
CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), constants::Values::kCatapultRange().lower,
@@ -825,7 +1101,6 @@
CatapultGoal::Builder catapult_goal_builder =
builder.MakeBuilder<CatapultGoal>();
- catapult_goal_builder.add_fire(true);
catapult_goal_builder.add_shot_position(0.5);
catapult_goal_builder.add_shot_velocity(20.0);
catapult_goal_builder.add_return_position(catapult_return_position_offset);
@@ -834,11 +1109,28 @@
Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
+ goal_builder.add_fire(true);
goal_builder.add_catapult(catapult_goal_offset);
+ goal_builder.add_turret(turret_goal_offset);
ASSERT_EQ(builder.Send(goal_builder.Finish()), aos::RawSender::Error::kOk);
}
- RunFor(chrono::milliseconds(100));
+ // Make the superstructure statemachine progress to SHOOTING
+ superstructure_plant_.set_intake_beambreak_front(true);
+ superstructure_plant_.set_turret_beambreak(true);
+ superstructure_plant_.set_flipper_arm_left(
+ constants::Values::kFlipperArmRange().upper);
+ superstructure_plant_.set_flipper_arm_right(
+ constants::Values::kFlipperArmRange().upper);
+
+ RunFor(dt() * 4);
+
+ ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::LOADING);
+ superstructure_plant_.set_turret_beambreak(false);
+
+ RunFor(chrono::milliseconds(200));
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_TRUE(superstructure_status_fetcher_->mpc_active());
@@ -846,12 +1138,17 @@
EXPECT_GT(superstructure_status_fetcher_->catapult()->position(),
constants::Values::kCatapultRange().lower + 0.1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(),
+ SuperstructureState::SHOOTING);
+ superstructure_plant_.set_intake_beambreak_front(false);
+
RunFor(chrono::milliseconds(1950));
ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
EXPECT_NEAR(superstructure_status_fetcher_->catapult()->position(),
constants::Values::kCatapultRange().lower, 1e-3);
EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 1);
+ EXPECT_EQ(superstructure_status_fetcher_->state(), SuperstructureState::IDLE);
}
} // namespace testing
diff --git a/y2022/control_loops/superstructure/superstructure_output.fbs b/y2022/control_loops/superstructure/superstructure_output.fbs
index a673361..8fa992e 100644
--- a/y2022/control_loops/superstructure/superstructure_output.fbs
+++ b/y2022/control_loops/superstructure/superstructure_output.fbs
@@ -23,6 +23,7 @@
intake_voltage_back:double (id: 5);
// Intake roller voltages
+ // positive is pulling into the robot
roller_voltage_front:double (id: 6);
roller_voltage_back:double (id: 7);
// One transfer motor for both sides
diff --git a/y2022/control_loops/superstructure/superstructure_position.fbs b/y2022/control_loops/superstructure/superstructure_position.fbs
index 46dd547..ba47662 100644
--- a/y2022/control_loops/superstructure/superstructure_position.fbs
+++ b/y2022/control_loops/superstructure/superstructure_position.fbs
@@ -4,14 +4,14 @@
table Position {
climber:frc971.RelativePosition (id: 0);
- // Zero for the intake position value is up, and positive is
- // down.
+ // Zero for the intake position value is horizontal, and positive is
+ // up.
intake_front:frc971.PotAndAbsolutePosition (id: 1);
intake_back:frc971.PotAndAbsolutePosition (id: 2);
- // Zero is forwards; positive = counter-clockwise.
+ // Zero is to the front (away from the RIO); positive = counter-clockwise.
turret:frc971.PotAndAbsolutePosition (id: 3);
- // Zero is straight and positive is open
+ // Zero is closed and positive is open
flipper_arm_left:frc971.RelativePosition (id: 4);
flipper_arm_right:frc971.RelativePosition (id: 5);
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 4487f1d..c74cbab 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -3,12 +3,47 @@
namespace y2022.control_loops.superstructure;
+// Contains which intake has a ball
+enum IntakeState : ubyte {
+ NO_BALL,
+ INTAKE_FRONT_BALL,
+ INTAKE_BACK_BALL,
+}
+
+// State of the superstructure state machine
+enum SuperstructureState : ubyte {
+ // Before a ball is intaked, when neither intake beambreak is triggered
+ IDLE,
+ // Transferring ball with transfer rollers. Moves turret to loading position.
+ TRANSFERRING,
+ // Loading the ball into the catapult
+ LOADING,
+ // The ball is loaded into the catapult
+ LOADED,
+ // Waiting for the turret to be at shooting goal and then telling the
+ // catapult to fire.
+ SHOOTING,
+}
+
table Status {
// All subsystems know their location.
zeroed:bool (id: 0);
// If true, we have aborted. This is the or of all subsystem estops.
estopped:bool (id: 1);
+ // The state of the superstructure
+
+ state:SuperstructureState (id: 10);
+ // Intaking state
+ intake_state:IntakeState (id: 11);
+ // Whether the flippers are open for shooting
+ flippers_open:bool (id: 12);
+ // Whether the flippers failed to open and we are retrying
+ reseating_in_catapult:bool (id: 13);
+ // Whether the catapult was told to fire,
+ // meaning that the turret and flippers are ready for firing
+ // and we were asked to fire. Different from fire flag in goal.
+ fire:bool (id: 14);
// Subsystem statuses
climber:frc971.control_loops.RelativeEncoderProfiledJointStatus (id: 2);
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
new file mode 100644
index 0000000..10fc10e
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -0,0 +1,46 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotTurret(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('Position');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('rad');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(status, ['turret', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlot.addMessageLine(output, ['turret_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['turret', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index a39c130..7170a1d 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -10,15 +10,21 @@
#include "aos/network/team_number.h"
#include "aos/util/log_interval.h"
#include "frc971/autonomous/base_autonomous_actor.h"
+#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "frc971/input/action_joystick_input.h"
#include "frc971/input/driver_station_data.h"
#include "frc971/input/drivetrain_input.h"
#include "frc971/input/joystick_input.h"
+#include "frc971/zeroing/wrap.h"
+#include "y2022/constants.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
#include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/setpoint_generated.h"
+using frc971::CreateProfileParameters;
+using frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal;
using frc971::input::driver_station::ButtonLocation;
using frc971::input::driver_station::ControlBit;
@@ -29,11 +35,24 @@
namespace input {
namespace joysticks {
-const ButtonLocation kCatapultPos(3, 3);
-const ButtonLocation kFire(3, 1);
-
namespace superstructure = y2022::control_loops::superstructure;
+// TODO(henry) put actually button locations here
+// TODO(milind): integrate with shooting statemachine and aimer
+const ButtonLocation kCatapultPos(3, 3);
+const ButtonLocation kFire(3, 2);
+const ButtonLocation kFixedTurret(3, 1);
+
+const ButtonLocation kIntakeFrontOut(4, 4);
+const ButtonLocation kIntakeBackOut(4, 3);
+
+const ButtonLocation kRedLocalizerReset(3, 13);
+const ButtonLocation kBlueLocalizerReset(3, 14);
+const ButtonLocation kLocalizerReset(3, 8);
+
+const ButtonLocation kClimberUpMidRung(10, 10);
+const ButtonLocation kClimberDown(11, 11);
+
class Reader : public ::frc971::input::ActionJoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
@@ -43,9 +62,74 @@
::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
superstructure_goal_sender_(
event_loop->MakeSender<superstructure::Goal>("/superstructure")),
+ localizer_control_sender_(
+ event_loop->MakeSender<
+ ::frc971::control_loops::drivetrain::LocalizerControl>(
+ "/drivetrain")),
superstructure_status_fetcher_(
- event_loop->MakeFetcher<superstructure::Status>(
- "/superstructure")) {}
+ event_loop->MakeFetcher<superstructure::Status>("/superstructure")),
+ setpoint_fetcher_(
+ event_loop->MakeFetcher<Setpoint>("/superstructure")) {}
+
+ void BlueResetLocalizer() {
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(7.4);
+ localizer_control_builder.add_y(-1.7);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ localizer_control_builder.add_theta(0.0);
+ localizer_control_builder.add_keep_current_theta(false);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset blue localizer.\n");
+ }
+ }
+
+ void RedResetLocalizer() {
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(-7.4);
+ localizer_control_builder.add_y(1.7);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ localizer_control_builder.add_theta(M_PI);
+ localizer_control_builder.add_keep_current_theta(false);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset red localizer.\n");
+ }
+ }
+
+ void ResetLocalizer() {
+ const frc971::control_loops::drivetrain::Status *drivetrain_status =
+ this->drivetrain_status();
+ if (drivetrain_status == nullptr) {
+ return;
+ }
+ // Get the current position
+ // Snap to heading.
+ auto builder = localizer_control_sender_.MakeBuilder();
+
+ // TODO<Henry> Put our starting location here.
+ frc971::control_loops::drivetrain::LocalizerControl::Builder
+ localizer_control_builder = builder.MakeBuilder<
+ frc971::control_loops::drivetrain::LocalizerControl>();
+ localizer_control_builder.add_x(drivetrain_status->x());
+ localizer_control_builder.add_y(drivetrain_status->y());
+ const double new_theta =
+ frc971::zeroing::Wrap(drivetrain_status->theta(), 0, M_PI);
+ localizer_control_builder.add_theta(new_theta);
+ localizer_control_builder.add_theta_uncertainty(10.0);
+ if (builder.Send(localizer_control_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Failed to reset localizer.\n");
+ }
+ }
void AutoEnded() override { AOS_LOG(INFO, "Auto ended.\n"); }
@@ -57,43 +141,169 @@
return;
}
- aos::Sender<superstructure::Goal>::Builder builder =
- superstructure_goal_sender_.MakeBuilder();
+ setpoint_fetcher_.Fetch();
- flatbuffers::Offset<frc971::ProfileParameters> catapult_profile =
- frc971::CreateProfileParameters(*builder.fbb(), 5.0, 30.0);
+ // Default to the intakes in
+ double intake_front_pos = constants::Values::kIntakeRange().lower;
+ double intake_back_pos = constants::Values::kIntakeRange().lower;
- StaticZeroingSingleDOFProfiledSubsystemGoal::Builder
- catapult_return_builder =
- builder.MakeBuilder<StaticZeroingSingleDOFProfiledSubsystemGoal>();
- catapult_return_builder.add_unsafe_goal(
- data.IsPressed(kCatapultPos) ? 0.3 : -0.85);
- catapult_return_builder.add_profile_params(catapult_profile);
- flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
- catapult_return_offset = catapult_return_builder.Finish();
+ double roller_front_speed = 0.0;
+ double roller_back_speed = 0.0;
+ bool roller_speed_compensation = false;
- superstructure::CatapultGoal::Builder catapult_builder =
- builder.MakeBuilder<superstructure::CatapultGoal>();
- catapult_builder.add_return_position(catapult_return_offset);
- catapult_builder.add_fire(data.IsPressed(kFire));
- catapult_builder.add_shot_position(0.3);
- catapult_builder.add_shot_velocity(15.0);
- flatbuffers::Offset<superstructure::CatapultGoal> catapult_offset =
- catapult_builder.Finish();
+ double turret_pos = 0.0;
- superstructure::Goal::Builder goal_builder =
- builder.MakeBuilder<superstructure::Goal>();
- goal_builder.add_catapult(catapult_offset);
+ double catapult_pos = 0.0;
+ double catapult_return_pos = 0.0;
+ double catapult_speed = 0.0;
+ bool fire = false;
- if (builder.Send(goal_builder.Finish()) != aos::RawSender::Error::kOk) {
- AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ if (data.IsPressed(kFire)) {
+ fire = true;
+ }
+
+ // Use setpoints for shooting if present
+ if (setpoint_fetcher_.get()) {
+ turret_pos = setpoint_fetcher_->turret();
+
+ catapult_pos = setpoint_fetcher_->catapult_position();
+ catapult_speed = setpoint_fetcher_->catapult_velocity();
+ } else {
+ turret_pos = 0.0;
+
+ catapult_pos = constants::Values::kDefaultCatapultShotPosition();
+ catapult_speed = constants::Values::kDefaultCatapultShotVelocity();
+ }
+
+ // Keep the catapult return position at the shot one if kCatapultPos is
+ // pressed
+ if (data.IsPressed(kCatapultPos)) {
+ catapult_return_pos = catapult_pos;
+ } else {
+ catapult_return_pos = constants::Values::kCatapultReturnPosition();
+ }
+
+ // If either intake is out by enough, always spin the rollers
+ if (superstructure_status_fetcher_.get() &&
+ superstructure_status_fetcher_->intake_front()->zeroed() &&
+ superstructure_status_fetcher_->intake_front()->position() >
+ constants::Values::kIntakeSlightlyOutPosition()) {
+ roller_front_speed =
+ std::max(roller_front_speed,
+ constants::Values::kMinIntakeSlightlyOutRollerSpeed());
+ roller_speed_compensation = true;
+ }
+ if (superstructure_status_fetcher_.get() &&
+ superstructure_status_fetcher_->intake_back()->zeroed() &&
+ superstructure_status_fetcher_->intake_back()->position() >
+ constants::Values::kIntakeSlightlyOutPosition()) {
+ roller_back_speed =
+ std::max(roller_back_speed,
+ constants::Values::kMinIntakeSlightlyOutRollerSpeed());
+ roller_speed_compensation = true;
+ }
+
+ // Extend the intakes and spin the rollers
+ if (data.IsPressed(kIntakeFrontOut)) {
+ intake_front_pos = constants::Values::kIntakeOutPosition();
+ roller_front_speed = constants::Values::kIntakeOutRollerSpeed();
+ roller_speed_compensation = true;
+ }
+ if (data.IsPressed(kIntakeBackOut)) {
+ intake_back_pos = constants::Values::kIntakeOutPosition();
+ roller_back_speed = constants::Values::kIntakeOutRollerSpeed();
+ roller_speed_compensation = true;
+ }
+
+ // Position climber to climb on mid rung
+ if (data.IsPressed(kClimberUpMidRung)) {
+ climber_pos_ = constants::Values::kClimberMidRungHeight();
+ } else if (data.IsPressed(kClimberDown)) {
+ climber_pos_ = 0.0;
+ }
+
+ if (data.PosEdge(kLocalizerReset)) {
+ ResetLocalizer();
+ }
+
+ if (data.PosEdge(kRedLocalizerReset)) {
+ RedResetLocalizer();
+ }
+ if (data.PosEdge(kBlueLocalizerReset)) {
+ BlueResetLocalizer();
+ }
+
+ {
+ auto builder = superstructure_goal_sender_.MakeBuilder();
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_front_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_front_pos,
+ CreateProfileParameters(*builder.fbb(), 20.0, 70.0));
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ intake_back_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), intake_back_pos,
+ CreateProfileParameters(*builder.fbb(), 20.0, 70.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), turret_pos,
+ CreateProfileParameters(*builder.fbb(), 6.0, 20.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ climber_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), climber_pos_,
+ CreateProfileParameters(*builder.fbb(), 6.0, 20.0));
+
+ flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
+ catapult_return_offset =
+ CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
+ *builder.fbb(), catapult_return_pos,
+ frc971::CreateProfileParameters(*builder.fbb(), 5.0, 30.0));
+
+ superstructure::CatapultGoal::Builder catapult_builder =
+ builder.MakeBuilder<superstructure::CatapultGoal>();
+ catapult_builder.add_return_position(catapult_return_offset);
+ catapult_builder.add_shot_position(catapult_pos);
+ catapult_builder.add_shot_velocity(catapult_speed);
+ flatbuffers::Offset<superstructure::CatapultGoal> catapult_offset =
+ catapult_builder.Finish();
+
+ superstructure::Goal::Builder superstructure_goal_builder =
+ builder.MakeBuilder<superstructure::Goal>();
+
+ superstructure_goal_builder.add_intake_front(intake_front_offset);
+ superstructure_goal_builder.add_intake_back(intake_back_offset);
+ superstructure_goal_builder.add_turret(turret_offset);
+ superstructure_goal_builder.add_climber(climber_offset);
+ superstructure_goal_builder.add_catapult(catapult_offset);
+ superstructure_goal_builder.add_fire(fire);
+
+ superstructure_goal_builder.add_roller_speed_front(roller_front_speed);
+ superstructure_goal_builder.add_roller_speed_back(roller_back_speed);
+ superstructure_goal_builder.add_roller_speed_compensation(
+ roller_speed_compensation ? 1.5 : 0.0f);
+
+ if (builder.Send(superstructure_goal_builder.Finish()) !=
+ aos::RawSender::Error::kOk) {
+ AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
+ }
}
}
private:
+ double climber_pos_ = 0.0;
+
::aos::Sender<superstructure::Goal> superstructure_goal_sender_;
+ ::aos::Sender<frc971::control_loops::drivetrain::LocalizerControl>
+ localizer_control_sender_;
+
::aos::Fetcher<superstructure::Status> superstructure_status_fetcher_;
+
+ ::aos::Fetcher<Setpoint> setpoint_fetcher_;
};
} // namespace joysticks
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index e13159f..9e8c3d4 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -1,4 +1,4 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
load("@npm//@bazel/typescript:index.bzl", "ts_library")
@@ -39,6 +39,30 @@
visibility = ["//visibility:public"],
)
+flatbuffer_cc_library(
+ name = "localizer_visualization_fbs",
+ srcs = ["localizer_visualization.fbs"],
+ gen_reflections = 1,
+ includes = [
+ ":localizer_status_fbs_includes",
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_ts_library(
+ name = "localizer_visualization_ts_fbs",
+ srcs = ["localizer_visualization.fbs"],
+ includes = [
+ ":localizer_status_fbs_includes",
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
cc_static_flatbuffer(
name = "localizer_schema",
function = "frc971::controls::LocalizerStatusSchema",
@@ -54,8 +78,11 @@
deps = [
":localizer_output_fbs",
":localizer_status_fbs",
+ ":localizer_visualization_fbs",
"//aos/containers:ring_buffer",
+ "//aos/containers:sized_array",
"//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
"//aos/time",
"//frc971/control_loops:c2d",
"//frc971/control_loops:control_loops_fbs",
@@ -67,8 +94,10 @@
"//frc971/wpilib:imu_fbs",
"//frc971/zeroing:imu_zeroer",
"//frc971/zeroing:wrap",
- "//y2020/vision/sift:sift_fbs",
"//y2022:constants",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ "//y2022/vision:calibration_fbs",
+ "//y2022/vision:target_estimate_fbs",
"@org_tuxfamily_eigen//:eigen",
],
)
@@ -91,12 +120,14 @@
data = [
"//y2022:aos_config",
],
- shard_count = 10,
+ shard_count = 13,
deps = [
":localizer",
"//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_writer",
"//aos/testing:googletest",
"//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
],
)
diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index 8d4f908..ea80e73 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -3,6 +3,7 @@
#include "frc971/control_loops/c2d.h"
#include "frc971/wpilib/imu_batch_generated.h"
#include "y2022/constants.h"
+#include "aos/json_to_flatbuffer.h"
namespace frc971::controls {
@@ -10,6 +11,11 @@
constexpr double kG = 9.80665;
constexpr std::chrono::microseconds kNominalDt(500);
+// Field position of the target (the 2022 target is conveniently in the middle
+// of the field....).
+constexpr double kVisionTargetX = 0.0;
+constexpr double kVisionTargetY = 0.0;
+
template <int N>
Eigen::Matrix<double, N, 1> MakeState(std::vector<double> values) {
CHECK_EQ(static_cast<size_t>(N), values.size());
@@ -29,6 +35,7 @@
.plant()
.coefficients()),
down_estimator_(dt_config) {
+ statistics_.rejection_counts.fill(0);
CHECK_EQ(branches_.capacity(), static_cast<size_t>(std::chrono::seconds(1) /
kNominalDt / kBranchPeriod));
if (dt_config_.is_simulated) {
@@ -77,10 +84,20 @@
B_continuous_accel_(kTheta, kThetaRate) = 1.0;
Q_continuous_model_.setZero();
- Q_continuous_model_.diagonal() << 1e-4, 1e-4, 1e-4, 1e-2, 1e-0, 1e-0, 1e-2,
+ Q_continuous_model_.diagonal() << 1e-2, 1e-2, 1e-8, 1e-2, 1e-0, 1e-0, 1e-2,
1e-0, 1e-0;
+ Q_continuous_accel_.setZero();
+ Q_continuous_accel_.diagonal() << 1e-2, 1e-2, 1e-20, 1e-4, 1e-4;
+
P_model_ = Q_continuous_model_ * aos::time::DurationInSeconds(kNominalDt);
+
+ // We can precalculate the discretizations of the accel model because it is
+ // actually LTI.
+
+ DiscretizeQAFast(Q_continuous_accel_, A_continuous_accel_, kNominalDt,
+ &Q_discrete_accel_, &A_discrete_accel_);
+ P_accel_ = Q_discrete_accel_;
}
Eigen::Matrix<double, ModelBasedLocalizer::kNModelStates,
@@ -281,6 +298,8 @@
&A_discrete);
P_model_ = A_discrete * P_model_ * A_discrete.transpose() + Q_discrete;
+ P_accel_ = A_discrete_accel_ * P_accel_ * A_discrete_accel_.transpose() +
+ Q_discrete_accel_;
Eigen::Matrix<double, kNModelOutputs, kNModelStates> H;
Eigen::Matrix<double, kNModelOutputs, kNModelOutputs> R;
@@ -300,8 +319,6 @@
if (branches_.empty()) {
VLOG(2) << "Initializing";
- current_state_.model_state.setZero();
- current_state_.accel_state.setZero();
current_state_.model_state(kLeftEncoder) = encoders(0);
current_state_.model_state(kRightEncoder) = encoders(1);
current_state_.branch_time = t;
@@ -404,6 +421,8 @@
++branch_counter_;
if (branch_counter_ % kBranchPeriod == 0) {
branches_.Push(new_branch);
+ old_positions_.Push(OldPosition{t, xytheta(), latest_turret_position_,
+ latest_turret_velocity_});
branch_counter_ = 0;
}
@@ -426,6 +445,241 @@
CHECK(std::isfinite(last_residual_));
}
+const ModelBasedLocalizer::OldPosition ModelBasedLocalizer::GetStateForTime(
+ aos::monotonic_clock::time_point time) {
+ if (old_positions_.empty()) {
+ return OldPosition{};
+ }
+
+ aos::monotonic_clock::duration lowest_time_error =
+ aos::monotonic_clock::duration::max();
+ const OldPosition *best_match = nullptr;
+ for (const OldPosition &sample : old_positions_) {
+ const aos::monotonic_clock::duration time_error =
+ std::chrono::abs(sample.sample_time - time);
+ if (time_error < lowest_time_error) {
+ lowest_time_error = time_error;
+ best_match = &sample;
+ }
+ }
+ return *best_match;
+}
+
+namespace {
+// Converts a flatbuffer TransformationMatrix to an Eigen matrix. Technically,
+// this should be able to do a single memcpy, but the extra verbosity here seems
+// appropriate.
+Eigen::Matrix<double, 4, 4> FlatbufferToTransformationMatrix(
+ const frc971::vision::calibration::TransformationMatrix &flatbuffer) {
+ CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ Eigen::Matrix<double, 4, 4> result;
+ result.setIdentity();
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ result(row, col) = (*flatbuffer.data())[row * 4 + col];
+ }
+ }
+ return result;
+}
+
+// Node names of the pis to listen for cameras from.
+const std::array<std::string_view, 4> kPisToUse{"pi1", "pi2", "pi3", "pi4"};
+}
+
+const Eigen::Matrix<double, 4, 4> ModelBasedLocalizer::CameraTransform(
+ const OldPosition &state,
+ const frc971::vision::calibration::CameraCalibration *calibration,
+ std::optional<RejectionReason> *rejection_reason) const {
+ CHECK_NOTNULL(rejection_reason);
+ CHECK_NOTNULL(calibration);
+ // Per the CameraCalibration specification, we can actually determine whether
+ // the camera is the turret camera just from the presence of the
+ // turret_extrinsics member.
+ const bool is_turret = calibration->has_turret_extrinsics();
+ // Ignore readings when the turret is spinning too fast, on the assumption
+ // that the odds of screwing up the time compensation are higher.
+ // Note that the current number here is chosen pretty arbitrarily--1 rad / sec
+ // seems reasonable, but may be unnecessarily low or high.
+ constexpr double kMaxTurretVelocity = 1.0;
+ if (is_turret && std::abs(state.turret_velocity) > kMaxTurretVelocity &&
+ !rejection_reason->has_value()) {
+ *rejection_reason = RejectionReason::TURRET_TOO_FAST;
+ }
+ CHECK(calibration->has_fixed_extrinsics());
+ const Eigen::Matrix<double, 4, 4> fixed_extrinsics =
+ FlatbufferToTransformationMatrix(*calibration->fixed_extrinsics());
+
+ // Calculate the pose of the camera relative to the robot origin.
+ Eigen::Matrix<double, 4, 4> H_robot_camera = fixed_extrinsics;
+ if (is_turret) {
+ H_robot_camera =
+ H_robot_camera *
+ frc971::control_loops::TransformationMatrixForYaw<double>(
+ state.turret_position) *
+ FlatbufferToTransformationMatrix(*calibration->turret_extrinsics());
+ }
+ return H_robot_camera;
+}
+
+const std::optional<Eigen::Vector2d>
+ModelBasedLocalizer::CameraMeasuredRobotPosition(
+ const OldPosition &state, const y2022::vision::TargetEstimate *target,
+ std::optional<RejectionReason> *rejection_reason,
+ Eigen::Matrix<double, 4, 4> *H_field_camera_measured) const {
+ if (!target->has_camera_calibration()) {
+ *rejection_reason = RejectionReason::NO_CALIBRATION;
+ return std::nullopt;
+ }
+ const Eigen::Matrix<double, 4, 4> H_robot_camera =
+ CameraTransform(state, target->camera_calibration(), rejection_reason);
+ const control_loops::Pose robot_pose(
+ {state.xytheta(0), state.xytheta(1), 0.0}, state.xytheta(2));
+ const Eigen::Matrix<double, 4, 4> H_field_robot =
+ robot_pose.AsTransformationMatrix();
+ // Current estimated pose of the camera in the global frame.
+ // Note that this is all really just an elaborate way of extracting the
+ // current estimated camera yaw, and nothing else.
+ const Eigen::Matrix<double, 4, 4> H_field_camera =
+ H_field_robot * H_robot_camera;
+ // Grab the implied yaw of the camera (the +Z axis is coming out of the front
+ // of the cameras).
+ const Eigen::Vector3d rotated_camera_z =
+ H_field_camera.block<3, 3>(0, 0) * Eigen::Vector3d(0, 0, 1);
+ const double camera_yaw =
+ std::atan2(rotated_camera_z.y(), rotated_camera_z.x());
+ // All right, now we need to use the heading and distance from the
+ // TargetEstimate, plus the yaw embedded in the camera_pose, to determine what
+ // the implied X/Y position of the robot is. To do this, we calculate the
+ // heading/distance from the target to the robot. The distance is easy, since
+ // that's the same as the distance from the robot to the target. The heading
+ // isn't too hard, but is obnoxious to think about, since the heading from the
+ // target to the robot is distinct from the heading from the robot to the
+ // target.
+
+ // Just to walk through examples to confirm that the below calculation is
+ // correct:
+ // * If yaw = 0, and angle_to_target = 0, we are at 180 deg relative to the
+ // target.
+ // * If yaw = 90 deg, and angle_to_target = 0, we are at -90 deg relative to
+ // the target.
+ // * If yaw = 0, and angle_to_target = 90 deg, we are at -90 deg relative to
+ // the target.
+ const double heading_from_target =
+ aos::math::NormalizeAngle(M_PI + camera_yaw + target->angle_to_target());
+ const double distance_from_target = target->distance();
+ // Extract the implied camera position on the field.
+ *H_field_camera_measured = H_field_camera;
+ // TODO(james): Are we going to need to evict the roll/pitch components of the
+ // camera extrinsics this year as well?
+ (*H_field_camera_measured)(0, 3) =
+ distance_from_target * std::cos(heading_from_target) + kVisionTargetX;
+ (*H_field_camera_measured)(1, 3) =
+ distance_from_target * std::sin(heading_from_target) + kVisionTargetY;
+ const Eigen::Matrix<double, 4, 4> H_field_robot_measured =
+ *H_field_camera_measured * H_robot_camera.inverse();
+ return H_field_robot_measured.block<2, 1>(0, 3);
+}
+
+void ModelBasedLocalizer::HandleImageMatch(
+ aos::monotonic_clock::time_point sample_time,
+ const y2022::vision::TargetEstimate *target, int camera_index) {
+ std::optional<RejectionReason> rejection_reason;
+
+ const OldPosition &state = GetStateForTime(sample_time);
+ Eigen::Matrix<double, 4, 4> H_field_camera_measured;
+ const std::optional<Eigen::Vector2d> measured_robot_position =
+ CameraMeasuredRobotPosition(state, target, &rejection_reason,
+ &H_field_camera_measured);
+ // Technically, rejection_reason should always be set if
+ // measured_robot_position is nullopt, but in the future we may have more
+ // recoverable rejection reasons that we wish to allow to propagate further
+ // into the process.
+ if (!measured_robot_position || rejection_reason.has_value()) {
+ CHECK(rejection_reason.has_value());
+ TallyRejection(rejection_reason.value());
+ return;
+ }
+
+ // Next, go through and do the actual Kalman corrections for the x/y
+ // measurement, for both the accel state and the model-based state.
+ const Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous_model =
+ AModel(current_state_.model_state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A_discrete_model;
+ Eigen::Matrix<double, kNModelStates, kNModelStates> Q_discrete_model;
+
+ DiscretizeQAFast(Q_continuous_model_, A_continuous_model, kNominalDt,
+ &Q_discrete_model, &A_discrete_model);
+
+ Eigen::Matrix<double, 2, kNModelStates> H_model;
+ H_model.setZero();
+ Eigen::Matrix<double, 2, kNAccelStates> H_accel;
+ H_accel.setZero();
+ Eigen::Matrix<double, 2, 2> R;
+ R.setZero();
+ H_model(0, kX) = 1.0;
+ H_model(1, kY) = 1.0;
+ H_accel(0, kX) = 1.0;
+ H_accel(1, kY) = 1.0;
+ R.diagonal() << 1e-2, 1e-2;
+
+ const Eigen::Matrix<double, kNModelStates, 2> K_model =
+ P_model_ * H_model.transpose() *
+ (H_model * P_model_ * H_model.transpose() + R).inverse();
+ const Eigen::Matrix<double, kNAccelStates, 2> K_accel =
+ P_accel_ * H_accel.transpose() *
+ (H_accel * P_accel_ * H_accel.transpose() + R).inverse();
+ P_model_ = (Eigen::Matrix<double, kNModelStates, kNModelStates>::Identity() -
+ K_model * H_model) *
+ P_model_;
+ P_accel_ = (Eigen::Matrix<double, kNAccelStates, kNAccelStates>::Identity() -
+ K_accel * H_accel) *
+ P_accel_;
+ // And now we have to correct *everything* on all the branches:
+ for (CombinedState &state : branches_) {
+ state.model_state += K_model * (measured_robot_position.value() -
+ H_model * state.model_state);
+ state.accel_state += K_accel * (measured_robot_position.value() -
+ H_accel * state.accel_state);
+ }
+ current_state_.model_state +=
+ K_model *
+ (measured_robot_position.value() - H_model * current_state_.model_state);
+ current_state_.accel_state +=
+ K_accel *
+ (measured_robot_position.value() - H_accel * current_state_.accel_state);
+
+ statistics_.total_accepted++;
+ statistics_.total_candidates++;
+
+ const Eigen::Vector3d camera_z_in_field =
+ H_field_camera_measured.block<3, 3>(0, 0) * Eigen::Vector3d::UnitZ();
+ const double camera_yaw =
+ std::atan2(camera_z_in_field.y(), camera_z_in_field.x());
+
+ TargetEstimateDebugT debug;
+ debug.camera = static_cast<uint8_t>(camera_index);
+ debug.camera_x = H_field_camera_measured(0, 3);
+ debug.camera_y = H_field_camera_measured(1, 3);
+ debug.camera_theta = camera_yaw;
+ debug.implied_robot_x = measured_robot_position.value().x();
+ debug.implied_robot_y = measured_robot_position.value().y();
+ debug.implied_robot_theta = xytheta()(2);
+ debug.implied_turret_goal =
+ aos::math::NormalizeAngle(camera_yaw + target->angle_to_target());
+ debug.accepted = true;
+ debug.image_age_sec = aos::time::DurationInSeconds(t_ - sample_time);
+ image_debugs_.push_back(debug);
+}
+
+void ModelBasedLocalizer::HandleTurret(
+ aos::monotonic_clock::time_point sample_time, double turret_position,
+ double turret_velocity) {
+ last_turret_update_ = sample_time;
+ latest_turret_position_ = turret_position;
+ latest_turret_velocity_ = turret_velocity;
+}
+
void ModelBasedLocalizer::HandleReset(aos::monotonic_clock::time_point now,
const Eigen::Vector3d &xytheta) {
branches_.Reset();
@@ -468,8 +722,23 @@
return model_state_builder.Finish();
}
+flatbuffers::Offset<CumulativeStatistics>
+ModelBasedLocalizer::PopulateStatistics(flatbuffers::FlatBufferBuilder *fbb) {
+ const auto rejections_offset = fbb->CreateVector(
+ statistics_.rejection_counts.data(), statistics_.rejection_counts.size());
+
+ CumulativeStatistics::Builder stats_builder(*fbb);
+ stats_builder.add_total_accepted(statistics_.total_accepted);
+ stats_builder.add_total_candidates(statistics_.total_candidates);
+ stats_builder.add_rejection_reason_count(rejections_offset);
+ return stats_builder.Finish();
+}
+
flatbuffers::Offset<ModelBasedStatus> ModelBasedLocalizer::PopulateStatus(
flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<CumulativeStatistics> stats_offset =
+ PopulateStatistics(fbb);
+
const flatbuffers::Offset<control_loops::drivetrain::DownEstimatorState>
down_estimator_offset = down_estimator_.PopulateStatus(fbb, t_);
@@ -508,9 +777,62 @@
builder.add_implied_accel_y(abs_accel_(1));
builder.add_implied_accel_z(abs_accel_(2));
builder.add_clock_resets(clock_resets_);
+ builder.add_statistics(stats_offset);
return builder.Finish();
}
+flatbuffers::Offset<LocalizerVisualization>
+ModelBasedLocalizer::PopulateVisualization(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<CumulativeStatistics> stats_offset =
+ PopulateStatistics(fbb);
+
+ aos::SizedArray<flatbuffers::Offset<TargetEstimateDebug>, kDebugBufferSize>
+ debug_offsets;
+
+ for (const TargetEstimateDebugT& debug : image_debugs_) {
+ debug_offsets.push_back(PackTargetEstimateDebug(debug, fbb));
+ }
+
+ image_debugs_.clear();
+
+ const flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<TargetEstimateDebug>>>
+ debug_offset =
+ fbb->CreateVector(debug_offsets.data(), debug_offsets.size());
+
+ LocalizerVisualization::Builder builder(*fbb);
+ builder.add_statistics(stats_offset);
+ builder.add_targets(debug_offset);
+ return builder.Finish();
+}
+
+void ModelBasedLocalizer::TallyRejection(const RejectionReason reason) {
+ statistics_.total_candidates++;
+ statistics_.rejection_counts[static_cast<size_t>(reason)]++;
+ TargetEstimateDebugT debug;
+ debug.accepted = false;
+ debug.rejection_reason = reason;
+ image_debugs_.push_back(debug);
+}
+
+flatbuffers::Offset<TargetEstimateDebug>
+ModelBasedLocalizer::PackTargetEstimateDebug(
+ const TargetEstimateDebugT &debug, flatbuffers::FlatBufferBuilder *fbb) {
+ if (!debug.accepted) {
+ TargetEstimateDebug::Builder builder(*fbb);
+ builder.add_accepted(debug.accepted);
+ builder.add_rejection_reason(debug.rejection_reason);
+ return builder.Finish();
+ } else {
+ flatbuffers::Offset<TargetEstimateDebug> offset =
+ TargetEstimateDebug::Pack(*fbb, &debug);
+ flatbuffers::GetMutableTemporaryPointer(*fbb, offset)
+ ->clear_rejection_reason();
+ return offset;
+ }
+}
+
namespace {
// Period at which the encoder readings from the IMU board wrap.
static double DrivetrainWrapPeriod() {
@@ -525,9 +847,14 @@
model_based_(dt_config),
status_sender_(event_loop_->MakeSender<LocalizerStatus>("/localizer")),
output_sender_(event_loop_->MakeSender<LocalizerOutput>("/localizer")),
+ visualization_sender_(
+ event_loop_->MakeSender<LocalizerVisualization>("/localizer")),
output_fetcher_(
event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
"/drivetrain")),
+ clock_offset_fetcher_(
+ event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
+ "/aos")),
left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
event_loop_->MakeWatcher(
@@ -538,9 +865,48 @@
? model_based_.xytheta()(2)
: control.theta();
model_based_.HandleReset(event_loop_->monotonic_now(),
- {control.x(), control.y(), theta});
+ {control.x(), control.y(), theta});
});
event_loop_->MakeWatcher(
+ "/superstructure",
+ [this](const y2022::control_loops::superstructure::Status &status) {
+ if (!status.has_turret()) {
+ return;
+ }
+ CHECK(status.has_turret());
+ model_based_.HandleTurret(event_loop_->context().monotonic_event_time,
+ status.turret()->position(),
+ status.turret()->velocity());
+ });
+
+ for (size_t camera_index = 0; camera_index < kPisToUse.size(); ++camera_index) {
+ event_loop_->MakeWatcher(
+ absl::StrCat("/", kPisToUse[camera_index], "/camera"),
+ [this, camera_index](const y2022::vision::TargetEstimate &target) {
+ const std::optional<aos::monotonic_clock::duration> monotonic_offset =
+ ClockOffset(kPisToUse[camera_index]);
+ if (!monotonic_offset.has_value()) {
+ return;
+ }
+ // TODO(james): Get timestamp from message contents.
+ aos::monotonic_clock::time_point capture_time(
+ event_loop_->context().monotonic_remote_time - monotonic_offset.value());
+ if (capture_time > event_loop_->context().monotonic_event_time) {
+ model_based_.TallyRejection(RejectionReason::IMAGE_FROM_FUTURE);
+ return;
+ }
+ model_based_.HandleImageMatch(capture_time, &target, camera_index);
+ if (model_based_.NumQueuedImageDebugs() ==
+ ModelBasedLocalizer::kDebugBufferSize ||
+ (last_visualization_send_ + kMinVisualizationPeriod <
+ event_loop_->monotonic_now())) {
+ auto builder = visualization_sender_.MakeBuilder();
+ visualization_sender_.CheckOk(
+ builder.Send(model_based_.PopulateVisualization(builder.fbb())));
+ }
+ });
+ }
+ event_loop_->MakeWatcher(
"/localizer", [this](const frc971::IMUValuesBatch &values) {
CHECK(values.has_readings());
output_fetcher_.Fetch();
@@ -626,4 +992,30 @@
});
}
+std::optional<aos::monotonic_clock::duration> EventLoopLocalizer::ClockOffset(
+ std::string_view pi) {
+ std::optional<aos::monotonic_clock::duration> monotonic_offset;
+ clock_offset_fetcher_.Fetch();
+ if (clock_offset_fetcher_.get() != nullptr) {
+ for (const auto connection : *clock_offset_fetcher_->connections()) {
+ if (connection->has_node() && connection->node()->has_name() &&
+ connection->node()->name()->string_view() == pi) {
+ if (connection->has_monotonic_offset()) {
+ monotonic_offset =
+ std::chrono::nanoseconds(connection->monotonic_offset());
+ } else {
+ // If we don't have a monotonic offset, that means we aren't
+ // connected.
+ model_based_.TallyRejection(
+ RejectionReason::MESSAGE_BRIDGE_DISCONNECTED);
+ return std::nullopt;
+ }
+ break;
+ }
+ }
+ }
+ CHECK(monotonic_offset.has_value());
+ return monotonic_offset;
+}
+
} // namespace frc971::controls
diff --git a/y2022/localizer/localizer.h b/y2022/localizer/localizer.h
index d7b6a23..4b7eff0 100644
--- a/y2022/localizer/localizer.h
+++ b/y2022/localizer/localizer.h
@@ -3,18 +3,21 @@
#include "Eigen/Dense"
#include "Eigen/Geometry"
-
-#include "aos/events/event_loop.h"
#include "aos/containers/ring_buffer.h"
+#include "aos/containers/sized_array.h"
+#include "aos/events/event_loop.h"
+#include "aos/network/message_bridge_server_generated.h"
#include "aos/time/time.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2022/localizer/localizer_status_generated.h"
-#include "y2022/localizer/localizer_output_generated.h"
-#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/improved_down_estimator.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/zeroing/imu_zeroer.h"
#include "frc971/zeroing/wrap.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/localizer/localizer_output_generated.h"
+#include "y2022/localizer/localizer_status_generated.h"
+#include "y2022/localizer/localizer_visualization_generated.h"
+#include "y2022/vision/target_estimate_generated.h"
namespace frc971::controls {
@@ -92,7 +95,9 @@
// Branching period, in cycles.
// Needs 10 to even stay alive, and still at ~96% CPU.
// ~20 gives ~55-60% CPU.
- static constexpr int kBranchPeriod = 20;
+ static constexpr int kBranchPeriod = 100;
+
+ static constexpr size_t kDebugBufferSize = 10;
typedef Eigen::Matrix<double, kNModelStates, 1> ModelState;
typedef Eigen::Matrix<double, kNAccelStates, 1> AccelState;
@@ -104,10 +109,11 @@
void HandleImu(aos::monotonic_clock::time_point t,
const Eigen::Vector3d &gyro, const Eigen::Vector3d &accel,
const Eigen::Vector2d encoders, const Eigen::Vector2d voltage);
- void HandleImageMatch(aos::monotonic_clock::time_point,
- const vision::sift::ImageMatchResult *) {
- LOG(FATAL) << "Unimplemented.";
- }
+ void HandleTurret(aos::monotonic_clock::time_point sample_time,
+ double turret_position, double turret_velocity);
+ void HandleImageMatch(aos::monotonic_clock::time_point sample_time,
+ const y2022::vision::TargetEstimate *target,
+ int camera_index);
void HandleReset(aos::monotonic_clock::time_point,
const Eigen::Vector3d &xytheta);
@@ -128,12 +134,30 @@
void set_longitudinal_offset(double offset) { long_offset_ = offset; }
+ void TallyRejection(const RejectionReason reason);
+
+ flatbuffers::Offset<LocalizerVisualization> PopulateVisualization(
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ size_t NumQueuedImageDebugs() const { return image_debugs_.size(); }
+
private:
struct CombinedState {
- AccelState accel_state;
- ModelState model_state;
- aos::monotonic_clock::time_point branch_time;
- double accumulated_divergence;
+ AccelState accel_state = AccelState::Zero();
+ ModelState model_state = ModelState::Zero();
+ aos::monotonic_clock::time_point branch_time =
+ aos::monotonic_clock::min_time;
+ double accumulated_divergence = 0.0;
+ };
+
+ // Struct to store state data needed to perform a camera correction, since
+ // camera corrections require looking back in time.
+ struct OldPosition {
+ aos::monotonic_clock::time_point sample_time =
+ aos::monotonic_clock::min_time;
+ Eigen::Vector3d xytheta = Eigen::Vector3d::Zero();
+ double turret_position = 0.0;
+ double turret_velocity = 0.0;
};
static flatbuffers::Offset<AccelBasedState> BuildAccelState(
@@ -169,22 +193,53 @@
const AccelInput &accel_input, const ModelInput &model_input,
aos::monotonic_clock::duration dt);
+ const OldPosition GetStateForTime(aos::monotonic_clock::time_point time);
+
+ // Returns the transformation to get from the camera frame to the robot frame
+ // for the specified state.
+ const Eigen::Matrix<double, 4, 4> CameraTransform(
+ const OldPosition &state,
+ const frc971::vision::calibration::CameraCalibration *calibration,
+ std::optional<RejectionReason> *rejection_reason) const;
+
+ // Returns the robot x/y position implied by the specified camera data and
+ // estimated state from that time.
+ // H_field_camera is passed in so that it can be used as a debugging output.
+ const std::optional<Eigen::Vector2d> CameraMeasuredRobotPosition(
+ const OldPosition &state, const y2022::vision::TargetEstimate *target,
+ std::optional<RejectionReason> *rejection_reason,
+ Eigen::Matrix<double, 4, 4> *H_field_camera_measured) const;
+
+ flatbuffers::Offset<TargetEstimateDebug> PackTargetEstimateDebug(
+ const TargetEstimateDebugT &debug, flatbuffers::FlatBufferBuilder *fbb);
+
+ flatbuffers::Offset<CumulativeStatistics> PopulateStatistics(
+ flatbuffers::FlatBufferBuilder *fbb);
+
const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
const StateFeedbackHybridPlantCoefficients<2, 2, 2, double>
velocity_drivetrain_coefficients_;
Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous_model_;
Eigen::Matrix<double, kNAccelStates, kNAccelStates> A_continuous_accel_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> A_discrete_accel_;
Eigen::Matrix<double, kNModelStates, kNModelInputs> B_continuous_model_;
Eigen::Matrix<double, kNAccelStates, kNAccelInputs> B_continuous_accel_;
Eigen::Matrix<double, kNModelStates, kNModelStates> Q_continuous_model_;
Eigen::Matrix<double, kNModelStates, kNModelStates> P_model_;
+
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> Q_continuous_accel_;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> Q_discrete_accel_;
+
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> P_accel_;
+
+ control_loops::drivetrain::DrivetrainUkf down_estimator_;
+
// When we are following the model, we will, on each iteration:
// 1) Perform a model-based update of a single state.
// 2) Add a hypothetical non-model-based entry based on the current state.
// 3) Evict too-old non-model-based entries.
- control_loops::drivetrain::DrivetrainUkf down_estimator_;
// Buffer of old branches these are all created by initializing a new
// model-based state based on the current state, and then initializing a new
@@ -195,6 +250,10 @@
aos::RingBuffer<CombinedState, 2000 / kBranchPeriod> branches_;
int branch_counter_ = 0;
+ // Buffer of old x/y/theta positions. This is used so that we can have a
+ // reference for exactly where we thought a camera was when it took an image.
+ aos::RingBuffer<OldPosition, 500 / kBranchPeriod> old_positions_;
+
CombinedState current_state_;
aos::monotonic_clock::time_point t_ = aos::monotonic_clock::min_time;
bool using_model_;
@@ -215,11 +274,38 @@
int clock_resets_ = 0;
+ std::optional<aos::monotonic_clock::time_point> last_turret_update_;
+ double latest_turret_position_ = 0.0;
+ double latest_turret_velocity_ = 0.0;
+
+ // Stuff to track faults.
+ static constexpr size_t kNumRejectionReasons =
+ static_cast<int>(RejectionReason::MAX) -
+ static_cast<int>(RejectionReason::MIN) + 1;
+
+ struct Statistics {
+ int total_accepted = 0;
+ int total_candidates = 0;
+ static_assert(0 == static_cast<int>(RejectionReason::MIN));
+ static_assert(
+ kNumRejectionReasons ==
+ sizeof(
+ std::invoke_result<decltype(EnumValuesRejectionReason)>::type) /
+ sizeof(RejectionReason),
+ "RejectionReason has non-contiguous error values.");
+ std::array<int, kNumRejectionReasons> rejection_counts;
+ };
+ Statistics statistics_;
+
+ aos::SizedArray<TargetEstimateDebugT, kDebugBufferSize> image_debugs_;
+
friend class testing::LocalizerTest;
};
class EventLoopLocalizer {
public:
+ static constexpr std::chrono::milliseconds kMinVisualizationPeriod{100};
+
EventLoopLocalizer(
aos::EventLoop *event_loop,
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
@@ -227,14 +313,20 @@
ModelBasedLocalizer *localizer() { return &model_based_; }
private:
+ std::optional<aos::monotonic_clock::duration> ClockOffset(
+ std::string_view pi);
aos::EventLoop *event_loop_;
ModelBasedLocalizer model_based_;
aos::Sender<LocalizerStatus> status_sender_;
aos::Sender<LocalizerOutput> output_sender_;
+ aos::Sender<LocalizerVisualization> visualization_sender_;
aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
+ aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
zeroing::ImuZeroer zeroer_;
aos::monotonic_clock::time_point last_output_send_ =
aos::monotonic_clock::min_time;
+ aos::monotonic_clock::time_point last_visualization_send_ =
+ aos::monotonic_clock::min_time;
std::optional<aos::monotonic_clock::time_point> last_pico_timestamp_;
aos::monotonic_clock::duration pico_offset_error_;
// t = pico_offset_ + pico_timestamp.
diff --git a/y2022/localizer/localizer_status.fbs b/y2022/localizer/localizer_status.fbs
index 80cee0b..8be770e 100644
--- a/y2022/localizer/localizer_status.fbs
+++ b/y2022/localizer/localizer_status.fbs
@@ -2,6 +2,20 @@
namespace frc971.controls;
+enum RejectionReason : byte {
+ IMAGE_FROM_FUTURE = 0,
+ NO_CALIBRATION = 1,
+ TURRET_TOO_FAST = 2,
+ MESSAGE_BRIDGE_DISCONNECTED = 3,
+}
+
+table CumulativeStatistics {
+ total_accepted:int (id: 0);
+ total_candidates:int (id: 1);
+ // Indexed by integer value of RejectionReason enum.
+ rejection_reason_count:[int] (id: 2);
+}
+
// Stores the state associated with the acceleration-based modelling.
table AccelBasedState {
// x/y position, in meters.
@@ -74,6 +88,7 @@
// Number of times we have missed an IMU reading. Should never increase except
// *maybe* during startup.
clock_resets:int (id: 17);
+ statistics:CumulativeStatistics (id: 18);
}
table LocalizerStatus {
diff --git a/y2022/localizer/localizer_test.cc b/y2022/localizer/localizer_test.cc
index 1997b80..58df869 100644
--- a/y2022/localizer/localizer_test.cc
+++ b/y2022/localizer/localizer_test.cc
@@ -1,14 +1,31 @@
#include "y2022/localizer/localizer.h"
+#include "aos/events/logging/log_writer.h"
#include "aos/events/simulated_event_loop.h"
#include "gtest/gtest.h"
#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/pose.h"
+#include "y2022/vision/target_estimate_generated.h"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(output_folder, "",
+ "If set, logs all channels to the provided logfile.");
namespace frc971::controls::testing {
typedef ModelBasedLocalizer::ModelState ModelState;
typedef ModelBasedLocalizer::AccelState AccelState;
typedef ModelBasedLocalizer::ModelInput ModelInput;
typedef ModelBasedLocalizer::AccelInput AccelInput;
+
+using frc971::vision::calibration::CameraCalibrationT;
+using frc971::vision::calibration::TransformationMatrixT;
+using frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::LocalizerControl;
+using frc971::control_loops::Pose;
+using y2022::vision::TargetEstimate;
+using y2022::vision::TargetEstimateT;
+
namespace {
constexpr size_t kX = ModelBasedLocalizer::kX;
constexpr size_t kY = ModelBasedLocalizer::kY;
@@ -26,13 +43,52 @@
constexpr size_t kRightVoltageError = ModelBasedLocalizer::kRightVoltageError;
constexpr size_t kLeftVoltage = ModelBasedLocalizer::kLeftVoltage;
constexpr size_t kRightVoltage = ModelBasedLocalizer::kRightVoltage;
+
+Eigen::Matrix<double, 4, 4> TurretRobotTransformation() {
+ Eigen::Matrix<double, 4, 4> H;
+ H.setIdentity();
+ H.block<3, 1>(0, 3) << 1, 1.1, 0.9;
+ return H;
+}
+
+// Provides the location of the camera on the turret.
+Eigen::Matrix<double, 4, 4> CameraTurretTransformation() {
+ Eigen::Matrix<double, 4, 4> H;
+ H.setIdentity();
+ H.block<3, 1>(0, 3) << 0.1, 0, 0;
+ H.block<3, 3>(0, 0) << 0, 0, 1, -1, 0, 0, 0, -1, 0;
+
+ // Introduce a bit of pitch to make sure that we're exercising all the code.
+ H.block<3, 3>(0, 0) =
+ Eigen::AngleAxis<double>(0.1, Eigen::Vector3d::UnitY()) *
+ H.block<3, 3>(0, 0);
+ return H;
+}
+
+// Copies an Eigen matrix into a row-major vector of the data.
+std::vector<float> MatrixToVector(const Eigen::Matrix<double, 4, 4> &H) {
+ std::vector<float> data;
+ for (int row = 0; row < 4; ++row) {
+ for (int col = 0; col < 4; ++col) {
+ data.push_back(H(row, col));
+ }
+ }
+ return data;
+}
+
+DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
+ DrivetrainConfig<double> config =
+ y2022::control_loops::drivetrain::GetDrivetrainConfig();
+ config.is_simulated = true;
+ return config;
+}
}
class LocalizerTest : public ::testing::Test {
protected:
LocalizerTest()
: dt_config_(
- control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
+ GetTest2022DrivetrainConfig()),
localizer_(dt_config_) {
localizer_.set_longitudinal_offset(0.0);
}
@@ -177,7 +233,7 @@
const Eigen::Vector2d encoders{0.0, 0.0};
const Eigen::Vector2d voltages{0.0, 0.0};
Eigen::Vector3d accel{5.0, 2.0, 9.80665};
- Eigen::Vector3d accel_gs = accel / 9.80665;
+ Eigen::Vector3d accel_gs = dt_config_.imu_transform.inverse() * accel / 9.80665;
while (t < start) {
// Spin to fill up the buffer.
localizer_.HandleImu(t, gyro, Eigen::Vector3d::UnitZ(), encoders, voltages);
@@ -215,7 +271,7 @@
// and then leave them constant, which should make it look like we are going
// around in a circle.
accel = Eigen::Vector3d{-accel(1), accel(0), 9.80665};
- accel_gs = accel / 9.80665;
+ accel_gs = dt_config_.imu_transform.inverse() * accel / 9.80665;
// v^2 / r = a
// w * r = v
// v^2 / v * w = a
@@ -292,6 +348,8 @@
aos::configuration::GetNode(&configuration_.message(), "roborio")),
imu_node_(
aos::configuration::GetNode(&configuration_.message(), "imu")),
+ camera_node_(
+ aos::configuration::GetNode(&configuration_.message(), "pi1")),
dt_config_(
control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
localizer_event_loop_(
@@ -308,37 +366,177 @@
event_loop_factory_.MakeEventLoop("test", roborio_node_)),
imu_test_event_loop_(
event_loop_factory_.MakeEventLoop("test", imu_node_)),
+ camera_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", camera_node_)),
logger_test_event_loop_(
event_loop_factory_.GetNodeEventLoopFactory("logger")
->MakeEventLoop("test")),
output_sender_(
roborio_test_event_loop_->MakeSender<Output>("/drivetrain")),
+ turret_sender_(
+ roborio_test_event_loop_
+ ->MakeSender<y2022::control_loops::superstructure::Status>(
+ "/superstructure")),
+ target_sender_(
+ camera_test_event_loop_->MakeSender<y2022::vision::TargetEstimate>(
+ "/camera")),
+ control_sender_(roborio_test_event_loop_->MakeSender<LocalizerControl>(
+ "/drivetrain")),
output_fetcher_(roborio_test_event_loop_->MakeFetcher<LocalizerOutput>(
"/localizer")),
status_fetcher_(
imu_test_event_loop_->MakeFetcher<LocalizerStatus>("/localizer")) {
localizer_.localizer()->set_longitudinal_offset(0.0);
- aos::TimerHandler *timer = roborio_test_event_loop_->AddTimer([this]() {
- auto builder = output_sender_.MakeBuilder();
- auto output_builder = builder.MakeBuilder<Output>();
- output_builder.add_left_voltage(output_voltages_(0));
- output_builder.add_right_voltage(output_voltages_(1));
- builder.CheckOk(builder.Send(output_builder.Finish()));
- });
- roborio_test_event_loop_->OnRun([timer, this]() {
- timer->Setup(roborio_test_event_loop_->monotonic_now(),
- std::chrono::milliseconds(5));
- });
+ {
+ aos::TimerHandler *timer = roborio_test_event_loop_->AddTimer([this]() {
+ {
+ auto builder = output_sender_.MakeBuilder();
+ auto output_builder = builder.MakeBuilder<Output>();
+ output_builder.add_left_voltage(output_voltages_(0));
+ output_builder.add_right_voltage(output_voltages_(1));
+ builder.CheckOk(builder.Send(output_builder.Finish()));
+ }
+ {
+ auto builder = turret_sender_.MakeBuilder();
+ auto turret_builder =
+ builder
+ .MakeBuilder<frc971::control_loops::
+ PotAndAbsoluteEncoderProfiledJointStatus>();
+ turret_builder.add_position(turret_position_);
+ turret_builder.add_velocity(turret_velocity_);
+ const auto turret_offset = turret_builder.Finish();
+ auto status_builder =
+ builder
+ .MakeBuilder<y2022::control_loops::superstructure::Status>();
+ status_builder.add_turret(turret_offset);
+ builder.CheckOk(builder.Send(status_builder.Finish()));
+ }
+ });
+ roborio_test_event_loop_->OnRun([timer, this]() {
+ timer->Setup(roborio_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(5));
+ });
+ }
+ {
+ aos::TimerHandler *timer = camera_test_event_loop_->AddTimer([this]() {
+ if (!send_targets_) {
+ return;
+ }
+ const frc971::control_loops::Pose robot_pose(
+ {drivetrain_plant_.GetPosition().x(),
+ drivetrain_plant_.GetPosition().y(), 0.0},
+ drivetrain_plant_.state()(2, 0));
+ const Eigen::Matrix<double, 4, 4> H_turret_camera =
+ frc971::control_loops::TransformationMatrixForYaw(
+ turret_position_) *
+ CameraTurretTransformation();
+
+ const Eigen::Matrix<double, 4, 4> H_field_camera =
+ robot_pose.AsTransformationMatrix() * TurretRobotTransformation() *
+ H_turret_camera;
+ const Eigen::Matrix<double, 4, 4> target_transform =
+ Eigen::Matrix<double, 4, 4>::Identity();
+ const Eigen::Matrix<double, 4, 4> H_camera_target =
+ H_field_camera.inverse() * target_transform;
+ const Eigen::Matrix<double, 4, 4> H_target_camera =
+ H_camera_target.inverse();
+
+ std::unique_ptr<y2022::vision::TargetEstimateT> estimate(
+ new y2022::vision::TargetEstimateT());
+ estimate->distance = H_target_camera.block<2, 1>(0, 3).norm();
+ estimate->angle_to_target =
+ std::atan2(-H_camera_target(0, 3), H_camera_target(2, 3));
+ estimate->camera_calibration.reset(new CameraCalibrationT());
+ {
+ estimate->camera_calibration->fixed_extrinsics.reset(
+ new TransformationMatrixT());
+ TransformationMatrixT *H_robot_turret =
+ estimate->camera_calibration->fixed_extrinsics.get();
+ H_robot_turret->data = MatrixToVector(TurretRobotTransformation());
+ }
+
+ estimate->camera_calibration->turret_extrinsics.reset(
+ new TransformationMatrixT());
+ estimate->camera_calibration->turret_extrinsics->data =
+ MatrixToVector(CameraTurretTransformation());
+
+ auto builder = target_sender_.MakeBuilder();
+ builder.CheckOk(
+ builder.Send(TargetEstimate::Pack(*builder.fbb(), estimate.get())));
+ });
+ camera_test_event_loop_->OnRun([timer, this]() {
+ timer->Setup(camera_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(50));
+ });
+ }
+
+ localizer_control_send_timer_ =
+ roborio_test_event_loop_->AddTimer([this]() {
+ auto builder = control_sender_.MakeBuilder();
+ auto control_builder = builder.MakeBuilder<LocalizerControl>();
+ control_builder.add_x(localizer_control_x_);
+ control_builder.add_y(localizer_control_y_);
+ control_builder.add_theta(localizer_control_theta_);
+ control_builder.add_theta_uncertainty(0.01);
+ control_builder.add_keep_current_theta(false);
+ builder.CheckOk(builder.Send(control_builder.Finish()));
+ });
+
// Get things zeroed.
event_loop_factory_.RunFor(std::chrono::seconds(10));
CHECK(status_fetcher_.Fetch());
CHECK(status_fetcher_->zeroed());
+
+ if (!FLAGS_output_folder.empty()) {
+ logger_event_loop_ =
+ event_loop_factory_.MakeEventLoop("logger", imu_node_);
+ logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+ logger_->StartLoggingOnRun(FLAGS_output_folder);
+ }
+ }
+
+ void SendLocalizerControl(double x, double y, double theta) {
+ localizer_control_x_ = x;
+ localizer_control_y_ = y;
+ localizer_control_theta_ = theta;
+ localizer_control_send_timer_->Setup(
+ roborio_test_event_loop_->monotonic_now());
+ }
+ ::testing::AssertionResult IsNear(double expected, double actual,
+ double epsilon) {
+ if (std::abs(expected - actual) < epsilon) {
+ return ::testing::AssertionSuccess();
+ } else {
+ return ::testing::AssertionFailure()
+ << "Expected " << expected << " but got " << actual
+ << " with a max difference of " << epsilon
+ << " and an actual difference of " << std::abs(expected - actual);
+ }
+ }
+ ::testing::AssertionResult VerifyEstimatorAccurate(double eps) {
+ const Eigen::Matrix<double, 5, 1> true_state = drivetrain_plant_.state();
+ ::testing::AssertionResult result(true);
+ status_fetcher_.Fetch();
+ if (!(result = IsNear(status_fetcher_->model_based()->x(), true_state(0),
+ eps))) {
+ return result;
+ }
+ if (!(result = IsNear(status_fetcher_->model_based()->y(), true_state(1),
+ eps))) {
+ return result;
+ }
+ if (!(result = IsNear(status_fetcher_->model_based()->theta(),
+ true_state(2), eps))) {
+ return result;
+ }
+ return result;
}
aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
aos::SimulatedEventLoopFactory event_loop_factory_;
const aos::Node *const roborio_node_;
const aos::Node *const imu_node_;
+ const aos::Node *const camera_node_;
const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
std::unique_ptr<aos::EventLoop> localizer_event_loop_;
EventLoopLocalizer localizer_;
@@ -349,13 +547,30 @@
std::unique_ptr<aos::EventLoop> roborio_test_event_loop_;
std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> camera_test_event_loop_;
std::unique_ptr<aos::EventLoop> logger_test_event_loop_;
aos::Sender<Output> output_sender_;
+ aos::Sender<y2022::control_loops::superstructure::Status> turret_sender_;
+ aos::Sender<y2022::vision::TargetEstimate> target_sender_;
+ aos::Sender<LocalizerControl> control_sender_;
aos::Fetcher<LocalizerOutput> output_fetcher_;
aos::Fetcher<LocalizerStatus> status_fetcher_;
Eigen::Vector2d output_voltages_ = Eigen::Vector2d::Zero();
+
+ aos::TimerHandler *localizer_control_send_timer_;
+
+ bool send_targets_ = false;
+ double turret_position_ = 0.0;
+ double turret_velocity_ = 0.0;
+
+ double localizer_control_x_ = 0.0;
+ double localizer_control_y_ = 0.0;
+ double localizer_control_theta_ = 0.0;
+
+ std::unique_ptr<aos::EventLoop> logger_event_loop_;
+ std::unique_ptr<aos::logger::Logger> logger_;
};
TEST_F(EventLoopLocalizerTest, Nominal) {
@@ -525,4 +740,79 @@
status_fetcher_->model_based()->y(), 1e-6);
}
+// Tests that image corrections in the nominal case (no errors) causes no
+// issues.
+TEST_F(EventLoopLocalizerTest, NominalImageCorrections) {
+ output_voltages_ << 3.0, 2.0;
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+// Tests that image corrections when there is an error at the start results
+// in us actually getting corrected over time.
+TEST_F(EventLoopLocalizerTest, ImageCorrections) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.mutable_state()->x() = 2.0;
+ drivetrain_plant_.mutable_state()->y() = 2.0;
+ SendLocalizerControl(5.0, 3.0, 0.0);
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(output_fetcher_.Fetch());
+ ASSERT_NEAR(5.0, output_fetcher_->x(), 1e-5);
+ ASSERT_NEAR(3.0, output_fetcher_->y(), 1e-5);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-5);
+
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
+// Tests that image corrections when we are in accel mode works.
+TEST_F(EventLoopLocalizerTest, ImageCorrectionsInAccel) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.set_left_voltage_offset(200.0);
+ drivetrain_plant_.set_right_voltage_offset(200.0);
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ drivetrain_plant_.mutable_state()->x() = 2.0;
+ drivetrain_plant_.mutable_state()->y() = 2.0;
+ SendLocalizerControl(5.0, 3.0, 0.0);
+ event_loop_factory_.RunFor(std::chrono::seconds(1));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ EXPECT_FALSE(VerifyEstimatorAccurate(0.5));
+
+ send_targets_ = true;
+
+ event_loop_factory_.RunFor(std::chrono::seconds(4));
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ EXPECT_TRUE(VerifyEstimatorAccurate(0.5));
+ // y should be noticeably more accurate than x, since we are just driving
+ // straight.
+ ASSERT_NEAR(drivetrain_plant_.state()(1), status_fetcher_->model_based()->y(), 0.1);
+ ASSERT_TRUE(status_fetcher_->model_based()->has_statistics());
+ ASSERT_LT(10,
+ status_fetcher_->model_based()->statistics()->total_candidates());
+ ASSERT_EQ(status_fetcher_->model_based()->statistics()->total_candidates(),
+ status_fetcher_->model_based()->statistics()->total_accepted());
+}
+
} // namespace frc91::controls::testing
diff --git a/y2022/localizer/localizer_visualization.fbs b/y2022/localizer/localizer_visualization.fbs
new file mode 100644
index 0000000..6cca9e8
--- /dev/null
+++ b/y2022/localizer/localizer_visualization.fbs
@@ -0,0 +1,26 @@
+include "y2022/localizer/localizer_status.fbs";
+
+namespace frc971.controls;
+
+table TargetEstimateDebug {
+ camera:uint8 (id: 0);
+ camera_x:double (id: 1);
+ camera_y:double (id: 2);
+ camera_theta:double (id: 3);
+ implied_robot_x:double (id: 4);
+ implied_robot_y:double (id: 5);
+ implied_robot_theta:double (id: 6);
+ implied_turret_goal:double (id: 7);
+ accepted:bool (id: 8);
+ rejection_reason:RejectionReason (id: 9);
+ // Image age (more human-readable than trying to interpret raw nanosecond
+ // values).
+ image_age_sec:double (id: 10);
+}
+
+table LocalizerVisualization {
+ targets:[TargetEstimateDebug] (id: 0);
+ statistics:CumulativeStatistics (id: 1);
+}
+
+root_type LocalizerVisualization;
diff --git a/y2022/setpoint.fbs b/y2022/setpoint.fbs
new file mode 100644
index 0000000..f8dc458
--- /dev/null
+++ b/y2022/setpoint.fbs
@@ -0,0 +1,14 @@
+namespace y2022.input.joysticks;
+
+// Table for dynamically setting shooter goals
+table Setpoint {
+ // Catapult shot release angle
+ catapult_position:double (id: 0);
+ // Catapult shot velocity
+ catapult_velocity:double (id: 1);
+
+ // Turret angle
+ turret:double (id: 2);
+}
+
+root_type Setpoint;
diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
new file mode 100644
index 0000000..9a77ec8
--- /dev/null
+++ b/y2022/setpoint_setter.cc
@@ -0,0 +1,38 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "y2022/constants.h"
+#include "y2022/setpoint_generated.h"
+
+DEFINE_double(catapult_position,
+ y2022::constants::Values::kDefaultCatapultShotPosition(),
+ "Catapult shot position");
+DEFINE_double(catapult_velocity,
+ y2022::constants::Values::kDefaultCatapultShotVelocity(),
+ "Catapult shot velocity");
+DEFINE_double(turret, 0.0, "Turret setpoint");
+
+using y2022::input::joysticks::Setpoint;
+
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ aos::ShmEventLoop event_loop(&config.message());
+
+ auto setpoint_sender = event_loop.MakeSender<Setpoint>("/superstructure");
+
+ aos::Sender<Setpoint>::Builder builder = setpoint_sender.MakeBuilder();
+
+ Setpoint::Builder setpoint_builder = builder.MakeBuilder<Setpoint>();
+
+ setpoint_builder.add_catapult_position(FLAGS_catapult_position);
+ setpoint_builder.add_catapult_velocity(FLAGS_catapult_velocity);
+ setpoint_builder.add_turret(FLAGS_turret);
+ builder.CheckOk(builder.Send(setpoint_builder.Finish()));
+
+ return 0;
+}
diff --git a/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json b/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
index 27ed863..35efa45 100755
--- a/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
+++ b/y2022/vision/calib_files/calibration_pi-9971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
@@ -1,6 +1,6 @@
{
"node_name": "pi1",
- "team_number": 971,
+ "team_number": 9971,
"intrinsics": [
388.062378,
0.0,
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index eb70b6f..24f8323 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -141,6 +141,13 @@
UpdateMediumEncoderFilterHz(kMaxMediumEncoderPulsesPerSecond);
}
+ void Start() override {
+ // TODO(Ravago): Figure out why adding multiple DMA readers results in weird
+ // behavior
+ // AddToDMA(&imu_heading_reader_);
+ AddToDMA(&imu_yaw_rate_reader_);
+ }
+
// Auto mode switches.
void set_autonomous_mode(int i, ::std::unique_ptr<frc::DigitalInput> sensor) {
autonomous_modes_.at(i) = ::std::move(sensor);
@@ -162,11 +169,13 @@
}
void set_heading_input(::std::unique_ptr<frc::DigitalInput> sensor) {
- imu_heading_reader_.set_input(::std::move(sensor));
+ imu_heading_input_ = ::std::move(sensor);
+ imu_heading_reader_.set_input(imu_heading_input_.get());
}
void set_yaw_rate_input(::std::unique_ptr<frc::DigitalInput> sensor) {
- imu_yaw_rate_reader_.set_input(::std::move(sensor));
+ imu_yaw_rate_input_ = ::std::move(sensor);
+ imu_yaw_rate_reader_.set_input(imu_yaw_rate_input_.get());
}
void RunIteration() override {
@@ -177,7 +186,7 @@
CopyPosition(catapult_encoder_, &catapult,
Values::kCatapultEncoderCountsPerRevolution(),
Values::kCatapultEncoderRatio(), catapult_pot_translate,
- true, values_->catapult.potentiometer_offset);
+ false, values_->catapult.potentiometer_offset);
flatbuffers::Offset<frc971::PotAndAbsolutePosition> catapult_offset =
frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &catapult);
@@ -201,12 +210,13 @@
frc971::PotAndAbsolutePositionT intake_front;
CopyPosition(intake_encoder_front_, &intake_front,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(), intake_pot_translate, true,
values_->intake_front.potentiometer_offset);
frc971::PotAndAbsolutePositionT intake_back;
CopyPosition(intake_encoder_back_, &intake_back,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(),
+ intake_pot_translate, true,
values_->intake_back.potentiometer_offset);
frc971::PotAndAbsolutePositionT turret;
CopyPosition(turret_encoder_, &turret,
@@ -272,14 +282,19 @@
constexpr double kScaledRangeLow = 0.1;
constexpr double kScaledRangeHigh = 0.9;
+ constexpr double kPWMFrequencyHz = 200;
+ double heading_duty_cycle =
+ imu_heading_reader_.last_width() * kPWMFrequencyHz;
+ double velocity_duty_cycle =
+ imu_yaw_rate_reader_.last_width() * kPWMFrequencyHz;
+
constexpr double kDutyCycleScale =
1 / (kScaledRangeHigh - kScaledRangeLow);
-
// scale from 0.1 - 0.9 to 0 - 1
double rescaled_heading_duty_cycle =
- (imu_heading_reader_.Read() - kScaledRangeLow) * kDutyCycleScale;
+ (heading_duty_cycle - kScaledRangeLow) * kDutyCycleScale;
double rescaled_velocity_duty_cycle =
- (imu_yaw_rate_reader_.Read() - kScaledRangeLow) * kDutyCycleScale;
+ (velocity_duty_cycle - kScaledRangeLow) * kDutyCycleScale;
if (!std::isnan(rescaled_heading_duty_cycle)) {
gyro_reading_builder.add_angle(rescaled_heading_duty_cycle *
@@ -393,14 +408,15 @@
std::array<std::unique_ptr<frc::DigitalInput>, 2> autonomous_modes_;
std::unique_ptr<frc::DigitalInput> intake_beambreak_front_,
- intake_beambreak_back_, turret_beambreak_;
+ intake_beambreak_back_, turret_beambreak_, imu_heading_input_,
+ imu_yaw_rate_input_;
std::unique_ptr<frc::AnalogInput> climber_potentiometer_,
flipper_arm_right_potentiometer_, flipper_arm_left_potentiometer_;
frc971::wpilib::AbsoluteEncoderAndPotentiometer intake_encoder_front_,
intake_encoder_back_, turret_encoder_, catapult_encoder_;
- frc971::wpilib::DutyCycleReader imu_heading_reader_, imu_yaw_rate_reader_;
+ frc971::wpilib::DMAPulseWidthReader imu_heading_reader_, imu_yaw_rate_reader_;
};
class SuperstructureWriter
@@ -422,10 +438,6 @@
catapult_falcon_1_ = ::std::move(t);
}
- void set_catapult_falcon_2(::std::unique_ptr<::frc::TalonFX> t) {
- catapult_falcon_2_ = ::std::move(t);
- }
-
void set_intake_falcon_front(::std::unique_ptr<frc::TalonFX> t) {
intake_falcon_front_ = ::std::move(t);
}
@@ -490,7 +502,6 @@
intake_falcon_back_->SetDisabled();
transfer_roller_victor_->SetDisabled();
catapult_falcon_1_->SetDisabled();
- catapult_falcon_2_->SetDisabled();
turret_falcon_->SetDisabled();
}
@@ -503,12 +514,11 @@
WriteCan(output.roller_voltage_back(), roller_falcon_back_.get());
WritePwm(output.transfer_roller_voltage(), transfer_roller_victor_.get());
- WriteCan(output.flipper_arms_voltage(), flipper_arms_falcon_.get());
+ WriteCan(-output.flipper_arms_voltage(), flipper_arms_falcon_.get());
WritePwm(output.catapult_voltage(), catapult_falcon_1_.get());
- WritePwm(output.catapult_voltage(), catapult_falcon_2_.get());
- WritePwm(output.turret_voltage(), turret_falcon_.get());
+ WritePwm(-output.turret_voltage(), turret_falcon_.get());
}
static void WriteCan(const double voltage,
@@ -533,7 +543,7 @@
flipper_arms_falcon_;
::std::unique_ptr<::frc::TalonFX> turret_falcon_, catapult_falcon_1_,
- catapult_falcon_2_, climber_falcon_;
+ climber_falcon_;
::std::unique_ptr<::frc::VictorSP> transfer_roller_victor_;
};
@@ -604,50 +614,52 @@
// Thread 2.
::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
- AddLoop(&pdp_fetcher_event_loop);
+ ;AddLoop(&pdp_fetcher_event_loop);
// Thread 3.
::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop, values);
- sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
- sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
+ sensor_reader.set_drivetrain_left_encoder(make_encoder(1));
+ sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
- sensor_reader.set_intake_encoder_front(make_encoder(2));
+ sensor_reader.set_intake_encoder_front(make_encoder(3));
sensor_reader.set_intake_front_absolute_pwm(
- make_unique<frc::DigitalInput>(2));
- sensor_reader.set_intake_front_potentiometer(
- make_unique<frc::AnalogInput>(2));
-
- sensor_reader.set_intake_encoder_back(make_encoder(3));
- sensor_reader.set_intake_back_absolute_pwm(
make_unique<frc::DigitalInput>(3));
- sensor_reader.set_intake_back_potentiometer(
+ sensor_reader.set_intake_front_potentiometer(
make_unique<frc::AnalogInput>(3));
- sensor_reader.set_turret_encoder(make_encoder(4));
- sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(4));
- sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(4));
+ sensor_reader.set_intake_encoder_back(make_encoder(4));
+ sensor_reader.set_intake_back_absolute_pwm(
+ make_unique<frc::DigitalInput>(4));
+ sensor_reader.set_intake_back_potentiometer(
+ make_unique<frc::AnalogInput>(4));
- sensor_reader.set_intake_beambreak_front(make_unique<frc::DigitalInput>(5));
- sensor_reader.set_intake_beambreak_back(make_unique<frc::DigitalInput>(6));
+ sensor_reader.set_turret_encoder(make_encoder(5));
+ sensor_reader.set_turret_absolute_pwm(make_unique<frc::DigitalInput>(5));
+ sensor_reader.set_turret_potentiometer(make_unique<frc::AnalogInput>(5));
+
+ // TODO(milind): correct intake beambreak ports once set
+ sensor_reader.set_intake_beambreak_front(
+ make_unique<frc::DigitalInput>(22));
+ sensor_reader.set_intake_beambreak_back(make_unique<frc::DigitalInput>(23));
sensor_reader.set_turret_beambreak(make_unique<frc::DigitalInput>(7));
- sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(5));
+ sensor_reader.set_climber_potentiometer(make_unique<frc::AnalogInput>(7));
sensor_reader.set_flipper_arm_left_potentiometer(
- make_unique<frc::AnalogInput>(4));
+ make_unique<frc::AnalogInput>(0));
sensor_reader.set_flipper_arm_right_potentiometer(
- make_unique<frc::AnalogInput>(5));
+ make_unique<frc::AnalogInput>(1));
- sensor_reader.set_catapult_encoder(
- make_unique<frc::Encoder>(0, 1, false, frc::Encoder::k4X));
+ // TODO(milind): correct catapult encoder and absolute pwm ports
+ sensor_reader.set_catapult_encoder(make_encoder(2));
sensor_reader.set_catapult_absolute_pwm(
std::make_unique<frc::DigitalInput>(2));
sensor_reader.set_catapult_potentiometer(
std::make_unique<frc::AnalogInput>(2));
- sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(8));
- sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(9));
+ sensor_reader.set_heading_input(make_unique<frc::DigitalInput>(9));
+ sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(8));
AddLoop(&sensor_reader_event_loop);
@@ -655,27 +667,29 @@
::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), true);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
drivetrain_writer.set_right_controller0(
- ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), false);
+ ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(0)), true);
SuperstructureWriter superstructure_writer(&output_event_loop);
- superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(8));
+ superstructure_writer.set_turret_falcon(make_unique<::frc::TalonFX>(3));
superstructure_writer.set_roller_falcon_front(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(3));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(0));
superstructure_writer.set_roller_falcon_back(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(4));
- superstructure_writer.set_transfer_roller_victor(
- make_unique<::frc::VictorSP>(9));
- superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(5));
- superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(6));
- superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(7));
- superstructure_writer.set_flipper_arms_falcon(
- make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(5));
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(1));
- superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(2));
- superstructure_writer.set_catapult_falcon_2(make_unique<::frc::TalonFX>(3));
+ // TODO(milind): correct port
+ superstructure_writer.set_transfer_roller_victor(
+ make_unique<::frc::VictorSP>(5));
+
+ superstructure_writer.set_intake_falcon_front(make_unique<frc::TalonFX>(2));
+ superstructure_writer.set_intake_falcon_back(make_unique<frc::TalonFX>(4));
+ superstructure_writer.set_climber_falcon(make_unique<frc::TalonFX>(8));
+ superstructure_writer.set_flipper_arms_falcon(
+ make_unique<::ctre::phoenix::motorcontrol::can::TalonFX>(2));
+
+ superstructure_writer.set_catapult_falcon_1(make_unique<::frc::TalonFX>(9));
AddLoop(&output_event_loop);
diff --git a/y2022/y2022_imu.json b/y2022/y2022_imu.json
index 35f1ab0..3d97c3c 100644
--- a/y2022/y2022_imu.json
+++ b/y2022/y2022_imu.json
@@ -193,6 +193,10 @@
"name": "/roborio/aos",
"type": "aos.starter.Status",
"source_node": "roborio",
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
"destination_nodes": [
{
"name": "imu",
@@ -222,7 +226,7 @@
"max_size": 2000,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "logger"
],
"destination_nodes": [
{
@@ -247,13 +251,45 @@
},
{
"name": "/localizer",
+ "type": "frc971.controls.LocalizerVisualization",
+ "source_node": "imu",
+ "frequency": 200,
+ "max_size": 2000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "logger"
+ ],
+ "destination_nodes": [
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerVisualization",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/localizer",
"type": "frc971.controls.LocalizerOutput",
"source_node": "imu",
"frequency": 200,
"max_size": 200,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "roborio",
+ "logger"
],
"destination_nodes": [
{
@@ -337,9 +373,7 @@
},
{
"name": "localizer",
- "executable_name": "localizer",
- "autostart": false,
- "autorestart": false,
+ "executable_name": "localizer_main",
"nodes": [
"imu"
]
@@ -361,9 +395,9 @@
{
"name": "localizer_logger",
"executable_name": "logger_main",
- "args": ["--logging_folder", "", "--snappy_compress"],
+ "args": ["--snappy_compress"],
"nodes": [
- "logger"
+ "imu"
]
},
{
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index 6b879cf..2407b9e 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -189,6 +189,11 @@
"frequency": 15,
"num_senders": 2,
"max_size": 400,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "imu"
+ ],
"destination_nodes": [
{
"name": "pi1",
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index c2e35cc..7f49e41 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -75,7 +75,8 @@
"num_senders": 2,
"logger": "LOCAL_AND_REMOTE_LOGGER",
"logger_nodes": [
- "roborio"
+ "roborio",
+ "imu"
],
"max_size": 200,
"destination_nodes": [
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index f3bf5d0..b16f0cb 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -246,6 +246,12 @@
"max_size": 72
},
{
+ "name": "/superstructure",
+ "type": "y2022.input.joysticks.Setpoint",
+ "source_node": "roborio",
+ "num_senders": 2
+ },
+ {
"name": "/drivetrain",
"type": "frc971.sensors.GyroReading",
"source_node": "roborio",
diff --git a/yarn.lock b/yarn.lock
index 207757e..e76092f 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2,53 +2,53 @@
# yarn lockfile v1
-"@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==
+"@angular-devkit/architect@0.1302.0":
+ version "0.1302.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/architect/-/architect-0.1302.0.tgz#31a2e6f0c744c5076c85b6db71e31665d7daef55"
+ integrity sha512-1CmVYvxyfvK/khTcDJwwXibm/z4upM2j5SDpwuIdaLx21E4oQPmHn+U/quT/jE5VI1zfZi2vfvIaSXn9XQzMiQ==
dependencies:
- "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
rxjs "6.6.7"
-"@angular-devkit/core@13.1.4":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular-devkit/core/-/core-13.1.4.tgz#b5b6ddd674ae351f83beff2e4a0d702096bdfd47"
- integrity sha512-225Gjy4iVxh5Jo9njJnaG75M/Dt95UW+dEPCGWKV5E/++7UUlXlo9sNWq8x2vJm2nhtsPkpnXNOt4pW1mIDwqQ==
+"@angular-devkit/core@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/core/-/core-13.2.0.tgz#d7ee99ba40af70193a436a27ee1591a1ec754cd9"
+ integrity sha512-5+aV2W2QUazySMKusBuT2pi2qsXWpTHJG2x62mKGAy0lxzwG8l3if+WP3Uh85SQS+zqlHeKxEbmm9zNn8ZrzFg==
dependencies:
- ajv "8.8.2"
+ ajv "8.9.0"
ajv-formats "2.1.1"
fast-json-stable-stringify "2.1.0"
magic-string "0.25.7"
rxjs "6.6.7"
source-map "0.7.3"
-"@angular-devkit/schematics@13.1.4":
- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular-devkit/schematics/-/schematics-13.1.4.tgz#e8ed817887aa51268dec27d8d6188e2f3f10742a"
- integrity sha512-yBa7IeC4cLZ7s137NAQD+sMB5c6SI6UJ6xYxl6J/CvV2RLGOZZA93i4GuRALi5s82eLi1fH+HEL/gvf3JQynzQ==
+"@angular-devkit/schematics@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular-devkit/schematics/-/schematics-13.2.0.tgz#656a5491be9f25e08faffd410c6ad9a75a82a8a2"
+ integrity sha512-EwoqDqLJH5YpWiLuQJwonnJu2bi4xQlyKXyUTuXsQ4gIsAPrg+ijyAe+F/brAtDLBj0sU7JHoC0U1yx2pZ7f1A==
dependencies:
- "@angular-devkit/core" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
jsonc-parser "3.0.0"
magic-string "0.25.7"
ora "5.4.1"
rxjs "6.6.7"
-"@angular/animations@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/animations/-/animations-13.1.3.tgz#2da6ad99602bfb450624a7499d6f81366c3a4519"
- integrity sha512-OwsVQsNHubIgRcxnjti4CU3QJnqd7Z2b+2iu3M349Oxyqxz4DNCqKXalDuJZt/b0yNfirvYO3kCgBfj4PF43QQ==
+"@angular/animations@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/animations/-/animations-13.2.0.tgz#001983463ea5a1b0ffc8e86b0cd5efeb3acb3a4d"
+ integrity sha512-zLmNxkfxDQShJ97V9gTyQdlEbCD/zDUdpHXKlUViBIbe2M13FLGV3e2D+x9jGr/PRzFe0cukOnYxNEHJqqjqPA==
dependencies:
tslib "^2.3.0"
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- version "13.1.4"
- resolved "https://registry.yarnpkg.com/@angular/cli/-/cli-13.1.4.tgz#34e6e87d1c6950408167c41293cf2cd5d1e00a2e"
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+"@angular/cli@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/cli/-/cli-13.2.0.tgz#550841330a4eead75466f423c68a57be3640ec53"
+ integrity sha512-xrtClCucVSBwELG6zgaHrjC71p1rZOkwjF/HewnOFNjyjXSbWIO2y5d/6O2wxmNASoeStpiEU0zPpwDGhXiYpQ==
dependencies:
- "@angular-devkit/architect" "0.1301.4"
- "@angular-devkit/core" "13.1.4"
- "@angular-devkit/schematics" "13.1.4"
- "@schematics/angular" "13.1.4"
+ "@angular-devkit/architect" "0.1302.0"
+ "@angular-devkit/core" "13.2.0"
+ "@angular-devkit/schematics" "13.2.0"
+ "@schematics/angular" "13.2.0"
"@yarnpkg/lockfile" "1.1.0"
ansi-colors "4.1.1"
debug "4.3.3"
@@ -59,23 +59,23 @@
npm-pick-manifest "6.1.1"
open "8.4.0"
ora "5.4.1"
- pacote "12.0.2"
- resolve "1.20.0"
+ pacote "12.0.3"
+ resolve "1.22.0"
semver "7.3.5"
symbol-observable "4.0.0"
uuid "8.3.2"
-"@angular/common@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/common/-/common-13.1.3.tgz#4c80f45cfd00a17543559c5fbebe0a7a7cf403ed"
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+"@angular/common@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/common/-/common-13.2.0.tgz#d5e311c14c90867d5da7d1d5f539813e338a7d5f"
+ integrity sha512-zyq3kscl5BoY+xxl4YOfbKP72xwzx/vKLE+2ougjPu2spm5KIllIAo/VrxVqIBrsGWT/4gs9pvIOqOdOfufxUA==
dependencies:
tslib "^2.3.0"
-"@angular/compiler-cli@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/compiler-cli/-/compiler-cli-13.1.3.tgz#0269370350e928f22f3150523f95bc490a1e7a7a"
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+"@angular/compiler-cli@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/compiler-cli/-/compiler-cli-13.2.0.tgz#6eee613e86ec028a4a2b88a9dce45512eef7e862"
+ integrity sha512-IDX0X3GXjhUzd/cFyNZBG3eVqh6Y2W7MYvH9tXbZHcJ6vH9RkN2+zh/XQautVWy4EP33oQoDlsydfYKqbHr9TA==
dependencies:
"@babel/core" "^7.8.6"
canonical-path "1.0.0"
@@ -89,24 +89,31 @@
tslib "^2.3.0"
yargs "^17.2.1"
-"@angular/compiler@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/compiler/-/compiler-13.1.3.tgz#fc33b06046599ecc943f55049e0a121d5ab46d4f"
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+"@angular/compiler@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/compiler/-/compiler-13.2.0.tgz#4112970f2bf6e347511de1e32459d717141750e3"
+ integrity sha512-TTA+Mn31vAwI4qiaH0h8DqNV3DWgZF+Q9G8Qqbw17k8Jf+B5CdLkMYBF8wbGegIdsEfo+6DebCp71W+aJxuSlw==
dependencies:
tslib "^2.3.0"
-"@angular/core@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/core/-/core-13.1.3.tgz#4afd71f674f9ead1aada81315f84846cdba10fa4"
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+"@angular/core@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/core/-/core-13.2.0.tgz#8db7b6f56eb2f211b72d943582061b247f39fe7f"
+ integrity sha512-mWRWbbZ6k00AicA/GrxmWKaw8upo77sRQz4tSYKpwVKt2TtCeoW8OkdYUpnmuVjxpF0bD6PtVc0e1fD6es/ElA==
dependencies:
tslib "^2.3.0"
-"@angular/platform-browser@latest":
- version "13.1.3"
- resolved "https://registry.yarnpkg.com/@angular/platform-browser/-/platform-browser-13.1.3.tgz#69d90b10e89e11f14f5798d1b6fd788255a6114e"
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+"@angular/forms@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/forms/-/forms-13.2.0.tgz#67d505c09175d1ba809be721303316db7b0c60d4"
+ integrity sha512-aduXLuvqynDRRdb316yY1O5rdMQ2DKeNxu5P2FG1nkLQ3hqZvpiaUMhFyXvKDG3s0rV5e/PZs1cpg0Aqdfwevw==
+ dependencies:
+ tslib "^2.3.0"
+
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+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@angular/platform-browser/-/platform-browser-13.2.0.tgz#d8a309c231dec646ab1dad28240466a00151b54b"
+ integrity sha512-FB9eKdRqpjopTFbea5JXnqSPFR7DZD4nepOSGnYttV9cVj4pABqx2A6FJCnyvPPUSTamODye/pNkGmzP2P1gcw==
dependencies:
tslib "^2.3.0"
@@ -351,26 +358,31 @@
"@babel/helper-validator-identifier" "^7.16.7"
to-fast-properties "^2.0.0"
-"@bazel/concatjs@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/concatjs/-/concatjs-4.6.1.tgz#c40abc3fbe362cbad1e3383c4e78b58d1f4c8e13"
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+"@bazel/concatjs@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/concatjs/-/concatjs-4.4.6.tgz#842e4472f5d766a610a93ecc1315dd89a17f0cd3"
+ integrity sha512-2qt6M9G5S3gPTTB/VG8KwhTtv5w9ZqedFvOQS7yBbHHyV4UEWSxijhqHinpbJs0iKOWRbsDGE+jtRdgq8Vu+ZQ==
dependencies:
protobufjs "6.8.8"
source-map-support "0.5.9"
tsutils "3.21.0"
-"@bazel/rollup@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/rollup/-/rollup-4.6.1.tgz#7e5054b1b43c1052bdd8824d9f1a11a410d540e2"
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- dependencies:
- "@bazel/worker" "4.6.1"
+"@bazel/protractor@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/protractor/-/protractor-4.4.6.tgz#2ed9c3780caf741bbe6e6947bcb84635fe0aa2a1"
+ integrity sha512-jLg2FDf7pCx87P56+HFEdXmcACpHJiGvePnVhKohLs0QOj+SEi1hDz4YgUsTBmcxZOEftI/v0zmXwgi9FFZ8QA==
-"@bazel/terser@latest":
- version "4.6.1"
- resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.6.1.tgz#a3f70672cef7b9383b42930691d6fc8be4b8d993"
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+"@bazel/rollup@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/rollup/-/rollup-4.4.6.tgz#936d34c9c8159d42f84f1ac3c9ebb1bed27f691a"
+ integrity sha512-VujfM6QGuNpQZVzOf2nfAi3Xoi4EdA9nXXy6Gq4WiSaDPbgZrlXl/4Db+Hb6Nej5uvWqqppgvigCPHcWX9yM/w==
+ dependencies:
+ "@bazel/worker" "4.4.6"
+
+"@bazel/terser@4.4.6":
+ version "4.4.6"
+ resolved "https://registry.yarnpkg.com/@bazel/terser/-/terser-4.4.6.tgz#7e1579078ab604a0b53135f43086c0a060c83804"
+ integrity sha512-mJKxI3Vinj5kPEXR+XZXch11T18D7nHBle4+pcVmh675xlXRVTTvptYf7Qm0x9FMdjq4D6d1gJOeyxjz8YKaIg==
"@bazel/typescript@4.4.6":
version "4.4.6"
@@ -390,13 +402,6 @@
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"
- integrity sha512-D6TsHxGSljmlLoz8FXL1+ISh8XnDuRkBpT6Mz0wD62eWajUZASTfX9I4HNiLNbsWY4Omc7nKXI+j4R8/BLciFg==
- 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"
@@ -520,7 +525,7 @@
resolved "https://registry.yarnpkg.com/@protobufjs/utf8/-/utf8-1.1.0.tgz#a777360b5b39a1a2e5106f8e858f2fd2d060c570"
integrity sha1-p3c2C1s5oaLlEG+OhY8v0tBgxXA=
-"@rollup/plugin-node-resolve@latest":
+"@rollup/plugin-node-resolve@13.1.3":
version "13.1.3"
resolved "https://registry.yarnpkg.com/@rollup/plugin-node-resolve/-/plugin-node-resolve-13.1.3.tgz#2ed277fb3ad98745424c1d2ba152484508a92d79"
integrity sha512-BdxNk+LtmElRo5d06MGY4zoepyrXX1tkzX2hrnPEZ53k78GuOMWLqmJDGIIOPwVRIFZrLQOo+Yr6KtCuLIA0AQ==
@@ -541,13 +546,13 @@
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==
+"@schematics/angular@13.2.0":
+ version "13.2.0"
+ resolved "https://registry.yarnpkg.com/@schematics/angular/-/angular-13.2.0.tgz#fee1ef0810d16d7090822233e6e6e01a91a04a2c"
+ integrity sha512-DlUJ+ix9u/wz7IWc82dix5xsDGu0nztZ6Litrv+EsFDRYc95IFxTWuNwwjL2eRkI2KLIk79wmO7xhlUwrUyNlg==
dependencies:
- "@angular-devkit/core" "13.1.4"
- "@angular-devkit/schematics" "13.1.4"
+ "@angular-devkit/core" "13.2.0"
+ "@angular-devkit/schematics" "13.2.0"
jsonc-parser "3.0.0"
"@socket.io/base64-arraybuffer@~1.0.2":
@@ -560,6 +565,11 @@
resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-1.1.2.tgz#ccb91445360179a04e7fe6aff78c00ffc1eeaf82"
integrity sha512-RbzJvlNzmRq5c3O09UipeuXno4tA1FE6ikOjxZK0tuxVv3412l64l5t1W5pj4+rJq9vpkm/kwiR07aZXnsKPxw==
+"@tootallnate/once@2":
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-2.0.0.tgz#f544a148d3ab35801c1f633a7441fd87c2e484bf"
+ integrity sha512-XCuKFP5PS55gnMVu3dty8KPatLqUoy/ZYzDzAGCQ8JNFCkLXzmI7vNHCR+XpbZaMWQK/vQubr7PkYq8g470J/A==
+
"@types/component-emitter@^1.2.10":
version "1.2.11"
resolved "https://registry.yarnpkg.com/@types/component-emitter/-/component-emitter-1.2.11.tgz#50d47d42b347253817a39709fef03ce66a108506"
@@ -580,12 +590,12 @@
resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
integrity sha512-EYNwp3bU+98cpU4lAWYYL7Zz+2gryWH1qbdDTidVd6hkiR6weksdbMadyXKXNPEkQFhXM+hVO9ZygomHXp+AIw==
-"@types/flatbuffers@latest":
+"@types/flatbuffers@1.10.0":
version "1.10.0"
resolved "https://registry.yarnpkg.com/@types/flatbuffers/-/flatbuffers-1.10.0.tgz#aa74e30ffdc86445f2f060e1808fc9d56b5603ba"
integrity sha512-7btbphLrKvo5yl/5CC2OCxUSMx1wV1wvGT1qDXkSt7yi00/YW7E8k6qzXqJHsp+WU0eoG7r6MTQQXI9lIvd0qA==
-"@types/jasmine@latest":
+"@types/jasmine@3.10.3":
version "3.10.3"
resolved "https://registry.yarnpkg.com/@types/jasmine/-/jasmine-3.10.3.tgz#a89798b3d5a8bd23ca56e855a9aee3e5a93bdaaa"
integrity sha512-SWyMrjgdAUHNQmutvDcKablrJhkDLy4wunTme8oYLjKp41GnHGxMRXr2MQMvy/qy8H3LdzwQk9gH4hZ6T++H8g==
@@ -600,6 +610,11 @@
resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.8.tgz#50d680c8a8a78fe30abe6906453b21ad8ab0ad7b"
integrity sha512-YofkM6fGv4gDJq78g4j0mMuGMkZVxZDgtU0JRdx6FgiJDG+0fY0GKVolOV8WqVmEhLCXkQRjwDdKyPxJp/uucg==
+"@types/node@17.0.21":
+ version "17.0.21"
+ resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.21.tgz#864b987c0c68d07b4345845c3e63b75edd143644"
+ integrity sha512-DBZCJbhII3r90XbQxI8Y9IjjiiOGlZ0Hr32omXIZvwwZ7p4DMMXGrKXVyPfuoBOri9XNtL0UK69jYIBIsRX3QQ==
+
"@types/node@>=10.0.0":
version "17.0.10"
resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.10.tgz#616f16e9d3a2a3d618136b1be244315d95bd7cab"
@@ -610,10 +625,10 @@
resolved "https://registry.yarnpkg.com/@types/node/-/node-10.14.18.tgz#b7d45fc950e6ffd7edc685e890d13aa7b8535dce"
integrity sha512-ryO3Q3++yZC/+b8j8BdKd/dn9JlzlHBPdm80656xwYUdmPkpTGTjkAdt6BByiNupGPE8w0FhBgvYy/fX9hRNGQ==
-"@types/node@latest":
- version "17.0.12"
- resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.12.tgz#f7aa331b27f08244888c47b7df126184bc2339c5"
- integrity sha512-4YpbAsnJXWYK/fpTVFlMIcUIho2AYCi4wg5aNPrG1ng7fn/1/RZfCIpRCiBX+12RVa34RluilnvCqD+g3KiSiA==
+"@types/q@^0.0.32":
+ version "0.0.32"
+ resolved "https://registry.yarnpkg.com/@types/q/-/q-0.0.32.tgz#bd284e57c84f1325da702babfc82a5328190c0c5"
+ integrity sha1-vShOV8hPEyXacCur/IKlMoGQwMU=
"@types/resolve@1.17.1":
version "1.17.1"
@@ -622,6 +637,11 @@
dependencies:
"@types/node" "*"
+"@types/selenium-webdriver@^3.0.0":
+ version "3.0.19"
+ resolved "https://registry.yarnpkg.com/@types/selenium-webdriver/-/selenium-webdriver-3.0.19.tgz#28ecede76f15b13553b4e86074d4cf9a0bbe49c4"
+ integrity sha512-OFUilxQg+rWL2FMxtmIgCkUDlJB6pskkpvmew7yeXfzzsOBb5rc+y2+DjHm+r3r1ZPPcJefK3DveNSYWGiy68g==
+
"@yarnpkg/lockfile@1.1.0":
version "1.1.0"
resolved "https://registry.yarnpkg.com/@yarnpkg/lockfile/-/lockfile-1.1.0.tgz#e77a97fbd345b76d83245edcd17d393b1b41fb31"
@@ -640,6 +660,11 @@
mime-types "~2.1.24"
negotiator "0.6.2"
+adm-zip@^0.4.9:
+ version "0.4.16"
+ resolved "https://registry.yarnpkg.com/adm-zip/-/adm-zip-0.4.16.tgz#cf4c508fdffab02c269cbc7f471a875f05570365"
+ integrity sha512-TFi4HBKSGfIKsK5YCkKaaFG2m4PEDyViZmEwof3MTIgzimHLto6muaHVpbrljdIvIrFZzEq/p4nafOeLcYegrg==
+
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"
@@ -647,6 +672,13 @@
dependencies:
debug "4"
+agent-base@^4.3.0:
+ version "4.3.0"
+ resolved "https://registry.yarnpkg.com/agent-base/-/agent-base-4.3.0.tgz#8165f01c436009bccad0b1d122f05ed770efc6ee"
+ integrity sha512-salcGninV0nPrwpGNn4VTXBb1SOuXQBiqbrNXoeizJsHrsL6ERFM2Ne3JUSBWRE6aeNJI2ROP/WEEIDUiDe3cg==
+ dependencies:
+ es6-promisify "^5.0.0"
+
agentkeepalive@^4.1.3:
version "4.2.0"
resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.0.tgz#616ce94ccb41d1a39a45d203d8076fe98713062d"
@@ -656,6 +688,15 @@
depd "^1.1.2"
humanize-ms "^1.2.1"
+agentkeepalive@^4.2.1:
+ version "4.2.1"
+ resolved "https://registry.yarnpkg.com/agentkeepalive/-/agentkeepalive-4.2.1.tgz#a7975cbb9f83b367f06c90cc51ff28fe7d499717"
+ integrity sha512-Zn4cw2NEqd+9fiSVWMscnjyQ1a8Yfoc5oBajLeo5w+YBHgDUcEBY2hS4YpTz6iN5f/2zQiktcuM6tS8x1p9dpA==
+ 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"
@@ -671,17 +712,7 @@
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"
- integrity sha512-x9VuX+R/jcFj1DHo/fCp99esgGDWiHENrKxaCENuCxpoMCmAt/COCGVDwA7kleEpEzJjDnvh3yGoOuLu0Dtllw==
- dependencies:
- fast-deep-equal "^3.1.1"
- json-schema-traverse "^1.0.0"
- require-from-string "^2.0.2"
- uri-js "^4.2.2"
-
-ajv@^8.0.0:
+ajv@8.9.0, ajv@^8.0.0:
version "8.9.0"
resolved "https://registry.yarnpkg.com/ajv/-/ajv-8.9.0.tgz#738019146638824dea25edcf299dcba1b0e7eb18"
integrity sha512-qOKJyNj/h+OWx7s5DePL6Zu1KeM9jPZhwBqs+7DzP6bGOvqzVCSf0xueYmVuaC/oQ/VtS2zLMLHdQFbkka+XDQ==
@@ -691,6 +722,16 @@
require-from-string "^2.0.2"
uri-js "^4.2.2"
+ajv@^6.12.3:
+ version "6.12.6"
+ resolved "https://registry.yarnpkg.com/ajv/-/ajv-6.12.6.tgz#baf5a62e802b07d977034586f8c3baf5adf26df4"
+ integrity sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==
+ dependencies:
+ fast-deep-equal "^3.1.1"
+ fast-json-stable-stringify "^2.0.0"
+ json-schema-traverse "^0.4.1"
+ uri-js "^4.2.2"
+
ansi-colors@4.1.1:
version "4.1.1"
resolved "https://registry.yarnpkg.com/ansi-colors/-/ansi-colors-4.1.1.tgz#cbb9ae256bf750af1eab344f229aa27fe94ba348"
@@ -703,11 +744,21 @@
dependencies:
type-fest "^0.21.3"
+ansi-regex@^2.0.0:
+ version "2.1.1"
+ resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-2.1.1.tgz#c3b33ab5ee360d86e0e628f0468ae7ef27d654df"
+ integrity sha1-w7M6te42DYbg5ijwRorn7yfWVN8=
+
ansi-regex@^5.0.1:
version "5.0.1"
resolved "https://registry.yarnpkg.com/ansi-regex/-/ansi-regex-5.0.1.tgz#082cb2c89c9fe8659a311a53bd6a4dc5301db304"
integrity sha512-quJQXlTSUGL2LH9SUXo8VwsY4soanhgo6LNSm84E1LBcE8s3O0wpdiRzyR9z/ZZJMlMWv37qOOb9pdJlMUEKFQ==
+ansi-styles@^2.2.1:
+ version "2.2.1"
+ resolved "https://registry.yarnpkg.com/ansi-styles/-/ansi-styles-2.2.1.tgz#b432dd3358b634cf75e1e4664368240533c1ddbe"
+ integrity sha1-tDLdM1i2NM914eRmQ2gkBTPB3b4=
+
ansi-styles@^3.2.1:
version "3.2.1"
resolved "https://registry.yarnpkg.com/ansi-styles/-/ansi-styles-3.2.1.tgz#41fbb20243e50b12be0f04b8dedbf07520ce841d"
@@ -743,6 +794,50 @@
delegates "^1.0.0"
readable-stream "^3.6.0"
+array-union@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/array-union/-/array-union-1.0.2.tgz#9a34410e4f4e3da23dea375be5be70f24778ec39"
+ integrity sha1-mjRBDk9OPaI96jdb5b5w8kd47Dk=
+ dependencies:
+ array-uniq "^1.0.1"
+
+array-uniq@^1.0.1:
+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/array-uniq/-/array-uniq-1.0.3.tgz#af6ac877a25cc7f74e058894753858dfdb24fdb6"
+ integrity sha1-r2rId6Jcx/dOBYiUdThY39sk/bY=
+
+arrify@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/arrify/-/arrify-1.0.1.tgz#898508da2226f380df904728456849c1501a4b0d"
+ integrity sha1-iYUI2iIm84DfkEcoRWhJwVAaSw0=
+
+asn1@~0.2.3:
+ version "0.2.6"
+ resolved "https://registry.yarnpkg.com/asn1/-/asn1-0.2.6.tgz#0d3a7bb6e64e02a90c0303b31f292868ea09a08d"
+ integrity sha512-ix/FxPn0MDjeyJ7i/yoHGFt/EX6LyNbxSEhPPXODPL+KB0VPk86UYfL0lMdy+KCnv+fmvIzySwaK5COwqVbWTQ==
+ dependencies:
+ safer-buffer "~2.1.0"
+
+assert-plus@1.0.0, assert-plus@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/assert-plus/-/assert-plus-1.0.0.tgz#f12e0f3c5d77b0b1cdd9146942e4e96c1e4dd525"
+ integrity sha1-8S4PPF13sLHN2RRpQuTpbB5N1SU=
+
+asynckit@^0.4.0:
+ version "0.4.0"
+ resolved "https://registry.yarnpkg.com/asynckit/-/asynckit-0.4.0.tgz#c79ed97f7f34cb8f2ba1bc9790bcc366474b4b79"
+ integrity sha1-x57Zf380y48robyXkLzDZkdLS3k=
+
+aws-sign2@~0.7.0:
+ version "0.7.0"
+ resolved "https://registry.yarnpkg.com/aws-sign2/-/aws-sign2-0.7.0.tgz#b46e890934a9591f2d2f6f86d7e6a9f1b3fe76a8"
+ integrity sha1-tG6JCTSpWR8tL2+G1+ap8bP+dqg=
+
+aws4@^1.8.0:
+ version "1.11.0"
+ resolved "https://registry.yarnpkg.com/aws4/-/aws4-1.11.0.tgz#d61f46d83b2519250e2784daf5b09479a8b41c59"
+ integrity sha512-xh1Rl34h6Fi1DC2WWKfxUTVqRsNnr6LsKz2+hfwDxQJWmrx8+c7ylaqBMcHfl1U1r2dsifOvKX3LQuLNZ+XSvA==
+
balanced-match@^1.0.0:
version "1.0.2"
resolved "https://registry.yarnpkg.com/balanced-match/-/balanced-match-1.0.2.tgz#e83e3a7e3f300b34cb9d87f615fa0cbf357690ee"
@@ -758,6 +853,13 @@
resolved "https://registry.yarnpkg.com/base64id/-/base64id-2.0.0.tgz#2770ac6bc47d312af97a8bf9a634342e0cd25cb6"
integrity sha512-lGe34o6EHj9y3Kts9R4ZYs/Gr+6N7MCaMlIFA3F1R2O5/m7K06AxfSeO5530PEERE6/WyEg3lsuyw4GHlPZHog==
+bcrypt-pbkdf@^1.0.0:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/bcrypt-pbkdf/-/bcrypt-pbkdf-1.0.2.tgz#a4301d389b6a43f9b67ff3ca11a3f6637e360e9e"
+ integrity sha1-pDAdOJtqQ/m2f/PKEaP2Y342Dp4=
+ dependencies:
+ tweetnacl "^0.14.3"
+
binary-extensions@^2.0.0:
version "2.2.0"
resolved "https://registry.yarnpkg.com/binary-extensions/-/binary-extensions-2.2.0.tgz#75f502eeaf9ffde42fc98829645be4ea76bd9e2d"
@@ -772,6 +874,13 @@
inherits "^2.0.4"
readable-stream "^3.4.0"
+blocking-proxy@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/blocking-proxy/-/blocking-proxy-1.0.1.tgz#81d6fd1fe13a4c0d6957df7f91b75e98dac40cb2"
+ integrity sha512-KE8NFMZr3mN2E0HcvCgRtX7DjhiIQrwle+nSVJVC/yqFb9+xznHl2ZcoBp2L9qzkI4t4cBFJ1efXF8Dwi132RA==
+ dependencies:
+ minimist "^1.2.0"
+
body-parser@^1.19.0:
version "1.19.1"
resolved "https://registry.yarnpkg.com/body-parser/-/body-parser-1.19.1.tgz#1499abbaa9274af3ecc9f6f10396c995943e31d4"
@@ -814,6 +923,13 @@
node-releases "^2.0.1"
picocolors "^1.0.0"
+browserstack@^1.5.1:
+ version "1.6.1"
+ resolved "https://registry.yarnpkg.com/browserstack/-/browserstack-1.6.1.tgz#e051f9733ec3b507659f395c7a4765a1b1e358b3"
+ integrity sha512-GxtFjpIaKdbAyzHfFDKixKO8IBT7wR3NjbzrGc78nNs/Ciys9wU3/nBtsqsWv5nDSrdI5tz0peKuzCPuNXNUiw==
+ dependencies:
+ https-proxy-agent "^2.2.1"
+
buffer-from@^1.0.0:
version "1.1.1"
resolved "https://registry.yarnpkg.com/buffer-from/-/buffer-from-1.1.1.tgz#32713bc028f75c02fdb710d7c7bcec1f2c6070ef"
@@ -841,7 +957,7 @@
resolved "https://registry.yarnpkg.com/bytes/-/bytes-3.1.1.tgz#3f018291cb4cbad9accb6e6970bca9c8889e879a"
integrity sha512-dWe4nWO/ruEOY7HkUJ5gFt1DCFV9zPRoJr8pV0/ASQermOZjtq8jMjOprC0Kd10GLN+l7xaUPvxzJFWtxGu8Fg==
-cacache@^15.0.5, cacache@^15.2.0:
+cacache@^15.0.5, cacache@^15.2.0, cacache@^15.3.0:
version "15.3.0"
resolved "https://registry.yarnpkg.com/cacache/-/cacache-15.3.0.tgz#dc85380fb2f556fe3dda4c719bfa0ec875a7f1eb"
integrity sha512-VVdYzXEn+cnbXpFgWs5hTT7OScegHVmLhJIR8Ufqk3iFD6A6j5iSX1KuBTfNEv4tdJWE2PzA6IVFtcLC7fN9wQ==
@@ -865,6 +981,11 @@
tar "^6.0.2"
unique-filename "^1.1.1"
+camelcase@^5.0.0:
+ version "5.3.1"
+ resolved "https://registry.yarnpkg.com/camelcase/-/camelcase-5.3.1.tgz#e3c9b31569e106811df242f715725a1f4c494320"
+ integrity sha512-L28STB170nwWS63UjtlEOE3dldQApaJXZkOI1uMFfzf3rRuPegHaHesyee+YxQ+W6SvRDQV6UrdOdRiR153wJg==
+
caniuse-lite@^1.0.30001286:
version "1.0.30001299"
resolved "https://registry.yarnpkg.com/caniuse-lite/-/caniuse-lite-1.0.30001299.tgz#d753bf6444ed401eb503cbbe17aa3e1451b5a68c"
@@ -875,6 +996,22 @@
resolved "https://registry.yarnpkg.com/canonical-path/-/canonical-path-1.0.0.tgz#fcb470c23958def85081856be7a86e904f180d1d"
integrity sha512-feylzsbDxi1gPZ1IjystzIQZagYYLvfKrSuygUCgf7z6x790VEzze5QEkdSV1U58RA7Hi0+v6fv4K54atOzATg==
+caseless@~0.12.0:
+ version "0.12.0"
+ resolved "https://registry.yarnpkg.com/caseless/-/caseless-0.12.0.tgz#1b681c21ff84033c826543090689420d187151dc"
+ integrity sha1-G2gcIf+EAzyCZUMJBolCDRhxUdw=
+
+chalk@^1.1.1, chalk@^1.1.3:
+ version "1.1.3"
+ resolved "https://registry.yarnpkg.com/chalk/-/chalk-1.1.3.tgz#a8115c55e4a702fe4d150abd3872822a7e09fc98"
+ integrity sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=
+ dependencies:
+ ansi-styles "^2.2.1"
+ escape-string-regexp "^1.0.2"
+ has-ansi "^2.0.0"
+ strip-ansi "^3.0.0"
+ supports-color "^2.0.0"
+
chalk@^2.0.0:
version "2.4.2"
resolved "https://registry.yarnpkg.com/chalk/-/chalk-2.4.2.tgz#cd42541677a54333cf541a49108c1432b44c9424"
@@ -954,6 +1091,15 @@
resolved "https://registry.yarnpkg.com/cli-width/-/cli-width-3.0.0.tgz#a2f48437a2caa9a22436e794bf071ec9e61cedf6"
integrity sha512-FxqpkPPwu1HjuN93Omfm4h8uIanXofW0RxVEW3k5RKx+mJJYSthzNhp32Kzxxy3YAEZ/Dc/EWN1vZRY0+kOhbw==
+cliui@^6.0.0:
+ version "6.0.0"
+ resolved "https://registry.yarnpkg.com/cliui/-/cliui-6.0.0.tgz#511d702c0c4e41ca156d7d0e96021f23e13225b1"
+ integrity sha512-t6wbgtoCXvAzst7QgXxJYqPt0usEfbgQdftEPbLL/cvv6HPE5VgvqCuAIDR0NgU52ds6rFwqrgakNLrHEjCbrQ==
+ dependencies:
+ string-width "^4.2.0"
+ strip-ansi "^6.0.0"
+ wrap-ansi "^6.2.0"
+
cliui@^7.0.2:
version "7.0.4"
resolved "https://registry.yarnpkg.com/cliui/-/cliui-7.0.4.tgz#a0265ee655476fc807aea9df3df8df7783808b4f"
@@ -1002,6 +1148,13 @@
resolved "https://registry.yarnpkg.com/colors/-/colors-1.4.0.tgz#c50491479d4c1bdaed2c9ced32cf7c7dc2360f78"
integrity sha512-a+UqTh4kgZg/SlGvfbzDHpgRu7AAQOmmqRHJnxhRZICKFUT91brVhNNt58CMWU9PsBbv3PDCZUHbVxuDiH2mtA==
+combined-stream@^1.0.6, combined-stream@~1.0.6:
+ version "1.0.8"
+ resolved "https://registry.yarnpkg.com/combined-stream/-/combined-stream-1.0.8.tgz#c3d45a8b34fd730631a110a8a2520682b31d5a7f"
+ integrity sha512-FQN4MRfuJeHf7cBbBMJFXhKSDq+2kAArBlmRBvcvFE5BB1HZKXtSFASDhdlz9zOYwxh8lDdnvmMOe/+5cdoEdg==
+ dependencies:
+ delayed-stream "~1.0.0"
+
commander@^2.20.0:
version "2.20.3"
resolved "https://registry.yarnpkg.com/commander/-/commander-2.20.3.tgz#fd485e84c03eb4881c20722ba48035e8531aeb33"
@@ -1054,6 +1207,16 @@
resolved "https://registry.yarnpkg.com/cookie/-/cookie-0.4.1.tgz#afd713fe26ebd21ba95ceb61f9a8116e50a537d1"
integrity sha512-ZwrFkGJxUR3EIoXtO+yVE69Eb7KlixbaeAWfBQB9vVsNn/o+Yw69gBWSSDK825hQNdN+wF8zELf3dFNl/kxkUA==
+core-util-is@1.0.2:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/core-util-is/-/core-util-is-1.0.2.tgz#b5fd54220aa2bc5ab57aab7140c940754503c1a7"
+ integrity sha1-tf1UIgqivFq1eqtxQMlAdUUDwac=
+
+core-util-is@~1.0.0:
+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/core-util-is/-/core-util-is-1.0.3.tgz#a6042d3634c2b27e9328f837b965fac83808db85"
+ integrity sha512-ZQBvi1DcpJ4GDqanjucZ2Hj3wEO5pZDS89BWbkcrvdxksJorwUDDZamX9ldFkp9aw2lmBDLgkObEA4DWNJ9FYQ==
+
cors@~2.8.5:
version "2.8.5"
resolved "https://registry.yarnpkg.com/cors/-/cors-2.8.5.tgz#eac11da51592dd86b9f06f6e7ac293b3df875d29"
@@ -1067,6 +1230,13 @@
resolved "https://registry.yarnpkg.com/custom-event/-/custom-event-1.0.1.tgz#5d02a46850adf1b4a317946a3928fccb5bfd0425"
integrity sha1-XQKkaFCt8bSjF5RqOSj8y1v9BCU=
+dashdash@^1.12.0:
+ version "1.14.1"
+ resolved "https://registry.yarnpkg.com/dashdash/-/dashdash-1.14.1.tgz#853cfa0f7cbe2fed5de20326b8dd581035f6e2f0"
+ integrity sha1-hTz6D3y+L+1d4gMmuN1YEDX24vA=
+ dependencies:
+ assert-plus "^1.0.0"
+
date-format@^4.0.3:
version "4.0.3"
resolved "https://registry.yarnpkg.com/date-format/-/date-format-4.0.3.tgz#f63de5dc08dc02efd8ef32bf2a6918e486f35873"
@@ -1086,6 +1256,18 @@
dependencies:
ms "2.1.2"
+debug@^3.1.0:
+ version "3.2.7"
+ resolved "https://registry.yarnpkg.com/debug/-/debug-3.2.7.tgz#72580b7e9145fb39b6676f9c5e5fb100b934179a"
+ integrity sha512-CFjzYYAi4ThfiQvizrFQevTTXHtnCqWfe7x1AhgEscTz6ZbLbfoLRLPugTQyBth6f8ZERVUSyWHFD/7Wu4t1XQ==
+ dependencies:
+ ms "^2.1.1"
+
+decamelize@^1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/decamelize/-/decamelize-1.2.0.tgz#f6534d15148269b20352e7bee26f501f9a191290"
+ integrity sha1-9lNNFRSCabIDUue+4m9QH5oZEpA=
+
deepmerge@^4.2.2:
version "4.2.2"
resolved "https://registry.yarnpkg.com/deepmerge/-/deepmerge-4.2.2.tgz#44d2ea3679b8f4d4ffba33f03d865fc1e7bf4955"
@@ -1103,6 +1285,24 @@
resolved "https://registry.yarnpkg.com/define-lazy-prop/-/define-lazy-prop-2.0.0.tgz#3f7ae421129bcaaac9bc74905c98a0009ec9ee7f"
integrity sha512-Ds09qNh8yw3khSjiJjiUInaGX9xlqZDY7JVryGxdxV7NPeuqQfplOpQ66yJFZut3jLa5zOwkXw1g9EI2uKh4Og==
+del@^2.2.0:
+ version "2.2.2"
+ resolved "https://registry.yarnpkg.com/del/-/del-2.2.2.tgz#c12c981d067846c84bcaf862cff930d907ffd1a8"
+ integrity sha1-wSyYHQZ4RshLyvhiz/kw2Qf/0ag=
+ dependencies:
+ globby "^5.0.0"
+ is-path-cwd "^1.0.0"
+ is-path-in-cwd "^1.0.0"
+ object-assign "^4.0.1"
+ pify "^2.0.0"
+ pinkie-promise "^2.0.0"
+ rimraf "^2.2.8"
+
+delayed-stream@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/delayed-stream/-/delayed-stream-1.0.0.tgz#df3ae199acadfb7d440aaae0b29e2272b24ec619"
+ integrity sha1-3zrhmayt+31ECqrgsp4icrJOxhk=
+
delegates@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/delegates/-/delegates-1.0.0.tgz#84c6e159b81904fdca59a0ef44cd870d31250f9a"
@@ -1133,6 +1333,14 @@
extend "^3.0.0"
void-elements "^2.0.0"
+ecc-jsbn@~0.1.1:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/ecc-jsbn/-/ecc-jsbn-0.1.2.tgz#3a83a904e54353287874c564b7549386849a98c9"
+ integrity sha1-OoOpBOVDUyh4dMVkt1SThoSamMk=
+ dependencies:
+ jsbn "~0.1.0"
+ safer-buffer "^2.1.0"
+
ee-first@1.1.1:
version "1.1.1"
resolved "https://registry.yarnpkg.com/ee-first/-/ee-first-1.1.1.tgz#590c61156b0ae2f4f0255732a158b266bc56b21d"
@@ -1153,7 +1361,7 @@
resolved "https://registry.yarnpkg.com/encodeurl/-/encodeurl-1.0.2.tgz#ad3ff4c86ec2d029322f5a02c3a9a606c95b3f59"
integrity sha1-rT/0yG7C0CkyL1oCw6mmBslbP1k=
-encoding@^0.1.12:
+encoding@^0.1.12, encoding@^0.1.13:
version "0.1.13"
resolved "https://registry.yarnpkg.com/encoding/-/encoding-0.1.13.tgz#56574afdd791f54a8e9b2785c0582a2d26210fa9"
integrity sha512-ETBauow1T35Y/WZMkio9jiM0Z5xjHHmJ4XmjZOq1l/dXz3lr2sRn87nJy20RupqSh1F2m3HHPSp8ShIPQJrJ3A==
@@ -1198,6 +1406,18 @@
resolved "https://registry.yarnpkg.com/err-code/-/err-code-2.0.3.tgz#23c2f3b756ffdfc608d30e27c9a941024807e7f9"
integrity sha512-2bmlRpNKBxT/CRmPOlyISQpNj+qSeYvcym/uT0Jx2bMOlKLtSy1ZmLuVxSEKKyor/N5yhvp/ZiG1oE3DEYMSFA==
+es6-promise@^4.0.3:
+ version "4.2.8"
+ resolved "https://registry.yarnpkg.com/es6-promise/-/es6-promise-4.2.8.tgz#4eb21594c972bc40553d276e510539143db53e0a"
+ integrity sha512-HJDGx5daxeIvxdBxvG2cb9g4tEvwIk3i8+nhX0yGrYmZUzbkdg8QbDevheDB8gd0//uPj4c1EQua8Q+MViT0/w==
+
+es6-promisify@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/es6-promisify/-/es6-promisify-5.0.0.tgz#5109d62f3e56ea967c4b63505aef08291c8a5203"
+ integrity sha1-UQnWLz5W6pZ8S2NQWu8IKRyKUgM=
+ dependencies:
+ es6-promise "^4.0.3"
+
escalade@^3.1.1:
version "3.1.1"
resolved "https://registry.yarnpkg.com/escalade/-/escalade-3.1.1.tgz#d8cfdc7000965c5a0174b4a82eaa5c0552742e40"
@@ -1208,7 +1428,7 @@
resolved "https://registry.yarnpkg.com/escape-html/-/escape-html-1.0.3.tgz#0258eae4d3d0c0974de1c169188ef0051d1d1988"
integrity sha1-Aljq5NPQwJdN4cFpGI7wBR0dGYg=
-escape-string-regexp@^1.0.5:
+escape-string-regexp@^1.0.2, escape-string-regexp@^1.0.5:
version "1.0.5"
resolved "https://registry.yarnpkg.com/escape-string-regexp/-/escape-string-regexp-1.0.5.tgz#1b61c0562190a8dff6ae3bb2cf0200ca130b86d4"
integrity sha1-G2HAViGQqN/2rjuyzwIAyhMLhtQ=
@@ -1223,7 +1443,12 @@
resolved "https://registry.yarnpkg.com/eventemitter3/-/eventemitter3-4.0.7.tgz#2de9b68f6528d5644ef5c59526a1b4a07306169f"
integrity sha512-8guHBZCwKnFhYdHr2ysuRWErTwhoN2X8XELRlrRwpmfeY2jjuUN4taQMsULKUVo1K4DvZl+0pgfyoysHxvmvEw==
-extend@^3.0.0:
+exit@^0.1.2:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/exit/-/exit-0.1.2.tgz#0632638f8d877cc82107d30a0fff1a17cba1cd0c"
+ integrity sha1-BjJjj42HfMghB9MKD/8aF8uhzQw=
+
+extend@^3.0.0, extend@~3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/extend/-/extend-3.0.2.tgz#f8b1136b4071fbd8eb140aff858b1019ec2915fa"
integrity sha512-fjquC59cD7CyW6urNXK0FBufkZcoiGG80wTuPujX590cB5Ttln20E2UB4S/WARVqhXffZl2LNgS+gQdPIIim/g==
@@ -1237,12 +1462,22 @@
iconv-lite "^0.4.24"
tmp "^0.0.33"
+extsprintf@1.3.0:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/extsprintf/-/extsprintf-1.3.0.tgz#96918440e3041a7a414f8c52e3c574eb3c3e1e05"
+ integrity sha1-lpGEQOMEGnpBT4xS48V06zw+HgU=
+
+extsprintf@^1.2.0:
+ version "1.4.1"
+ resolved "https://registry.yarnpkg.com/extsprintf/-/extsprintf-1.4.1.tgz#8d172c064867f235c0c84a596806d279bf4bcc07"
+ integrity sha512-Wrk35e8ydCKDj/ArClo1VrPVmN8zph5V4AtHwIuHhvMXsKf73UT3BOD+azBIW+3wOJ4FhEH7zyaJCFvChjYvMA==
+
fast-deep-equal@^3.1.1:
version "3.1.3"
resolved "https://registry.yarnpkg.com/fast-deep-equal/-/fast-deep-equal-3.1.3.tgz#3a7d56b559d6cbc3eb512325244e619a65c6c525"
integrity sha512-f3qQ9oQy9j2AhBe/H9VC91wLmKBCCU/gDOnKNAYG5hswO7BLKj09Hc5HYNz9cGI++xlpDCIgDaitVs03ATR84Q==
-fast-json-stable-stringify@2.1.0:
+fast-json-stable-stringify@2.1.0, fast-json-stable-stringify@^2.0.0:
version "2.1.0"
resolved "https://registry.yarnpkg.com/fast-json-stable-stringify/-/fast-json-stable-stringify-2.1.0.tgz#874bf69c6f404c2b5d99c481341399fd55892633"
integrity sha512-lhd/wF+Lk98HZoTCtlVraHtfh5XYijIjalXck7saUtuanSDyLMxnHhSXEDJqHxD7msR8D0uCmqlkwjCV8xvwHw==
@@ -1274,6 +1509,14 @@
statuses "~1.5.0"
unpipe "~1.0.0"
+find-up@^4.1.0:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/find-up/-/find-up-4.1.0.tgz#97afe7d6cdc0bc5928584b7c8d7b16e8a9aa5d19"
+ integrity sha512-PpOwAdQ/YlXQ2vj8a3h8IipDuYRi3wceVQQGYWxNINccq40Anw7BlsEXCMbt1Zt+OLA6Fq9suIpIWD0OsnISlw==
+ dependencies:
+ locate-path "^5.0.0"
+ path-exists "^4.0.0"
+
flatted@^3.2.4:
version "3.2.4"
resolved "https://registry.yarnpkg.com/flatted/-/flatted-3.2.4.tgz#28d9969ea90661b5134259f312ab6aa7929ac5e2"
@@ -1284,6 +1527,20 @@
resolved "https://registry.yarnpkg.com/follow-redirects/-/follow-redirects-1.14.7.tgz#2004c02eb9436eee9a21446a6477debf17e81685"
integrity sha512-+hbxoLbFMbRKDwohX8GkTataGqO6Jb7jGwpAlwgy2bIz25XtRm7KEzJM76R1WiNT5SwZkX4Y75SwBolkpmE7iQ==
+forever-agent@~0.6.1:
+ version "0.6.1"
+ resolved "https://registry.yarnpkg.com/forever-agent/-/forever-agent-0.6.1.tgz#fbc71f0c41adeb37f96c577ad1ed42d8fdacca91"
+ integrity sha1-+8cfDEGt6zf5bFd60e1C2P2sypE=
+
+form-data@~2.3.2:
+ version "2.3.3"
+ resolved "https://registry.yarnpkg.com/form-data/-/form-data-2.3.3.tgz#dcce52c05f644f298c6a7ab936bd724ceffbf3a6"
+ integrity sha512-1lLKB2Mu3aGP1Q/2eCOx0fNbRMe7XdwktwOruhfqqd0rIJWwN4Dh+E3hrPSlDCXnSR7UtZ1N38rVXm+6+MEhJQ==
+ dependencies:
+ asynckit "^0.4.0"
+ combined-stream "^1.0.6"
+ mime-types "^2.1.12"
+
fs-extra@^10.0.0:
version "10.0.0"
resolved "https://registry.yarnpkg.com/fs-extra/-/fs-extra-10.0.0.tgz#9ff61b655dde53fb34a82df84bb214ce802e17c1"
@@ -1340,11 +1597,18 @@
resolved "https://registry.yarnpkg.com/gensync/-/gensync-1.0.0-beta.2.tgz#32a6ee76c3d7f52d46b2b1ae5d93fea8580a25e0"
integrity sha512-3hN7NaskYvMDLQY55gnW3NQ+mesEAepTqlg+VEbj7zzqEMBVNhzcGYYeqFo/TlYz6eQiFcp1HcsCZO+nGgS8zg==
-get-caller-file@^2.0.5:
+get-caller-file@^2.0.1, 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"
integrity sha512-DyFP3BM/3YHTQOCUL/w0OZHR0lpKeGrxotcHWcqNEdnltqFwXVfhEBQ94eIo34AfQpo0rGki4cyIiftY06h2Fg==
+getpass@^0.1.1:
+ version "0.1.7"
+ resolved "https://registry.yarnpkg.com/getpass/-/getpass-0.1.7.tgz#5eff8e3e684d569ae4cb2b1282604e8ba62149fa"
+ integrity sha1-Xv+OPmhNVprkyysSgmBOi6YhSfo=
+ dependencies:
+ assert-plus "^1.0.0"
+
glob-parent@~5.1.2:
version "5.1.2"
resolved "https://registry.yarnpkg.com/glob-parent/-/glob-parent-5.1.2.tgz#869832c58034fe68a4093c17dc15e8340d8401c4"
@@ -1352,7 +1616,7 @@
dependencies:
is-glob "^4.0.1"
-glob@^7.0.0, glob@^7.1.3, glob@^7.1.4, glob@^7.1.6, glob@^7.1.7:
+glob@^7.0.0, glob@^7.0.3, glob@^7.0.6, glob@^7.1.3, glob@^7.1.4, glob@^7.1.6, glob@^7.1.7:
version "7.2.0"
resolved "https://registry.yarnpkg.com/glob/-/glob-7.2.0.tgz#d15535af7732e02e948f4c41628bd910293f6023"
integrity sha512-lmLf6gtyrPq8tTjSmrO94wBeQbFR3HbLHbuyD69wuyQkImp2hWqMGB47OX65FBkPffO641IP9jWa1z4ivqG26Q==
@@ -1369,6 +1633,18 @@
resolved "https://registry.yarnpkg.com/globals/-/globals-11.12.0.tgz#ab8795338868a0babd8525758018c2a7eb95c42e"
integrity sha512-WOBp/EEGUiIsJSp7wcv/y6MO+lV9UoncWqxuFfm8eBwzWNgyfBd6Gz+IeKQ9jCmyhoH99g15M3T+QaVHFjizVA==
+globby@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/globby/-/globby-5.0.0.tgz#ebd84667ca0dbb330b99bcfc68eac2bc54370e0d"
+ integrity sha1-69hGZ8oNuzMLmbz8aOrCvFQ3Dg0=
+ dependencies:
+ array-union "^1.0.1"
+ arrify "^1.0.0"
+ glob "^7.0.3"
+ object-assign "^4.0.1"
+ pify "^2.0.0"
+ pinkie-promise "^2.0.0"
+
google-protobuf@^3.6.1:
version "3.19.1"
resolved "https://registry.yarnpkg.com/google-protobuf/-/google-protobuf-3.19.1.tgz#5af5390e8206c446d8f49febaffd4b7f4ac28f41"
@@ -1379,6 +1655,26 @@
resolved "https://registry.yarnpkg.com/graceful-fs/-/graceful-fs-4.2.9.tgz#041b05df45755e587a24942279b9d113146e1c96"
integrity sha512-NtNxqUcXgpW2iMrfqSfR73Glt39K+BLwWsPs94yR63v45T0Wbej7eRmL5cWfwEgqXnmjQp3zaJTshdRW/qC2ZQ==
+har-schema@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/har-schema/-/har-schema-2.0.0.tgz#a94c2224ebcac04782a0d9035521f24735b7ec92"
+ integrity sha1-qUwiJOvKwEeCoNkDVSHyRzW37JI=
+
+har-validator@~5.1.3:
+ version "5.1.5"
+ resolved "https://registry.yarnpkg.com/har-validator/-/har-validator-5.1.5.tgz#1f0803b9f8cb20c0fa13822df1ecddb36bde1efd"
+ integrity sha512-nmT2T0lljbxdQZfspsno9hgrG3Uir6Ks5afism62poxqBM6sDnMEuPmzTq8XN0OEwqKLLdh1jQI3qyE66Nzb3w==
+ dependencies:
+ ajv "^6.12.3"
+ har-schema "^2.0.0"
+
+has-ansi@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/has-ansi/-/has-ansi-2.0.0.tgz#34f5049ce1ecdf2b0649af3ef24e45ed35416d91"
+ integrity sha1-NPUEnOHs3ysGSa8+8k5F7TVBbZE=
+ dependencies:
+ ansi-regex "^2.0.0"
+
has-flag@^3.0.0:
version "3.0.0"
resolved "https://registry.yarnpkg.com/has-flag/-/has-flag-3.0.0.tgz#b5d454dc2199ae225699f3467e5a07f3b955bafd"
@@ -1433,6 +1729,15 @@
agent-base "6"
debug "4"
+http-proxy-agent@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/http-proxy-agent/-/http-proxy-agent-5.0.0.tgz#5129800203520d434f142bc78ff3c170800f2b43"
+ integrity sha512-n2hY8YdoRE1i7r6M0w9DIw5GgZN0G25P8zLCRQ8rjXtTU3vsNFBI/vWK/UIeE6g5MUUz6avwAPXmL6Fy9D/90w==
+ dependencies:
+ "@tootallnate/once" "2"
+ agent-base "6"
+ debug "4"
+
http-proxy@^1.18.1:
version "1.18.1"
resolved "https://registry.yarnpkg.com/http-proxy/-/http-proxy-1.18.1.tgz#401541f0534884bbf95260334e72f88ee3976549"
@@ -1442,6 +1747,23 @@
follow-redirects "^1.0.0"
requires-port "^1.0.0"
+http-signature@~1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/http-signature/-/http-signature-1.2.0.tgz#9aecd925114772f3d95b65a60abb8f7c18fbace1"
+ integrity sha1-muzZJRFHcvPZW2WmCruPfBj7rOE=
+ dependencies:
+ assert-plus "^1.0.0"
+ jsprim "^1.2.2"
+ sshpk "^1.7.0"
+
+https-proxy-agent@^2.2.1:
+ version "2.2.4"
+ resolved "https://registry.yarnpkg.com/https-proxy-agent/-/https-proxy-agent-2.2.4.tgz#4ee7a737abd92678a293d9b34a1af4d0d08c787b"
+ integrity sha512-OmvfoQ53WLjtA9HeYP9RNrWMJzzAz1JGaSFr1nijg0PVR1JaD/xbJq1mdEIIlxGpXp9eSe/O2LgU9DJmTPd0Eg==
+ dependencies:
+ agent-base "^4.3.0"
+ debug "^3.1.0"
+
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"
@@ -1483,6 +1805,11 @@
dependencies:
minimatch "^3.0.4"
+immediate@~3.0.5:
+ version "3.0.6"
+ resolved "https://registry.yarnpkg.com/immediate/-/immediate-3.0.6.tgz#9db1dbd0faf8de6fbe0f5dd5e56bb606280de69b"
+ integrity sha1-nbHb0Pr43m++D13V5Wu2BigN5ps=
+
imurmurhash@^0.1.4:
version "0.1.4"
resolved "https://registry.yarnpkg.com/imurmurhash/-/imurmurhash-0.1.4.tgz#9218b9b2b928a238b13dc4fb6b6d576f231453ea"
@@ -1506,7 +1833,7 @@
once "^1.3.0"
wrappy "1"
-inherits@2, inherits@2.0.4, inherits@^2.0.3, inherits@^2.0.4:
+inherits@2, inherits@2.0.4, inherits@^2.0.3, inherits@^2.0.4, inherits@~2.0.3:
version "2.0.4"
resolved "https://registry.yarnpkg.com/inherits/-/inherits-2.0.4.tgz#0fa2c64f932917c3433a0ded55363aae37416b7c"
integrity sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ==
@@ -1516,6 +1843,11 @@
resolved "https://registry.yarnpkg.com/ini/-/ini-2.0.0.tgz#e5fd556ecdd5726be978fa1001862eacb0a94bc5"
integrity sha512-7PnF4oN3CvZF23ADhA5wRaYEQpJ8qygSkbtTXWBeXWXmEVRXK+1ITciHWwHhsjv1TmW0MgacIv6hEi5pX5NQdA==
+ini@^1.3.4:
+ version "1.3.8"
+ resolved "https://registry.yarnpkg.com/ini/-/ini-1.3.8.tgz#a29da425b48806f34767a4efce397269af28432c"
+ integrity sha512-JV/yugV2uzW5iMRSiZAyDtQd+nxtUnjeLt0acNdw98kKLrvuRVyB80tsREOE7yvGVgalhZ6RNXCmEHkUKBKxew==
+
inquirer@8.2.0:
version "8.2.0"
resolved "https://registry.yarnpkg.com/inquirer/-/inquirer-8.2.0.tgz#f44f008dd344bbfc4b30031f45d984e034a3ac3a"
@@ -1548,7 +1880,7 @@
dependencies:
binary-extensions "^2.0.0"
-is-core-module@^2.2.0, is-core-module@^2.8.0:
+is-core-module@^2.8.0, is-core-module@^2.8.1:
version "2.8.1"
resolved "https://registry.yarnpkg.com/is-core-module/-/is-core-module-2.8.1.tgz#f59fdfca701d5879d0a6b100a40aa1560ce27211"
integrity sha512-SdNCUs284hr40hFTFP6l0IfZ/RSrMXF3qgoRHd3/79unUTvrFO/JoXwkGm+5J/Oe3E/b5GsnG330uUNgRpu1PA==
@@ -1597,6 +1929,30 @@
resolved "https://registry.yarnpkg.com/is-number/-/is-number-7.0.0.tgz#7535345b896734d5f80c4d06c50955527a14f12b"
integrity sha512-41Cifkg6e8TylSpdtTpeLVMqvSBEVzTttHvERD741+pnZ8ANv0004MRL43QKPDlK9cGvNp6NZWZUBlbGXYxxng==
+is-path-cwd@^1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-path-cwd/-/is-path-cwd-1.0.0.tgz#d225ec23132e89edd38fda767472e62e65f1106d"
+ integrity sha1-0iXsIxMuie3Tj9p2dHLmLmXxEG0=
+
+is-path-in-cwd@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/is-path-in-cwd/-/is-path-in-cwd-1.0.1.tgz#5ac48b345ef675339bd6c7a48a912110b241cf52"
+ integrity sha512-FjV1RTW48E7CWM7eE/J2NJvAEEVektecDBVBE5Hh3nM1Jd0kvhHtX68Pr3xsDf857xt3Y4AkwVULK1Vku62aaQ==
+ dependencies:
+ is-path-inside "^1.0.0"
+
+is-path-inside@^1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/is-path-inside/-/is-path-inside-1.0.1.tgz#8ef5b7de50437a3fdca6b4e865ef7aa55cb48036"
+ integrity sha1-jvW33lBDej/cprToZe96pVy0gDY=
+ dependencies:
+ path-is-inside "^1.0.1"
+
+is-typedarray@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/is-typedarray/-/is-typedarray-1.0.0.tgz#e479c80858df0c1b11ddda6940f96011fcda4a9a"
+ integrity sha1-5HnICFjfDBsR3dppQPlgEfzaSpo=
+
is-unicode-supported@^0.1.0:
version "0.1.0"
resolved "https://registry.yarnpkg.com/is-unicode-supported/-/is-unicode-supported-0.1.0.tgz#3f26c76a809593b52bfa2ecb5710ed2779b522a7"
@@ -1609,6 +1965,11 @@
dependencies:
is-docker "^2.0.0"
+isarray@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/isarray/-/isarray-1.0.0.tgz#bb935d48582cba168c06834957a54a3e07124f11"
+ integrity sha1-u5NdSFgsuhaMBoNJV6VKPgcSTxE=
+
isbinaryfile@^4.0.8:
version "4.0.8"
resolved "https://registry.yarnpkg.com/isbinaryfile/-/isbinaryfile-4.0.8.tgz#5d34b94865bd4946633ecc78a026fc76c5b11fcf"
@@ -1619,29 +1980,58 @@
resolved "https://registry.yarnpkg.com/isexe/-/isexe-2.0.0.tgz#e8fbf374dc556ff8947a10dcb0572d633f2cfa10"
integrity sha1-6PvzdNxVb/iUehDcsFctYz8s+hA=
+isstream@~0.1.2:
+ version "0.1.2"
+ resolved "https://registry.yarnpkg.com/isstream/-/isstream-0.1.2.tgz#47e63f7af55afa6f92e1500e690eb8b8529c099a"
+ integrity sha1-R+Y/evVa+m+S4VAOaQ64uFKcCZo=
+
jasmine-core@^3.6.0:
version "3.99.0"
resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-3.99.0.tgz#99a3da0d38ba2de82614d9198b7b1bc1c32a5960"
integrity sha512-+ZDaJlEfRopINQqgE+hvzRyDIQDeKfqqTvF8RzXsvU1yE3pBDRud2+Qfh9WvGgRpuzqxyQJVI6Amy5XQ11r/3w==
-jasmine-core@^4.0.0:
- version "4.0.0"
- resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-4.0.0.tgz#8299ed38a100c47a1d154af63449a40967a7be5c"
- integrity sha512-tq24OCqHElgU9KDpb/8O21r1IfotgjIzalfW9eCmRR40LZpvwXT68iariIyayMwi0m98RDt16aljdbwK0sBMmQ==
+jasmine-core@~2.8.0:
+ version "2.8.0"
+ resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-2.8.0.tgz#bcc979ae1f9fd05701e45e52e65d3a5d63f1a24e"
+ integrity sha1-vMl5rh+f0FcB5F5S5l06XWPxok4=
-jasmine@latest:
- version "4.0.2"
- resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-4.0.2.tgz#6f5ff7fbf6b67f56600235fdb7d299ac52876c4b"
- integrity sha512-YsrgxJQEggxzByYe4j68eQLOiQeSrPDYGv4sHhGBp3c6HHdq+uPXeAQ73kOAQpdLZ3/0zN7x/TZTloqeE1/qIA==
+jasmine-core@~3.10.0:
+ version "3.10.1"
+ resolved "https://registry.yarnpkg.com/jasmine-core/-/jasmine-core-3.10.1.tgz#7aa6fa2b834a522315c651a128d940eca553989a"
+ integrity sha512-ooZWSDVAdh79Rrj4/nnfklL3NQVra0BcuhcuWoAwwi+znLDoUeH87AFfeX8s+YeYi6xlv5nveRyaA1v7CintfA==
+
+jasmine@2.8.0:
+ version "2.8.0"
+ resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-2.8.0.tgz#6b089c0a11576b1f16df11b80146d91d4e8b8a3e"
+ integrity sha1-awicChFXax8W3xG4AUbZHU6Lij4=
+ dependencies:
+ exit "^0.1.2"
+ glob "^7.0.6"
+ jasmine-core "~2.8.0"
+
+jasmine@3.10.0:
+ version "3.10.0"
+ resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-3.10.0.tgz#acd3cd560a9d20d8fdad6bd2dd05867d188503f3"
+ integrity sha512-2Y42VsC+3CQCTzTwJezOvji4qLORmKIE0kwowWC+934Krn6ZXNQYljiwK5st9V3PVx96BSiDYXSB60VVah3IlQ==
dependencies:
glob "^7.1.6"
- jasmine-core "^4.0.0"
+ jasmine-core "~3.10.0"
+
+jasminewd2@^2.1.0:
+ version "2.2.0"
+ resolved "https://registry.yarnpkg.com/jasminewd2/-/jasminewd2-2.2.0.tgz#e37cf0b17f199cce23bea71b2039395246b4ec4e"
+ integrity sha1-43zwsX8ZnM4jvqcbIDk5Uka07E4=
js-tokens@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/js-tokens/-/js-tokens-4.0.0.tgz#19203fb59991df98e3a287050d4647cdeaf32499"
integrity sha512-RdJUflcE3cUzKiMqQgsCu06FPu9UdIJO0beYbPhHN4k6apgJtifcoCtT9bcxOpYBtpD2kCM6Sbzg4CausW/PKQ==
+jsbn@~0.1.0:
+ version "0.1.1"
+ resolved "https://registry.yarnpkg.com/jsbn/-/jsbn-0.1.1.tgz#a5e654c2e5a2deb5f201d96cefbca80c0ef2f513"
+ integrity sha1-peZUwuWi3rXyAdls77yoDA7y9RM=
+
jsesc@^2.5.1:
version "2.5.2"
resolved "https://registry.yarnpkg.com/jsesc/-/jsesc-2.5.2.tgz#80564d2e483dacf6e8ef209650a67df3f0c283a4"
@@ -1652,11 +2042,26 @@
resolved "https://registry.yarnpkg.com/json-parse-even-better-errors/-/json-parse-even-better-errors-2.3.1.tgz#7c47805a94319928e05777405dc12e1f7a4ee02d"
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+json-schema-traverse@^0.4.1:
+ version "0.4.1"
+ resolved "https://registry.yarnpkg.com/json-schema-traverse/-/json-schema-traverse-0.4.1.tgz#69f6a87d9513ab8bb8fe63bdb0979c448e684660"
+ integrity sha512-xbbCH5dCYU5T8LcEhhuh7HJ88HXuW3qsI3Y0zOZFKfZEHcpWiHU/Jxzk629Brsab/mMiHQti9wMP+845RPe3Vg==
+
json-schema-traverse@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/json-schema-traverse/-/json-schema-traverse-1.0.0.tgz#ae7bcb3656ab77a73ba5c49bf654f38e6b6860e2"
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+json-schema@0.4.0:
+ version "0.4.0"
+ resolved "https://registry.yarnpkg.com/json-schema/-/json-schema-0.4.0.tgz#f7de4cf6efab838ebaeb3236474cbba5a1930ab5"
+ integrity sha512-es94M3nTIfsEPisRafak+HDLfHXnKBhV3vU5eqPcS3flIWqcxJWgXHXiey3YrpaNsanY5ei1VoYEbOzijuq9BA==
+
+json-stringify-safe@~5.0.1:
+ version "5.0.1"
+ resolved "https://registry.yarnpkg.com/json-stringify-safe/-/json-stringify-safe-5.0.1.tgz#1296a2d58fd45f19a0f6ce01d65701e2c735b6eb"
+ integrity sha1-Epai1Y/UXxmg9s4B1lcB4sc1tus=
+
json5@^2.1.2:
version "2.2.0"
resolved "https://registry.yarnpkg.com/json5/-/json5-2.2.0.tgz#2dfefe720c6ba525d9ebd909950f0515316c89a3"
@@ -1683,14 +2088,34 @@
resolved "https://registry.yarnpkg.com/jsonparse/-/jsonparse-1.3.1.tgz#3f4dae4a91fac315f71062f8521cc239f1366280"
integrity sha1-P02uSpH6wxX3EGL4UhzCOfE2YoA=
-karma-chrome-launcher@latest:
+jsprim@^1.2.2:
+ version "1.4.2"
+ resolved "https://registry.yarnpkg.com/jsprim/-/jsprim-1.4.2.tgz#712c65533a15c878ba59e9ed5f0e26d5b77c5feb"
+ integrity sha512-P2bSOMAc/ciLz6DzgjVlGJP9+BrJWu5UDGK70C2iweC5QBIeFf0ZXRvGjEj2uYgrY2MkAAhsSWHDWlFtEroZWw==
+ dependencies:
+ assert-plus "1.0.0"
+ extsprintf "1.3.0"
+ json-schema "0.4.0"
+ verror "1.10.0"
+
+jszip@^3.1.3:
+ version "3.7.1"
+ resolved "https://registry.yarnpkg.com/jszip/-/jszip-3.7.1.tgz#bd63401221c15625a1228c556ca8a68da6fda3d9"
+ integrity sha512-ghL0tz1XG9ZEmRMcEN2vt7xabrDdqHHeykgARpmZ0BiIctWxM47Vt63ZO2dnp4QYt/xJVLLy5Zv1l/xRdh2byg==
+ dependencies:
+ lie "~3.3.0"
+ pako "~1.0.2"
+ readable-stream "~2.3.6"
+ set-immediate-shim "~1.0.1"
+
+karma-chrome-launcher@3.1.0:
version "3.1.0"
resolved "https://registry.yarnpkg.com/karma-chrome-launcher/-/karma-chrome-launcher-3.1.0.tgz#805a586799a4d05f4e54f72a204979f3f3066738"
integrity sha512-3dPs/n7vgz1rxxtynpzZTvb9y/GIaW8xjAwcIGttLbycqoFtI7yo1NGnQi6oFTherRE+GIhCAHZC4vEqWGhNvg==
dependencies:
which "^1.2.1"
-karma-firefox-launcher@latest:
+karma-firefox-launcher@2.1.2:
version "2.1.2"
resolved "https://registry.yarnpkg.com/karma-firefox-launcher/-/karma-firefox-launcher-2.1.2.tgz#9a38cc783c579a50f3ed2a82b7386186385cfc2d"
integrity sha512-VV9xDQU1QIboTrjtGVD4NCfzIH7n01ZXqy/qpBhnOeGVOkG5JYPEm8kuSd7psHE6WouZaQ9Ool92g8LFweSNMA==
@@ -1698,29 +2123,29 @@
is-wsl "^2.2.0"
which "^2.0.1"
-karma-jasmine@latest:
+karma-jasmine@4.0.1:
version "4.0.1"
resolved "https://registry.yarnpkg.com/karma-jasmine/-/karma-jasmine-4.0.1.tgz#b99e073b6d99a5196fc4bffc121b89313b0abd82"
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dependencies:
jasmine-core "^3.6.0"
-karma-requirejs@latest:
+karma-requirejs@1.1.0:
version "1.1.0"
resolved "https://registry.yarnpkg.com/karma-requirejs/-/karma-requirejs-1.1.0.tgz#fddae2cb87d7ebc16fb0222893564d7fee578798"
integrity sha1-/driy4fX68FvsCIok1ZNf+5Xh5g=
-karma-sourcemap-loader@latest:
+karma-sourcemap-loader@0.3.8:
version "0.3.8"
resolved "https://registry.yarnpkg.com/karma-sourcemap-loader/-/karma-sourcemap-loader-0.3.8.tgz#d4bae72fb7a8397328a62b75013d2df937bdcf9c"
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dependencies:
graceful-fs "^4.1.2"
-karma@latest:
- version "6.3.11"
- resolved "https://registry.yarnpkg.com/karma/-/karma-6.3.11.tgz#2c2fb09f1a9f52e1a0739adeedace2a68d4c0d34"
- integrity sha512-QGUh4yXgizzDNPLB5nWTvP+wysKexngbyLVWFOyikB661hpa2RZLf5anZQzqliWtAQuYVep0ot0D1U7UQKpsxQ==
+karma@6.3.12:
+ version "6.3.12"
+ resolved "https://registry.yarnpkg.com/karma/-/karma-6.3.12.tgz#fe6347f027385fc16da1a9bb87d766e2d25981c6"
+ integrity sha512-qwIG+oB2YmHx4hjvYSRMNzL3YWAJ9baHaLAxiP7biFNkfpwYTUTtPck0joFpucalNLzMr+7z/FX1uY/kl8DV9A==
dependencies:
body-parser "^1.19.0"
braces "^3.0.2"
@@ -1746,6 +2171,20 @@
ua-parser-js "^0.7.30"
yargs "^16.1.1"
+lie@~3.3.0:
+ version "3.3.0"
+ resolved "https://registry.yarnpkg.com/lie/-/lie-3.3.0.tgz#dcf82dee545f46074daf200c7c1c5a08e0f40f6a"
+ integrity sha512-UaiMJzeWRlEujzAuw5LokY1L5ecNQYZKfmyZ9L7wDHb/p5etKaxXhohBcrw0EYby+G/NA52vRSN4N39dxHAIwQ==
+ dependencies:
+ immediate "~3.0.5"
+
+locate-path@^5.0.0:
+ version "5.0.0"
+ resolved "https://registry.yarnpkg.com/locate-path/-/locate-path-5.0.0.tgz#1afba396afd676a6d42504d0a67a3a7eb9f62aa0"
+ integrity sha512-t7hw9pI+WvuwNJXwk5zVHpyhIqzg2qTlklJOf0mVxGSbe3Fp2VieZcduNYjaLDoy6p9uGpQEGWG87WpMKlNq8g==
+ dependencies:
+ p-locate "^4.1.0"
+
lodash@^4.17.21:
version "4.17.21"
resolved "https://registry.yarnpkg.com/lodash/-/lodash-4.17.21.tgz#679591c564c3bffaae8454cf0b3df370c3d6911c"
@@ -1782,6 +2221,11 @@
dependencies:
yallist "^4.0.0"
+lru-cache@^7.4.0:
+ version "7.4.1"
+ resolved "https://registry.yarnpkg.com/lru-cache/-/lru-cache-7.4.1.tgz#afe07e885ef0cd5bf99f62f4fa7545d48746d779"
+ integrity sha512-NCD7/WRlFmADccuHjsRUYqdluYBr//n/O0fesCb/n52FoGcgKh8o4Dpm7YIbZwVcDs8rPBQbCZLmWWsp6m+xGQ==
+
magic-string@0.25.7, magic-string@^0.25.0:
version "0.25.7"
resolved "https://registry.yarnpkg.com/magic-string/-/magic-string-0.25.7.tgz#3f497d6fd34c669c6798dcb821f2ef31f5445051"
@@ -1797,7 +2241,29 @@
pify "^4.0.1"
semver "^5.6.0"
-make-fetch-happen@^9.0.1, make-fetch-happen@^9.1.0:
+make-fetch-happen@^10.0.1:
+ version "10.0.4"
+ resolved "https://registry.yarnpkg.com/make-fetch-happen/-/make-fetch-happen-10.0.4.tgz#309823c7a2b4c947465274220e169112c977b94f"
+ integrity sha512-CiReW6usy3UXby5N46XjWfLPFPq1glugCszh18I0NYJCwr129ZAx9j3Dlv+cRsK0q3VjlVysEzhdtdw2+NhdYA==
+ dependencies:
+ agentkeepalive "^4.2.1"
+ cacache "^15.3.0"
+ http-cache-semantics "^4.1.0"
+ http-proxy-agent "^5.0.0"
+ https-proxy-agent "^5.0.0"
+ is-lambda "^1.0.1"
+ lru-cache "^7.4.0"
+ minipass "^3.1.6"
+ minipass-collect "^1.0.2"
+ minipass-fetch "^2.0.1"
+ minipass-flush "^1.0.5"
+ minipass-pipeline "^1.2.4"
+ negotiator "^0.6.3"
+ promise-retry "^2.0.1"
+ socks-proxy-agent "^6.1.1"
+ ssri "^8.0.1"
+
+make-fetch-happen@^9.1.0:
version "9.1.0"
resolved "https://registry.yarnpkg.com/make-fetch-happen/-/make-fetch-happen-9.1.0.tgz#53085a09e7971433e6765f7971bf63f4e05cb968"
integrity sha512-+zopwDy7DNknmwPQplem5lAZX/eCOzSvSNNcSKm5eVwTkOBzoktEfXsa9L23J/GIRhxRsaxzkPEhrJEpE2F4Gg==
@@ -1829,7 +2295,7 @@
resolved "https://registry.yarnpkg.com/mime-db/-/mime-db-1.51.0.tgz#d9ff62451859b18342d960850dc3cfb77e63fb0c"
integrity sha512-5y8A56jg7XVQx2mbv1lu49NR4dokRnhZYTtL+KGfaa27uq4pSTXkwQkFJl4pkRMyNFz/EtYDSkiiEHx3F7UN6g==
-mime-types@~2.1.24:
+mime-types@^2.1.12, mime-types@~2.1.19, mime-types@~2.1.24:
version "2.1.34"
resolved "https://registry.yarnpkg.com/mime-types/-/mime-types-2.1.34.tgz#5a712f9ec1503511a945803640fafe09d3793c24"
integrity sha512-6cP692WwGIs9XXdOO4++N+7qjqv0rqxxVvJ3VHPh/Sc9mVZcQP+ZGhkKiTvWMQRr2tbHkJP/Yn7Y0npb3ZBs4A==
@@ -1853,7 +2319,7 @@
dependencies:
brace-expansion "^1.1.7"
-minimist@^1.2.5:
+minimist@^1.2.0, minimist@^1.2.5:
version "1.2.5"
resolved "https://registry.yarnpkg.com/minimist/-/minimist-1.2.5.tgz#67d66014b66a6a8aaa0c083c5fd58df4e4e97602"
integrity sha512-FM9nNUYrRBAELZQT3xeZQ7fmMOBg6nWNmJKTcgsJeaLstP/UODVpGsr5OhXhhXg6f+qtJ8uiZ+PUxkDWcgIXLw==
@@ -1865,7 +2331,7 @@
dependencies:
minipass "^3.0.0"
-minipass-fetch@^1.3.0, minipass-fetch@^1.3.2:
+minipass-fetch@^1.3.2, minipass-fetch@^1.4.1:
version "1.4.1"
resolved "https://registry.yarnpkg.com/minipass-fetch/-/minipass-fetch-1.4.1.tgz#d75e0091daac1b0ffd7e9d41629faff7d0c1f1b6"
integrity sha512-CGH1eblLq26Y15+Azk7ey4xh0J/XfJfrCox5LDJiKqI2Q2iwOLOKrlmIaODiSQS8d18jalF6y2K2ePUm0CmShw==
@@ -1876,6 +2342,17 @@
optionalDependencies:
encoding "^0.1.12"
+minipass-fetch@^2.0.1:
+ version "2.0.2"
+ resolved "https://registry.yarnpkg.com/minipass-fetch/-/minipass-fetch-2.0.2.tgz#5ea5fb9a2e24ccd3cfb489563540bb4024fc6c31"
+ integrity sha512-M63u5yWX0yxY1C3DcLVY1xWai0pNM3qa1xCMXFgdejY5F/NTmyzNVHGcBxKerX51lssqxwWWTjpg/ZPuD39gOQ==
+ dependencies:
+ minipass "^3.1.6"
+ minipass-sized "^1.0.3"
+ minizlib "^2.1.2"
+ optionalDependencies:
+ encoding "^0.1.13"
+
minipass-flush@^1.0.5:
version "1.0.5"
resolved "https://registry.yarnpkg.com/minipass-flush/-/minipass-flush-1.0.5.tgz#82e7135d7e89a50ffe64610a787953c4c4cbb373"
@@ -1905,14 +2382,14 @@
dependencies:
minipass "^3.0.0"
-minipass@^3.0.0, minipass@^3.1.0, minipass@^3.1.1, minipass@^3.1.3:
+minipass@^3.0.0, minipass@^3.1.0, minipass@^3.1.1, minipass@^3.1.3, minipass@^3.1.6:
version "3.1.6"
resolved "https://registry.yarnpkg.com/minipass/-/minipass-3.1.6.tgz#3b8150aa688a711a1521af5e8779c1d3bb4f45ee"
integrity sha512-rty5kpw9/z8SX9dmxblFA6edItUmwJgMeYDZRrwlIVN27i8gysGbznJwUggw2V/FVqFSDdWy040ZPS811DYAqQ==
dependencies:
yallist "^4.0.0"
-minizlib@^2.0.0, minizlib@^2.1.1:
+minizlib@^2.0.0, minizlib@^2.1.1, minizlib@^2.1.2:
version "2.1.2"
resolved "https://registry.yarnpkg.com/minizlib/-/minizlib-2.1.2.tgz#e90d3466ba209b932451508a11ce3d3632145931"
integrity sha512-bAxsR8BVfj60DWXHE3u30oHzfl4G7khkSuPW+qvpd7jFRHm7dLxOjUk1EHACJ/hxLY8phGJ0YhYHZo7jil7Qdg==
@@ -1935,7 +2412,7 @@
resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.2.tgz#d09d1f357b443f493382a8eb3ccd183872ae6009"
integrity sha512-sGkPx+VjMtmA6MX27oA4FBFELFCZZ4S4XqeGOXCv68tT+jb3vk/RyaKWP0PTKyWtmLSM0b+adUTEvbs1PEaH2w==
-ms@^2.0.0:
+ms@^2.0.0, ms@^2.1.1:
version "2.1.3"
resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.3.tgz#574c8138ce1d2b5861f0b44579dbadd60c6615b2"
integrity sha512-6FlzubTLZG3J2a/NVCAleEhjzq5oxgHyaCU9yYXvcLsvoVaHJq/s5xXI6/XXP6tz7R9xAOtHnSO/tXtF3WRTlA==
@@ -1950,6 +2427,11 @@
resolved "https://registry.yarnpkg.com/negotiator/-/negotiator-0.6.2.tgz#feacf7ccf525a77ae9634436a64883ffeca346fb"
integrity sha512-hZXc7K2e+PgeI1eDBe/10Ard4ekbfrrqG8Ep+8Jmf4JID2bNg7NvCPOZN+kfF574pFQI7mum2AUqDidoKqcTOw==
+negotiator@^0.6.3:
+ version "0.6.3"
+ resolved "https://registry.yarnpkg.com/negotiator/-/negotiator-0.6.3.tgz#58e323a72fedc0d6f9cd4d31fe49f51479590ccd"
+ integrity sha512-+EUsqGPLsM+j/zdChZjsnX51g4XrHFOIXwfnCVPGlQk/k5giakcKsuxCObBRu6DSm9opw/O6slWbJdghQM4bBg==
+
node-gyp@^8.2.0:
version "8.4.1"
resolved "https://registry.yarnpkg.com/node-gyp/-/node-gyp-8.4.1.tgz#3d49308fc31f768180957d6b5746845fbd429937"
@@ -2002,7 +2484,7 @@
resolved "https://registry.yarnpkg.com/npm-normalize-package-bin/-/npm-normalize-package-bin-1.0.1.tgz#6e79a41f23fd235c0623218228da7d9c23b8f6e2"
integrity sha512-EPfafl6JL5/rU+ot6P3gRSCpPDW5VmIzX959Ob1+ySFUuuYHWHekXpwdUZcKP5C+DS4GEtdJluwBjnsNDl+fSA==
-npm-package-arg@8.1.5, npm-package-arg@^8.0.0, npm-package-arg@^8.0.1, npm-package-arg@^8.1.2:
+npm-package-arg@8.1.5, npm-package-arg@^8.0.1, npm-package-arg@^8.1.2, npm-package-arg@^8.1.5:
version "8.1.5"
resolved "https://registry.yarnpkg.com/npm-package-arg/-/npm-package-arg-8.1.5.tgz#3369b2d5fe8fdc674baa7f1786514ddc15466e44"
integrity sha512-LhgZrg0n0VgvzVdSm1oiZworPbTxYHUJCgtsJW8mGvlDpxTM1vSJc3m5QZeUkhAHIzbz3VCHd/R4osi1L1Tg/Q==
@@ -2031,17 +2513,17 @@
npm-package-arg "^8.1.2"
semver "^7.3.4"
-npm-registry-fetch@^11.0.0:
- version "11.0.0"
- resolved "https://registry.yarnpkg.com/npm-registry-fetch/-/npm-registry-fetch-11.0.0.tgz#68c1bb810c46542760d62a6a965f85a702d43a76"
- integrity sha512-jmlgSxoDNuhAtxUIG6pVwwtz840i994dL14FoNVZisrmZW5kWd63IUTNv1m/hyRSGSqWjCUp/YZlS1BJyNp9XA==
+npm-registry-fetch@^12.0.0:
+ version "12.0.2"
+ resolved "https://registry.yarnpkg.com/npm-registry-fetch/-/npm-registry-fetch-12.0.2.tgz#ae583bb3c902a60dae43675b5e33b5b1f6159f1e"
+ integrity sha512-Df5QT3RaJnXYuOwtXBXS9BWs+tHH2olvkCLh6jcR/b/u3DvPMlp3J0TvvYwplPKxHMOwfg287PYih9QqaVFoKA==
dependencies:
- make-fetch-happen "^9.0.1"
- minipass "^3.1.3"
- minipass-fetch "^1.3.0"
+ make-fetch-happen "^10.0.1"
+ minipass "^3.1.6"
+ minipass-fetch "^1.4.1"
minipass-json-stream "^1.0.1"
- minizlib "^2.0.0"
- npm-package-arg "^8.0.0"
+ minizlib "^2.1.2"
+ npm-package-arg "^8.1.5"
npmlog@^6.0.0:
version "6.0.0"
@@ -2053,7 +2535,12 @@
gauge "^4.0.0"
set-blocking "^2.0.0"
-object-assign@^4:
+oauth-sign@~0.9.0:
+ version "0.9.0"
+ resolved "https://registry.yarnpkg.com/oauth-sign/-/oauth-sign-0.9.0.tgz#47a7b016baa68b5fa0ecf3dee08a85c679ac6455"
+ integrity sha512-fexhUFFPTGV8ybAtSIGbV6gOkSv8UtRbDBnAyLQw4QPKkgNlsH2ByPGtMUqdWkos6YCRmAqViwgZrJc/mRDzZQ==
+
+object-assign@^4, object-assign@^4.0.1:
version "4.1.1"
resolved "https://registry.yarnpkg.com/object-assign/-/object-assign-4.1.1.tgz#2109adc7965887cfc05cbbd442cac8bfbb360863"
integrity sha1-IQmtx5ZYh8/AXLvUQsrIv7s2CGM=
@@ -2103,11 +2590,25 @@
strip-ansi "^6.0.0"
wcwidth "^1.0.1"
-os-tmpdir@~1.0.2:
+os-tmpdir@~1.0.1, os-tmpdir@~1.0.2:
version "1.0.2"
resolved "https://registry.yarnpkg.com/os-tmpdir/-/os-tmpdir-1.0.2.tgz#bbe67406c79aa85c5cfec766fe5734555dfa1274"
integrity sha1-u+Z0BseaqFxc/sdm/lc0VV36EnQ=
+p-limit@^2.2.0:
+ version "2.3.0"
+ resolved "https://registry.yarnpkg.com/p-limit/-/p-limit-2.3.0.tgz#3dd33c647a214fdfffd835933eb086da0dc21db1"
+ integrity sha512-//88mFWSJx8lxCzwdAABTJL2MyWB12+eIY7MDL2SqLmAkeKU9qxRvWuSyTjm3FUmpBEMuFfckAIqEaVGUDxb6w==
+ dependencies:
+ p-try "^2.0.0"
+
+p-locate@^4.1.0:
+ version "4.1.0"
+ resolved "https://registry.yarnpkg.com/p-locate/-/p-locate-4.1.0.tgz#a3428bb7088b3a60292f66919278b7c297ad4f07"
+ integrity sha512-R79ZZ/0wAxKGu3oYMlz8jy/kbhsNrS7SKZ7PxEHBgJ5+F2mtFW2fK2cOtBh1cHYkQsbzFV7I+EoRKe6Yt0oK7A==
+ dependencies:
+ p-limit "^2.2.0"
+
p-map@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/p-map/-/p-map-4.0.0.tgz#bb2f95a5eda2ec168ec9274e06a747c3e2904d2b"
@@ -2115,10 +2616,15 @@
dependencies:
aggregate-error "^3.0.0"
-pacote@12.0.2:
- version "12.0.2"
- resolved "https://registry.yarnpkg.com/pacote/-/pacote-12.0.2.tgz#14ae30a81fe62ec4fc18c071150e6763e932527c"
- integrity sha512-Ar3mhjcxhMzk+OVZ8pbnXdb0l8+pimvlsqBGRNkble2NVgyqOGE3yrCGi/lAYq7E7NRDMz89R1Wx5HIMCGgeYg==
+p-try@^2.0.0:
+ version "2.2.0"
+ resolved "https://registry.yarnpkg.com/p-try/-/p-try-2.2.0.tgz#cb2868540e313d61de58fafbe35ce9004d5540e6"
+ integrity sha512-R4nPAVTAU0B9D35/Gk3uJf/7XYbQcyohSKdvAxIRSNghFl4e71hVoGnBNQz9cWaXxO2I10KTC+3jMdvvoKw6dQ==
+
+pacote@12.0.3:
+ version "12.0.3"
+ resolved "https://registry.yarnpkg.com/pacote/-/pacote-12.0.3.tgz#b6f25868deb810e7e0ddf001be88da2bcaca57c7"
+ integrity sha512-CdYEl03JDrRO3x18uHjBYA9TyoW8gy+ThVcypcDkxPtKlw76e4ejhYB6i9lJ+/cebbjpqPW/CijjqxwDTts8Ow==
dependencies:
"@npmcli/git" "^2.1.0"
"@npmcli/installed-package-contents" "^1.0.6"
@@ -2133,28 +2639,48 @@
npm-package-arg "^8.0.1"
npm-packlist "^3.0.0"
npm-pick-manifest "^6.0.0"
- npm-registry-fetch "^11.0.0"
+ npm-registry-fetch "^12.0.0"
promise-retry "^2.0.1"
read-package-json-fast "^2.0.1"
rimraf "^3.0.2"
ssri "^8.0.1"
tar "^6.1.0"
+pako@~1.0.2:
+ version "1.0.11"
+ resolved "https://registry.yarnpkg.com/pako/-/pako-1.0.11.tgz#6c9599d340d54dfd3946380252a35705a6b992bf"
+ integrity sha512-4hLB8Py4zZce5s4yd9XzopqwVv/yGNhV1Bl8NTmCq1763HeK2+EwVTv+leGeL13Dnh2wfbqowVPXCIO0z4taYw==
+
parseurl@~1.3.3:
version "1.3.3"
resolved "https://registry.yarnpkg.com/parseurl/-/parseurl-1.3.3.tgz#9da19e7bee8d12dff0513ed5b76957793bc2e8d4"
integrity sha512-CiyeOxFT/JZyN5m0z9PfXw4SCBJ6Sygz1Dpl0wqjlhDEGGBP1GnsUVEL0p63hoG1fcj3fHynXi9NYO4nWOL+qQ==
+path-exists@^4.0.0:
+ version "4.0.0"
+ resolved "https://registry.yarnpkg.com/path-exists/-/path-exists-4.0.0.tgz#513bdbe2d3b95d7762e8c1137efa195c6c61b5b3"
+ integrity sha512-ak9Qy5Q7jYb2Wwcey5Fpvg2KoAc/ZIhLSLOSBmRmygPsGwkVVt0fZa0qrtMz+m6tJTAHfZQ8FnmB4MG4LWy7/w==
+
path-is-absolute@^1.0.0:
version "1.0.1"
resolved "https://registry.yarnpkg.com/path-is-absolute/-/path-is-absolute-1.0.1.tgz#174b9268735534ffbc7ace6bf53a5a9e1b5c5f5f"
integrity sha1-F0uSaHNVNP+8es5r9TpanhtcX18=
-path-parse@^1.0.6, path-parse@^1.0.7:
+path-is-inside@^1.0.1:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/path-is-inside/-/path-is-inside-1.0.2.tgz#365417dede44430d1c11af61027facf074bdfc53"
+ integrity sha1-NlQX3t5EQw0cEa9hAn+s8HS9/FM=
+
+path-parse@^1.0.7:
version "1.0.7"
resolved "https://registry.yarnpkg.com/path-parse/-/path-parse-1.0.7.tgz#fbc114b60ca42b30d9daf5858e4bd68bbedb6735"
integrity sha512-LDJzPVEEEPR+y48z93A0Ed0yXb8pAByGWo/k5YYdYgpY2/2EsOsksJrq7lOHxryrVOn1ejG6oAp8ahvOIQD8sw==
+performance-now@^2.1.0:
+ version "2.1.0"
+ resolved "https://registry.yarnpkg.com/performance-now/-/performance-now-2.1.0.tgz#6309f4e0e5fa913ec1c69307ae364b4b377c9e7b"
+ integrity sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns=
+
picocolors@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/picocolors/-/picocolors-1.0.0.tgz#cb5bdc74ff3f51892236eaf79d68bc44564ab81c"
@@ -2165,11 +2691,33 @@
resolved "https://registry.yarnpkg.com/picomatch/-/picomatch-2.3.1.tgz#3ba3833733646d9d3e4995946c1365a67fb07a42"
integrity sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==
+pify@^2.0.0:
+ version "2.3.0"
+ resolved "https://registry.yarnpkg.com/pify/-/pify-2.3.0.tgz#ed141a6ac043a849ea588498e7dca8b15330e90c"
+ integrity sha1-7RQaasBDqEnqWISY59yosVMw6Qw=
+
pify@^4.0.1:
version "4.0.1"
resolved "https://registry.yarnpkg.com/pify/-/pify-4.0.1.tgz#4b2cd25c50d598735c50292224fd8c6df41e3231"
integrity sha512-uB80kBFb/tfd68bVleG9T5GGsGPjJrLAUpR5PZIrhBnIaRTQRjqdJSsIKkOP6OAIFbj7GOrcudc5pNjZ+geV2g==
+pinkie-promise@^2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/pinkie-promise/-/pinkie-promise-2.0.1.tgz#2135d6dfa7a358c069ac9b178776288228450ffa"
+ integrity sha1-ITXW36ejWMBprJsXh3YogihFD/o=
+ dependencies:
+ pinkie "^2.0.0"
+
+pinkie@^2.0.0:
+ version "2.0.4"
+ resolved "https://registry.yarnpkg.com/pinkie/-/pinkie-2.0.4.tgz#72556b80cfa0d48a974e80e77248e80ed4f7f870"
+ integrity sha1-clVrgM+g1IqXToDnckjoDtT3+HA=
+
+process-nextick-args@~2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/process-nextick-args/-/process-nextick-args-2.0.1.tgz#7820d9b16120cc55ca9ae7792680ae7dba6d7fe2"
+ integrity sha512-3ouUOpQhtgrbOa17J7+uxOTpITYWaGP7/AhoR3+A+/1e9skrzelGi/dXzEYyvbxubEF6Wn2ypscTKiKJFFn1ag==
+
promise-inflight@^1.0.1:
version "1.0.1"
resolved "https://registry.yarnpkg.com/promise-inflight/-/promise-inflight-1.0.1.tgz#98472870bf228132fcbdd868129bad12c3c029e3"
@@ -2202,11 +2750,47 @@
"@types/node" "^10.1.0"
long "^4.0.0"
-punycode@^2.1.0:
+protractor@7.0.0:
+ version "7.0.0"
+ resolved "https://registry.yarnpkg.com/protractor/-/protractor-7.0.0.tgz#c3e263608bd72e2c2dc802b11a772711a4792d03"
+ integrity sha512-UqkFjivi4GcvUQYzqGYNe0mLzfn5jiLmO8w9nMhQoJRLhy2grJonpga2IWhI6yJO30LibWXJJtA4MOIZD2GgZw==
+ dependencies:
+ "@types/q" "^0.0.32"
+ "@types/selenium-webdriver" "^3.0.0"
+ blocking-proxy "^1.0.0"
+ browserstack "^1.5.1"
+ chalk "^1.1.3"
+ glob "^7.0.3"
+ jasmine "2.8.0"
+ jasminewd2 "^2.1.0"
+ q "1.4.1"
+ saucelabs "^1.5.0"
+ selenium-webdriver "3.6.0"
+ source-map-support "~0.4.0"
+ webdriver-js-extender "2.1.0"
+ webdriver-manager "^12.1.7"
+ yargs "^15.3.1"
+
+psl@^1.1.28:
+ version "1.8.0"
+ resolved "https://registry.yarnpkg.com/psl/-/psl-1.8.0.tgz#9326f8bcfb013adcc005fdff056acce020e51c24"
+ integrity sha512-RIdOzyoavK+hA18OGGWDqUTsCLhtA7IcZ/6NCs4fFJaHBDab+pDDmDIByWFRQJq2Cd7r1OoQxBGKOaztq+hjIQ==
+
+punycode@^2.1.0, punycode@^2.1.1:
version "2.1.1"
resolved "https://registry.yarnpkg.com/punycode/-/punycode-2.1.1.tgz#b58b010ac40c22c5657616c8d2c2c02c7bf479ec"
integrity sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==
+q@1.4.1:
+ version "1.4.1"
+ resolved "https://registry.yarnpkg.com/q/-/q-1.4.1.tgz#55705bcd93c5f3673530c2c2cbc0c2b3addc286e"
+ integrity sha1-VXBbzZPF82c1MMLCy8DCs63cKG4=
+
+q@^1.4.1:
+ version "1.5.1"
+ resolved "https://registry.yarnpkg.com/q/-/q-1.5.1.tgz#7e32f75b41381291d04611f1bf14109ac00651d7"
+ integrity sha1-fjL3W0E4EpHQRhHxvxQQmsAGUdc=
+
qjobs@^1.2.0:
version "1.2.0"
resolved "https://registry.yarnpkg.com/qjobs/-/qjobs-1.2.0.tgz#c45e9c61800bd087ef88d7e256423bdd49e5d071"
@@ -2217,6 +2801,11 @@
resolved "https://registry.yarnpkg.com/qs/-/qs-6.9.6.tgz#26ed3c8243a431b2924aca84cc90471f35d5a0ee"
integrity sha512-TIRk4aqYLNoJUbd+g2lEdz5kLWIuTMRagAXxl78Q0RiVjAOugHmeKNGdd3cwo/ktpf9aL9epCfFqWDEKysUlLQ==
+qs@~6.5.2:
+ version "6.5.3"
+ resolved "https://registry.yarnpkg.com/qs/-/qs-6.5.3.tgz#3aeeffc91967ef6e35c0e488ef46fb296ab76aad"
+ integrity sha512-qxXIEh4pCGfHICj1mAJQ2/2XVZkjCDTcEgfoSQxc/fYivUZxTkk7L3bDBJSoNrEzXI17oUO5Dp07ktqE5KzczA==
+
range-parser@^1.2.1:
version "1.2.1"
resolved "https://registry.yarnpkg.com/range-parser/-/range-parser-1.2.1.tgz#3cf37023d199e1c24d1a55b84800c2f3e6468031"
@@ -2249,6 +2838,19 @@
string_decoder "^1.1.1"
util-deprecate "^1.0.1"
+readable-stream@~2.3.6:
+ version "2.3.7"
+ resolved "https://registry.yarnpkg.com/readable-stream/-/readable-stream-2.3.7.tgz#1eca1cf711aef814c04f62252a36a62f6cb23b57"
+ integrity sha512-Ebho8K4jIbHAxnuxi7o42OrZgF/ZTNcsZj6nRKyUmkhLFq8CHItp/fy6hQZuZmP/n3yZ9VBUbp4zz/mX8hmYPw==
+ dependencies:
+ core-util-is "~1.0.0"
+ inherits "~2.0.3"
+ isarray "~1.0.0"
+ process-nextick-args "~2.0.0"
+ safe-buffer "~5.1.1"
+ string_decoder "~1.1.1"
+ util-deprecate "~1.0.1"
+
readdirp@~3.6.0:
version "3.6.0"
resolved "https://registry.yarnpkg.com/readdirp/-/readdirp-3.6.0.tgz#74a370bd857116e245b29cc97340cd431a02a6c7"
@@ -2261,6 +2863,32 @@
resolved "https://registry.yarnpkg.com/reflect-metadata/-/reflect-metadata-0.1.13.tgz#67ae3ca57c972a2aa1642b10fe363fe32d49dc08"
integrity sha512-Ts1Y/anZELhSsjMcU605fU9RE4Oi3p5ORujwbIKXfWa+0Zxs510Qrmrce5/Jowq3cHSZSJqBjypxmHarc+vEWg==
+request@^2.87.0:
+ version "2.88.2"
+ resolved "https://registry.yarnpkg.com/request/-/request-2.88.2.tgz#d73c918731cb5a87da047e207234146f664d12b3"
+ integrity sha512-MsvtOrfG9ZcrOwAW+Qi+F6HbD0CWXEh9ou77uOb7FM2WPhwT7smM833PzanhJLsgXjN89Ir6V2PczXNnMpwKhw==
+ dependencies:
+ aws-sign2 "~0.7.0"
+ aws4 "^1.8.0"
+ caseless "~0.12.0"
+ combined-stream "~1.0.6"
+ extend "~3.0.2"
+ forever-agent "~0.6.1"
+ form-data "~2.3.2"
+ har-validator "~5.1.3"
+ http-signature "~1.2.0"
+ is-typedarray "~1.0.0"
+ isstream "~0.1.2"
+ json-stringify-safe "~5.0.1"
+ mime-types "~2.1.19"
+ oauth-sign "~0.9.0"
+ performance-now "^2.1.0"
+ qs "~6.5.2"
+ safe-buffer "^5.1.2"
+ tough-cookie "~2.5.0"
+ tunnel-agent "^0.6.0"
+ uuid "^3.3.2"
+
require-directory@^2.1.1:
version "2.1.1"
resolved "https://registry.yarnpkg.com/require-directory/-/require-directory-2.1.1.tgz#8c64ad5fd30dab1c976e2344ffe7f792a6a6df42"
@@ -2271,7 +2899,12 @@
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==
-requirejs@latest:
+require-main-filename@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/require-main-filename/-/require-main-filename-2.0.0.tgz#d0b329ecc7cc0f61649f62215be69af54aa8989b"
+ integrity sha512-NKN5kMDylKuldxYLSUfrbo5Tuzh4hd+2E8NPPX02mZtn1VuREQToYe/ZdlJy+J3uCpfaiGF05e7B8W0iXbQHmg==
+
+requirejs@2.3.6:
version "2.3.6"
resolved "https://registry.yarnpkg.com/requirejs/-/requirejs-2.3.6.tgz#e5093d9601c2829251258c0b9445d4d19fa9e7c9"
integrity sha512-ipEzlWQe6RK3jkzikgCupiTbTvm4S0/CAU5GlgptkN5SO6F3u0UD0K18wy6ErDqiCyP4J4YYe1HuAShvsxePLg==
@@ -2281,13 +2914,14 @@
resolved "https://registry.yarnpkg.com/requires-port/-/requires-port-1.0.0.tgz#925d2601d39ac485e091cf0da5c6e694dc3dcaff"
integrity sha1-kl0mAdOaxIXgkc8NpcbmlNw9yv8=
-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==
+resolve@1.22.0:
+ version "1.22.0"
+ resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.22.0.tgz#5e0b8c67c15df57a89bdbabe603a002f21731198"
+ integrity sha512-Hhtrw0nLeSrFQ7phPp4OOcVjLPIeMnRlr5mcnVuMe7M/7eBn98A3hmFRLoFo3DLZkivSYwhRUJTyPyWAk56WLw==
dependencies:
- is-core-module "^2.2.0"
- path-parse "^1.0.6"
+ is-core-module "^2.8.1"
+ path-parse "^1.0.7"
+ supports-preserve-symlinks-flag "^1.0.0"
resolve@^1.19.0:
version "1.21.0"
@@ -2316,6 +2950,13 @@
resolved "https://registry.yarnpkg.com/rfdc/-/rfdc-1.3.0.tgz#d0b7c441ab2720d05dc4cf26e01c89631d9da08b"
integrity sha512-V2hovdzFbOi77/WajaSMXk2OLm+xNIeQdMMuB7icj7bk6zi2F8GGAxigcnDFpJHbNyNcgyJDiP+8nOrY5cZGrA==
+rimraf@^2.2.8, rimraf@^2.5.2, rimraf@^2.5.4:
+ version "2.7.1"
+ resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-2.7.1.tgz#35797f13a7fdadc566142c29d4f07ccad483e3ec"
+ integrity sha512-uWjbaKIK3T1OSVptzX7Nl6PvQ3qAGtKEtVRjRuazjfL3Bx5eI409VZSqgND+4UNnmzLVdPj9FqFJNPqBZFve4w==
+ dependencies:
+ glob "^7.1.3"
+
rimraf@^3.0.0, rimraf@^3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-3.0.2.tgz#f1a5402ba6220ad52cc1282bac1ae3aa49fd061a"
@@ -2323,10 +2964,10 @@
dependencies:
glob "^7.1.3"
-rollup@latest:
- version "2.64.0"
- resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.64.0.tgz#f0f59774e21fbb56de438a37d06a2189632b207a"
- integrity sha512-+c+lbw1lexBKSMb1yxGDVfJ+vchJH3qLbmavR+awDinTDA2C5Ug9u7lkOzj62SCu0PKUExsW36tpgW7Fmpn3yQ==
+rollup@2.66.1:
+ version "2.66.1"
+ resolved "https://registry.yarnpkg.com/rollup/-/rollup-2.66.1.tgz#366b0404de353c4331d538c3ad2963934fcb4937"
+ integrity sha512-crSgLhSkLMnKr4s9iZ/1qJCplgAgrRY+igWv8KhG/AjKOJ0YX/WpmANyn8oxrw+zenF3BXWDLa7Xl/QZISH+7w==
optionalDependencies:
fsevents "~2.3.2"
@@ -2349,21 +2990,43 @@
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:
+safe-buffer@^5.0.1, safe-buffer@^5.1.2, 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":
+safe-buffer@~5.1.0, 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==
+
+"safer-buffer@>= 2.1.2 < 3", "safer-buffer@>= 2.1.2 < 3.0.0", safer-buffer@^2.0.2, safer-buffer@^2.1.0, safer-buffer@~2.1.0:
version "2.1.2"
resolved "https://registry.yarnpkg.com/safer-buffer/-/safer-buffer-2.1.2.tgz#44fa161b0187b9549dd84bb91802f9bd8385cd6a"
integrity sha512-YZo3K82SD7Riyi0E1EQPojLz7kpepnSQI9IyPbHHg1XXXevb5dJI7tpyN2ADxGcQbHG7vcyRHk0cbwqcQriUtg==
+saucelabs@^1.5.0:
+ version "1.5.0"
+ resolved "https://registry.yarnpkg.com/saucelabs/-/saucelabs-1.5.0.tgz#9405a73c360d449b232839919a86c396d379fd9d"
+ integrity sha512-jlX3FGdWvYf4Q3LFfFWS1QvPg3IGCGWxIc8QBFdPTbpTJnt/v17FHXYVAn7C8sHf1yUXo2c7yIM0isDryfYtHQ==
+ dependencies:
+ https-proxy-agent "^2.2.1"
+
+sax@>=0.6.0:
+ version "1.2.4"
+ resolved "https://registry.yarnpkg.com/sax/-/sax-1.2.4.tgz#2816234e2378bddc4e5354fab5caa895df7100d9"
+ integrity sha512-NqVDv9TpANUjFm0N8uM5GxL36UgKi9/atZw+x7YFnQ8ckwFGKrl4xX4yWtrey3UJm5nP1kUbnYgLopqWNSRhWw==
+
+selenium-webdriver@3.6.0, selenium-webdriver@^3.0.1:
+ version "3.6.0"
+ resolved "https://registry.yarnpkg.com/selenium-webdriver/-/selenium-webdriver-3.6.0.tgz#2ba87a1662c020b8988c981ae62cb2a01298eafc"
+ integrity sha512-WH7Aldse+2P5bbFBO4Gle/nuQOdVwpHMTL6raL3uuBj/vPG07k6uzt3aiahu352ONBr5xXh0hDlM3LhtXPOC4Q==
+ dependencies:
+ jszip "^3.1.3"
+ rimraf "^2.5.4"
+ tmp "0.0.30"
+ xml2js "^0.4.17"
+
semver@5.6.0:
version "5.6.0"
resolved "https://registry.yarnpkg.com/semver/-/semver-5.6.0.tgz#7e74256fbaa49c75aa7c7a205cc22799cac80004"
@@ -2376,7 +3039,7 @@
dependencies:
lru-cache "^6.0.0"
-semver@^5.6.0:
+semver@^5.3.0, semver@^5.6.0:
version "5.7.1"
resolved "https://registry.yarnpkg.com/semver/-/semver-5.7.1.tgz#a954f931aeba508d307bbf069eff0c01c96116f7"
integrity sha512-sauaDf/PZdVgrLTNYHRtpXa1iRiKcaebiKQ1BJdpQlWH2lCvexQdX55snPFyK7QzpudqbCI0qXFfOasHdyNDGQ==
@@ -2391,6 +3054,11 @@
resolved "https://registry.yarnpkg.com/set-blocking/-/set-blocking-2.0.0.tgz#045f9782d011ae9a6803ddd382b24392b3d890f7"
integrity sha1-BF+XgtARrppoA93TgrJDkrPYkPc=
+set-immediate-shim@~1.0.1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/set-immediate-shim/-/set-immediate-shim-1.0.1.tgz#4b2b1b27eb808a9f8dcc481a58e5e56f599f3f61"
+ integrity sha1-SysbJ+uAip+NzEgaWOXlb1mfP2E=
+
setprototypeof@1.2.0:
version "1.2.0"
resolved "https://registry.yarnpkg.com/setprototypeof/-/setprototypeof-1.2.0.tgz#66c9a24a73f9fc28cbe66b09fed3d33dcaf1b424"
@@ -2437,7 +3105,7 @@
socket.io-adapter "~2.3.3"
socket.io-parser "~4.0.4"
-socks-proxy-agent@^6.0.0:
+socks-proxy-agent@^6.0.0, socks-proxy-agent@^6.1.1:
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==
@@ -2461,6 +3129,13 @@
buffer-from "^1.0.0"
source-map "^0.6.0"
+source-map-support@~0.4.0:
+ version "0.4.18"
+ resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.4.18.tgz#0286a6de8be42641338594e97ccea75f0a2c585f"
+ integrity sha512-try0/JqxPLF9nOjvSta7tVondkP5dwgyLDjVoyMDlmjugT2lRZ1OfsrYTkCd2hkDnJTKRbO/Rl3orm8vlsUzbA==
+ dependencies:
+ source-map "^0.5.6"
+
source-map-support@~0.5.20:
version "0.5.21"
resolved "https://registry.yarnpkg.com/source-map-support/-/source-map-support-0.5.21.tgz#04fe7c7f9e1ed2d662233c28cb2b35b9f63f6e4f"
@@ -2474,7 +3149,7 @@
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.7.3.tgz#5302f8169031735226544092e64981f751750383"
integrity sha512-CkCj6giN3S+n9qrYiBTX5gystlENnRW5jZeNLHpe6aue+SrHcG5VYwujhW9s4dY31mEGsxBDrHR6oI69fTXsaQ==
-source-map@^0.5.0:
+source-map@^0.5.0, source-map@^0.5.6:
version "0.5.7"
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.5.7.tgz#8a039d2d1021d22d1ea14c80d8ea468ba2ef3fcc"
integrity sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=
@@ -2489,6 +3164,21 @@
resolved "https://registry.yarnpkg.com/sourcemap-codec/-/sourcemap-codec-1.4.8.tgz#ea804bd94857402e6992d05a38ef1ae35a9ab4c4"
integrity sha512-9NykojV5Uih4lgo5So5dtw+f0JgJX30KCNI8gwhz2J9A15wD0Ml6tjHKwf6fTSa6fAdVBdZeNOs9eJ71qCk8vA==
+sshpk@^1.7.0:
+ version "1.17.0"
+ resolved "https://registry.yarnpkg.com/sshpk/-/sshpk-1.17.0.tgz#578082d92d4fe612b13007496e543fa0fbcbe4c5"
+ integrity sha512-/9HIEs1ZXGhSPE8X6Ccm7Nam1z8KcoCqPdI7ecm1N33EzAetWahvQWVqLZtaZQ+IDKX4IyA2o0gBzqIMkAagHQ==
+ dependencies:
+ asn1 "~0.2.3"
+ assert-plus "^1.0.0"
+ bcrypt-pbkdf "^1.0.0"
+ dashdash "^1.12.0"
+ ecc-jsbn "~0.1.1"
+ getpass "^0.1.1"
+ jsbn "~0.1.0"
+ safer-buffer "^2.0.2"
+ tweetnacl "~0.14.0"
+
ssri@^8.0.0, ssri@^8.0.1:
version "8.0.1"
resolved "https://registry.yarnpkg.com/ssri/-/ssri-8.0.1.tgz#638e4e439e2ffbd2cd289776d5ca457c4f51a2af"
@@ -2526,6 +3216,20 @@
dependencies:
safe-buffer "~5.2.0"
+string_decoder@~1.1.1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/string_decoder/-/string_decoder-1.1.1.tgz#9cf1611ba62685d7030ae9e4ba34149c3af03fc8"
+ integrity sha512-n/ShnvDi6FHbbVfviro+WojiFzv+s8MPMHBczVePfUpDJLwoLT0ht1l4YwBCbi8pJAveEEdnkHyPyTP/mzRfwg==
+ dependencies:
+ safe-buffer "~5.1.0"
+
+strip-ansi@^3.0.0:
+ version "3.0.1"
+ resolved "https://registry.yarnpkg.com/strip-ansi/-/strip-ansi-3.0.1.tgz#6a385fb8853d952d5ff05d0e8aaf94278dc63dcf"
+ integrity sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=
+ dependencies:
+ ansi-regex "^2.0.0"
+
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"
@@ -2533,6 +3237,11 @@
dependencies:
ansi-regex "^5.0.1"
+supports-color@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-2.0.0.tgz#535d045ce6b6363fa40117084629995e9df324c7"
+ integrity sha1-U10EXOa2Nj+kARcIRimZXp3zJMc=
+
supports-color@^5.3.0:
version "5.5.0"
resolved "https://registry.yarnpkg.com/supports-color/-/supports-color-5.5.0.tgz#e2e69a44ac8772f78a1ec0b35b689df6530efc8f"
@@ -2569,7 +3278,7 @@
mkdirp "^1.0.3"
yallist "^4.0.0"
-terser@latest:
+terser@5.10.0:
version "5.10.0"
resolved "https://registry.yarnpkg.com/terser/-/terser-5.10.0.tgz#b86390809c0389105eb0a0b62397563096ddafcc"
integrity sha512-AMmF99DMfEDiRJfxfY5jj5wNH/bYO09cniSqhfoyxc8sFoYIgkJy86G04UoZU5VjlpnplVu0K6Tx6E9b5+DlHA==
@@ -2583,6 +3292,13 @@
resolved "https://registry.yarnpkg.com/through/-/through-2.3.8.tgz#0dd4c9ffaabc357960b1b724115d7e0e86a2e1f5"
integrity sha1-DdTJ/6q8NXlgsbckEV1+Doai4fU=
+tmp@0.0.30:
+ version "0.0.30"
+ resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.30.tgz#72419d4a8be7d6ce75148fd8b324e593a711c2ed"
+ integrity sha1-ckGdSovn1s51FI/YsyTlk6cRwu0=
+ dependencies:
+ os-tmpdir "~1.0.1"
+
tmp@^0.0.33:
version "0.0.33"
resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.0.33.tgz#6d34335889768d21b2bcda0aa277ced3b1bfadf9"
@@ -2614,6 +3330,14 @@
resolved "https://registry.yarnpkg.com/toidentifier/-/toidentifier-1.0.1.tgz#3be34321a88a820ed1bd80dfaa33e479fbb8dd35"
integrity sha512-o5sSPKEkg/DIQNmH43V0/uerLrpzVedkUh8tGNvaeXpfpuwjKenlSox/2O/BTlZUtEe+JG7s5YhEz608PlAHRA==
+tough-cookie@~2.5.0:
+ version "2.5.0"
+ resolved "https://registry.yarnpkg.com/tough-cookie/-/tough-cookie-2.5.0.tgz#cd9fb2a0aa1d5a12b473bd9fb96fa3dcff65ade2"
+ integrity sha512-nlLsUzgm1kfLXSXfRZMc1KLAugd4hqJHDTvc2hDIwS3mZAfMEuMbc03SujMF+GEcpaX/qboeycw6iO8JwVv2+g==
+ dependencies:
+ psl "^1.1.28"
+ punycode "^2.1.1"
+
tslib@^1.8.1:
version "1.9.3"
resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
@@ -2635,6 +3359,18 @@
dependencies:
tslib "^1.8.1"
+tunnel-agent@^0.6.0:
+ version "0.6.0"
+ resolved "https://registry.yarnpkg.com/tunnel-agent/-/tunnel-agent-0.6.0.tgz#27a5dea06b36b04a0a9966774b290868f0fc40fd"
+ integrity sha1-J6XeoGs2sEoKmWZ3SykIaPD8QP0=
+ dependencies:
+ safe-buffer "^5.0.1"
+
+tweetnacl@^0.14.3, tweetnacl@~0.14.0:
+ version "0.14.5"
+ resolved "https://registry.yarnpkg.com/tweetnacl/-/tweetnacl-0.14.5.tgz#5ae68177f192d4456269d108afa93ff8743f4f64"
+ integrity sha1-WuaBd/GS1EViadEIr6k/+HQ/T2Q=
+
type-fest@^0.21.3:
version "0.21.3"
resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-0.21.3.tgz#d260a24b0198436e133fa26a524a6d65fa3b2e37"
@@ -2648,10 +3384,10 @@
media-typer "0.3.0"
mime-types "~2.1.24"
-typescript@latest:
- version "4.5.4"
- resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.4.tgz#a17d3a0263bf5c8723b9c52f43c5084edf13c2e8"
- integrity sha512-VgYs2A2QIRuGphtzFV7aQJduJ2gyfTljngLzjpfW9FoYZF6xuw1W0vW9ghCKLfcWrCFxK81CSGRAvS1pn4fIUg==
+typescript@4.5.5:
+ version "4.5.5"
+ resolved "https://registry.yarnpkg.com/typescript/-/typescript-4.5.5.tgz#d8c953832d28924a9e3d37c73d729c846c5896f3"
+ integrity sha512-TCTIul70LyWe6IJWT8QSYeA54WQe8EjQFU4wY52Fasj5UKx88LNYKCgBEHcOMOrFF1rKGbD8v/xcNWVUq9SymA==
ua-parser-js@^0.7.30:
version "0.7.31"
@@ -2689,7 +3425,7 @@
dependencies:
punycode "^2.1.0"
-util-deprecate@^1.0.1:
+util-deprecate@^1.0.1, util-deprecate@~1.0.1:
version "1.0.2"
resolved "https://registry.yarnpkg.com/util-deprecate/-/util-deprecate-1.0.2.tgz#450d4dc9fa70de732762fbd2d4a28981419a0ccf"
integrity sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=
@@ -2704,6 +3440,11 @@
resolved "https://registry.yarnpkg.com/uuid/-/uuid-8.3.2.tgz#80d5b5ced271bb9af6c445f21a1a04c606cefbe2"
integrity sha512-+NYs2QeMWy+GWFOEm9xnn6HCDp0l7QBD7ml8zLUmJ+93Q5NF0NocErnwkTkXVFNiX3/fpC6afS8Dhb/gz7R7eg==
+uuid@^3.3.2:
+ version "3.4.0"
+ resolved "https://registry.yarnpkg.com/uuid/-/uuid-3.4.0.tgz#b23e4358afa8a202fe7a100af1f5f883f02007ee"
+ integrity sha512-HjSDRw6gZE5JMggctHBcjVak08+KEVhSIiDzFnT9S9aegmp85S/bReBVTb4QTFaRNptJ9kuYaNhnbNEOkbKb/A==
+
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"
@@ -2716,6 +3457,15 @@
resolved "https://registry.yarnpkg.com/vary/-/vary-1.1.2.tgz#2299f02c6ded30d4a5961b0b9f74524a18f634fc"
integrity sha1-IpnwLG3tMNSllhsLn3RSShj2NPw=
+verror@1.10.0:
+ version "1.10.0"
+ resolved "https://registry.yarnpkg.com/verror/-/verror-1.10.0.tgz#3a105ca17053af55d6e270c1f8288682e18da400"
+ integrity sha1-OhBcoXBTr1XW4nDB+CiGguGNpAA=
+ dependencies:
+ assert-plus "^1.0.0"
+ core-util-is "1.0.2"
+ extsprintf "^1.2.0"
+
void-elements@^2.0.0:
version "2.0.1"
resolved "https://registry.yarnpkg.com/void-elements/-/void-elements-2.0.1.tgz#c066afb582bb1cb4128d60ea92392e94d5e9dbec"
@@ -2728,6 +3478,36 @@
dependencies:
defaults "^1.0.3"
+webdriver-js-extender@2.1.0:
+ version "2.1.0"
+ resolved "https://registry.yarnpkg.com/webdriver-js-extender/-/webdriver-js-extender-2.1.0.tgz#57d7a93c00db4cc8d556e4d3db4b5db0a80c3bb7"
+ integrity sha512-lcUKrjbBfCK6MNsh7xaY2UAUmZwe+/ib03AjVOpFobX4O7+83BUveSrLfU0Qsyb1DaKJdQRbuU+kM9aZ6QUhiQ==
+ dependencies:
+ "@types/selenium-webdriver" "^3.0.0"
+ selenium-webdriver "^3.0.1"
+
+webdriver-manager@^12.1.7:
+ version "12.1.8"
+ resolved "https://registry.yarnpkg.com/webdriver-manager/-/webdriver-manager-12.1.8.tgz#5e70e73eaaf53a0767d5745270addafbc5905fd4"
+ integrity sha512-qJR36SXG2VwKugPcdwhaqcLQOD7r8P2Xiv9sfNbfZrKBnX243iAkOueX1yAmeNgIKhJ3YAT/F2gq6IiEZzahsg==
+ dependencies:
+ adm-zip "^0.4.9"
+ chalk "^1.1.1"
+ del "^2.2.0"
+ glob "^7.0.3"
+ ini "^1.3.4"
+ minimist "^1.2.0"
+ q "^1.4.1"
+ request "^2.87.0"
+ rimraf "^2.5.2"
+ semver "^5.3.0"
+ xml2js "^0.4.17"
+
+which-module@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/which-module/-/which-module-2.0.0.tgz#d9ef07dce77b9902b8a3a8fa4b31c3e3f7e6e87a"
+ integrity sha1-2e8H3Od7mQK4o6j6SzHD4/fm6Ho=
+
which@^1.2.1:
version "1.3.1"
resolved "https://registry.yarnpkg.com/which/-/which-1.3.1.tgz#a45043d54f5805316da8d62f9f50918d3da70b0a"
@@ -2749,6 +3529,15 @@
dependencies:
string-width "^1.0.2 || 2 || 3 || 4"
+wrap-ansi@^6.2.0:
+ version "6.2.0"
+ resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-6.2.0.tgz#e9393ba07102e6c91a3b221478f0257cd2856e53"
+ integrity sha512-r6lPcBGxZXlIcymEu7InxDMhdW0KDxpLgoFLcguasxCaJ/SOIZwINatK9KY/tf+ZrlywOKU0UDj3ATXUBfxJXA==
+ dependencies:
+ ansi-styles "^4.0.0"
+ string-width "^4.1.0"
+ strip-ansi "^6.0.0"
+
wrap-ansi@^7.0.0:
version "7.0.0"
resolved "https://registry.yarnpkg.com/wrap-ansi/-/wrap-ansi-7.0.0.tgz#67e145cff510a6a6984bdf1152911d69d2eb9e43"
@@ -2768,6 +3557,24 @@
resolved "https://registry.yarnpkg.com/ws/-/ws-8.2.3.tgz#63a56456db1b04367d0b721a0b80cae6d8becbba"
integrity sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==
+xml2js@^0.4.17:
+ version "0.4.23"
+ resolved "https://registry.yarnpkg.com/xml2js/-/xml2js-0.4.23.tgz#a0c69516752421eb2ac758ee4d4ccf58843eac66"
+ integrity sha512-ySPiMjM0+pLDftHgXY4By0uswI3SPKLDw/i3UXbnO8M/p28zqexCUoPmQFrYD+/1BzhGJSs2i1ERWKJAtiLrug==
+ dependencies:
+ sax ">=0.6.0"
+ xmlbuilder "~11.0.0"
+
+xmlbuilder@~11.0.0:
+ version "11.0.1"
+ resolved "https://registry.yarnpkg.com/xmlbuilder/-/xmlbuilder-11.0.1.tgz#be9bae1c8a046e76b31127726347d0ad7002beb3"
+ integrity sha512-fDlsI/kFEx7gLvbecc0/ohLG50fugQp8ryHzMTuW9vSa1GJ0XYWKnhsUx7oie3G98+r56aTQIUB4kht42R3JvA==
+
+y18n@^4.0.0:
+ version "4.0.3"
+ resolved "https://registry.yarnpkg.com/y18n/-/y18n-4.0.3.tgz#b5f259c82cd6e336921efd7bfd8bf560de9eeedf"
+ integrity sha512-JKhqTOwSrqNA1NY5lSztJ1GrBiUodLMmIZuLiDaMRJ+itFd+ABVE8XBjOvIWL+rSqNDC74LCSFmlb/U4UZ4hJQ==
+
y18n@^5.0.5:
version "5.0.8"
resolved "https://registry.yarnpkg.com/y18n/-/y18n-5.0.8.tgz#7f4934d0f7ca8c56f95314939ddcd2dd91ce1d55"
@@ -2778,6 +3585,14 @@
resolved "https://registry.yarnpkg.com/yallist/-/yallist-4.0.0.tgz#9bb92790d9c0effec63be73519e11a35019a3a72"
integrity sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==
+yargs-parser@^18.1.2:
+ version "18.1.3"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-18.1.3.tgz#be68c4975c6b2abf469236b0c870362fab09a7b0"
+ integrity sha512-o50j0JeToy/4K6OZcaQmW6lyXXKhq7csREXcDwk2omFPJEwUNOVtJKvmDr9EI1fAJZUyZcRF7kxGBWmRXudrCQ==
+ dependencies:
+ camelcase "^5.0.0"
+ decamelize "^1.2.0"
+
yargs-parser@^20.2.2:
version "20.2.9"
resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-20.2.9.tgz#2eb7dc3b0289718fc295f362753845c41a0c94ee"
@@ -2788,6 +3603,23 @@
resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-21.0.0.tgz#a485d3966be4317426dd56bdb6a30131b281dc55"
integrity sha512-z9kApYUOCwoeZ78rfRYYWdiU/iNL6mwwYlkkZfJoyMR1xps+NEBX5X7XmRpxkZHhXJ6+Ey00IwKxBBSW9FIjyA==
+yargs@^15.3.1:
+ version "15.4.1"
+ resolved "https://registry.yarnpkg.com/yargs/-/yargs-15.4.1.tgz#0d87a16de01aee9d8bec2bfbf74f67851730f4f8"
+ integrity sha512-aePbxDmcYW++PaqBsJ+HYUFwCdv4LVvdnhBy78E57PIor8/OVvhMrADFFEDh8DHDFRv/O9i3lPhsENjO7QX0+A==
+ dependencies:
+ cliui "^6.0.0"
+ decamelize "^1.2.0"
+ find-up "^4.1.0"
+ get-caller-file "^2.0.1"
+ require-directory "^2.1.1"
+ require-main-filename "^2.0.0"
+ set-blocking "^2.0.0"
+ string-width "^4.2.0"
+ which-module "^2.0.0"
+ y18n "^4.0.0"
+ yargs-parser "^18.1.2"
+
yargs@^16.1.1:
version "16.2.0"
resolved "https://registry.yarnpkg.com/yargs/-/yargs-16.2.0.tgz#1c82bf0f6b6a66eafce7ef30e376f49a12477f66"
