Merge "adjusted the scoring positions"
diff --git a/y2019/jevois/teensy.cc b/y2019/jevois/teensy.cc
index a3b93d2..539d7b6 100644
--- a/y2019/jevois/teensy.cc
+++ b/y2019/jevois/teensy.cc
@@ -333,6 +333,44 @@
return SpiPackToRoborio(message);
}
+// Manages turning the debug light on and off periodically.
+//
+// It blinks at 1Hz with a variable duty cycle.
+class DebugLight {
+ public:
+ static constexpr aos::monotonic_clock::duration period() {
+ return std::chrono::seconds(1);
+ }
+
+ void set_next_off_time(aos::monotonic_clock::duration next_off_time) {
+ next_off_time_ = next_off_time;
+ }
+
+ void Tick() {
+ const auto now = aos::monotonic_clock::now();
+ if (last_cycle_start_ == aos::monotonic_clock::min_time) {
+ last_cycle_start_ = now;
+ current_off_point_ = last_cycle_start_ + next_off_time_;
+ } else if (now > last_cycle_start_ + period()) {
+ last_cycle_start_ += period();
+ current_off_point_ = last_cycle_start_ + next_off_time_;
+ }
+ if (now > current_off_point_) {
+ GPIOC_PCOR = 1 << 5;
+ } else {
+ GPIOC_PSOR = 1 << 5;
+ }
+ }
+
+ private:
+ aos::monotonic_clock::time_point last_cycle_start_ =
+ aos::monotonic_clock::min_time;
+
+ aos::monotonic_clock::duration next_off_time_ = std::chrono::milliseconds(100);
+ aos::monotonic_clock::time_point current_off_point_ =
+ aos::monotonic_clock::min_time;
+};
+
extern "C" {
void *__stack_chk_guard = (void *)0x67111971;
@@ -588,9 +626,12 @@
aos::monotonic_clock::min_time;
CameraCommand stdin_camera_command = CameraCommand::kNormal;
CameraCommand last_roborio_camera_command = CameraCommand::kNormal;
+ DebugLight debug_light;
bool first = true;
while (true) {
+ debug_light.Tick();
+
{
const auto received_transfer = SpiQueue::global_instance->Tick();
if (received_transfer) {
@@ -650,6 +691,14 @@
} else {
calibration.camera_command = stdin_camera_command;
}
+ if (calibration.camera_command == CameraCommand::kUsb) {
+ debug_light.set_next_off_time(std::chrono::milliseconds(900));
+ } else if (calibration.camera_command ==
+ CameraCommand::kCameraPassthrough) {
+ debug_light.set_next_off_time(std::chrono::milliseconds(500));
+ } else {
+ debug_light.set_next_off_time(std::chrono::milliseconds(100));
+ }
// TODO(Brian): Actually fill out the calibration field.
transmit_buffers[0].MaybeWritePacket(calibration);
transmit_buffers[1].MaybeWritePacket(calibration);
diff --git a/y2019/vision/tools/deploy.sh b/y2019/vision/tools/deploy.sh
index 4ad926f..ff3ee01 100755
--- a/y2019/vision/tools/deploy.sh
+++ b/y2019/vision/tools/deploy.sh
@@ -1,4 +1,12 @@
#!/bin/sh
+echo "Building executables"
+readonly BAZEL_OPTIONS="-c opt --cpu=armhf-debian"
+readonly BAZEL_BIN="$(bazel info ${BAZEL_OPTIONS} bazel-bin)"
+
+bazel build ${BAZEL_OPTIONS} \
+ //y2019/vision:target_sender \
+ //y2019/vision:serial_waiter
+
echo "Mount jevois ..."
./jevois-cmd usbsd
@@ -11,6 +19,11 @@
echo "Copying files ..."
cp ./austin_cam.sh /media/$USER/JEVOIS/
+cp ./launch.sh /media/$USER/JEVOIS/deploy/
+
+cp "${BAZEL_BIN}/y2019/vision/target_sender" \
+ "${BAZEL_BIN}/y2019/vision/serial_waiter" \
+ /media/$USER/JEVOIS/deploy/
echo "Unmount sd card ..."
umount /media/$USER/JEVOIS
diff --git a/y2019/vision/tools/launch.sh b/y2019/vision/tools/launch.sh
index f2bd68d..b23fe2c 100755
--- a/y2019/vision/tools/launch.sh
+++ b/y2019/vision/tools/launch.sh
@@ -1 +1,5 @@
+if /jevois/deploy/serial_waiter; then
+ /jevois/deploy/target_sender &> /jevois/log.log
+fi
+
touch /tmp/do_not_export_sd_card