Move y2023 vision code over to using constants sender
This removes the need for the generated calibration_data.h
Not tested on a pi yet, so I may've messed something up with the
deployment.
Change-Id: Ic46ba861db25033ac21f33f4898cf52afe02f1ab
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index 96ea632..5c98d7c 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -1,48 +1,5 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-py_binary(
- name = "create_calib_file",
- srcs = [
- "create_calib_file.py",
- ],
- args = [
- "calibration_data.h",
- ],
- data = glob(["calib_files/*.json"]),
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/vision:create_calib_file",
- ],
-)
-
-genrule(
- name = "run_calibration_data",
- outs = [
- "calibration_data.h",
- ],
- cmd = " ".join([
- "$(location :create_calib_file)",
- "$(location calibration_data.h)",
- ]),
- target_compatible_with = ["@platforms//os:linux"],
- tools = [
- ":create_calib_file",
- ],
-)
-
-cc_library(
- name = "calibration_data",
- hdrs = [
- "calibration_data.h",
- ],
- target_compatible_with = ["@platforms//os:linux"],
- visibility = ["//visibility:public"],
- deps = [
- "@com_google_absl//absl/types:span",
- ],
-)
-
cc_binary(
name = "camera_reader",
srcs = [
@@ -91,15 +48,26 @@
visibility = ["//y2023:__subpackages__"],
deps = [
":aprilrobotics_lib",
- ":calibration_data",
"//aos:init",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
+ "//frc971/constants:constants_sender_lib",
"//frc971/control_loops:pose",
"//frc971/vision:calibration_fbs",
"//frc971/vision:charuco_lib",
"//frc971/vision:target_mapper",
"//third_party:opencv",
+ "//y2023/constants:constants_fbs",
+ ],
+)
+
+cc_library(
+ name = "vision_util",
+ srcs = ["vision_util.cc"],
+ hdrs = ["vision_util.h"],
+ deps = [
+ "//y2023/constants:constants_fbs",
+ "@com_github_google_glog//:glog",
],
)
@@ -121,9 +89,10 @@
visibility = ["//y2023:__subpackages__"],
deps = [
":april_debug_fbs",
- ":calibration_data",
+ ":vision_util",
"//aos:init",
"//aos/events:shm_event_loop",
+ "//frc971/constants:constants_sender_lib",
"//frc971/vision:calibration_fbs",
"//frc971/vision:charuco_lib",
"//frc971/vision:target_map_fbs",
@@ -131,6 +100,7 @@
"//frc971/vision:vision_fbs",
"//third_party:opencv",
"//third_party/apriltag",
+ "//y2023/constants:constants_fbs",
],
)