Merge "Added set functions for turret and catapult falcons"
diff --git a/.bazelrc b/.bazelrc
index 1c6dbde..b12d5b2 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -15,7 +15,6 @@
build --strip=never
build --noincompatible_disable_nocopts
-common --noincompatible_restrict_string_escapes
# Use the malloc we want.
build --custom_malloc=//tools/cpp:malloc
@@ -23,13 +22,15 @@
# Shortcuts for selecting the target platform.
build:k8 --platforms=//tools/platforms:linux_x86
build:roborio --platforms=//tools/platforms:linux_roborio
+build:roborio --platform_suffix=-roborio
build:armv7 --platforms=//tools/platforms:linux_armv7
+build:armv7 --platform_suffix=-armv7
build:arm64 --platforms=//tools/platforms:linux_arm64
+build:arm64 --platform_suffix=-arm64
build:cortex-m4f --platforms=//tools/platforms:cortex_m4f
+build:cortex-m4f --platform_suffix=-cortex-m4f
build:rp2040 --platforms=//tools/platforms:rp2040
-
-# Without this, we end up rebuilding from scratch every time we change compilers. This is needed to make --cpu work (even though it shouldn't be used).
-build --crosstool_top=@//tools/cpp:toolchain --host_crosstool_top=@//tools/cpp:toolchain
+build:rp2040 --platform_suffix=-rp2040
build:asan --copt -fsanitize=address
build:asan --linkopt -fsanitize=address --linkopt -ldl
@@ -78,7 +79,7 @@
# Dump the output of the failing test to stdout.
test --test_output=errors
-build --experimental_sandbox_base=/dev/shm/
+build --sandbox_base=/dev/shm/
build --experimental_multi_threaded_digest
build --sandbox_fake_hostname=true
@@ -92,7 +93,7 @@
startup --host_jvm_args=-Dbazel.DigestFunction=SHA256
build --spawn_strategy=linux-sandbox
-build --experimental_sandbox_default_allow_network=false
+build --sandbox_default_allow_network=false
build --strategy=TypeScriptCompile=worker --strategy=AngularTemplateCompile=worker
@@ -100,7 +101,7 @@
# Note that this doesn't quite work fully, but it should. See
# https://github.com/bazelbuild/bazel/issues/6341 for ongoing discussion with
# upstream about this.
-build --javabase=@openjdk_linux_archive//:jdk --host_javabase=@openjdk_linux_archive//:jdk
+build --java_runtime_version=openjdk_9 --tool_java_runtime_version=openjdk_9
# Prevent falling back to the host JDK.
startup --noautodetect_server_javabase
diff --git a/BUILD b/BUILD
index 91997b9..e7fa267 100644
--- a/BUILD
+++ b/BUILD
@@ -11,6 +11,7 @@
# gazelle:go_generate_proto false
# gazelle:exclude third_party
# gazelle:exclude external
+# gazelle:resolve go github.com/frc971/971-Robot-Code/build_tests/fbs //build_tests:test_go_fbs
gazelle(
name = "gazelle",
diff --git a/WORKSPACE b/WORKSPACE
index 1ea9cce..514fb81 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -2,6 +2,7 @@
load("@bazel_tools//tools/build_defs/repo:git.bzl", "new_git_repository")
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file")
+load("@bazel_tools//tools/jdk:remote_java_repository.bzl", "remote_java_repository")
load(
"//debian:python.bzl",
python_debs = "files",
@@ -264,6 +265,7 @@
"//tools/go:noop_go_toolchain",
"//tools/rust:rust-toolchain-roborio",
"//tools/rust:noop_rust_toolchain",
+ "//tools/ts:noop_node_toolchain",
)
load("//tools/ci:repo_defs.bzl", "ci_configure")
@@ -614,20 +616,19 @@
)
# Java9 JDK.
-http_archive(
+remote_java_repository(
name = "openjdk_linux_archive",
- build_file_content = """
-java_runtime(
- name = 'jdk',
- srcs = glob(['**']),
- visibility = ['//visibility:public'],
-)
-""",
+ exec_compatible_with = [
+ "@platforms//cpu:x86_64",
+ "@platforms//os:linux",
+ ],
+ prefix = "openjdk",
sha256 = "f27cb933de4f9e7fe9a703486cf44c84bc8e9f138be0c270c9e5716a32367e87",
strip_prefix = "zulu9.0.7.1-jdk9.0.7-linux_x64-allmodules",
urls = [
"https://www.frc971.org/Build-Dependencies/zulu9.0.7.1-jdk9.0.7-linux_x64-allmodules.tar.gz",
],
+ version = "9",
)
local_repository(
@@ -814,14 +815,22 @@
# I'm sure there is a better path, but that works...
yarn_install(
name = "npm",
- frozen_lockfile = True,
+ frozen_lockfile = False,
package_json = "//:package.json",
symlink_node_modules = False,
yarn_lock = "//:yarn.lock",
)
+load("@build_bazel_rules_nodejs//toolchains/esbuild:esbuild_repositories.bzl", "esbuild_repositories")
+
+esbuild_repositories(npm_repository = "npm")
+
http_archive(
name = "io_bazel_rules_webtesting",
+ patch_args = ["-p1"],
+ patches = [
+ "@//third_party:rules_webtesting/rules_webtesting.patch",
+ ],
sha256 = "e9abb7658b6a129740c0b3ef6f5a2370864e102a5ba5ffca2cea565829ed825a",
urls = ["https://github.com/bazelbuild/rules_webtesting/releases/download/0.3.5/rules_webtesting.tar.gz"],
)
@@ -850,6 +859,14 @@
version = "1.56.1",
)
+load("@io_bazel_rules_webtesting//web:repositories.bzl", "web_test_repositories")
+
+web_test_repositories()
+
+load("@io_bazel_rules_webtesting//web/versioned:browsers-0.3.3.bzl", "browser_repositories")
+
+browser_repositories(chromium = True)
+
# Flatbuffers
local_repository(
name = "com_github_google_flatbuffers",
diff --git a/aos/events/event_loop.h b/aos/events/event_loop.h
index 11368ae..e810e3f 100644
--- a/aos/events/event_loop.h
+++ b/aos/events/event_loop.h
@@ -407,7 +407,9 @@
// Returns the name of the underlying queue.
const Channel *channel() const { return sender_->channel(); }
+ // TODO(austin): Deprecate the operator bool.
operator bool() const { return sender_ ? true : false; }
+ bool valid() const { return static_cast<bool>(sender_); }
// Returns the time_points that the last message was sent at.
aos::monotonic_clock::time_point monotonic_sent_time() const {
diff --git a/aos/events/event_scheduler.cc b/aos/events/event_scheduler.cc
index c06638c..97e0946 100644
--- a/aos/events/event_scheduler.cc
+++ b/aos/events/event_scheduler.cc
@@ -66,20 +66,32 @@
}
void EventScheduler::RunOnRun() {
- for (std::function<void()> &on_run : on_run_) {
- on_run();
+ while (!on_run_.empty()) {
+ std::function<void()> fn = std::move(*on_run_.begin());
+ on_run_.erase(on_run_.begin());
+ fn();
}
- on_run_.clear();
}
-void EventScheduler::RunOnStartup() {
- for (size_t i = 0; i < on_startup_.size(); ++i) {
- on_startup_[i]();
+void EventScheduler::RunOnStartup() noexcept {
+ while (!on_startup_.empty()) {
+ std::function<void()> fn = std::move(*on_startup_.begin());
+ on_startup_.erase(on_startup_.begin());
+ fn();
}
- on_startup_.clear();
}
-void EventScheduler::RunStarted() { started_(); }
+void EventScheduler::RunStarted() {
+ if (started_) {
+ started_();
+ }
+}
+
+void EventScheduler::RunStopped() {
+ if (stopped_) {
+ stopped_();
+ }
+}
std::ostream &operator<<(std::ostream &stream,
const aos::distributed_clock::time_point &now) {
@@ -119,6 +131,7 @@
rebooted.emplace_back(node_index);
CHECK_EQ(schedulers_[node_index]->boot_count() + 1,
times[node_index].boot);
+ schedulers_[node_index]->RunStopped();
schedulers_[node_index]->Shutdown();
}
}
@@ -144,6 +157,7 @@
void EventSchedulerScheduler::RunFor(distributed_clock::duration duration) {
distributed_clock::time_point end_time = now_ + duration;
logging::ScopedLogRestorer prev_logger;
+ RunOnStartup();
RunOnRun();
// Run all the sub-event-schedulers.
@@ -191,10 +205,13 @@
}
now_ = end_time;
+
+ RunStopped();
}
void EventSchedulerScheduler::Run() {
logging::ScopedLogRestorer prev_logger;
+ RunOnStartup();
RunOnRun();
// Run all the sub-event-schedulers.
while (is_running_) {
@@ -232,6 +249,8 @@
}
is_running_ = false;
+
+ RunStopped();
}
std::tuple<distributed_clock::time_point, EventScheduler *>
@@ -261,4 +280,17 @@
return std::make_tuple(min_event_time, min_scheduler);
}
+void EventSchedulerScheduler::TemporarilyStopAndRun(std::function<void()> fn) {
+ const bool was_running = is_running_;
+ if (is_running_) {
+ is_running_ = false;
+ RunStopped();
+ }
+ fn();
+ if (was_running) {
+ RunOnStartup();
+ RunOnRun();
+ }
+}
+
} // namespace aos
diff --git a/aos/events/event_scheduler.h b/aos/events/event_scheduler.h
index 55c1cf8..b64728c 100644
--- a/aos/events/event_scheduler.h
+++ b/aos/events/event_scheduler.h
@@ -126,7 +126,12 @@
started_ = std::move(callback);
}
+ void set_stopped(std::function<void()> callback) {
+ stopped_ = std::move(callback);
+ }
+
std::function<void()> started_;
+ std::function<void()> stopped_;
std::function<void()> on_shutdown_;
Token InvalidToken() { return events_list_.end(); }
@@ -138,10 +143,12 @@
void RunOnRun();
// Runs the OnStartup callbacks.
- void RunOnStartup();
+ void RunOnStartup() noexcept;
// Runs the Started callback.
void RunStarted();
+ // Runs the Started callback.
+ void RunStopped();
// Returns true if events are being handled.
inline bool is_running() const;
@@ -283,6 +290,13 @@
}
}
+ void RunStopped() {
+ CHECK(!is_running_);
+ for (EventScheduler *scheduler : schedulers_) {
+ scheduler->RunStopped();
+ }
+ }
+
void SetTimeConverter(TimeConverter *time_converter) {
time_converter->set_reboot_found(
[this](distributed_clock::time_point reboot_time,
@@ -294,6 +308,11 @@
});
}
+ // Runs the provided callback now. Stops everything, runs the callback, then
+ // starts it all up again. This lets us do operations like starting and
+ // stopping applications while running.
+ void TemporarilyStopAndRun(std::function<void()> fn);
+
private:
// Handles running the OnRun functions.
void RunOnRun() {
diff --git a/aos/events/logging/BUILD b/aos/events/logging/BUILD
index d190120..ec13f92 100644
--- a/aos/events/logging/BUILD
+++ b/aos/events/logging/BUILD
@@ -134,10 +134,10 @@
visibility = ["//visibility:public"],
deps = [
":buffer_encoder",
- ":crc32",
":logger_fbs",
"//aos:configuration_fbs",
"//aos/containers:resizeable_buffer",
+ "//aos/util:crc32",
"@com_github_google_flatbuffers//:flatbuffers",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/types:span",
@@ -465,12 +465,3 @@
gen_reflections = 1,
target_compatible_with = ["@platforms//os:linux"],
)
-
-cc_library(
- name = "crc32",
- srcs = ["crc32.cc"],
- hdrs = ["crc32.h"],
- deps = [
- "@com_google_absl//absl/types:span",
- ],
-)
diff --git a/aos/events/logging/log_reader.cc b/aos/events/logging/log_reader.cc
index e58ccd2..4e89a0e 100644
--- a/aos/events/logging/log_reader.cc
+++ b/aos/events/logging/log_reader.cc
@@ -39,6 +39,13 @@
time_estimation_buffer_seconds, 2.0,
"The time to buffer ahead in the log file to accurately reconstruct time.");
+DEFINE_string(
+ start_time, "",
+ "If set, start at this point in time in the log on the realtime clock.");
+DEFINE_string(
+ end_time, "",
+ "If set, end at this point in time in the log on the realtime clock.");
+
namespace aos {
namespace configuration {
// We don't really want to expose this publicly, but log reader doesn't really
@@ -131,6 +138,79 @@
using message_bridge::RemoteMessage;
} // namespace
+// Class to manage triggering events on the RT clock while replaying logs. Since
+// the RT clock can only change when we get a message, we only need to update
+// our timers when new messages are read.
+class EventNotifier {
+ public:
+ EventNotifier(EventLoop *event_loop, std::function<void()> fn,
+ std::string_view name,
+ realtime_clock::time_point realtime_event_time)
+ : event_loop_(event_loop),
+ fn_(std::move(fn)),
+ realtime_event_time_(realtime_event_time) {
+ CHECK(event_loop_);
+ event_timer_ = event_loop->AddTimer([this]() { HandleTime(); });
+
+ if (event_loop_->node() != nullptr) {
+ event_timer_->set_name(
+ absl::StrCat(event_loop_->node()->name()->string_view(), "_", name));
+ } else {
+ event_timer_->set_name(name);
+ }
+ }
+
+ ~EventNotifier() { event_timer_->Disable(); }
+
+ // Returns the event trigger time.
+ realtime_clock::time_point realtime_event_time() const {
+ return realtime_event_time_;
+ }
+
+ // Observes the next message and potentially calls the callback or updates the
+ // timer.
+ void ObserveNextMessage(monotonic_clock::time_point monotonic_message_time,
+ realtime_clock::time_point realtime_message_time) {
+ if (realtime_message_time < realtime_event_time_) {
+ return;
+ }
+ if (called_) {
+ return;
+ }
+
+ // Move the callback wakeup time to the correct time (or make it now if
+ // there's a gap in time) now that we know it is before the next
+ // message.
+ const monotonic_clock::time_point candidate_monotonic =
+ (realtime_event_time_ - realtime_message_time) + monotonic_message_time;
+ const monotonic_clock::time_point monotonic_now =
+ event_loop_->monotonic_now();
+ if (candidate_monotonic < monotonic_now) {
+ // Whops, time went backwards. Just do it now.
+ HandleTime();
+ } else {
+ event_timer_->Setup(candidate_monotonic);
+ }
+ }
+
+ private:
+ void HandleTime() {
+ if (!called_) {
+ called_ = true;
+ fn_();
+ }
+ }
+
+ EventLoop *event_loop_ = nullptr;
+ TimerHandler *event_timer_ = nullptr;
+ std::function<void()> fn_;
+
+ const realtime_clock::time_point realtime_event_time_ =
+ realtime_clock::min_time;
+
+ bool called_ = false;
+};
+
LogReader::LogReader(std::string_view filename,
const Configuration *replay_configuration)
: LogReader(SortParts({std::string(filename)}), replay_configuration) {}
@@ -139,6 +219,9 @@
const Configuration *replay_configuration)
: log_files_(std::move(log_files)),
replay_configuration_(replay_configuration) {
+ SetStartTime(FLAGS_start_time);
+ SetEndTime(FLAGS_end_time);
+
CHECK_GT(log_files_.size(), 0u);
{
// Validate that we have the same config everwhere. This will be true if
@@ -329,8 +412,15 @@
VLOG(1) << "Starting " << MaybeNodeName(node()) << "at time "
<< monotonic_start_time(boot_count());
- for (size_t i = 0; i < on_starts_.size(); ++i) {
- on_starts_[i]();
+ auto fn = [this]() {
+ for (size_t i = 0; i < on_starts_.size(); ++i) {
+ on_starts_[i]();
+ }
+ };
+ if (event_loop_factory_) {
+ event_loop_factory_->AllowApplicationCreationDuring(std::move(fn));
+ } else {
+ fn();
}
stopped_ = false;
started_ = true;
@@ -358,12 +448,19 @@
void LogReader::State::RunOnEnd() {
VLOG(1) << "Ending " << MaybeNodeName(node()) << "at time "
<< monotonic_start_time(boot_count());
- for (size_t i = 0; i < on_ends_.size(); ++i) {
- on_ends_[i]();
+ auto fn = [this]() {
+ for (size_t i = 0; i < on_ends_.size(); ++i) {
+ on_ends_[i]();
+ }
+ };
+ if (event_loop_factory_) {
+ event_loop_factory_->AllowApplicationCreationDuring(std::move(fn));
+ } else {
+ fn();
}
stopped_ = true;
- started_ = false;
+ started_ = true;
}
void LogReader::Register() {
@@ -397,7 +494,8 @@
node);
State *state = states_[node_index].get();
state->SetNodeEventLoopFactory(
- event_loop_factory_->GetNodeEventLoopFactory(node));
+ event_loop_factory_->GetNodeEventLoopFactory(node),
+ event_loop_factory_);
state->SetChannelCount(logged_configuration()->channels()->size());
timestamp_mappers.emplace_back(state->timestamp_mapper());
@@ -489,6 +587,11 @@
void LogReader::Register(SimulatedEventLoopFactory *event_loop_factory) {
RegisterWithoutStarting(event_loop_factory);
+ StartAfterRegister(event_loop_factory);
+}
+
+void LogReader::StartAfterRegister(
+ SimulatedEventLoopFactory *event_loop_factory) {
// We want to start the log file at the last start time of the log files
// from all the nodes. Compute how long each node's simulation needs to run
// to move time to this point.
@@ -588,6 +691,10 @@
State *state =
states_[configuration::GetNodeIndex(configuration(), node)].get();
+ if (!event_loop) {
+ state->ClearTimeFlags();
+ }
+
state->set_event_loop(event_loop);
// We don't run timing reports when trying to print out logged data, because
@@ -889,7 +996,7 @@
<< "is on the next boot, " << next_time << " now is "
<< state->monotonic_now();
CHECK(event_loop_factory_);
- state->RunOnEnd();
+ state->NotifyLogfileEnd();
return;
}
VLOG(1) << "Scheduling " << MaybeNodeName(state->event_loop()->node())
@@ -900,7 +1007,7 @@
} else {
VLOG(1) << MaybeNodeName(state->event_loop()->node())
<< "No next message, scheduling shutdown";
- state->RunOnEnd();
+ state->NotifyLogfileEnd();
// Set a timer up immediately after now to die. If we don't do this,
// then the senders waiting on the message we just read will never get
// called.
@@ -917,7 +1024,13 @@
if (state->OldestMessageTime() != BootTimestamp::max_time()) {
state->set_startup_timer(
- event_loop->AddTimer([state]() { state->RunOnStart(); }));
+ event_loop->AddTimer([state]() { state->NotifyLogfileStart(); }));
+ if (start_time_ != realtime_clock::min_time) {
+ state->SetStartTimeFlag(start_time_);
+ }
+ if (end_time_ != realtime_clock::max_time) {
+ state->SetEndTimeFlag(end_time_);
+ }
event_loop->OnRun([state]() {
BootTimestamp next_time = state->OldestMessageTime();
CHECK_EQ(next_time.boot, state->boot_count());
@@ -927,6 +1040,40 @@
}
}
+void LogReader::SetEndTime(std::string end_time) {
+ if (end_time.empty()) {
+ SetEndTime(realtime_clock::max_time);
+ } else {
+ std::optional<aos::realtime_clock::time_point> parsed_end_time =
+ aos::realtime_clock::FromString(end_time);
+ CHECK(parsed_end_time) << ": Failed to parse end time '" << end_time
+ << "'. Expected a date in the format of "
+ "2021-01-15_15-30-35.000000000.";
+ SetEndTime(*parsed_end_time);
+ }
+}
+
+void LogReader::SetEndTime(realtime_clock::time_point end_time) {
+ end_time_ = end_time;
+}
+
+void LogReader::SetStartTime(std::string start_time) {
+ if (start_time.empty()) {
+ SetStartTime(realtime_clock::min_time);
+ } else {
+ std::optional<aos::realtime_clock::time_point> parsed_start_time =
+ aos::realtime_clock::FromString(start_time);
+ CHECK(parsed_start_time) << ": Failed to parse start time '" << start_time
+ << "'. Expected a date in the format of "
+ "2021-01-15_15-30-35.000000000.";
+ SetStartTime(*parsed_start_time);
+ }
+}
+
+void LogReader::SetStartTime(realtime_clock::time_point start_time) {
+ start_time_ = start_time;
+}
+
void LogReader::Deregister() {
// Make sure that things get destroyed in the correct order, rather than
// relying on getting the order correct in the class definition.
@@ -1312,8 +1459,10 @@
}
void LogReader::State::SetNodeEventLoopFactory(
- NodeEventLoopFactory *node_event_loop_factory) {
+ NodeEventLoopFactory *node_event_loop_factory,
+ SimulatedEventLoopFactory *event_loop_factory) {
node_event_loop_factory_ = node_event_loop_factory;
+ event_loop_factory_ = event_loop_factory;
}
void LogReader::State::SetChannelCount(size_t count) {
@@ -1670,7 +1819,7 @@
return result;
}
-BootTimestamp LogReader::State::OldestMessageTime() const {
+BootTimestamp LogReader::State::OldestMessageTime() {
if (timestamp_mapper_ == nullptr) {
return BootTimestamp::max_time();
}
@@ -1680,6 +1829,12 @@
}
VLOG(2) << MaybeNodeName(node()) << "oldest message at "
<< result_ptr->monotonic_event_time.time;
+
+ if (result_ptr->monotonic_event_time.boot == boot_count()) {
+ ObserveNextMessage(result_ptr->monotonic_event_time.time,
+ result_ptr->realtime_event_time);
+ }
+
return result_ptr->monotonic_event_time;
}
@@ -1692,11 +1847,12 @@
void LogReader::State::Deregister() {
if (started_ && !stopped_) {
- RunOnEnd();
+ NotifyLogfileEnd();
}
for (size_t i = 0; i < channels_.size(); ++i) {
channels_[i].reset();
}
+ ClearTimeFlags();
channel_timestamp_loggers_.clear();
timestamp_loggers_.clear();
event_loop_unique_ptr_.reset();
@@ -1705,5 +1861,75 @@
node_event_loop_factory_ = nullptr;
}
+void LogReader::State::SetStartTimeFlag(realtime_clock::time_point start_time) {
+ if (start_time != realtime_clock::min_time) {
+ start_event_notifier_ = std::make_unique<EventNotifier>(
+ event_loop_, [this]() { NotifyFlagStart(); }, "flag_start", start_time);
+ }
+}
+
+void LogReader::State::SetEndTimeFlag(realtime_clock::time_point end_time) {
+ if (end_time != realtime_clock::max_time) {
+ end_event_notifier_ = std::make_unique<EventNotifier>(
+ event_loop_, [this]() { NotifyFlagEnd(); }, "flag_end", end_time);
+ }
+}
+
+void LogReader::State::ObserveNextMessage(
+ monotonic_clock::time_point monotonic_event,
+ realtime_clock::time_point realtime_event) {
+ if (start_event_notifier_) {
+ start_event_notifier_->ObserveNextMessage(monotonic_event, realtime_event);
+ }
+ if (end_event_notifier_) {
+ end_event_notifier_->ObserveNextMessage(monotonic_event, realtime_event);
+ }
+}
+
+void LogReader::State::ClearTimeFlags() {
+ start_event_notifier_.reset();
+ end_event_notifier_.reset();
+}
+
+void LogReader::State::NotifyLogfileStart() {
+ if (start_event_notifier_) {
+ if (start_event_notifier_->realtime_event_time() >
+ realtime_start_time(boot_count())) {
+ VLOG(1) << "Skipping, " << start_event_notifier_->realtime_event_time()
+ << " > " << realtime_start_time(boot_count());
+ return;
+ }
+ }
+ if (found_last_message_) {
+ VLOG(1) << "Last message already found, bailing";
+ return;
+ }
+ RunOnStart();
+}
+
+void LogReader::State::NotifyFlagStart() {
+ if (start_event_notifier_->realtime_event_time() >=
+ realtime_start_time(boot_count())) {
+ RunOnStart();
+ }
+}
+
+void LogReader::State::NotifyLogfileEnd() {
+ if (found_last_message_) {
+ return;
+ }
+
+ if (!stopped_ && started_) {
+ RunOnEnd();
+ }
+}
+
+void LogReader::State::NotifyFlagEnd() {
+ if (!stopped_ && started_) {
+ RunOnEnd();
+ SetFoundLastMessage(true);
+ }
+}
+
} // namespace logger
} // namespace aos
diff --git a/aos/events/logging/log_reader.h b/aos/events/logging/log_reader.h
index 3eebba7..9bfc90a 100644
--- a/aos/events/logging/log_reader.h
+++ b/aos/events/logging/log_reader.h
@@ -23,6 +23,8 @@
namespace aos {
namespace logger {
+class EventNotifier;
+
// We end up with one of the following 3 log file types.
//
// Single node logged as the source node.
@@ -73,10 +75,20 @@
// below, but can be anything as long as the locations needed to send
// everything are available.
void Register(SimulatedEventLoopFactory *event_loop_factory);
+
// Registers all the callbacks to send the log file data out to an event loop
// factory. This does not start replaying or change the current distributed
// time of the factory. It does change the monotonic clocks to be right.
void RegisterWithoutStarting(SimulatedEventLoopFactory *event_loop_factory);
+ // Runs the log until the last start time. Register above is defined as:
+ // Register(...) {
+ // RegisterWithoutStarting
+ // StartAfterRegister
+ // }
+ // This should generally be considered as a stepping stone to convert from
+ // Register() to RegisterWithoutStarting() incrementally.
+ void StartAfterRegister(SimulatedEventLoopFactory *event_loop_factory);
+
// Creates an SimulatedEventLoopFactory accessible via event_loop_factory(),
// and then calls Register.
void Register();
@@ -121,6 +133,14 @@
realtime_clock::time_point realtime_start_time(
const Node *node = nullptr) const;
+ // Sets the start and end times to replay data until for all nodes. This
+ // overrides the --start_time and --end_time flags. The default is to replay
+ // all data.
+ void SetStartTime(std::string start_time);
+ void SetStartTime(realtime_clock::time_point start_time);
+ void SetEndTime(std::string end_time);
+ void SetEndTime(realtime_clock::time_point end_time);
+
// Causes the logger to publish the provided channel on a different name so
// that replayed applications can publish on the proper channel name without
// interference. This operates on raw channel names, without any node or
@@ -277,7 +297,7 @@
TimestampedMessage PopOldest();
// Returns the monotonic time of the oldest message.
- BootTimestamp OldestMessageTime() const;
+ BootTimestamp OldestMessageTime();
size_t boot_count() const {
// If we are replaying directly into an event loop, we can't reboot. So
@@ -296,7 +316,7 @@
if (start_time == monotonic_clock::min_time) {
LOG(ERROR)
<< "No start time, skipping, please figure out when this happens";
- RunOnStart();
+ NotifyLogfileStart();
return;
}
CHECK_GE(start_time, event_loop_->monotonic_now());
@@ -329,7 +349,9 @@
// Sets the node event loop factory for replaying into a
// SimulatedEventLoopFactory. Returns the EventLoop to use.
- void SetNodeEventLoopFactory(NodeEventLoopFactory *node_event_loop_factory);
+ void SetNodeEventLoopFactory(
+ NodeEventLoopFactory *node_event_loop_factory,
+ SimulatedEventLoopFactory *event_loop_factory);
// Sets and gets the event loop to use.
void set_event_loop(EventLoop *event_loop) { event_loop_ = event_loop; }
@@ -419,6 +441,18 @@
void RunOnStart();
void RunOnEnd();
+ // Handles a logfile start event to potentially call the OnStart callbacks.
+ void NotifyLogfileStart();
+ // Handles a start time flag start event to potentially call the OnStart
+ // callbacks.
+ void NotifyFlagStart();
+
+ // Handles a logfile end event to potentially call the OnEnd callbacks.
+ void NotifyLogfileEnd();
+ // Handles a end time flag start event to potentially call the OnEnd
+ // callbacks.
+ void NotifyFlagEnd();
+
// Unregisters everything so we can destory the event loop.
// TODO(austin): Is this needed? OnShutdown should be able to serve this
// need.
@@ -437,6 +471,18 @@
}
}
+ // Creates and registers the --start_time and --end_time event callbacks.
+ void SetStartTimeFlag(realtime_clock::time_point start_time);
+ void SetEndTimeFlag(realtime_clock::time_point end_time);
+
+ // Notices the next message to update the start/end time callbacks.
+ void ObserveNextMessage(monotonic_clock::time_point monotonic_event,
+ realtime_clock::time_point realtime_event);
+
+ // Clears the start and end time flag handlers so we can delete the event
+ // loop.
+ void ClearTimeFlags();
+
// Sets the next wakeup time on the replay callback.
void Setup(monotonic_clock::time_point next_time) {
timer_handler_->Setup(next_time);
@@ -516,6 +562,8 @@
// Factory (if we are in sim) that this loop was created on.
NodeEventLoopFactory *node_event_loop_factory_ = nullptr;
+ SimulatedEventLoopFactory *event_loop_factory_ = nullptr;
+
std::unique_ptr<EventLoop> event_loop_unique_ptr_;
// Event loop.
const Node *node_ = nullptr;
@@ -524,6 +572,9 @@
TimerHandler *timer_handler_ = nullptr;
TimerHandler *startup_timer_ = nullptr;
+ std::unique_ptr<EventNotifier> start_event_notifier_;
+ std::unique_ptr<EventNotifier> end_event_notifier_;
+
// Filters (or nullptr if it isn't a forwarded channel) for each channel.
// This corresponds to the object which is shared among all the channels
// going between 2 nodes. The second element in the tuple indicates if this
@@ -598,6 +649,9 @@
// Whether to exit the SimulatedEventLoop when we finish reading the logs.
bool exit_on_finish_ = true;
+
+ realtime_clock::time_point start_time_ = realtime_clock::min_time;
+ realtime_clock::time_point end_time_ = realtime_clock::max_time;
};
} // namespace logger
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 1732549..3b0b672 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -523,7 +523,12 @@
}
};
-void ConfirmReadable(const std::vector<std::string> &files) {
+std::vector<std::pair<std::vector<realtime_clock::time_point>,
+ std::vector<realtime_clock::time_point>>>
+ConfirmReadable(
+ const std::vector<std::string> &files,
+ realtime_clock::time_point start_time = realtime_clock::min_time,
+ realtime_clock::time_point end_time = realtime_clock::max_time) {
{
LogReader reader(SortParts(files));
@@ -535,22 +540,65 @@
reader.Deregister();
}
{
+ std::vector<std::pair<std::vector<realtime_clock::time_point>,
+ std::vector<realtime_clock::time_point>>>
+ result;
LogReader reader(SortParts(files));
+ reader.SetStartTime(start_time);
+ reader.SetEndTime(end_time);
+
SimulatedEventLoopFactory log_reader_factory(reader.configuration());
reader.RegisterWithoutStarting(&log_reader_factory);
+ result.resize(
+ configuration::NodesCount(log_reader_factory.configuration()));
if (configuration::MultiNode(log_reader_factory.configuration())) {
+ size_t i = 0;
for (const aos::Node *node :
*log_reader_factory.configuration()->nodes()) {
- reader.OnStart(node, [node]() {
+ LOG(INFO) << "Registering start";
+ reader.OnStart(node, [node, &log_reader_factory, &result,
+ node_index = i]() {
LOG(INFO) << "Starting " << node->name()->string_view();
+ result[node_index].first.push_back(
+ log_reader_factory.GetNodeEventLoopFactory(node)->realtime_now());
});
+ reader.OnEnd(node, [node, &log_reader_factory, &result,
+ node_index = i]() {
+ LOG(INFO) << "Ending " << node->name()->string_view();
+ result[node_index].second.push_back(
+ log_reader_factory.GetNodeEventLoopFactory(node)->realtime_now());
+ });
+ ++i;
}
+ } else {
+ reader.OnStart([&log_reader_factory, &result]() {
+ LOG(INFO) << "Starting";
+ result[0].first.push_back(
+ log_reader_factory.GetNodeEventLoopFactory(nullptr)
+ ->realtime_now());
+ });
+ reader.OnEnd([&log_reader_factory, &result]() {
+ LOG(INFO) << "Ending";
+ result[0].second.push_back(
+ log_reader_factory.GetNodeEventLoopFactory(nullptr)
+ ->realtime_now());
+ });
}
log_reader_factory.Run();
reader.Deregister();
+
+ for (auto x : result) {
+ for (auto y : x.first) {
+ VLOG(1) << "Start " << y;
+ }
+ for (auto y : x.second) {
+ VLOG(1) << "End " << y;
+ }
+ }
+ return result;
}
}
@@ -3589,7 +3637,27 @@
// Confirm that we can parse the result. LogReader has enough internal CHECKs
// to confirm the right thing happened.
const std::vector<LogFile> sorted_parts = SortParts(filenames);
- ConfirmReadable(filenames);
+ auto result = ConfirmReadable(filenames);
+ EXPECT_THAT(result[0].first, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(1)));
+ EXPECT_THAT(result[0].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(34990350)));
+
+ EXPECT_THAT(result[1].first,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::seconds(1),
+ realtime_clock::epoch() + chrono::microseconds(3323000)));
+ EXPECT_THAT(result[1].second,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::microseconds(13990200),
+ realtime_clock::epoch() + chrono::microseconds(16313200)));
+
+ EXPECT_THAT(result[2].first, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(1)));
+ EXPECT_THAT(result[2].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(34900150)));
}
// Tests that local data before remote data after reboot is properly replayed.
@@ -3730,9 +3798,201 @@
// Confirm that we can parse the result. LogReader has enough internal CHECKs
// to confirm the right thing happened.
const std::vector<LogFile> sorted_parts = SortParts(filenames);
- ConfirmReadable(filenames);
+ auto result = ConfirmReadable(filenames);
+
+ EXPECT_THAT(result[0].first, ::testing::ElementsAre(realtime_clock::epoch()));
+ EXPECT_THAT(result[0].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(11000350)));
+
+ EXPECT_THAT(result[1].first,
+ ::testing::ElementsAre(
+ realtime_clock::epoch(),
+ realtime_clock::epoch() + chrono::microseconds(107005000)));
+ EXPECT_THAT(result[1].second,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::microseconds(4000150),
+ realtime_clock::epoch() + chrono::microseconds(111000200)));
+
+ EXPECT_THAT(result[2].first, ::testing::ElementsAre(realtime_clock::epoch()));
+ EXPECT_THAT(result[2].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(11000150)));
+
+ auto start_stop_result = ConfirmReadable(
+ filenames, realtime_clock::epoch() + chrono::milliseconds(2000),
+ realtime_clock::epoch() + chrono::milliseconds(3000));
+
+ EXPECT_THAT(start_stop_result[0].first, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(2)));
+ EXPECT_THAT(start_stop_result[0].second, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(3)));
+ EXPECT_THAT(start_stop_result[1].first, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(2)));
+ EXPECT_THAT(start_stop_result[1].second, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(3)));
+ EXPECT_THAT(start_stop_result[2].first, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(2)));
+ EXPECT_THAT(start_stop_result[2].second, ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::seconds(3)));
}
+// Tests that setting the start and stop flags across a reboot works as
+// expected.
+TEST(MultinodeRebootLoggerTest, RebootStartStopTimes) {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(ArtifactPath(
+ "aos/events/logging/multinode_pingpong_split3_config.json"));
+ message_bridge::TestingTimeConverter time_converter(
+ configuration::NodesCount(&config.message()));
+ SimulatedEventLoopFactory event_loop_factory(&config.message());
+ event_loop_factory.SetTimeConverter(&time_converter);
+ NodeEventLoopFactory *const pi1 =
+ event_loop_factory.GetNodeEventLoopFactory("pi1");
+ const size_t pi1_index = configuration::GetNodeIndex(
+ event_loop_factory.configuration(), pi1->node());
+ NodeEventLoopFactory *const pi2 =
+ event_loop_factory.GetNodeEventLoopFactory("pi2");
+ const size_t pi2_index = configuration::GetNodeIndex(
+ event_loop_factory.configuration(), pi2->node());
+ NodeEventLoopFactory *const pi3 =
+ event_loop_factory.GetNodeEventLoopFactory("pi3");
+ const size_t pi3_index = configuration::GetNodeIndex(
+ event_loop_factory.configuration(), pi3->node());
+
+ const std::string kLogfile1_1 =
+ aos::testing::TestTmpDir() + "/multi_logfile1/";
+ const std::string kLogfile2_1 =
+ aos::testing::TestTmpDir() + "/multi_logfile2.1/";
+ const std::string kLogfile2_2 =
+ aos::testing::TestTmpDir() + "/multi_logfile2.2/";
+ const std::string kLogfile3_1 =
+ aos::testing::TestTmpDir() + "/multi_logfile3/";
+ util::UnlinkRecursive(kLogfile1_1);
+ util::UnlinkRecursive(kLogfile2_1);
+ util::UnlinkRecursive(kLogfile2_2);
+ util::UnlinkRecursive(kLogfile3_1);
+ {
+ CHECK_EQ(pi1_index, 0u);
+ CHECK_EQ(pi2_index, 1u);
+ CHECK_EQ(pi3_index, 2u);
+
+ time_converter.AddNextTimestamp(
+ distributed_clock::epoch(),
+ {BootTimestamp::epoch(), BootTimestamp::epoch(),
+ BootTimestamp::epoch()});
+ const chrono::nanoseconds reboot_time = chrono::milliseconds(5000);
+ time_converter.AddNextTimestamp(
+ distributed_clock::epoch() + reboot_time,
+ {BootTimestamp::epoch() + reboot_time,
+ BootTimestamp{.boot = 1,
+ .time = monotonic_clock::epoch() + reboot_time},
+ BootTimestamp::epoch() + reboot_time});
+ }
+
+ std::vector<std::string> filenames;
+ {
+ LoggerState pi1_logger = LoggerState::MakeLogger(
+ pi1, &event_loop_factory, SupportedCompressionAlgorithms()[0]);
+ LoggerState pi3_logger = LoggerState::MakeLogger(
+ pi3, &event_loop_factory, SupportedCompressionAlgorithms()[0]);
+ {
+ // And now start the logger.
+ LoggerState pi2_logger = LoggerState::MakeLogger(
+ pi2, &event_loop_factory, SupportedCompressionAlgorithms()[0]);
+
+ pi1_logger.StartLogger(kLogfile1_1);
+ pi3_logger.StartLogger(kLogfile3_1);
+ pi2_logger.StartLogger(kLogfile2_1);
+
+ event_loop_factory.RunFor(chrono::milliseconds(1005));
+
+ // Now that we've got a start time in the past, turn on data.
+ std::unique_ptr<aos::EventLoop> ping_event_loop =
+ pi1->MakeEventLoop("ping");
+ Ping ping(ping_event_loop.get());
+
+ pi2->AlwaysStart<Pong>("pong");
+
+ event_loop_factory.RunFor(chrono::milliseconds(3000));
+
+ pi2_logger.AppendAllFilenames(&filenames);
+ }
+ event_loop_factory.RunFor(chrono::milliseconds(995));
+ // pi2 now reboots at 5 seconds.
+ {
+ event_loop_factory.RunFor(chrono::milliseconds(1000));
+
+ // Make local stuff happen before we start logging and connect the remote.
+ pi2->AlwaysStart<Pong>("pong");
+ std::unique_ptr<aos::EventLoop> ping_event_loop =
+ pi1->MakeEventLoop("ping");
+ Ping ping(ping_event_loop.get());
+ event_loop_factory.RunFor(chrono::milliseconds(5));
+
+ // Start logging again on pi2 after it is up.
+ LoggerState pi2_logger = LoggerState::MakeLogger(
+ pi2, &event_loop_factory, SupportedCompressionAlgorithms()[0]);
+ pi2_logger.StartLogger(kLogfile2_2);
+
+ event_loop_factory.RunFor(chrono::milliseconds(5000));
+
+ pi2_logger.AppendAllFilenames(&filenames);
+ }
+
+ pi1_logger.AppendAllFilenames(&filenames);
+ pi3_logger.AppendAllFilenames(&filenames);
+ }
+
+ const std::vector<LogFile> sorted_parts = SortParts(filenames);
+ auto result = ConfirmReadable(filenames);
+
+ EXPECT_THAT(result[0].first, ::testing::ElementsAre(realtime_clock::epoch()));
+ EXPECT_THAT(result[0].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(11000350)));
+
+ EXPECT_THAT(result[1].first,
+ ::testing::ElementsAre(
+ realtime_clock::epoch(),
+ realtime_clock::epoch() + chrono::microseconds(6005000)));
+ EXPECT_THAT(result[1].second,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::microseconds(4900150),
+ realtime_clock::epoch() + chrono::microseconds(11000200)));
+
+ EXPECT_THAT(result[2].first, ::testing::ElementsAre(realtime_clock::epoch()));
+ EXPECT_THAT(result[2].second,
+ ::testing::ElementsAre(realtime_clock::epoch() +
+ chrono::microseconds(11000150)));
+
+ // Confirm we observed the correct start and stop times. We should see the
+ // reboot here.
+ auto start_stop_result = ConfirmReadable(
+ filenames, realtime_clock::epoch() + chrono::milliseconds(2000),
+ realtime_clock::epoch() + chrono::milliseconds(8000));
+
+ EXPECT_THAT(
+ start_stop_result[0].first,
+ ::testing::ElementsAre(realtime_clock::epoch() + chrono::seconds(2)));
+ EXPECT_THAT(
+ start_stop_result[0].second,
+ ::testing::ElementsAre(realtime_clock::epoch() + chrono::seconds(8)));
+ EXPECT_THAT(start_stop_result[1].first,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::seconds(2),
+ realtime_clock::epoch() + chrono::microseconds(6005000)));
+ EXPECT_THAT(start_stop_result[1].second,
+ ::testing::ElementsAre(
+ realtime_clock::epoch() + chrono::microseconds(4900150),
+ realtime_clock::epoch() + chrono::seconds(8)));
+ EXPECT_THAT(
+ start_stop_result[2].first,
+ ::testing::ElementsAre(realtime_clock::epoch() + chrono::seconds(2)));
+ EXPECT_THAT(
+ start_stop_result[2].second,
+ ::testing::ElementsAre(realtime_clock::epoch() + chrono::seconds(8)));
+}
} // namespace testing
} // namespace logger
diff --git a/aos/events/logging/snappy_encoder.cc b/aos/events/logging/snappy_encoder.cc
index 4621273..8f46cf3 100644
--- a/aos/events/logging/snappy_encoder.cc
+++ b/aos/events/logging/snappy_encoder.cc
@@ -1,6 +1,6 @@
#include "aos/events/logging/snappy_encoder.h"
-#include "aos/events/logging/crc32.h"
+#include "aos/util/crc32.h"
#include "external/snappy/snappy.h"
namespace aos::logger {
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index a2428a4..a1ef95d 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -1268,6 +1268,11 @@
event_loop->SetIsRunning(true);
}
});
+ scheduler_.set_stopped([this]() {
+ for (SimulatedEventLoop *event_loop : event_loops_) {
+ event_loop->SetIsRunning(false);
+ }
+ });
scheduler_.set_on_shutdown([this]() {
VLOG(1) << scheduler_.distributed_now() << " " << NodeName(this->node())
<< monotonic_now() << " Shutting down node.";
@@ -1339,7 +1344,7 @@
void NodeEventLoopFactory::Shutdown() {
for (SimulatedEventLoop *event_loop : event_loops_) {
- event_loop->SetIsRunning(false);
+ CHECK(!event_loop->is_running());
}
CHECK(started_);
@@ -1367,12 +1372,11 @@
void SimulatedEventLoopFactory::RunFor(monotonic_clock::duration duration) {
// This sets running to true too.
- scheduler_scheduler_.RunOnStartup();
scheduler_scheduler_.RunFor(duration);
for (std::unique_ptr<NodeEventLoopFactory> &node : node_factories_) {
if (node) {
for (SimulatedEventLoop *loop : node->event_loops_) {
- loop->SetIsRunning(false);
+ CHECK(!loop->is_running());
}
}
}
@@ -1380,12 +1384,11 @@
void SimulatedEventLoopFactory::Run() {
// This sets running to true too.
- scheduler_scheduler_.RunOnStartup();
scheduler_scheduler_.Run();
for (std::unique_ptr<NodeEventLoopFactory> &node : node_factories_) {
if (node) {
for (SimulatedEventLoop *loop : node->event_loops_) {
- loop->SetIsRunning(false);
+ CHECK(!loop->is_running());
}
}
}
@@ -1458,6 +1461,11 @@
return std::move(result);
}
+void SimulatedEventLoopFactory::AllowApplicationCreationDuring(
+ std::function<void()> fn) {
+ scheduler_scheduler_.TemporarilyStopAndRun(std::move(fn));
+}
+
void NodeEventLoopFactory::Disconnect(const Node *other) {
factory_->bridge_->Disconnect(node_, other);
}
diff --git a/aos/events/simulated_event_loop.h b/aos/events/simulated_event_loop.h
index bd589d6..9a447e9 100644
--- a/aos/events/simulated_event_loop.h
+++ b/aos/events/simulated_event_loop.h
@@ -128,6 +128,11 @@
// tests.
void SkipTimingReport();
+ // Re-enables application creation for the duration of fn. This is mostly to
+ // allow use cases like log reading to create applications after the node
+ // starts up without stopping execution.
+ void AllowApplicationCreationDuring(std::function<void()> fn);
+
private:
friend class NodeEventLoopFactory;
diff --git a/aos/events/simulated_event_loop_test.cc b/aos/events/simulated_event_loop_test.cc
index a94b895..09202ff 100644
--- a/aos/events/simulated_event_loop_test.cc
+++ b/aos/events/simulated_event_loop_test.cc
@@ -181,6 +181,29 @@
EXPECT_EQ(counter, 0);
}
+// Test that TemporarilyStopAndRun respects and preserves running.
+TEST(EventSchedulerTest, TemporarilyStopAndRun) {
+ int counter = 0;
+ EventSchedulerScheduler scheduler_scheduler;
+ EventScheduler scheduler(0);
+ scheduler_scheduler.AddEventScheduler(&scheduler);
+
+ scheduler_scheduler.TemporarilyStopAndRun(
+ [&]() { CHECK(!scheduler_scheduler.is_running()); });
+ ASSERT_FALSE(scheduler_scheduler.is_running());
+
+ FunctionEvent e([&]() {
+ counter += 1;
+ CHECK(scheduler_scheduler.is_running());
+ scheduler_scheduler.TemporarilyStopAndRun(
+ [&]() { CHECK(!scheduler_scheduler.is_running()); });
+ CHECK(scheduler_scheduler.is_running());
+ });
+ scheduler.Schedule(monotonic_clock::epoch() + chrono::seconds(1), &e);
+ scheduler_scheduler.Run();
+ EXPECT_EQ(counter, 1);
+}
+
void SendTestMessage(aos::Sender<TestMessage> *sender, int value) {
aos::Sender<TestMessage>::Builder builder = sender->MakeBuilder();
TestMessage::Builder test_message_builder =
diff --git a/aos/events/simulated_network_bridge.cc b/aos/events/simulated_network_bridge.cc
index 4c9208e..c6ea811 100644
--- a/aos/events/simulated_network_bridge.cc
+++ b/aos/events/simulated_network_bridge.cc
@@ -228,6 +228,8 @@
// TODO(austin): Not cool. We want to actually forward these. This means
// we need a more sophisticated concept of what is running.
+ // TODO(james): This fails if multiple messages are sent on the same channel
+ // within the same callback.
LOG(WARNING) << "Not forwarding message on "
<< configuration::CleanedChannelToString(fetcher_->channel())
<< " because we aren't running. Set at "
diff --git a/aos/network/log_web_proxy_main.cc b/aos/network/log_web_proxy_main.cc
index 5c099a2..945d034 100644
--- a/aos/network/log_web_proxy_main.cc
+++ b/aos/network/log_web_proxy_main.cc
@@ -42,7 +42,8 @@
event_loop->SkipTimingReport();
- aos::web_proxy::WebProxy web_proxy(event_loop.get(), FLAGS_buffer_size);
+ aos::web_proxy::WebProxy web_proxy(
+ event_loop.get(), aos::web_proxy::StoreHistory::kYes, FLAGS_buffer_size);
web_proxy.SetDataPath(FLAGS_data_dir.c_str());
diff --git a/aos/network/rawrtc.cc b/aos/network/rawrtc.cc
index 98f2448..c195a4b 100644
--- a/aos/network/rawrtc.cc
+++ b/aos/network/rawrtc.cc
@@ -148,8 +148,9 @@
void ScopedDataChannel::Close() {
CHECK(opened_);
- CHECK(!closed_);
- CHECK_RAWRTC(rawrtc_data_channel_close(data_channel_));
+ if (!closed_) {
+ CHECK_RAWRTC(rawrtc_data_channel_close(data_channel_));
+ }
}
void ScopedDataChannel::Send(const ::flatbuffers::DetachedBuffer &buffer) {
diff --git a/aos/network/web_proxy.cc b/aos/network/web_proxy.cc
index fdd8f1e..6d4f23f 100644
--- a/aos/network/web_proxy.cc
+++ b/aos/network/web_proxy.cc
@@ -28,7 +28,9 @@
namespace aos {
namespace web_proxy {
WebsocketHandler::WebsocketHandler(::seasocks::Server *server,
- aos::EventLoop *event_loop, int buffer_size)
+ aos::EventLoop *event_loop,
+ StoreHistory store_history,
+ int per_channel_buffer_size_bytes)
: server_(server),
config_(aos::CopyFlatBuffer(event_loop->configuration())),
event_loop_(event_loop) {
@@ -47,7 +49,10 @@
if (aos::configuration::ChannelIsReadableOnNode(channel, self)) {
auto fetcher = event_loop_->MakeRawFetcher(channel);
subscribers_.emplace_back(std::make_unique<aos::web_proxy::Subscriber>(
- std::move(fetcher), i, buffer_size));
+ std::move(fetcher), i, store_history,
+ per_channel_buffer_size_bytes < 0
+ ? -1
+ : per_channel_buffer_size_bytes / channel->max_size()));
} else {
subscribers_.emplace_back(nullptr);
}
@@ -126,19 +131,24 @@
global_epoll->DeleteFd(fd);
}
-WebProxy::WebProxy(aos::EventLoop *event_loop, int buffer_size)
- : WebProxy(event_loop, &internal_epoll_, buffer_size) {}
+WebProxy::WebProxy(aos::EventLoop *event_loop, StoreHistory store_history,
+ int per_channel_buffer_size_bytes)
+ : WebProxy(event_loop, &internal_epoll_, store_history,
+ per_channel_buffer_size_bytes) {}
-WebProxy::WebProxy(aos::ShmEventLoop *event_loop, int buffer_size)
- : WebProxy(event_loop, event_loop->epoll(), buffer_size) {}
+WebProxy::WebProxy(aos::ShmEventLoop *event_loop, StoreHistory store_history,
+ int per_channel_buffer_size_bytes)
+ : WebProxy(event_loop, event_loop->epoll(), store_history,
+ per_channel_buffer_size_bytes) {}
WebProxy::WebProxy(aos::EventLoop *event_loop, aos::internal::EPoll *epoll,
- int buffer_size)
+ StoreHistory store_history,
+ int per_channel_buffer_size_bytes)
: epoll_(epoll),
server_(std::make_shared<aos::seasocks::SeasocksLogger>(
::seasocks::Logger::Level::Info)),
- websocket_handler_(
- new WebsocketHandler(&server_, event_loop, buffer_size)) {
+ websocket_handler_(new WebsocketHandler(
+ &server_, event_loop, store_history, per_channel_buffer_size_bytes)) {
CHECK(!global_epoll);
global_epoll = epoll;
@@ -192,10 +202,13 @@
}
void Subscriber::RunIteration() {
- if (channels_.empty() && buffer_size_ == 0) {
+ if (channels_.empty() && (buffer_size_ == 0 || !store_history_)) {
+ fetcher_->Fetch();
+ message_buffer_.clear();
return;
}
+
while (fetcher_->FetchNext()) {
// If we aren't building up a buffer, short-circuit the FetchNext().
if (buffer_size_ == 0) {
@@ -271,12 +284,6 @@
ChannelInformation info;
info.transfer_method = transfer_method;
- // If we aren't keeping a buffer and there are no existing listeners, call
- // Fetch() to avoid falling behind on future calls to FetchNext().
- if (channels_.empty() && buffer_size_ == 0) {
- fetcher_->Fetch();
- }
-
channels_.emplace_back(std::make_pair(data_channel, info));
data_channel->set_on_message(
diff --git a/aos/network/web_proxy.fbs b/aos/network/web_proxy.fbs
index 6c85acb..f1d6645 100644
--- a/aos/network/web_proxy.fbs
+++ b/aos/network/web_proxy.fbs
@@ -64,7 +64,7 @@
enum TransferMethod : byte {
SUBSAMPLE,
- EVERYTHING_WITH_HISTORY,
+ LOSSLESS,
}
table ChannelRequest {
diff --git a/aos/network/web_proxy.h b/aos/network/web_proxy.h
index 0815ebf..baca26e 100644
--- a/aos/network/web_proxy.h
+++ b/aos/network/web_proxy.h
@@ -24,13 +24,19 @@
class Subscriber;
class ApplicationConnection;
+enum class StoreHistory {
+ kNo,
+ kYes,
+};
+
// Basic class that handles receiving new websocket connections. Creates a new
// Connection to manage the rest of the negotiation and data passing. When the
// websocket closes, it deletes the Connection.
class WebsocketHandler : public ::seasocks::WebSocket::Handler {
public:
WebsocketHandler(::seasocks::Server *server, aos::EventLoop *event_loop,
- int buffer_size);
+ StoreHistory store_history,
+ int per_channel_buffer_size_bytes);
void onConnect(::seasocks::WebSocket *sock) override;
void onData(::seasocks::WebSocket *sock, const uint8_t *data,
size_t size) override;
@@ -50,15 +56,28 @@
// Wrapper class that manages the seasocks server and WebsocketHandler.
class WebProxy {
public:
- WebProxy(aos::EventLoop *event_loop, int buffer_size);
- WebProxy(aos::ShmEventLoop *event_loop, int buffer_size);
+ // Constructs a WebProxy object for interacting with a webpage. store_history
+ // and per_channel_buffer_size_bytes specify how we manage delivering LOSSLESS
+ // messages to the client:
+ // * store_history specifies whether we should always buffer up data for all
+ // channels--even for messages that are played prior to the client
+ // connecting. This is mostly useful for log replay where the client
+ // will typically connect after the logfile has been fully loaded/replayed.
+ // * per_channel_buffer_size_bytes is the maximum amount of data to buffer
+ // up per channel (-1 will indicate infinite data, which is used during log
+ // replay). This is divided by the max_size per channel to determine
+ // how many messages to queue up.
+ WebProxy(aos::EventLoop *event_loop, StoreHistory store_history,
+ int per_channel_buffer_size_bytes);
+ WebProxy(aos::ShmEventLoop *event_loop, StoreHistory store_history,
+ int per_channel_buffer_size_bytes);
~WebProxy();
void SetDataPath(const char *path) { server_.setStaticPath(path); }
private:
WebProxy(aos::EventLoop *event_loop, aos::internal::EPoll *epoll,
- int buffer_size);
+ StoreHistory store_history, int per_channel_buffer_size_bytes);
aos::internal::EPoll internal_epoll_;
aos::internal::EPoll *const epoll_;
@@ -96,9 +115,10 @@
class Subscriber {
public:
Subscriber(std::unique_ptr<RawFetcher> fetcher, int channel_index,
- int buffer_size)
+ StoreHistory store_history, int buffer_size)
: fetcher_(std::move(fetcher)),
channel_index_(channel_index),
+ store_history_(store_history == StoreHistory::kYes),
buffer_size_(buffer_size) {}
void RunIteration();
@@ -133,6 +153,10 @@
std::unique_ptr<RawFetcher> fetcher_;
int channel_index_;
+ // If set, will always build up a buffer of the most recent buffer_size_
+ // messages. If store_history_ is *not* set we will only buffer up messages
+ // while there is an active listener.
+ bool store_history_;
int buffer_size_;
std::deque<Message> message_buffer_;
// The ScopedDataChannel that we use for actually sending data over WebRTC
diff --git a/aos/network/web_proxy_main.cc b/aos/network/web_proxy_main.cc
index 06fe942..f3ad926 100644
--- a/aos/network/web_proxy_main.cc
+++ b/aos/network/web_proxy_main.cc
@@ -6,7 +6,9 @@
DEFINE_string(config, "./config.json", "File path of aos configuration");
DEFINE_string(data_dir, "www", "Directory to serve data files from");
-DEFINE_int32(buffer_size, 0, "-1 if infinite, in # of messages / channel.");
+DEFINE_int32(buffer_size, 1000000,
+ "-1 if infinite, in bytes / channel. If there are no active "
+ "connections, will not store anything.");
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
@@ -16,7 +18,8 @@
aos::ShmEventLoop event_loop(&config.message());
- aos::web_proxy::WebProxy web_proxy(&event_loop, FLAGS_buffer_size);
+ aos::web_proxy::WebProxy web_proxy(
+ &event_loop, aos::web_proxy::StoreHistory::kNo, FLAGS_buffer_size);
web_proxy.SetDataPath(FLAGS_data_dir.c_str());
event_loop.Run();
diff --git a/aos/network/www/proxy.ts b/aos/network/www/proxy.ts
index 5461899..5415400 100644
--- a/aos/network/www/proxy.ts
+++ b/aos/network/www/proxy.ts
@@ -117,7 +117,7 @@
name: string, type: string,
handler: (data: Uint8Array, sentTime: number) => void): void {
this.addHandlerImpl(
- name, type, TransferMethod.EVERYTHING_WITH_HISTORY, handler);
+ name, type, TransferMethod.LOSSLESS, handler);
}
/**
@@ -137,7 +137,7 @@
if (!this.handlerFuncs.has(channel.key())) {
this.handlerFuncs.set(channel.key(), []);
} else {
- if (method == TransferMethod.EVERYTHING_WITH_HISTORY) {
+ if (method == TransferMethod.LOSSLESS) {
console.warn(
'Behavior of multiple reliable handlers is currently poorly ' +
'defined and may not actually deliver all of the messages.');
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index 7a25fc7..f18dfda 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -8,6 +8,43 @@
ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
elif [[ "$(hostname)" == "pi-"* ]]; then
+ function chrtirq() {
+ ps -ef | grep "\\[$1\\]" | awk '{print $2}' | xargs chrt $2 -p $3
+ }
+
+ chrtirq "irq/20-fe00b880" -f 50
+ chrtirq "irq/66-xhci_hcd" -f 1
+ chrtirq "irq/50-VCHIQ do" -o 0
+ chrtirq "irq/27-DMA IRQ" -f 50
+ chrtirq "irq/51-mmc1" -o 0
+ chrtirq "irq/51-mmc0" -o 0
+ chrtirq "irq/51-s-mmc0" -o 0
+ chrtirq "irq/64-v3d" -o 0
+ chrtirq "irq/24-vc4 hvs" -o 0
+ chrtirq "irq/42-vc4 hdmi" -o 0
+ chrtirq "irq/43-vc4 hdmi" -o 0
+ chrtirq "irq/39-vc4 hdmi" -o 0
+ chrtirq "irq/39-s-vc4 hd" -o 0
+ chrtirq "irq/38-vc4 hdmi" -o 0
+ chrtirq "irq/38-s-vc4 hd" -o 0
+ chrtirq "irq/29-DMA IRQ" -f 50
+ chrtirq "irq/48-vc4 hdmi" -o 0
+ chrtirq "irq/49-vc4 hdmi" -o 0
+ chrtirq "irq/45-vc4 hdmi" -o 0
+ chrtirq "irq/45-s-vc4 hd" -o 0
+ chrtirq "irq/44-vc4 hdmi" -o 0
+ chrtirq "irq/44-s-vc4 hd" -o 0
+ chrtirq "irq/30-DMA IRQ" -f 50
+ chrtirq "irq/19-fe004000" -f 50
+ chrtirq "irq/34-vc4 crtc" -o 0
+ chrtirq "irq/35-vc4 crtc" -o 0
+ chrtirq "irq/36-vc4 crtc" -o 0
+ chrtirq "irq/35-vc4 crtc" -o 0
+ chrtirq "irq/37-vc4 crtc" -o 0
+ chrtirq "irq/23-uart-pl0" -o 0
+ chrtirq "irq/57-eth0" -f 10
+ chrtirq "irq/58-eth0" -f 10
+
# We have systemd configured to handle restarting, so just exec.
export PATH="${PATH}:/home/pi/robot_code"
rm -rf /dev/shm/aos
diff --git a/aos/util/BUILD b/aos/util/BUILD
index 0314069..8df16e2 100644
--- a/aos/util/BUILD
+++ b/aos/util/BUILD
@@ -257,6 +257,15 @@
],
)
+cc_library(
+ name = "crc32",
+ srcs = ["crc32.cc"],
+ hdrs = ["crc32.h"],
+ deps = [
+ "@com_google_absl//absl/types:span",
+ ],
+)
+
py_library(
name = "python_init",
srcs = ["__init__.py"],
diff --git a/aos/events/logging/crc32.cc b/aos/util/crc32.cc
similarity index 95%
rename from aos/events/logging/crc32.cc
rename to aos/util/crc32.cc
index cd9d9fb..7f13f30 100644
--- a/aos/events/logging/crc32.cc
+++ b/aos/util/crc32.cc
@@ -1,4 +1,4 @@
-#include "aos/events/logging/crc32.h"
+#include "aos/util/crc32.h"
namespace aos {
@@ -53,9 +53,8 @@
return AccumulateCrc32(data, std::nullopt);
}
-uint32_t AccumulateCrc32(
- const absl::Span<uint8_t> data,
- std::optional<uint32_t> current_checksum) {
+uint32_t AccumulateCrc32(const absl::Span<uint8_t> data,
+ std::optional<uint32_t> current_checksum) {
uint32_t crc =
current_checksum.has_value() ? current_checksum.value() : 0xFF'FF'FF'FF;
for (const uint8_t n : data) {
diff --git a/aos/events/logging/crc32.h b/aos/util/crc32.h
similarity index 100%
rename from aos/events/logging/crc32.h
rename to aos/util/crc32.h
diff --git a/build_tests/BUILD b/build_tests/BUILD
index 6a81509..705c4ff 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,8 +1,10 @@
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_py_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_go_library", "flatbuffer_py_library")
load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
load("//tools/build_rules:apache.bzl", "apache_wrapper")
load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library", "rust_test")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+load("@npm//@bazel/concatjs:index.bzl", "karma_web_test_suite")
cc_test(
name = "gflags_build_test",
@@ -77,6 +79,14 @@
visibility = ["//visibility:public"],
)
+flatbuffer_go_library(
+ name = "test_go_fbs",
+ srcs = ["test.fbs"],
+ importpath = "github.com/frc971/971-Robot-Code/build_tests/fbs",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
py_test(
name = "python_fbs",
srcs = ["python_fbs.py"],
@@ -147,3 +157,25 @@
target_compatible_with = ["@platforms//os:linux"],
deps = [":hello_lib"],
)
+
+ts_library(
+ name = "build_tests_ts",
+ srcs = ["basic.ts"],
+)
+
+ts_library(
+ name = "ts_test",
+ testonly = True,
+ srcs = ["basic_test.ts"],
+ deps = [
+ ":build_tests_ts",
+ "@npm//@types/jasmine",
+ ],
+)
+
+karma_web_test_suite(
+ name = "karma",
+ testonly = True,
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [":ts_test"],
+)
diff --git a/build_tests/basic.ts b/build_tests/basic.ts
new file mode 100644
index 0000000..6ddac49
--- /dev/null
+++ b/build_tests/basic.ts
@@ -0,0 +1,6 @@
+/**
+ * Computes the sum of the input values
+ */
+export function add(x: number, y: number): number {
+ return x + y;
+}
diff --git a/build_tests/basic_test.ts b/build_tests/basic_test.ts
new file mode 100644
index 0000000..298f928
--- /dev/null
+++ b/build_tests/basic_test.ts
@@ -0,0 +1,11 @@
+import {add} from './basic';
+
+describe('add', () => {
+ it('should sum numbers', () => {
+ expect(3 + 4).toEqual(7);
+ });
+
+ it('should not sum numbers', () => {
+ expect(add(3, 3)).not.toEqual(7);
+ });
+});
diff --git a/build_tests/go_flatbuffer/BUILD b/build_tests/go_flatbuffer/BUILD
new file mode 100644
index 0000000..d472a6f
--- /dev/null
+++ b/build_tests/go_flatbuffer/BUILD
@@ -0,0 +1,20 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+
+go_library(
+ name = "go_flatbuffer_lib",
+ srcs = ["go_fbs.go"],
+ importpath = "github.com/frc971/971-Robot-Code/build_tests/go_flatbuffer",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:private"],
+ deps = [
+ "//build_tests:test_go_fbs",
+ "@com_github_google_flatbuffers//go:go_default_library",
+ ],
+)
+
+go_binary(
+ name = "go_flatbuffer",
+ embed = [":go_flatbuffer_lib"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
diff --git a/build_tests/go_flatbuffer/go_fbs.go b/build_tests/go_flatbuffer/go_fbs.go
new file mode 100644
index 0000000..2e936c1
--- /dev/null
+++ b/build_tests/go_flatbuffer/go_fbs.go
@@ -0,0 +1,13 @@
+package main
+
+import (
+ build_tests "github.com/frc971/971-Robot-Code/build_tests/fbs"
+ flatbuffers "github.com/google/flatbuffers/go"
+)
+
+func main() {
+ builder := flatbuffers.NewBuilder(1024)
+ build_tests.FooStart(builder)
+ build_tests.FooAddValue(builder, 3)
+ build_tests.FooEnd(builder)
+}
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index d846ce3..82f397c 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -52,6 +52,7 @@
"//y2020/control_loops/superstructure:hood_plotter",
"//y2020/control_loops/superstructure:turret_plotter",
"//y2021_bot3/control_loops/superstructure:superstructure_plotter",
+ "//y2022/control_loops/localizer:localizer_plotter",
],
)
diff --git a/frc971/analysis/in_process_plotter.cc b/frc971/analysis/in_process_plotter.cc
index 0eaf719..cd52b1c 100644
--- a/frc971/analysis/in_process_plotter.cc
+++ b/frc971/analysis/in_process_plotter.cc
@@ -15,7 +15,7 @@
event_loop_factory_(&config_.message()),
event_loop_(event_loop_factory_.MakeEventLoop("plotter")),
plot_sender_(event_loop_->MakeSender<Plot>("/analysis")),
- web_proxy_(event_loop_.get(), -1),
+ web_proxy_(event_loop_.get(), aos::web_proxy::StoreHistory::kYes, -1),
builder_(plot_sender_.MakeBuilder()) {
web_proxy_.SetDataPath(kDataPath);
event_loop_->SkipTimingReport();
diff --git a/frc971/analysis/live_web_plotter_demo.sh b/frc971/analysis/live_web_plotter_demo.sh
index 4c4c9c4..45f3b92 100755
--- a/frc971/analysis/live_web_plotter_demo.sh
+++ b/frc971/analysis/live_web_plotter_demo.sh
@@ -1 +1 @@
-./aos/network/web_proxy_main --config=aos/network/www/test_config.json --data_dir=frc971/analysis
+./aos/network/web_proxy_main --config=aos/network/www/test_config.json --data_dir=frc971/analysis "$@"
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 2df65f6..a5203b0 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -32,8 +32,10 @@
'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
import {plotTurret} from
'org_frc971/y2020/control_loops/superstructure/turret_plotter'
-import {plotLocalizer} from
+import {plotLocalizer as plot2020Localizer} from
'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+import {plotLocalizer as plot2022Localizer} from
+ 'org_frc971/y2022/control_loops/localizer/localizer_plotter'
import {plotAccelerator} from
'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
import {plotHood} from
@@ -104,7 +106,8 @@
['Accelerator', new PlotState(plotDiv, plotAccelerator)],
['Hood', new PlotState(plotDiv, plotHood)],
['Turret', new PlotState(plotDiv, plotTurret)],
- ['2020 Localizer', new PlotState(plotDiv, plotLocalizer)],
+ ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
+ ['2020 Localizer', new PlotState(plotDiv, plot2020Localizer)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plotSuperstructure)],
]);
@@ -154,4 +157,4 @@
plotSelect.value = getDefaultPlot();
// Force the event to occur once at the start.
plotSelect.dispatchEvent(new Event('input'));
-});
\ No newline at end of file
+});
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 62b77c4..66a3dcd 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -35,7 +35,7 @@
localizer_control_fetcher_(
event_loop->MakeFetcher<LocalizerControl>("/drivetrain")),
imu_values_fetcher_(
- event_loop->MakeFetcher<::frc971::IMUValuesBatch>("/drivetrain")),
+ event_loop->TryMakeFetcher<::frc971::IMUValuesBatch>("/drivetrain")),
gyro_reading_fetcher_(
event_loop->MakeFetcher<::frc971::sensors::GyroReading>(
"/drivetrain")),
@@ -52,7 +52,9 @@
event_loop->OnRun([this]() {
// On the first fetch, make sure that we are caught all the way up to the
// present.
- imu_values_fetcher_.Fetch();
+ if (imu_values_fetcher_.valid()) {
+ imu_values_fetcher_.Fetch();
+ }
});
if (dt_config.is_simulated) {
down_estimator_.assume_perfect_gravity();
@@ -117,7 +119,7 @@
break;
}
- while (imu_values_fetcher_.FetchNext()) {
+ while (imu_values_fetcher_.valid() && imu_values_fetcher_.FetchNext()) {
CHECK(imu_values_fetcher_->has_readings());
last_gyro_time_ = monotonic_now;
for (const IMUValues *value : *imu_values_fetcher_->readings()) {
@@ -138,7 +140,7 @@
}
bool got_imu_reading = false;
- if (imu_values_fetcher_.get() != nullptr) {
+ if (imu_values_fetcher_.valid() && imu_values_fetcher_.get() != nullptr) {
imu_zeroer_.ProcessMeasurements();
got_imu_reading = true;
CHECK(imu_values_fetcher_->has_readings());
@@ -202,7 +204,9 @@
break;
}
- ready_ = imu_zeroer_.Zeroed();
+ ready_ = dt_config_.gyro_type == GyroType::SPARTAN_GYRO ||
+ dt_config_.gyro_type == GyroType::FLIPPED_SPARTAN_GYRO ||
+ imu_zeroer_.Zeroed();
// TODO(james): How aggressively can we fault here? If we fault to
// aggressively, we might have issues during startup if wpilib_interface takes
@@ -211,11 +215,18 @@
last_gyro_rate_ = 0.0;
}
- localizer_->Update(
- {last_last_voltage_(kLeftVoltage), last_last_voltage_(kRightVoltage)},
- monotonic_now, position->left_encoder(), position->right_encoder(),
- down_estimator_.avg_recent_yaw_rates(),
- down_estimator_.avg_recent_accel());
+ if (imu_values_fetcher_.valid()) {
+ localizer_->Update(
+ {last_last_voltage_(kLeftVoltage), last_last_voltage_(kRightVoltage)},
+ monotonic_now, position->left_encoder(), position->right_encoder(),
+ down_estimator_.avg_recent_yaw_rates(),
+ down_estimator_.avg_recent_accel());
+ } else {
+ localizer_->Update(
+ {last_last_voltage_(kLeftVoltage), last_last_voltage_(kRightVoltage)},
+ monotonic_now, position->left_encoder(), position->right_encoder(),
+ last_gyro_rate_, Eigen::Vector3d::Zero());
+ }
// If we get a new message setting the absolute position, then reset the
// localizer.
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
index 4b5138e..a973552 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.cc
@@ -93,16 +93,20 @@
}
DrivetrainSimulation::DrivetrainSimulation(
- ::aos::EventLoop *event_loop, const DrivetrainConfig<double> &dt_config)
+ ::aos::EventLoop *event_loop, ::aos::EventLoop *imu_event_loop,
+ const DrivetrainConfig<double> &dt_config,
+ aos::monotonic_clock::duration imu_read_period)
: event_loop_(event_loop),
+ imu_event_loop_(imu_event_loop),
robot_state_fetcher_(event_loop_->MakeFetcher<::aos::RobotState>("/aos")),
drivetrain_position_sender_(
event_loop_
->MakeSender<::frc971::control_loops::drivetrain::Position>(
"/drivetrain")),
drivetrain_truth_sender_(
- event_loop_->MakeSender<::frc971::control_loops::drivetrain::Status>(
- "/drivetrain/truth")),
+ event_loop_
+ ->TryMakeSender<::frc971::control_loops::drivetrain::Status>(
+ "/drivetrain/truth")),
drivetrain_output_fetcher_(
event_loop_->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
"/drivetrain")),
@@ -110,7 +114,7 @@
event_loop_->MakeFetcher<::frc971::control_loops::drivetrain::Status>(
"/drivetrain")),
imu_sender_(
- event_loop->MakeSender<::frc971::IMUValuesBatch>("/drivetrain")),
+ event_loop->TryMakeSender<::frc971::IMUValuesBatch>("/drivetrain")),
dt_config_(dt_config),
drivetrain_plant_(MakePlantFromConfig(dt_config_)),
velocity_drivetrain_(
@@ -121,6 +125,14 @@
StateFeedbackHybridPlant<2, 2, 2>,
HybridKalman<2, 2, 2>>(
dt_config_.make_hybrid_drivetrain_velocity_loop()))) {
+ if (imu_event_loop_ != nullptr) {
+ CHECK(!imu_sender_);
+ imu_sender_ =
+ imu_event_loop_->MakeSender<::frc971::IMUValuesBatch>("/localizer");
+ gyro_sender_ =
+ event_loop_->MakeSender<::frc971::sensors::GyroReading>("/drivetrain");
+ }
+ CHECK(imu_sender_);
Reinitialize();
last_U_.setZero();
event_loop_->AddPhasedLoop(
@@ -147,9 +159,7 @@
SendImuMessage();
},
dt_config_.dt);
- // TODO(milind): We should be able to get IMU readings at 1 kHz instead of 2.
- event_loop_->AddPhasedLoop([this](int) { ReadImu(); },
- frc971::controls::kLoopFrequency);
+ event_loop_->AddPhasedLoop([this](int) { ReadImu(); }, imu_read_period);
}
void DrivetrainSimulation::Reinitialize() {
@@ -163,6 +173,9 @@
}
void DrivetrainSimulation::SendTruthMessage() {
+ if (!drivetrain_truth_sender_) {
+ return;
+ }
auto builder = drivetrain_truth_sender_.MakeBuilder();
auto status_builder =
builder.MakeBuilder<frc971::control_loops::drivetrain::Status>();
@@ -178,15 +191,16 @@
const double right_encoder = GetRightPosition();
if (send_messages_) {
- ::aos::Sender<::frc971::control_loops::drivetrain::Position>::Builder
- builder = drivetrain_position_sender_.MakeBuilder();
- frc971::control_loops::drivetrain::Position::Builder position_builder =
- builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+ flatbuffers::FlatBufferBuilder fbb;
+ frc971::control_loops::drivetrain::Position::Builder position_builder(fbb);
position_builder.add_left_encoder(left_encoder);
position_builder.add_right_encoder(right_encoder);
position_builder.add_left_shifter_position(left_gear_high_ ? 1.0 : 0.0);
position_builder.add_right_shifter_position(right_gear_high_ ? 1.0 : 0.0);
- CHECK_EQ(builder.Send(position_builder.Finish()),
+ fbb.Finish(position_builder.Finish());
+ aos::FlatbufferDetachedBuffer<frc971::control_loops::drivetrain::Position>
+ position(fbb.Release());
+ CHECK_EQ(drivetrain_position_sender_.Send(position),
aos::RawSender::Error::kOk);
}
}
@@ -204,17 +218,19 @@
(dt_config_.robot_radius * 2.0));
// Acceleration due to gravity, in m/s/s.
- constexpr double kG = 9.807;
+ constexpr double kG = 9.80665;
const Eigen::Vector3d accel =
dt_config_.imu_transform.inverse() *
Eigen::Vector3d(last_acceleration_.x() / kG, last_acceleration_.y() / kG,
- 1.0);
+ last_acceleration_.z() + 1.0);
const int64_t timestamp =
std::chrono::duration_cast<std::chrono::nanoseconds>(
event_loop_->monotonic_now().time_since_epoch())
.count();
+ last_yaw_rate_ = gyro.z();
imu_readings_.push({.gyro = gyro,
.accel = accel,
+ .encoders = {GetLeftPosition(), GetRightPosition()},
.timestamp = timestamp,
.faulted = imu_faulted_});
}
@@ -224,16 +240,15 @@
return;
}
+ flatbuffers::FlatBufferBuilder fbb;
std::vector<flatbuffers::Offset<IMUValues>> imu_values;
- auto builder = imu_sender_.MakeBuilder();
// Send all the IMU readings and pop the ones we have sent
while (!imu_readings_.empty()) {
const auto imu_reading = imu_readings_.front();
imu_readings_.pop();
- frc971::ADIS16470DiagStat::Builder diag_stat_builder =
- builder.MakeBuilder<frc971::ADIS16470DiagStat>();
+ frc971::ADIS16470DiagStat::Builder diag_stat_builder(fbb);
diag_stat_builder.add_clock_error(false);
diag_stat_builder.add_memory_failure(imu_reading.faulted);
diag_stat_builder.add_sensor_failure(false);
@@ -244,8 +259,7 @@
const auto diag_stat_offset = diag_stat_builder.Finish();
- frc971::IMUValues::Builder imu_builder =
- builder.MakeBuilder<frc971::IMUValues>();
+ frc971::IMUValues::Builder imu_builder(fbb);
imu_builder.add_self_test_diag_stat(diag_stat_offset);
imu_builder.add_gyro_x(imu_reading.gyro.x());
@@ -257,17 +271,34 @@
imu_builder.add_accelerometer_z(imu_reading.accel.z());
imu_builder.add_monotonic_timestamp_ns(imu_reading.timestamp);
+ if (imu_event_loop_ != nullptr) {
+ imu_builder.add_pico_timestamp_us(imu_reading.timestamp / 1000);
+ imu_builder.add_data_counter(imu_data_counter_++);
+ imu_builder.add_checksum_failed(false);
+ imu_builder.add_left_encoder(imu_reading.encoders(0));
+ imu_builder.add_right_encoder(imu_reading.encoders(1));
+ }
+
imu_values.push_back(imu_builder.Finish());
}
flatbuffers::Offset<
flatbuffers::Vector<flatbuffers::Offset<frc971::IMUValues>>>
- imu_values_offset = builder.fbb()->CreateVector(imu_values);
- frc971::IMUValuesBatch::Builder imu_values_batch_builder =
- builder.MakeBuilder<frc971::IMUValuesBatch>();
+ imu_values_offset = fbb.CreateVector(imu_values);
+ frc971::IMUValuesBatch::Builder imu_values_batch_builder(fbb);
imu_values_batch_builder.add_readings(imu_values_offset);
- CHECK_EQ(builder.Send(imu_values_batch_builder.Finish()),
- aos::RawSender::Error::kOk);
+ fbb.Finish(imu_values_batch_builder.Finish());
+ aos::FlatbufferDetachedBuffer<frc971::IMUValuesBatch> message = fbb.Release();
+ CHECK_EQ(imu_sender_.Send(message), aos::RawSender::Error::kOk);
+ if (gyro_sender_) {
+ auto builder = gyro_sender_.MakeBuilder();
+ sensors::GyroReading::Builder reading_builder =
+ builder.MakeBuilder<sensors::GyroReading>();
+ reading_builder.add_angle(state_(2));
+ reading_builder.add_velocity(last_yaw_rate_);
+ CHECK_EQ(builder.Send(reading_builder.Finish()),
+ aos::RawSender::Error::kOk);
+ }
}
// Simulates the drivetrain moving for one timestep.
@@ -331,6 +362,12 @@
// TODO(james): Allow inputting arbitrary calibrations, e.g., for testing
// situations where the IMU is not perfectly flat in the CG of the robot.
last_acceleration_ << (Xdot(3, 0) + Xdot(4, 0)) / 2.0, centripetal_accel, 0.0;
+ double accel_disturbance =
+ std::sin(10.0 * 2 * M_PI *
+ aos::time::DurationInSeconds(
+ event_loop_->monotonic_now().time_since_epoch())) *
+ accel_sin_wave_magnitude_;
+ last_acceleration_.z() += accel_disturbance;
}
void DrivetrainSimulation::MaybePlot() {
diff --git a/frc971/control_loops/drivetrain/drivetrain_test_lib.h b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
index b98711b..356eadf 100644
--- a/frc971/control_loops/drivetrain/drivetrain_test_lib.h
+++ b/frc971/control_loops/drivetrain/drivetrain_test_lib.h
@@ -13,6 +13,7 @@
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/wpilib/imu_batch_generated.h"
+#include "frc971/queues/gyro_generated.h"
namespace frc971 {
namespace control_loops {
@@ -50,7 +51,13 @@
// Constructs a motor simulation.
// TODO(aschuh) Do we want to test the clutch one too?
DrivetrainSimulation(::aos::EventLoop *event_loop,
- const DrivetrainConfig<double> &dt_config);
+ ::aos::EventLoop *imu_event_loop,
+ const DrivetrainConfig<double> &dt_config,
+ aos::monotonic_clock::duration imu_read_period =
+ frc971::controls::kLoopFrequency);
+ DrivetrainSimulation(::aos::EventLoop *event_loop,
+ const DrivetrainConfig<double> &dt_config)
+ : DrivetrainSimulation(event_loop, nullptr, dt_config) {}
// Resets the plant.
void Reinitialize();
@@ -87,11 +94,17 @@
}
void set_imu_faulted(const bool fault_imu) { imu_faulted_ = fault_imu; }
+ void set_accel_sin_magnitude(double magnitude) {
+ accel_sin_wave_magnitude_ = magnitude;
+ }
private:
struct ImuReading {
Eigen::Vector3d gyro;
Eigen::Vector3d accel;
+ // On the 2022 robot, encoders are read as part of the same procedure that
+ // reads the IMU.
+ Eigen::Vector2d encoders;
int64_t timestamp;
bool faulted;
};
@@ -109,6 +122,7 @@
void Simulate();
::aos::EventLoop *event_loop_;
+ ::aos::EventLoop *imu_event_loop_;
::aos::Fetcher<::aos::RobotState> robot_state_fetcher_;
::aos::Sender<::frc971::control_loops::drivetrain::Position>
@@ -120,9 +134,12 @@
::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
drivetrain_status_fetcher_;
::aos::Sender<::frc971::IMUValuesBatch> imu_sender_;
+ ::aos::Sender<::frc971::sensors::GyroReading> gyro_sender_;
bool imu_faulted_ = false;
+ double last_yaw_rate_ = 0.0;
+ int imu_data_counter_ = 0;
std::queue<ImuReading> imu_readings_;
DrivetrainConfig<double> dt_config_;
@@ -153,6 +170,8 @@
::std::vector<double> trajectory_y_;
bool send_messages_ = true;
+ // Magnitude of sine wave to feed into the measured accelerations.
+ double accel_sin_wave_magnitude_ = 0.0;
};
} // namespace testing
diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index cad3221..df6c0f6 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -20,6 +20,7 @@
kalman_q_vel,
kalman_q_voltage,
kalman_r_position,
+ radius = None,
dt=0.00505):
"""Constructs an AngularSystemParams object.
@@ -38,6 +39,7 @@
self.kalman_q_vel = kalman_q_vel
self.kalman_q_voltage = kalman_q_voltage
self.kalman_r_position = kalman_r_position
+ self.radius = radius
self.dt = dt
@@ -80,11 +82,17 @@
glog.debug('Controllability of %d',
numpy.linalg.matrix_rank(controllability))
glog.debug('J: %f', self.J)
- glog.debug('Stall torque: %f', self.motor.stall_torque / self.G)
- glog.debug('Stall acceleration: %f',
+ glog.debug('Stall torque: %f (N m)', self.motor.stall_torque / self.G)
+ if self.params.radius is not None:
+ glog.debug('Stall force: %f (N)',
+ self.motor.stall_torque / self.G / self.params.radius)
+ glog.debug('Stall force: %f (lbf)',
+ self.motor.stall_torque / self.G / self.params.radius * 0.224809)
+
+ glog.debug('Stall acceleration: %f (rad/s^2)',
self.motor.stall_torque / self.G / self.J)
- glog.debug('Free speed is %f',
+ glog.debug('Free speed is %f (rad/s)',
-self.B_continuous[1, 0] / self.A_continuous[1, 1] * 12.0)
self.Q = numpy.matrix([[(1.0 / (self.params.q_pos**2.0)), 0.0],
diff --git a/frc971/imu/ADIS16505.cc b/frc971/imu/ADIS16505.cc
index 4c31cab..9ed77a9 100644
--- a/frc971/imu/ADIS16505.cc
+++ b/frc971/imu/ADIS16505.cc
@@ -196,6 +196,10 @@
void maybe_send_pi_packet();
void gpio_irq_handler(uint gpio, uint32_t events) {
+ if (gpio == SYNC_IMU && (events & GPIO_IRQ_EDGE_RISE)) {
+ // Grab a timestamp for when the data sample was actually collected.
+ data_collect_timestamp = time_us_32();
+ }
if (gpio == DR_IMU && (events & GPIO_IRQ_EDGE_RISE)) {
data_ready();
}
@@ -321,9 +325,6 @@
}
void data_ready() {
- // save timestamp
- data_collect_timestamp = time_us_32();
-
// read encoders
quadrature_encoder_request_count(pio0, 0);
quadrature_encoder_request_count(pio0, 1);
@@ -377,7 +378,12 @@
pwm_set_gpio_level(RATE_PWM, rate_level);
// 0 to 360
- uint16_t heading_level = (int16_t)(fmod(yaw, 360) / 360.0 * PWM_TOP);
+ double wrapped_heading = fmod(yaw, 360);
+ if (wrapped_heading < 0) {
+ wrapped_heading = wrapped_heading + 360;
+ }
+
+ uint16_t heading_level = (int16_t)(wrapped_heading / 360.0 * PWM_TOP);
pwm_set_gpio_level(HEADING_PWM, heading_level);
}
@@ -456,7 +462,10 @@
}
void setup_adis16505() {
+ // Disable the interrupts from the data-ready/sync pins to avoid interrupts
+ // while attempting to reset the IMU.
gpio_set_irq_enabled(DR_IMU, GPIO_IRQ_EDGE_RISE, false);
+ gpio_set_irq_enabled(SYNC_IMU, GPIO_IRQ_EDGE_RISE, false);
while (true) {
adis16505_reset();
@@ -509,8 +518,8 @@
(0u << 8) /* send gyro and accelerometer data in burst mode */ |
(1u << 7) /* enable gyro linear g compensation */ |
(1u << 6) /* enable point of percussion alignment */ |
- (0u << 2) /* internal clock mode */ |
- (0u << 1) /* sync polarity, doesn't matter */ |
+ (11u << 2) /* output sync mode (uses internal 2kHz clock) */ |
+ (1u << 1) /* sync polarity, active high */ |
(1u << 0) /* data ready is active high */);
// Rate of the output will be 2000 / (DEC_RATE + 1) Hz.
write_register(DEC_RATE, 0 /* no decimation */);
@@ -519,6 +528,7 @@
imu_reset_count++;
+ gpio_set_irq_enabled(SYNC_IMU, GPIO_IRQ_EDGE_RISE, true);
gpio_set_irq_enabled_with_callback(DR_IMU, GPIO_IRQ_EDGE_RISE, true,
&gpio_irq_handler);
}
@@ -626,13 +636,21 @@
irq_set_enabled(DMA_IRQ_1, true);
/* All IRQ priorities are initialized to PICO_DEFAULT_IRQ_PRIORITY by the pico
- * runtime at startup.
+ * runtime at startup. As such, their priorities will correspond to their
+ * IRQ numbers (See Table 80 in the rp2040 datasheet). The interrupts are
+ * listed highest priority to lowest below--i.e., the sync/data ready
+ * interrupts are currently at the lowest priority.
+ * TODO(james): In the nominal case, the GPIO interrupts should never
+ * interfere with the SPI data transfer, but we may still want to up the
+ * GPIO priority using irq_set_priority() so that we are guaranteed good
+ * timestamps.
*
* Handler | Interrupt | Cause of interrupt
* --------------------|--------------|---------------------------------------
* imu_read_finished | DMA_IRQ_0 | When the dma read from the imu is done
* pi_transfer_finished| DMA_IRQ_1 | When the dma read to the pi is
* done data_ready | IO_IRQ_BANK0 | On the rising edge of DR_IMU
+ * sync pin high | IO_IRQ_BANK0 | On the rising edge of SYNC_IMU
*/
// Tell the GPIOs they are allocated to PWM
diff --git a/frc971/raspi/rootfs/README.md b/frc971/raspi/rootfs/README.md
index a9c7251..b972038 100644
--- a/frc971/raspi/rootfs/README.md
+++ b/frc971/raspi/rootfs/README.md
@@ -1,3 +1,5 @@
+# Creating an SD card to run the Raspberry Pis
+
This modifies a stock debian root filesystem to be able to operate as a vision
pi. It is not trying to be reproducible, but should be good enough for FRC
purposes.
@@ -5,15 +7,37 @@
The default hostname and IP is pi-971-1, 10.9.71.101.
Username pi, password raspberry.
-Download 2021-10-30-raspios-bullseye-armhf-lite.img (or any newer
-bullseye version, as a .zip file) from
-`https://www.raspberrypi.org/downloads/raspberry-pi-os/`, extract
-(unzip) the .img file, and edit `modify_rootfs.sh` to point to it.
+## Build the real-time kernel using `build_kernel.sh`
-Run modify_rootfs.sh to build the filesystem (you might need to hit
+- Checkout the real-time kernel source code, e.g.,
+ `cd CODE_DIR`
+ `git clone git@github.com:frc971/linux.git`
+ `git checkout frc971-5.10-pi4-rt branch`
+
+- Run `build_kernel.sh` to compile the real-time kernel
+ `cd ROOTFS_DIR` (where ROOTFS_DIR -> //frc971/raspi/rootfs)
+ `./build_kernel.sh CODE_DIR/linux kernel_5.10.tar.gz`
+
+## Download the Raspberry Pi OS
+
+Download the appropriate Raspberry Pi OS image, e.g.,
+`2022-01-28-raspios-bullseye-arm64-lite.img` (or any newer arm64
+bullseye version, as a .zip file) from
+`https://www.raspberrypi.org/downloads/raspberry-pi-os/`, and extract
+(unzip) the .img file.
+
+## Create our custom OS image using `modify_root.sh`
+
+- Edit `modify_rootfs.sh` to point to the kernel file (e.g.,
+`KERNEL=kernel_5.10.tar.gz`) and the Raspberry Pi OS image (e.g.,
+`IMAGE=2022-01-28-raspios-bullseye-arm64-lite.img`)
+
+- Run modify_rootfs.sh to build the filesystem (you might need to hit
return in a spot or two and will need sudo privileges to mount the
partition):
- * `modify_root.sh`
+ * `./modify_root.sh`
+
+## Write the file system to the SD card
VERY IMPORTANT NOTE: Before doing the next step, use `lsblk` to find
the device and make absolutely sure this isn't your hard drive or
@@ -45,6 +69,6 @@
* Download the code:
Once this is completed, you can boot the pi with the newly flashed SD
card, and download the code to the pi using:
- `bazel run -c opt --cpu=armv7 //y2022:pi_download_stripped -- PI_IP_ADDR
+ `bazel run -c opt --config=armv7 //y2022:pi_download_stripped -- PI_IP_ADDR
where PI_IP_ADDR is the IP address of the target pi, e.g., 10.9.71.101
diff --git a/frc971/raspi/rootfs/build_kernel.sh b/frc971/raspi/rootfs/build_kernel.sh
new file mode 100755
index 0000000..cd97902
--- /dev/null
+++ b/frc971/raspi/rootfs/build_kernel.sh
@@ -0,0 +1,48 @@
+#!/bin/bash
+# This script builds the kernel for the raspberry pi.
+#
+# git@github.com:frc971/linux.git
+#
+# We are using the frc971-5.10-pi4-rt branch
+#
+# Point it at the version of that repo you want to build, and it'll generate a
+# .tar.gz of the bits to install.
+
+
+set -ex
+
+echo $#
+if [[ $# -lt 2 ]];
+then
+ echo "Pass in the kernel directory and then the destination .tar.gz"
+ exit 1
+fi
+
+export OUTPUT="$(realpath $(dirname $2))/$(basename ${2})"
+export TMPDIR="${OUTPUT}_tmpdir"
+
+mkdir -p "${TMPDIR}"
+mkdir -p "${TMPDIR}/fat32/overlays"
+mkdir -p "${TMPDIR}/ext4"
+
+pushd "${1}"
+
+export KERNEL=kernel8
+
+make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- Image modules dtbs -j 60
+
+cp arch/arm64/boot/Image "${TMPDIR}/fat32/$KERNEL.img"
+cp arch/arm64/boot/dts/broadcom/*.dtb "${TMPDIR}/fat32/"
+cp arch/arm64/boot/dts/overlays/*.dtb* "${TMPDIR}/fat32/overlays/"
+cp arch/arm64/boot/dts/overlays/README "${TMPDIR}/fat32/overlays/"
+
+make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- INSTALL_MOD_PATH="${TMPDIR}/ext4" modules_install
+
+cd "${TMPDIR}"
+tar cvzf "${OUTPUT}" --owner=0 --group=0 "./"
+
+popd
+
+rm -rf "${TMPDIR}"
+
+echo "Kernel is now available at: ${OUTPUT}"
diff --git a/frc971/raspi/rootfs/frc971chrt.service b/frc971/raspi/rootfs/frc971chrt.service
new file mode 100644
index 0000000..cc68934
--- /dev/null
+++ b/frc971/raspi/rootfs/frc971chrt.service
@@ -0,0 +1,9 @@
+[Unit]
+Description=Configure IRQs
+
+[Service]
+Type=oneshot
+ExecStart=/home/pi/robot_code/chrt.sh
+
+[Install]
+WantedBy=multi-user.target
diff --git a/frc971/raspi/rootfs/make_sd.sh b/frc971/raspi/rootfs/make_sd.sh
index 81f7727..3bafacc 100755
--- a/frc971/raspi/rootfs/make_sd.sh
+++ b/frc971/raspi/rootfs/make_sd.sh
@@ -4,7 +4,7 @@
# Disk image to use for creating SD card
# NOTE: You MUST run modify_rootfs.sh on this image BEFORE running make_sd.sh
-ORIG_IMAGE="2021-10-30-raspios-bullseye-armhf-lite.img"
+ORIG_IMAGE="2022-01-28-raspios-bullseye-arm64-lite.img"
IMAGE=`echo ${ORIG_IMAGE} | sed s/.img/-frc-mods.img/`
DEVICE="/dev/sda"
@@ -22,7 +22,7 @@
sudo mount "${DEVICE}2" "${PARTITION}"
function target() {
- HOME=/root/ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" "$@"
+ HOME=/root/ USER=root sudo proot -0 -q qemu-aarch64-static -w / -r "${PARTITION}" "$@"
}
if [ "${1}" == "" ]; then
@@ -32,15 +32,15 @@
target /root/bin/change_hostname.sh "${1}"
fi
-echo "Starting a shell for any manual configuration"
-target /bin/bash --rcfile /root/.bashrc
-
# Put a timestamp on when this card got created and by whom
TIMESTAMP_FILE="${PARTITION}/home/pi/.DiskFlashedDate.txt"
date > "${TIMESTAMP_FILE}"
git rev-parse HEAD >> "${TIMESTAMP_FILE}"
whoami >> "${TIMESTAMP_FILE}"
+echo "Starting a shell for any manual configuration"
+target /bin/bash --rcfile /root/.bashrc
+
# Found I had to do a lazy force unmount ("-l" flag) to make it work reliably
sudo umount -l "${PARTITION}"
rmdir "${PARTITION}"
diff --git a/frc971/raspi/rootfs/modify_rootfs.sh b/frc971/raspi/rootfs/modify_rootfs.sh
index a340c64..0020f35 100755
--- a/frc971/raspi/rootfs/modify_rootfs.sh
+++ b/frc971/raspi/rootfs/modify_rootfs.sh
@@ -3,16 +3,18 @@
set -xe
# Full path to Raspberry Pi Bullseye disk image
-IMAGE="2021-10-30-raspios-bullseye-armhf-lite.img"
+IMAGE="2022-01-28-raspios-bullseye-arm64-lite.img"
+# Kernel built with build_kernel.sh
+KERNEL="kernel_5.10.tar.gz"
BOOT_PARTITION="${IMAGE}.boot_partition"
PARTITION="${IMAGE}.partition"
function target() {
- HOME=/root/ USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" "$@"
+ HOME=/root/ USER=root sudo proot -0 -q qemu-aarch64-static -w / -r "${PARTITION}" "$@"
}
function user_pi_target() {
- USER=root sudo proot -0 -q qemu-arm-static -w / -r "${PARTITION}" sudo -h 127.0.0.1 -u pi "$@"
+ USER=root sudo proot -0 -q qemu-aarch64-static -w / -r "${PARTITION}" sudo -h 127.0.0.1 -u pi "$@"
}
@@ -37,6 +39,8 @@
# For now, disable the new libcamera driver in favor of legacy ones
sudo sed -i s/^camera_auto_detect=1/#camera_auto_detect=1/ "${BOOT_PARTITION}/config.txt"
+sudo tar -zxvf "${KERNEL}" --strip-components 2 -C ${BOOT_PARTITION}/ ./fat32
+
# Seeing a race condition with umount, so doing lazy umount
sudo umount -l "${BOOT_PARTITION}"
rmdir "${BOOT_PARTITION}"
@@ -82,6 +86,7 @@
sudo cp logind.conf "${PARTITION}/etc/systemd/logind.conf"
sudo cp change_hostname.sh "${PARTITION}/tmp/change_hostname.sh"
sudo cp frc971.service "${PARTITION}/etc/systemd/system/frc971.service"
+sudo cp frc971chrt.service "${PARTITION}/etc/systemd/system/frc971chrt.service"
sudo cp rt.conf "${PARTITION}/etc/security/limits.d/rt.conf"
sudo cp usb-mount@.service "${PARTITION}/etc/systemd/system/usb-mount@.service"
sudo cp 99-usb-mount.rules "${PARTITION}/etc/udev/rules.d/99-usb-mount.rules"
@@ -89,6 +94,9 @@
target /bin/mkdir -p /home/pi/.ssh/
cat ~/.ssh/id_rsa.pub | target tee /home/pi/.ssh/authorized_keys
+sudo rm -rf "${PARTITION}/lib/modules/"*
+sudo tar -zxvf "${KERNEL}" --strip-components 4 -C "${PARTITION}/lib/modules/" ./ext4/lib/modules/
+
# Downloads and installs our target libraries
target /bin/bash /tmp/target_configure.sh
diff --git a/frc971/raspi/rootfs/target_configure.sh b/frc971/raspi/rootfs/target_configure.sh
index 3fd4d40..db3fb36 100755
--- a/frc971/raspi/rootfs/target_configure.sh
+++ b/frc971/raspi/rootfs/target_configure.sh
@@ -17,7 +17,6 @@
apt-get install -y vim-nox \
git \
- python3-pip \
cpufrequtils \
libopencv-calib3d4.5 \
libopencv-contrib4.5 \
@@ -37,7 +36,6 @@
libopencv-videoio4.5 \
libopencv-videostab4.5 \
libopencv-viz4.5 \
- python3-opencv \
libnice10 \
pmount \
libnice-dev \
@@ -73,6 +71,7 @@
systemctl enable ssh.service
systemctl enable frc971.service
+systemctl enable frc971chrt.service
# Default us to pi-971-1
/root/bin/change_hostname.sh pi-971-1
diff --git a/frc971/vision/v4l2_reader.cc b/frc971/vision/v4l2_reader.cc
index 793d8cd..850fc7f 100644
--- a/frc971/vision/v4l2_reader.cc
+++ b/frc971/vision/v4l2_reader.cc
@@ -15,7 +15,7 @@
V4L2Reader::V4L2Reader(aos::EventLoop *event_loop,
const std::string &device_name)
: fd_(open(device_name.c_str(), O_RDWR | O_NONBLOCK)) {
- PCHECK(fd_.get() != -1);
+ PCHECK(fd_.get() != -1) << " Failed to open device " << device_name;
// First, clean up after anybody else who left the device streaming.
StreamOff();
diff --git a/frc971/wpilib/imu.fbs b/frc971/wpilib/imu.fbs
index abd01e2..565e3a4 100644
--- a/frc971/wpilib/imu.fbs
+++ b/frc971/wpilib/imu.fbs
@@ -45,6 +45,11 @@
// Operation section for more details on conditions that may cause this bit to
// be set to 1.
data_path_overrun:bool (id: 6);
+
+ // True indicates that the Raspberry Pi Pico recieved a packet
+ // from the imu that had a bad checksum but still sent a message
+ // containing a timestamp and encoder values.
+ checksum_mismatch:bool (id:7);
}
// Values returned from an IMU.
@@ -87,6 +92,24 @@
// converted from fpga_timestamp.
monotonic_timestamp_ns:long (id: 12);
+ // The timestamp when the values were captured by the Raspberry Pi Pico.
+ // This has microsecond precision.
+ pico_timestamp_us:int (id:20);
+
+ // The number of this reading produced from a 16-bit counter.
+ data_counter:int (id:19);
+
+ // The number of messages recieved by the Raspberry Pi that had bad checksums
+ failed_checksums:int (id:21);
+ // True if this packet has a bad checksum
+ // from the Raspberry Pi Pico to the Raspberry Pi.
+ checksum_failed:bool (id:22);
+
+ // The position of the left drivetrain encoder in meters
+ left_encoder:double (id: 17);
+ // The position of the right drivetrain encoder in meters
+ right_encoder:double (id: 18);
+
// For an ADIS16470, the DIAG_STAT value immediately after reset.
start_diag_stat:ADIS16470DiagStat (id: 13);
// For an ADIS16470, the DIAG_STAT value after the initial sensor self test we
diff --git a/motors/RspBuckBoostv3/gafrc b/motors/RspBuckBoostv3/gafrc
new file mode 100644
index 0000000..c1bfff0
--- /dev/null
+++ b/motors/RspBuckBoostv3/gafrc
@@ -0,0 +1,2 @@
+(component-library "../symbols" "Custom Symbols")
+(source-library "..")
diff --git a/package.json b/package.json
index f60c6d4..7e6885b 100644
--- a/package.json
+++ b/package.json
@@ -2,6 +2,16 @@
"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",
diff --git a/platform_mappings b/platform_mappings
deleted file mode 100644
index 1816850..0000000
--- a/platform_mappings
+++ /dev/null
@@ -1,38 +0,0 @@
-# https://docs.bazel.build/versions/master/platforms-intro.html#platform-mappings
-platforms:
- //tools/platforms:linux_x86
- --cpu=k8
-
- //tools/platforms:linux_roborio
- --cpu=roborio
-
- //tools/platforms:linux_armv7
- --cpu=armv7
-
- //tools/platforms:cortex_m4f
- --cpu=cortex-m4f
-
- //tools/platforms:rp2040
- --cpu=rp2040
-
- //tools/platforms:linux_arm64
- --cpu=arm64
-
-flags:
- --cpu=k8
- //tools/platforms:linux_x86
-
- --cpu=roborio
- //tools/platforms:linux_roborio
-
- --cpu=armv7
- //tools/platforms:linux_armv7
-
- --cpu=cortex-m4f
- //tools/platforms:cortex_m4f
-
- --cpu=rp2040
- //tools/platforms:rp2040
-
- --cpu=arm64
- //tools/platforms:linux_arm64
diff --git a/scouting/www/BUILD b/scouting/www/BUILD
index 88cadab..c22ea38 100644
--- a/scouting/www/BUILD
+++ b/scouting/www/BUILD
@@ -1,21 +1,23 @@
-load("@npm//@bazel/typescript:index.bzl", "ts_project")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
load("//tools/build_rules:js.bzl", "rollup_bundle")
load("@npm//@bazel/concatjs:index.bzl", "concatjs_devserver")
load("@npm//@babel/cli:index.bzl", "babel")
-ts_project(
+ts_library(
name = "app",
srcs = glob([
"*.ts",
+ ]),
+ angular_assets = glob([
"*.ng.html",
]),
- tsc = "@npm//@angular/compiler-cli/bin:ngc",
- tsconfig = "//:tsconfig.json",
+ compiler = "//tools:tsc_wrapped_with_angular",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ use_angular_plugin = True,
visibility = ["//visibility:public"],
deps = [
"@npm//@angular/animations",
"@npm//@angular/common",
- "@npm//@angular/compiler",
"@npm//@angular/core",
"@npm//@angular/platform-browser",
],
diff --git a/third_party/abseil/absl/copts/configure_copts.bzl b/third_party/abseil/absl/copts/configure_copts.bzl
index 4d34254..46dc156 100644
--- a/third_party/abseil/absl/copts/configure_copts.bzl
+++ b/third_party/abseil/absl/copts/configure_copts.bzl
@@ -63,7 +63,7 @@
# These configs have consistent flags to enable HWAES intsructions.
cpu_configs = [
"ppc",
- "k8",
+ #"k8",
"darwin_x86_64",
"darwin",
"x64_windows_msvc",
@@ -74,3 +74,7 @@
name = "cpu_%s" % cpu,
values = {"cpu": cpu},
)
+ native.config_setting(
+ name = "cpu_k8",
+ constraint_values = ["@platforms//cpu:x86_64"],
+ )
diff --git a/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl b/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
index 8de828f..0044dce 100755
--- a/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
+++ b/third_party/bazel-toolchain/bazel_tools_changes/tools/cpp/unix_cc_toolchain_config.bzl
@@ -160,6 +160,17 @@
action_configs.append(llvm_cov_action)
+ objcopy_embed_data_action = action_config(
+ action_name = "objcopy_embed_data",
+ tools = [
+ tool(
+ path = ctx.attr.tool_paths["objcopy"],
+ ),
+ ],
+ )
+
+ action_configs.append(objcopy_embed_data_action)
+
supports_pic_feature = feature(
name = "supports_pic",
enabled = True,
diff --git a/third_party/flatbuffers/build_defs.bzl b/third_party/flatbuffers/build_defs.bzl
index 5add25f..c547a7d 100644
--- a/third_party/flatbuffers/build_defs.bzl
+++ b/third_party/flatbuffers/build_defs.bzl
@@ -6,6 +6,7 @@
"""
load("@npm//@bazel/typescript:index.bzl", "ts_library")
+load("@io_bazel_rules_go//go:def.bzl", "go_library")
flatc_path = "@com_github_google_flatbuffers//:flatc"
@@ -31,6 +32,10 @@
"--gen-name-strings",
]
+DEFAULT_FLATC_GO_ARGS = [
+ "--gen-onefile",
+]
+
DEFAULT_FLATC_TS_ARGS = [
"--gen-all",
"--no-fb-import",
@@ -339,6 +344,42 @@
deps = ["@com_github_google_flatbuffers//:flatpy"],
)
+def flatbuffer_go_library(
+ name,
+ srcs,
+ importpath,
+ compatible_with = None,
+ target_compatible_with = None,
+ includes = [],
+ include_paths = DEFAULT_INCLUDE_PATHS,
+ flatc_args = DEFAULT_FLATC_GO_ARGS,
+ visibility = None,
+ srcs_filegroup_visibility = None):
+ srcs_lib = "%s_srcs" % (name)
+ outs = ["%s_generated.go" % (s.replace(".fbs", "").split("/")[-1]) for s in srcs]
+ flatc_args = flatc_args + ["--go-namespace", importpath.split("/")[-1]]
+
+ flatbuffer_library_public(
+ name = srcs_lib,
+ srcs = srcs,
+ outs = outs,
+ language_flag = "--go",
+ includes = includes,
+ include_paths = include_paths,
+ flatc_args = flatc_args,
+ compatible_with = compatible_with,
+ target_compatible_with = target_compatible_with,
+ )
+ go_library(
+ name = name,
+ srcs = outs,
+ deps = ["@com_github_google_flatbuffers//go"],
+ importpath = importpath,
+ visibility = visibility,
+ compatible_with = compatible_with,
+ target_compatible_with = target_compatible_with,
+ )
+
def flatbuffer_ts_library(
name,
srcs,
diff --git a/third_party/pico-sdk/hex.bzl b/third_party/pico-sdk/hex.bzl
index 5e9dfae..31c951c 100644
--- a/third_party/pico-sdk/hex.bzl
+++ b/third_party/pico-sdk/hex.bzl
@@ -7,7 +7,7 @@
executable = True,
output_to_bindir = True,
target_compatible_with = target_compatible_with,
- toolchains = ["@bazel_tools//tools/cpp:current_cc_toolchain"],
+ toolchains = ["//tools/cpp:cc_toolchain_make_variables"],
)
def uf2_from_elf(name, target_compatible_with = None):
diff --git a/third_party/rules_webtesting/rules_webtesting.patch b/third_party/rules_webtesting/rules_webtesting.patch
new file mode 100644
index 0000000..90b7716
--- /dev/null
+++ b/third_party/rules_webtesting/rules_webtesting.patch
@@ -0,0 +1,56 @@
+diff --git a/BUILD.bazel b/BUILD.bazel
+index ab52bbb..5f9f4c3 100644
+--- a/BUILD.bazel
++++ b/BUILD.bazel
+@@ -24,3 +24,17 @@ gazelle(
+ name = "gazelle",
+ prefix = "github.com/bazelbuild/rules_webtesting",
+ )
++
++genrule(
++ name = "generate_error_bin",
++ outs = ["error_bin.sh"],
++ cmd = "echo 'exit 1' > $(OUTS)",
++ executable = True,
++)
++
++sh_binary(
++ name = "error_bin",
++ srcs = ["error_bin.sh"],
++ visibility = ["//visibility:public"],
++ target_compatible_with = ["@platforms//:incompatible"],
++)
+diff --git a/third_party/chromedriver/BUILD.bazel b/third_party/chromedriver/BUILD.bazel
+index 3d794d4..3644474 100644
+--- a/third_party/chromedriver/BUILD.bazel
++++ b/third_party/chromedriver/BUILD.bazel
+@@ -30,6 +30,7 @@ alias(
+ "//common/conditions:macos_x64": "@org_chromium_chromedriver_macos_x64//:metadata",
+ "//common/conditions:macos_arm64": "@org_chromium_chromedriver_macos_arm64//:metadata",
+ "//common/conditions:windows_x64": "@org_chromium_chromedriver_windows_x64//:metadata",
++ "//conditions:default": "//:error_bin",
+ }),
+ visibility = ["//browsers:__subpackages__"],
+ )
+diff --git a/third_party/chromium/BUILD.bazel b/third_party/chromium/BUILD.bazel
+index 6d8c6e0..7702fb9 100644
+--- a/third_party/chromium/BUILD.bazel
++++ b/third_party/chromium/BUILD.bazel
+@@ -26,6 +26,7 @@ alias(
+ "//common/conditions:macos_x64": "@org_chromium_chromium_macos_x64//:metadata",
+ "//common/conditions:macos_arm64": "@org_chromium_chromium_macos_arm64//:metadata",
+ "//common/conditions:windows_x64": "@org_chromium_chromium_windows_x64//:metadata",
++ "//conditions:default": "//:error_bin",
+ }),
+ visibility = ["//browsers:__subpackages__"],
+ )
+diff --git a/web/internal/executable_name.bzl b/web/internal/executable_name.bzl
+index b103868..12df0cc 100644
+--- a/web/internal/executable_name.bzl
++++ b/web/internal/executable_name.bzl
+@@ -26,4 +26,5 @@ def get_platform_executable_name():
+ "//common/conditions:macos_x64": "main_darwin_x64",
+ "//common/conditions:macos_arm64": "main_darwin_arm64",
+ "//common/conditions:windows_x64": "main_windows_x64.exe",
++ "//conditions:default": "//:error_bin",
+ })
diff --git a/tools/BUILD b/tools/BUILD
index a7d165d..d64d602 100644
--- a/tools/BUILD
+++ b/tools/BUILD
@@ -1,3 +1,5 @@
+load("@build_bazel_rules_nodejs//:index.bzl", "nodejs_binary")
+
package(default_visibility = ["//visibility:public"])
exports_files(["test_sharding_compliant"])
@@ -72,3 +74,13 @@
name = "has_ubsan",
values = {"define": "have_ubsan=true"},
)
+
+nodejs_binary(
+ name = "tsc_wrapped_with_angular",
+ data = [
+ "@npm//@angular/compiler-cli",
+ "@npm//@bazel/typescript",
+ ],
+ entry_point = "@npm//:node_modules/@bazel/typescript/internal/tsc_wrapped/tsc_wrapped.js",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
diff --git a/tools/bazel b/tools/bazel
index e72b44e..edb1aca 100755
--- a/tools/bazel
+++ b/tools/bazel
@@ -24,7 +24,7 @@
exec "${BAZEL_OVERRIDE}" "$@"
fi
-readonly VERSION="4.2.2"
+readonly VERSION="5.0.0"
readonly DOWNLOAD_DIR="${HOME}/.cache/bazel"
# Directory to unpack bazel into. This must change whenever bazel changes.
@@ -103,6 +103,7 @@
ENVIRONMENT_VARIABLES+=(HOME="${HOME}")
ENVIRONMENT_VARIABLES+=(TERM="${TERM}")
ENVIRONMENT_VARIABLES+=(LANG="${LANG:-C}")
+ENVIRONMENT_VARIABLES+=(BAZEL_DO_NOT_DETECT_CPP_TOOLCHAIN=1)
if [[ ! -z "${DISPLAY+x}" ]]; then
ENVIRONMENT_VARIABLES+=(DISPLAY="${DISPLAY}")
diff --git a/tools/ci/buildkite.yaml b/tools/ci/buildkite.yaml
index c4af4a4..e20c523 100644
--- a/tools/ci/buildkite.yaml
+++ b/tools/ci/buildkite.yaml
@@ -1,5 +1,5 @@
env:
- STARTUP: --max_idle_secs=0 --watchfs
+ STARTUP: --max_idle_secs=0
COMMON: -c opt --stamp=no --curses=yes --symlink_prefix=/ --disk_cache=~/.cache/bazel/disk_cache/ --repo_env=FRC971_RUNNING_IN_CI=1
TARGETS: //... @com_github_google_glog//... @com_google_ceres_solver//... @com_github_rawrtc_rawrtc//... @com_google_googletest//...
M4F_TARGETS: //...
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index db5fa06..5c36559 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -1,19 +1,11 @@
load(":toolchain_config.bzl", "cc_toolchain_config")
+load(":toolchain_make_variables.bzl", "cc_toolchain_make_variables")
package(default_visibility = ["//visibility:public"])
-cc_toolchain_suite(
- name = "toolchain",
- toolchains = {
- "k8": "@llvm_toolchain//:cc-clang-x86_64-linux",
- "armv7": "@llvm_toolchain//:cc-clang-armv7-linux",
- "arm64": "@llvm_toolchain//:cc-clang-aarch64-linux",
- "roborio": ":cc-compiler-roborio",
- "cortex-m4f": ":cc-compiler-cortex-m4f",
- "rp2040": ":cc-compiler-rp2040",
- },
- visibility = ["//visibility:public"],
-)
+# Use this instead of @bazel_tools//tools/cpp:current_cc_toolchain.
+# This one supports platforms.
+cc_toolchain_make_variables(name = "cc_toolchain_make_variables")
[
cc_toolchain_config(
diff --git a/tools/cpp/toolchain_make_variables.bzl b/tools/cpp/toolchain_make_variables.bzl
new file mode 100644
index 0000000..7c06e1d
--- /dev/null
+++ b/tools/cpp/toolchain_make_variables.bzl
@@ -0,0 +1,39 @@
+load("@bazel_tools//tools/cpp:toolchain_utils.bzl", "find_cpp_toolchain")
+
+def _cc_toolchain_make_variables_impl(ctx):
+ """Supports make variables for toolchains in a platforms setup.
+
+ The upstream @bazel_tools//tools/cpp:current_cc_toolchain target on its own
+ doesn't appear to work with platforms. It only works when using --cpu.
+ """
+ toolchain = find_cpp_toolchain(ctx)
+
+ feature_configuration = cc_common.configure_features(
+ ctx = ctx,
+ cc_toolchain = toolchain,
+ requested_features = ctx.features,
+ unsupported_features = ctx.disabled_features,
+ )
+ objcopy = cc_common.get_tool_for_action(
+ feature_configuration = feature_configuration,
+ action_name = "objcopy_embed_data",
+ )
+
+ return [
+ platform_common.TemplateVariableInfo({
+ "OBJCOPY": objcopy,
+ }),
+ DefaultInfo(files = toolchain.all_files),
+ ]
+
+cc_toolchain_make_variables = rule(
+ implementation = _cc_toolchain_make_variables_impl,
+ attrs = {
+ # This is a dependency of find_cpp_toolchain().
+ "_toolchain": attr.label(
+ default = Label("@bazel_tools//tools/cpp:current_cc_toolchain"),
+ ),
+ },
+ fragments = ["cpp"],
+ toolchains = ["@bazel_tools//tools/cpp:toolchain_type"],
+)
diff --git a/tools/dependency_rewrite b/tools/dependency_rewrite
index cc1de8c..f2172cc 100644
--- a/tools/dependency_rewrite
+++ b/tools/dependency_rewrite
@@ -6,6 +6,7 @@
rewrite mirror.bazel.build/(.*) software.frc971.org/Build-Dependencies/mirror.bazel.build/$1
rewrite nodejs.org/(.*) software.frc971.org/Build-Dependencies/nodejs.org/$1
rewrite static.rust-lang.org/(.*) software.frc971.org/Build-Dependencies/static.rust-lang.org/$1
+rewrite storage.googleapis.com/(.*) software.frc971.org/Build-Dependencies/storage.googleapis.com/$1
allow golang.org
allow software.frc971.org
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index 4127883..37fed2e 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -7,6 +7,7 @@
"@platforms//cpu:x86_64",
"//tools/platforms/go:has_support",
"//tools/platforms/rust:has_support",
+ "//tools/platforms/nodejs:has_support",
],
)
@@ -18,6 +19,7 @@
"//tools/platforms/hardware:raspberry_pi",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:has_support",
+ "//tools/platforms/nodejs:lacks_support",
],
)
@@ -29,6 +31,7 @@
"//tools/platforms/hardware:raspberry_pi",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:has_support",
+ "//tools/platforms/nodejs:lacks_support",
],
)
@@ -40,6 +43,7 @@
"//tools/platforms/hardware:roborio",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:has_support",
+ "//tools/platforms/nodejs:lacks_support",
],
)
@@ -50,6 +54,7 @@
"//tools/platforms/hardware:cortex_m4f",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:lacks_support",
+ "//tools/platforms/nodejs:lacks_support",
],
)
@@ -60,6 +65,7 @@
"//tools/platforms/hardware:cortex_m0plus",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:lacks_support",
+ "//tools/platforms/nodejs:lacks_support",
],
)
diff --git a/tools/platforms/nodejs/BUILD b/tools/platforms/nodejs/BUILD
new file mode 100644
index 0000000..3040964
--- /dev/null
+++ b/tools/platforms/nodejs/BUILD
@@ -0,0 +1,13 @@
+package(default_visibility = ["//visibility:public"])
+
+constraint_setting(name = "node_support")
+
+constraint_value(
+ name = "has_support",
+ constraint_setting = ":node_support",
+)
+
+constraint_value(
+ name = "lacks_support",
+ constraint_setting = ":node_support",
+)
diff --git a/tools/ts/BUILD b/tools/ts/BUILD
new file mode 100644
index 0000000..697e376
--- /dev/null
+++ b/tools/ts/BUILD
@@ -0,0 +1,32 @@
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+load("@build_bazel_rules_nodejs//toolchains/node:node_toolchain.bzl", "node_toolchain")
+
+write_file(
+ name = "noop_error_exit",
+ out = "noop_error_exit.sh",
+ content = [
+ "#!/bin/bash",
+ "echo 'This should never be executed. Something went wrong.' >&2",
+ "echo 'This NOOP NodeJs toolchain should never be executed. Something went wrong.' >&2",
+ "echo 'Check that your target has `target_compatible_with` set to a platform that supports NodeJs.' >&2",
+ "exit 1",
+ ],
+ is_executable = True,
+)
+
+node_toolchain(
+ name = "noop_node_toolchain_impl",
+ target_tool = ":noop_error_exit",
+)
+
+toolchain(
+ name = "noop_node_toolchain",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ ],
+ target_compatible_with = [
+ "//tools/platforms/nodejs:lacks_support",
+ ],
+ toolchain = ":noop_node_toolchain_impl",
+ toolchain_type = "@build_bazel_rules_nodejs//toolchains/node:toolchain_type",
+)
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
index 0b05d10..9293d50 100644
--- a/y2020/vision/calibration.cc
+++ b/y2020/vision/calibration.cc
@@ -2,6 +2,7 @@
#include <opencv2/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include <regex>
#include "Eigen/Dense"
#include "Eigen/Geometry"
@@ -13,23 +14,26 @@
#include "aos/util/file.h"
#include "y2020/vision/charuco_lib.h"
-DEFINE_string(config, "config.json", "Path to the config file to use.");
-DEFINE_string(pi, "pi-7971-1", "Pi name to calibrate.");
DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
+DEFINE_string(camera_id, "", "Camera ID in format YY-NN-- year and number.");
+DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
+DEFINE_string(pi, "", "Pi name to calibrate.");
namespace frc971 {
namespace vision {
class Calibration {
public:
- Calibration(aos::ShmEventLoop *event_loop, std::string_view pi)
+ Calibration(aos::ShmEventLoop *event_loop, std::string_view pi,
+ std::string_view camera_id)
: event_loop_(event_loop),
pi_(pi),
pi_number_(aos::network::ParsePiNumber(pi)),
- prev_rvec_(Eigen::Vector3d::Zero()),
- prev_tvec_(Eigen::Vector3d::Zero()),
+ camera_id_(camera_id),
+ H_camera_board_(Eigen::Affine3d()),
+ prev_H_camera_board_(Eigen::Affine3d()),
charuco_extractor_(
event_loop, pi,
[this](cv::Mat rgb_image,
@@ -37,11 +41,15 @@
std::vector<int> charuco_ids,
std::vector<cv::Point2f> charuco_corners, bool valid,
Eigen::Vector3d rvec_eigen, Eigen::Vector3d tvec_eigen) {
- HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners,
- valid, rvec_eigen, tvec_eigen);
+ HandleCharuco(rgb_image, eof, charuco_ids, charuco_corners, valid,
+ rvec_eigen, tvec_eigen);
}) {
CHECK(pi_number_) << ": Invalid pi number " << pi
<< ", failed to parse pi number";
+ std::regex re{"^[0-9][0-9]-[0-9][0-9]"};
+ CHECK(std::regex_match(camera_id_, re))
+ << ": Invalid camera_id '" << camera_id_
+ << "', should be of form YY-NN";
}
void HandleCharuco(cv::Mat rgb_image,
@@ -67,16 +75,15 @@
// Calibration calculates rotation and translation delta from last image
// captured to automatically capture next image
- Eigen::Matrix3d r_aff =
- Eigen::AngleAxisd(rvec_eigen.norm(), rvec_eigen / rvec_eigen.norm())
- .toRotationMatrix();
- Eigen::Matrix3d prev_r_aff =
- Eigen::AngleAxisd(prev_rvec_.norm(), prev_rvec_ / prev_rvec_.norm())
- .toRotationMatrix();
+ Eigen::Affine3d H_board_camera =
+ Eigen::Translation3d(tvec_eigen) *
+ Eigen::AngleAxisd(rvec_eigen.norm(), rvec_eigen / rvec_eigen.norm());
+ H_camera_board_ = H_board_camera.inverse();
+ Eigen::Affine3d H_delta = H_board_camera * prev_H_camera_board_;
- Eigen::AngleAxisd delta_r = Eigen::AngleAxisd(r_aff * prev_r_aff.inverse());
+ Eigen::AngleAxisd delta_r = Eigen::AngleAxisd(H_delta.rotation());
- Eigen::Vector3d delta_t = tvec_eigen - prev_tvec_;
+ Eigen::Vector3d delta_t = H_delta.translation();
double r_norm = std::abs(delta_r.angle());
double t_norm = delta_t.norm();
@@ -84,8 +91,7 @@
int keystroke = cv::waitKey(1);
if (r_norm > kDeltaRThreshold || t_norm > kDeltaTThreshold) {
if (valid) {
- prev_rvec_ = rvec_eigen;
- prev_tvec_ = tvec_eigen;
+ prev_H_camera_board_ = H_camera_board_;
all_charuco_ids_.emplace_back(std::move(charuco_ids));
all_charuco_corners_.emplace_back(std::move(charuco_corners));
@@ -113,6 +119,8 @@
void MaybeCalibrate() {
if (all_charuco_ids_.size() >= 50) {
+ LOG(INFO) << "Beginning calibration on " << all_charuco_ids_.size()
+ << " images";
cv::Mat cameraMatrix, distCoeffs;
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat stdDeviationsIntrinsics, stdDeviationsExtrinsics, perViewErrors;
@@ -131,6 +139,8 @@
flatbuffers::FlatBufferBuilder fbb;
flatbuffers::Offset<flatbuffers::String> name_offset =
fbb.CreateString(absl::StrFormat("pi%d", pi_number_.value()));
+ flatbuffers::Offset<flatbuffers::String> camera_id_offset =
+ fbb.CreateString(camera_id_);
flatbuffers::Offset<flatbuffers::Vector<float>> intrinsics_offset =
fbb.CreateVector<float>(9u, [&cameraMatrix](size_t i) {
return static_cast<float>(
@@ -154,6 +164,7 @@
aos::realtime_clock::now();
camera_calibration_builder.add_node_name(name_offset);
camera_calibration_builder.add_team_number(team_number.value());
+ camera_calibration_builder.add_camera_id(camera_id_offset);
camera_calibration_builder.add_calibration_timestamp(
realtime_now.time_since_epoch().count());
camera_calibration_builder.add_intrinsics(intrinsics_offset);
@@ -168,8 +179,9 @@
const std::string calibration_filename =
FLAGS_calibration_folder +
- absl::StrFormat("/calibration_pi-%d-%d_%s.json", team_number.value(),
- pi_number_.value(), time_ss.str());
+ absl::StrFormat("/calibration_pi-%d-%d_cam-%s_%s.json",
+ team_number.value(), pi_number_.value(), camera_id_,
+ time_ss.str());
LOG(INFO) << calibration_filename << " -> "
<< aos::FlatbufferToJson(camera_calibration,
@@ -190,12 +202,13 @@
aos::ShmEventLoop *event_loop_;
std::string pi_;
const std::optional<uint16_t> pi_number_;
+ const std::string camera_id_;
std::vector<std::vector<int>> all_charuco_ids_;
std::vector<std::vector<cv::Point2f>> all_charuco_corners_;
- Eigen::Vector3d prev_rvec_;
- Eigen::Vector3d prev_tvec_;
+ Eigen::Affine3d H_camera_board_;
+ Eigen::Affine3d prev_H_camera_board_;
CharucoExtractor charuco_extractor_;
};
@@ -208,7 +221,12 @@
aos::ShmEventLoop event_loop(&config.message());
- Calibration extractor(&event_loop, FLAGS_pi);
+ std::string hostname = FLAGS_pi;
+ if (hostname == "") {
+ hostname = aos::network::GetHostname();
+ LOG(INFO) << "Using pi name from hostname as " << hostname;
+ }
+ Calibration extractor(&event_loop, hostname, FLAGS_camera_id);
event_loop.Run();
diff --git a/y2020/vision/calibration_accumulator.cc b/y2020/vision/calibration_accumulator.cc
index e77c74b..9f550c5 100644
--- a/y2020/vision/calibration_accumulator.cc
+++ b/y2020/vision/calibration_accumulator.cc
@@ -22,10 +22,15 @@
using aos::monotonic_clock;
namespace chrono = std::chrono;
+constexpr double kG = 9.807;
+
void CalibrationData::AddCameraPose(
distributed_clock::time_point distributed_now, Eigen::Vector3d rvec,
Eigen::Vector3d tvec) {
- rot_trans_points_.emplace_back(distributed_now, std::make_pair(rvec, tvec));
+ // Always start with IMU reading...
+ if (!imu_points_.empty() && imu_points_[0].first < distributed_now) {
+ rot_trans_points_.emplace_back(distributed_now, std::make_pair(rvec, tvec));
+ }
}
void CalibrationData::AddImu(distributed_clock::time_point distributed_now,
@@ -167,7 +172,7 @@
data_->AddImu(imu_factory_->ToDistributedClock(monotonic_clock::time_point(
chrono::nanoseconds(imu->monotonic_timestamp_ns()))),
- gyro, accel);
+ gyro, accel * kG);
}
} // namespace vision
diff --git a/y2020/vision/calibration_accumulator.h b/y2020/vision/calibration_accumulator.h
index 0f1bff7..7bff9f0 100644
--- a/y2020/vision/calibration_accumulator.h
+++ b/y2020/vision/calibration_accumulator.h
@@ -13,11 +13,17 @@
namespace frc971 {
namespace vision {
+// This class provides an interface for an application to be notified of all
+// camera and IMU samples in order with the correct timestamps.
class CalibrationDataObserver {
public:
+ // Observes a camera sample at the corresponding time t, and with the
+ // corresponding rotation and translation vectors rt.
virtual void UpdateCamera(aos::distributed_clock::time_point t,
std::pair<Eigen::Vector3d, Eigen::Vector3d> rt) = 0;
+ // Observes an IMU sample at the corresponding time t, and with the
+ // corresponding angular velocity and linear acceleration vectors wa.
virtual void UpdateIMU(aos::distributed_clock::time_point t,
std::pair<Eigen::Vector3d, Eigen::Vector3d> wa) = 0;
};
diff --git a/y2020/vision/charuco_lib.cc b/y2020/vision/charuco_lib.cc
index 0df820b..8677cbb 100644
--- a/y2020/vision/charuco_lib.cc
+++ b/y2020/vision/charuco_lib.cc
@@ -137,7 +137,7 @@
const double age_double =
std::chrono::duration_cast<std::chrono::duration<double>>(age).count();
if (age > std::chrono::milliseconds(100)) {
- LOG(INFO) << "Age: " << age_double << ", getting behind, skipping";
+ VLOG(2) << "Age: " << age_double << ", getting behind, skipping";
return;
}
// Create color image:
diff --git a/y2020/vision/extrinsics_calibration.cc b/y2020/vision/extrinsics_calibration.cc
index c7ef752..f2ac926 100644
--- a/y2020/vision/extrinsics_calibration.cc
+++ b/y2020/vision/extrinsics_calibration.cc
@@ -22,6 +22,7 @@
DEFINE_string(config, "config.json", "Path to the config file to use.");
DEFINE_string(pi, "pi-7971-2", "Pi name to calibrate.");
+DEFINE_bool(plot, false, "Whether to plot the resulting data.");
namespace frc971 {
namespace vision {
@@ -29,6 +30,8 @@
using aos::distributed_clock;
using aos::monotonic_clock;
+constexpr double kGravity = 9.8;
+
// The basic ideas here are taken from Kalibr.
// (https://github.com/ethz-asl/kalibr), but adapted to work with AOS, and to be
// simpler.
@@ -61,48 +64,95 @@
template <typename Scalar>
class CeresPoseFilter : public CalibrationDataObserver {
public:
+ typedef Eigen::Transform<Scalar, 3, Eigen::Affine> Affine3s;
+
CeresPoseFilter(Eigen::Quaternion<Scalar> initial_orientation,
Eigen::Quaternion<Scalar> imu_to_camera,
- Eigen::Matrix<Scalar, 3, 1> imu_bias)
+ Eigen::Matrix<Scalar, 3, 1> gyro_bias,
+ Eigen::Matrix<Scalar, 6, 1> initial_state,
+ Eigen::Quaternion<Scalar> board_to_world,
+ Eigen::Matrix<Scalar, 3, 1> imu_to_camera_translation,
+ Scalar gravity_scalar,
+ Eigen::Matrix<Scalar, 3, 1> accelerometer_bias)
: accel_(Eigen::Matrix<double, 3, 1>::Zero()),
omega_(Eigen::Matrix<double, 3, 1>::Zero()),
- imu_bias_(imu_bias),
+ imu_bias_(gyro_bias),
orientation_(initial_orientation),
- x_hat_(Eigen::Matrix<Scalar, 6, 1>::Zero()),
+ x_hat_(initial_state),
p_(Eigen::Matrix<Scalar, 6, 6>::Zero()),
- imu_to_camera_(imu_to_camera) {}
+ imu_to_camera_rotation_(imu_to_camera),
+ imu_to_camera_translation_(imu_to_camera_translation),
+ board_to_world_(board_to_world),
+ gravity_scalar_(gravity_scalar),
+ accelerometer_bias_(accelerometer_bias) {}
- virtual void ObserveCameraUpdate(distributed_clock::time_point /*t*/,
- Eigen::Vector3d /*board_to_camera_rotation*/,
- Eigen::Quaternion<Scalar> /*imu_to_world*/) {
- }
+ Scalar gravity_scalar() { return gravity_scalar_; }
+ virtual void ObserveCameraUpdate(
+ distributed_clock::time_point /*t*/,
+ Eigen::Vector3d /*board_to_camera_rotation*/,
+ Eigen::Quaternion<Scalar> /*imu_to_world_rotation*/,
+ Affine3s /*imu_to_world*/) {}
+
+ // Observes a camera measurement by applying a kalman filter correction and
+ // accumulating up the error associated with the step.
void UpdateCamera(distributed_clock::time_point t,
std::pair<Eigen::Vector3d, Eigen::Vector3d> rt) override {
Integrate(t);
- Eigen::Quaternion<Scalar> board_to_camera(
+ const Eigen::Quaternion<Scalar> board_to_camera_rotation(
frc971::controls::ToQuaternionFromRotationVector(rt.first)
.cast<Scalar>());
+ const Affine3s board_to_camera =
+ Eigen::Translation3d(rt.second).cast<Scalar>() *
+ board_to_camera_rotation;
+
+ const Affine3s imu_to_camera =
+ imu_to_camera_translation_ * imu_to_camera_rotation_;
// This converts us from (facing the board),
// x right, y up, z towards us -> x right, y away, z up.
// Confirmed to be right.
- Eigen::Quaternion<Scalar> board_to_world(
- Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()).cast<Scalar>());
// Want world -> imu rotation.
// world <- board <- camera <- imu.
- const Eigen::Quaternion<Scalar> imu_to_world =
- board_to_world * board_to_camera.inverse() * imu_to_camera_;
+ const Eigen::Quaternion<Scalar> imu_to_world_rotation =
+ board_to_world_ * board_to_camera_rotation.inverse() *
+ imu_to_camera_rotation_;
- const Eigen::Quaternion<Scalar> error(imu_to_world.inverse() *
+ const Affine3s imu_to_world =
+ board_to_world_ * board_to_camera.inverse() * imu_to_camera;
+
+ const Eigen::Matrix<Scalar, 3, 1> z =
+ imu_to_world * Eigen::Matrix<Scalar, 3, 1>::Zero();
+
+ Eigen::Matrix<Scalar, 3, 6> H = Eigen::Matrix<Scalar, 3, 6>::Zero();
+ H(0, 0) = static_cast<Scalar>(1.0);
+ H(1, 1) = static_cast<Scalar>(1.0);
+ H(2, 2) = static_cast<Scalar>(1.0);
+ const Eigen::Matrix<Scalar, 3, 1> y = z - H * x_hat_;
+
+ const Eigen::Matrix<double, 3, 3> R =
+ (::Eigen::DiagonalMatrix<double, 3>().diagonal() << ::std::pow(0.01, 2),
+ ::std::pow(0.01, 2), ::std::pow(0.01, 2))
+ .finished()
+ .asDiagonal();
+
+ const Eigen::Matrix<Scalar, 3, 3> S =
+ H * p_ * H.transpose() + R.cast<Scalar>();
+ const Eigen::Matrix<Scalar, 6, 3> K = p_ * H.transpose() * S.inverse();
+
+ x_hat_ += K * y;
+ p_ = (Eigen::Matrix<Scalar, 6, 6>::Identity() - K * H) * p_;
+
+ const Eigen::Quaternion<Scalar> error(imu_to_world_rotation.inverse() *
orientation());
errors_.emplace_back(
Eigen::Matrix<Scalar, 3, 1>(error.x(), error.y(), error.z()));
+ position_errors_.emplace_back(y);
- ObserveCameraUpdate(t, rt.first, imu_to_world);
+ ObserveCameraUpdate(t, rt.first, imu_to_world_rotation, imu_to_world);
}
virtual void ObserveIMUUpdate(
@@ -120,14 +170,16 @@
const Eigen::Quaternion<Scalar> &orientation() const { return orientation_; }
- std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
-
- // Returns the angular errors for each camera sample.
size_t num_errors() const { return errors_.size(); }
Scalar errorx(size_t i) const { return errors_[i].x(); }
Scalar errory(size_t i) const { return errors_[i].y(); }
Scalar errorz(size_t i) const { return errors_[i].z(); }
+ size_t num_perrors() const { return position_errors_.size(); }
+ Scalar errorpx(size_t i) const { return position_errors_[i].x(); }
+ Scalar errorpy(size_t i) const { return position_errors_[i].y(); }
+ Scalar errorpz(size_t i) const { return position_errors_[i].z(); }
+
private:
Eigen::Matrix<Scalar, 46, 1> Pack(Eigen::Quaternion<Scalar> q,
Eigen::Matrix<Scalar, 6, 1> x_hat,
@@ -151,7 +203,7 @@
return std::make_tuple(q, x_hat, p);
}
- Eigen::Matrix<Scalar, 46, 1> Derivitive(
+ Eigen::Matrix<Scalar, 46, 1> Derivative(
const Eigen::Matrix<Scalar, 46, 1> &input) {
auto [q, x_hat, p] = UnPack(input);
@@ -160,25 +212,48 @@
omega_q.vec() = 0.5 * (omega_.cast<Scalar>() - imu_bias_);
Eigen::Matrix<Scalar, 4, 1> q_dot = (q * omega_q).coeffs();
- Eigen::Matrix<Scalar, 6, 1> x_hat_dot = Eigen::Matrix<Scalar, 6, 1>::Zero();
- x_hat_dot(0, 0) = x_hat(3, 0);
- x_hat_dot(1, 0) = x_hat(4, 0);
- x_hat_dot(2, 0) = x_hat(5, 0);
- x_hat_dot.template block<3, 1>(3, 0) = accel_.cast<Scalar>();
+ Eigen::Matrix<double, 6, 6> A = Eigen::Matrix<double, 6, 6>::Zero();
+ A(0, 3) = 1.0;
+ A(1, 4) = 1.0;
+ A(2, 5) = 1.0;
- Eigen::Matrix<Scalar, 6, 6> p_dot = Eigen::Matrix<Scalar, 6, 6>::Zero();
+ Eigen::Matrix<Scalar, 6, 1> x_hat_dot = A * x_hat;
+ x_hat_dot.template block<3, 1>(3, 0) =
+ orientation() * (accel_.cast<Scalar>() - accelerometer_bias_) -
+ Eigen::Vector3d(0, 0, kGravity).cast<Scalar>() * gravity_scalar_;
+
+ // Initialize the position noise to 0. If the solver is going to back-solve
+ // for the most likely starting position, let's just say that the noise is
+ // small.
+ constexpr double kPositionNoise = 0.0;
+ constexpr double kAccelerometerNoise = 2.3e-6 * 9.8;
+ constexpr double kIMUdt = 5.0e-4;
+ Eigen::Matrix<double, 6, 6> Q_dot(
+ (::Eigen::DiagonalMatrix<double, 6>().diagonal()
+ << ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kPositionNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt,
+ ::std::pow(kAccelerometerNoise, 2) / kIMUdt)
+ .finished()
+ .asDiagonal());
+ Eigen::Matrix<Scalar, 6, 6> p_dot = A.cast<Scalar>() * p +
+ p * A.transpose().cast<Scalar>() +
+ Q_dot.cast<Scalar>();
return Pack(Eigen::Quaternion<Scalar>(q_dot), x_hat_dot, p_dot);
}
virtual void ObserveIntegrated(distributed_clock::time_point /*t*/,
Eigen::Matrix<Scalar, 6, 1> /*x_hat*/,
- Eigen::Quaternion<Scalar> /*orientation*/) {}
+ Eigen::Quaternion<Scalar> /*orientation*/,
+ Eigen::Matrix<Scalar, 6, 6> /*p*/) {}
void Integrate(distributed_clock::time_point t) {
if (last_time_ != distributed_clock::min_time) {
Eigen::Matrix<Scalar, 46, 1> next = control_loops::RungeKutta(
- [this](auto r) { return Derivitive(r); },
+ [this](auto r) { return Derivative(r); },
Pack(orientation_, x_hat_, p_),
aos::time::DurationInSeconds(t - last_time_));
@@ -189,34 +264,42 @@
}
last_time_ = t;
- ObserveIntegrated(t, x_hat_, orientation_);
+ ObserveIntegrated(t, x_hat_, orientation_, p_);
}
Eigen::Matrix<double, 3, 1> accel_;
Eigen::Matrix<double, 3, 1> omega_;
Eigen::Matrix<Scalar, 3, 1> imu_bias_;
+ // IMU -> world quaternion
Eigen::Quaternion<Scalar> orientation_;
Eigen::Matrix<Scalar, 6, 1> x_hat_;
Eigen::Matrix<Scalar, 6, 6> p_;
distributed_clock::time_point last_time_ = distributed_clock::min_time;
- Eigen::Quaternion<Scalar> imu_to_camera_;
+ Eigen::Quaternion<Scalar> imu_to_camera_rotation_;
+ Eigen::Translation<Scalar, 3> imu_to_camera_translation_ =
+ Eigen::Translation3d(0, 0, 0).cast<Scalar>();
- // States outside the KF:
- // orientation quaternion
- //
+ Eigen::Quaternion<Scalar> board_to_world_;
+ Scalar gravity_scalar_;
+ Eigen::Matrix<Scalar, 3, 1> accelerometer_bias_;
// States:
// xyz position
// xyz velocity
//
// Inputs
// xyz accel
- // angular rates
//
// Measurement:
- // xyz position
- // orientation rotation vector
+ // xyz position from camera.
+ //
+ // Since the gyro is so good, we can just solve for the bias and initial
+ // position with the solver and see what it learns.
+
+ // Returns the angular errors for each camera sample.
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> errors_;
+ std::vector<Eigen::Matrix<Scalar, 3, 1>> position_errors_;
};
// Subclass of the filter above which has plotting. This keeps debug code and
@@ -225,25 +308,48 @@
public:
PoseFilter(Eigen::Quaternion<double> initial_orientation,
Eigen::Quaternion<double> imu_to_camera,
- Eigen::Matrix<double, 3, 1> imu_bias)
- : CeresPoseFilter<double>(initial_orientation, imu_to_camera, imu_bias) {}
+ Eigen::Matrix<double, 3, 1> gyro_bias,
+ Eigen::Matrix<double, 6, 1> initial_state,
+ Eigen::Quaternion<double> board_to_world,
+ Eigen::Matrix<double, 3, 1> imu_to_camera_translation,
+ double gravity_scalar,
+ Eigen::Matrix<double, 3, 1> accelerometer_bias)
+ : CeresPoseFilter<double>(initial_orientation, imu_to_camera, gyro_bias,
+ initial_state, board_to_world,
+ imu_to_camera_translation, gravity_scalar,
+ accelerometer_bias) {}
void Plot() {
+ std::vector<double> rx;
+ std::vector<double> ry;
+ std::vector<double> rz;
std::vector<double> x;
std::vector<double> y;
std::vector<double> z;
+ std::vector<double> vx;
+ std::vector<double> vy;
+ std::vector<double> vz;
for (const Eigen::Quaternion<double> &q : orientations_) {
Eigen::Matrix<double, 3, 1> rotation_vector =
frc971::controls::ToRotationVectorFromQuaternion(q);
- x.emplace_back(rotation_vector(0, 0));
- y.emplace_back(rotation_vector(1, 0));
- z.emplace_back(rotation_vector(2, 0));
+ rx.emplace_back(rotation_vector(0, 0));
+ ry.emplace_back(rotation_vector(1, 0));
+ rz.emplace_back(rotation_vector(2, 0));
}
+ for (const Eigen::Matrix<double, 6, 1> &x_hat : x_hats_) {
+ x.emplace_back(x_hat(0));
+ y.emplace_back(x_hat(1));
+ z.emplace_back(x_hat(2));
+ vx.emplace_back(x_hat(3));
+ vy.emplace_back(x_hat(4));
+ vz.emplace_back(x_hat(5));
+ }
+
frc971::analysis::Plotter plotter;
plotter.AddFigure("position");
- plotter.AddLine(times_, x, "x_hat(0)");
- plotter.AddLine(times_, y, "x_hat(1)");
- plotter.AddLine(times_, z, "x_hat(2)");
+ plotter.AddLine(times_, rx, "x_hat(0)");
+ plotter.AddLine(times_, ry, "x_hat(1)");
+ plotter.AddLine(times_, rz, "x_hat(2)");
plotter.AddLine(ct, cx, "Camera x");
plotter.AddLine(ct, cy, "Camera y");
plotter.AddLine(ct, cz, "Camera z");
@@ -253,9 +359,9 @@
plotter.Publish();
plotter.AddFigure("error");
- plotter.AddLine(times_, x, "x_hat(0)");
- plotter.AddLine(times_, y, "x_hat(1)");
- plotter.AddLine(times_, z, "x_hat(2)");
+ plotter.AddLine(times_, rx, "x_hat(0)");
+ plotter.AddLine(times_, ry, "x_hat(1)");
+ plotter.AddLine(times_, rz, "x_hat(2)");
plotter.AddLine(ct, cerrx, "Camera error x");
plotter.AddLine(ct, cerry, "Camera error y");
plotter.AddLine(ct, cerrz, "Camera error z");
@@ -268,6 +374,9 @@
plotter.AddLine(imut, imu_x, "imu x");
plotter.AddLine(imut, imu_y, "imu y");
plotter.AddLine(imut, imu_z, "imu z");
+ plotter.AddLine(times_, rx, "rotation x");
+ plotter.AddLine(times_, ry, "rotation y");
+ plotter.AddLine(times_, rz, "rotation z");
plotter.Publish();
plotter.AddFigure("raw");
@@ -282,12 +391,27 @@
plotter.AddLine(ct, raw_cz, "Camera z");
plotter.Publish();
+ plotter.AddFigure("xyz vel");
+ plotter.AddLine(times_, x, "x");
+ plotter.AddLine(times_, y, "y");
+ plotter.AddLine(times_, z, "z");
+ plotter.AddLine(times_, vx, "vx");
+ plotter.AddLine(times_, vy, "vy");
+ plotter.AddLine(times_, vz, "vz");
+ plotter.AddLine(ct, camera_position_x, "Camera x");
+ plotter.AddLine(ct, camera_position_y, "Camera y");
+ plotter.AddLine(ct, camera_position_z, "Camera z");
+ plotter.Publish();
+
plotter.Spin();
}
void ObserveIntegrated(distributed_clock::time_point t,
Eigen::Matrix<double, 6, 1> x_hat,
- Eigen::Quaternion<double> orientation) override {
+ Eigen::Quaternion<double> orientation,
+ Eigen::Matrix<double, 6, 6> p) override {
+ VLOG(1) << t << " -> " << p;
+ VLOG(1) << t << " xhat -> " << x_hat.transpose();
times_.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
x_hats_.emplace_back(x_hat);
orientations_.emplace_back(orientation);
@@ -309,18 +433,19 @@
void ObserveCameraUpdate(distributed_clock::time_point t,
Eigen::Vector3d board_to_camera_rotation,
- Eigen::Quaternion<double> imu_to_world) override {
+ Eigen::Quaternion<double> imu_to_world_rotation,
+ Eigen::Affine3d imu_to_world) override {
raw_cx.emplace_back(board_to_camera_rotation(0, 0));
raw_cy.emplace_back(board_to_camera_rotation(1, 0));
raw_cz.emplace_back(board_to_camera_rotation(2, 0));
Eigen::Matrix<double, 3, 1> rotation_vector =
- frc971::controls::ToRotationVectorFromQuaternion(imu_to_world);
+ frc971::controls::ToRotationVectorFromQuaternion(imu_to_world_rotation);
ct.emplace_back(chrono::duration<double>(t.time_since_epoch()).count());
Eigen::Matrix<double, 3, 1> cerr =
frc971::controls::ToRotationVectorFromQuaternion(
- imu_to_world.inverse() * orientation());
+ imu_to_world_rotation.inverse() * orientation());
cx.emplace_back(rotation_vector(0, 0));
cy.emplace_back(rotation_vector(1, 0));
@@ -330,11 +455,20 @@
cerry.emplace_back(cerr(1, 0));
cerrz.emplace_back(cerr(2, 0));
- const Eigen::Vector3d world_gravity = imu_to_world * last_accel_;
+ const Eigen::Vector3d world_gravity =
+ imu_to_world_rotation * last_accel_ -
+ Eigen::Vector3d(0, 0, kGravity) * gravity_scalar();
+
+ const Eigen::Vector3d camera_position =
+ imu_to_world * Eigen::Vector3d::Zero();
world_gravity_x.emplace_back(world_gravity.x());
world_gravity_y.emplace_back(world_gravity.y());
world_gravity_z.emplace_back(world_gravity.z());
+
+ camera_position_x.emplace_back(camera_position.x());
+ camera_position_y.emplace_back(camera_position.y());
+ camera_position_z.emplace_back(camera_position.z());
}
std::vector<double> ct;
@@ -354,6 +488,9 @@
std::vector<double> imu_x;
std::vector<double> imu_y;
std::vector<double> imu_z;
+ std::vector<double> camera_position_x;
+ std::vector<double> camera_position_y;
+ std::vector<double> camera_position_z;
std::vector<double> imut;
std::vector<double> imu_ratex;
@@ -375,13 +512,29 @@
template <typename S>
bool operator()(const S *const q1, const S *const q2, const S *const v,
- S *residual) const {
+ const S *const p, const S *const btw, const S *const itc,
+ const S *const gravity_scalar_ptr,
+ const S *const accelerometer_bias_ptr, S *residual) const {
Eigen::Quaternion<S> initial_orientation(q1[3], q1[0], q1[1], q1[2]);
Eigen::Quaternion<S> mounting_orientation(q2[3], q2[0], q2[1], q2[2]);
- Eigen::Matrix<S, 3, 1> imu_bias(v[0], v[1], v[2]);
+ Eigen::Quaternion<S> board_to_world(btw[3], btw[0], btw[1], btw[2]);
+ Eigen::Matrix<S, 3, 1> gyro_bias(v[0], v[1], v[2]);
+ Eigen::Matrix<S, 6, 1> initial_state;
+ initial_state(0) = p[0];
+ initial_state(1) = p[1];
+ initial_state(2) = p[2];
+ initial_state(3) = p[3];
+ initial_state(4) = p[4];
+ initial_state(5) = p[5];
+ Eigen::Matrix<S, 3, 1> imu_to_camera_translation(itc[0], itc[1], itc[2]);
+ Eigen::Matrix<S, 3, 1> accelerometer_bias(accelerometer_bias_ptr[0],
+ accelerometer_bias_ptr[1],
+ accelerometer_bias_ptr[2]);
CeresPoseFilter<S> filter(initial_orientation, mounting_orientation,
- imu_bias);
+ gyro_bias, initial_state, board_to_world,
+ imu_to_camera_translation, *gravity_scalar_ptr,
+ accelerometer_bias);
data->ReviewData(&filter);
for (size_t i = 0; i < filter.num_errors(); ++i) {
@@ -390,6 +543,12 @@
residual[3 * i + 2] = filter.errorz(i);
}
+ for (size_t i = 0; i < filter.num_perrors(); ++i) {
+ residual[3 * filter.num_errors() + 3 * i + 0] = filter.errorpx(i);
+ residual[3 * filter.num_errors() + 3 * i + 1] = filter.errorpy(i);
+ residual[3 * filter.num_errors() + 3 * i + 2] = filter.errorpz(i);
+ }
+
return true;
}
};
@@ -437,17 +596,29 @@
LOG(INFO) << "Done with event_loop running";
// And now we have it, we can start processing it.
- Eigen::Quaternion<double> nominal_initial_orientation(
+ const Eigen::Quaternion<double> nominal_initial_orientation(
frc971::controls::ToQuaternionFromRotationVector(
Eigen::Vector3d(0.0, 0.0, M_PI)));
- Eigen::Quaternion<double> nominal_imu_to_camera(
+ const Eigen::Quaternion<double> nominal_imu_to_camera(
Eigen::AngleAxisd(-0.5 * M_PI, Eigen::Vector3d::UnitX()));
+ const Eigen::Quaternion<double> nominal_board_to_world(
+ Eigen::AngleAxisd(0.5 * M_PI, Eigen::Vector3d::UnitX()));
- Eigen::Quaternion<double> initial_orientation =
- Eigen::Quaternion<double>::Identity();
- Eigen::Quaternion<double> imu_to_camera =
- Eigen::Quaternion<double>::Identity();
- Eigen::Vector3d imu_bias = Eigen::Vector3d::Zero();
+ Eigen::Quaternion<double> initial_orientation = nominal_initial_orientation;
+ // Eigen::Quaternion<double>::Identity();
+ Eigen::Quaternion<double> imu_to_camera = nominal_imu_to_camera;
+ // Eigen::Quaternion<double>::Identity();
+ Eigen::Quaternion<double> board_to_world = nominal_board_to_world;
+ // Eigen::Quaternion<double>::Identity();
+ Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();
+ Eigen::Matrix<double, 6, 1> initial_state =
+ Eigen::Matrix<double, 6, 1>::Zero();
+ Eigen::Matrix<double, 3, 1> imu_to_camera_translation =
+ Eigen::Matrix<double, 3, 1>::Zero();
+
+ double gravity_scalar = 1.0;
+ Eigen::Matrix<double, 3, 1> accelerometer_bias =
+ Eigen::Matrix<double, 3, 1>::Zero();
{
ceres::Problem problem;
@@ -458,19 +629,29 @@
// auto-differentiation to obtain the derivative (jacobian).
ceres::CostFunction *cost_function =
- new ceres::AutoDiffCostFunction<CostFunctor, ceres::DYNAMIC, 4, 4, 3>(
- new CostFunctor(&data), data.camera_samples_size() * 3);
- problem.AddResidualBlock(cost_function, nullptr,
- initial_orientation.coeffs().data(),
- imu_to_camera.coeffs().data(), imu_bias.data());
+ new ceres::AutoDiffCostFunction<CostFunctor, ceres::DYNAMIC, 4, 4, 3, 6,
+ 4, 3, 1, 3>(
+ new CostFunctor(&data), data.camera_samples_size() * 6);
+ problem.AddResidualBlock(
+ cost_function, new ceres::HuberLoss(1.0),
+ initial_orientation.coeffs().data(), imu_to_camera.coeffs().data(),
+ gyro_bias.data(), initial_state.data(), board_to_world.coeffs().data(),
+ imu_to_camera_translation.data(), &gravity_scalar,
+ accelerometer_bias.data());
problem.SetParameterization(initial_orientation.coeffs().data(),
quaternion_local_parameterization);
problem.SetParameterization(imu_to_camera.coeffs().data(),
quaternion_local_parameterization);
+ problem.SetParameterization(board_to_world.coeffs().data(),
+ quaternion_local_parameterization);
for (int i = 0; i < 3; ++i) {
- problem.SetParameterLowerBound(imu_bias.data(), i, -0.05);
- problem.SetParameterUpperBound(imu_bias.data(), i, 0.05);
+ problem.SetParameterLowerBound(gyro_bias.data(), i, -0.05);
+ problem.SetParameterUpperBound(gyro_bias.data(), i, 0.05);
+ problem.SetParameterLowerBound(accelerometer_bias.data(), i, -0.05);
+ problem.SetParameterUpperBound(accelerometer_bias.data(), i, 0.05);
}
+ problem.SetParameterLowerBound(&gravity_scalar, 0, 0.95);
+ problem.SetParameterUpperBound(&gravity_scalar, 0, 1.05);
// Run the solver!
ceres::Solver::Options options;
@@ -497,12 +678,30 @@
<< frc971::controls::ToRotationVectorFromQuaternion(
imu_to_camera * nominal_imu_to_camera.inverse())
.transpose();
- LOG(INFO) << "imu_bias " << imu_bias.transpose();
+ LOG(INFO) << "gyro_bias " << gyro_bias.transpose();
+ LOG(INFO) << "board_to_world " << board_to_world.coeffs().transpose();
+ LOG(INFO) << "board_to_world(rotation) "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ board_to_world)
+ .transpose();
+ LOG(INFO) << "board_to_world delta "
+ << frc971::controls::ToRotationVectorFromQuaternion(
+ board_to_world * nominal_board_to_world.inverse())
+ .transpose();
+ LOG(INFO) << "imu_to_camera_translation "
+ << imu_to_camera_translation.transpose();
+ LOG(INFO) << "gravity " << kGravity * gravity_scalar;
+ LOG(INFO) << "accelerometer bias " << accelerometer_bias.transpose();
}
{
- PoseFilter filter(initial_orientation, imu_to_camera, imu_bias);
+ PoseFilter filter(initial_orientation, imu_to_camera, gyro_bias,
+ initial_state, board_to_world, imu_to_camera_translation,
+ gravity_scalar, accelerometer_bias);
data.ReviewData(&filter);
+ if (FLAGS_plot) {
+ filter.Plot();
+ }
}
}
diff --git a/y2020/vision/sift/sift.fbs b/y2020/vision/sift/sift.fbs
index 3336d0c..0598497 100644
--- a/y2020/vision/sift/sift.fbs
+++ b/y2020/vision/sift/sift.fbs
@@ -104,6 +104,10 @@
// Timestamp for when the calibration was taken on the realtime clock.
calibration_timestamp:int64 (id: 6);
+
+ // The id of the camera which this calibration data applies to.
+ // Expected to be formatted as Year-Number (YY-##).
+ camera_id:string (id: 7);
}
// Contains the information the EKF wants from an image matched against a single
diff --git a/y2022/BUILD b/y2022/BUILD
index 67e8587..97d42a1 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -28,6 +28,8 @@
binaries = [
"//y2020/vision:calibration",
"//y2022/vision:viewer",
+ "//y2022/localizer:imu_main",
+ "//y2022/control_loops/localizer:localizer_main",
],
data = [
":config",
@@ -57,6 +59,7 @@
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
+ ":config_imu",
":config_logger",
":config_pi1",
":config_pi2",
@@ -98,6 +101,25 @@
]
aos_config(
+ name = "config_imu",
+ src = "y2022_imu.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//y2022/control_loops/localizer:localizer_status_fbs",
+ "//y2022/control_loops/localizer:localizer_output_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/control_loops/drivetrain:config",
+ ],
+)
+
+aos_config(
name = "config_logger",
src = "y2022_logger.json",
flatbuffers = [
@@ -167,6 +189,7 @@
"//frc971/control_loops:pose",
"//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
"//y2022/control_loops/drivetrain:polydrivetrain_plants",
+ "//y2022/control_loops/superstructure/intake:intake_plants",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/base",
],
@@ -233,3 +256,10 @@
"//y2022/control_loops/superstructure:superstructure_status_fbs",
],
)
+
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2022/__init__.py b/y2022/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2022/__init__.py
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 98f6511..73e72f3 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -11,6 +11,7 @@
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
#include "glog/logging.h"
+#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
namespace y2022 {
namespace constants {
@@ -26,6 +27,37 @@
const Values *DoGetValuesForTeam(uint16_t team) {
Values *const r = new Values();
+ // TODO(Yash): Set constants
+ // Intake constants.
+ auto *const intake = &r->intake;
+
+ intake->zeroing_voltage = 3.0;
+ intake->operating_voltage = 12.0;
+ intake->zeroing_profile_params = {0.5, 3.0};
+ intake->default_profile_params = {6.0, 30.0};
+ intake->range = Values::kIntakeRange();
+ intake->make_integral_loop =
+ control_loops::superstructure::intake::MakeIntegralIntakeLoop;
+
+ // The number of samples in the moving average filter.
+ intake->zeroing_constants.average_filter_size = Values::kZeroingSampleSize;
+ // The distance that the absolute encoder needs to complete a full rotation.
+ intake->zeroing_constants.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kIntakeEncoderRatio();
+
+ // Threshold for deciding if we are moving. moving_buffer_size samples need to
+ // be within this distance of each other before we use the middle one to zero.
+ intake->zeroing_constants.zeroing_threshold = 0.0005;
+ // Buffer size for deciding if we are moving.
+ intake->zeroing_constants.moving_buffer_size = 20;
+
+ // Value between 0 and 1 indicating what fraction of one_revolution_distance
+ // it is acceptable for the offset to move.
+ intake->zeroing_constants.allowable_encoder_error = 0.9;
+
+ // Measured absolute position of the encoder when at zero.
+ intake->zeroing_constants.measured_absolute_position = 0.0;
+
switch (team) {
// A set of constants for tests.
case 1:
diff --git a/y2022/constants.h b/y2022/constants.h
index 050a363..92f3a48 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/superstructure/intake/intake_plant.h"
namespace y2022 {
namespace constants {
@@ -29,9 +30,31 @@
constants::Values::kDrivetrainEncoderRatio() *
kDrivetrainEncoderCountsPerRevolution();
}
+
+ static double DrivetrainEncoderToMeters(int32_t in) {
+ return ((static_cast<double>(in) /
+ kDrivetrainEncoderCountsPerRevolution()) *
+ (2.0 * M_PI)) *
+ kDrivetrainEncoderRatio() *
+ control_loops::drivetrain::kWheelRadius;
+ }
+
static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ intake;
+
+ // 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
+ };
+ }
// Climber
static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }
diff --git a/y2022/control_loops/BUILD b/y2022/control_loops/BUILD
new file mode 100644
index 0000000..49bc419
--- /dev/null
+++ b/y2022/control_loops/BUILD
@@ -0,0 +1,7 @@
+py_library(
+ name = "python_init",
+ srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = ["//y2022:python_init"],
+)
diff --git a/y2022/control_loops/__init__.py b/y2022/control_loops/__init__.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/y2022/control_loops/__init__.py
diff --git a/y2022/control_loops/drivetrain/BUILD b/y2022/control_loops/drivetrain/BUILD
index 2858dc7..a1f1e47 100644
--- a/y2022/control_loops/drivetrain/BUILD
+++ b/y2022/control_loops/drivetrain/BUILD
@@ -1,3 +1,5 @@
+load("//aos:config.bzl", "aos_config")
+
genrule(
name = "genrule_drivetrain",
outs = [
@@ -69,6 +71,19 @@
],
)
+cc_library(
+ name = "localizer",
+ srcs = ["localizer.cc"],
+ hdrs = ["localizer.h"],
+ deps = [
+ "//aos/events:event_loop",
+ "//aos/network:message_bridge_server_fbs",
+ "//frc971/control_loops/drivetrain:hybrid_ekf",
+ "//frc971/control_loops/drivetrain:localizer",
+ "//y2022/control_loops/localizer:localizer_output_fbs",
+ ],
+)
+
cc_binary(
name = "drivetrain",
srcs = [
@@ -78,8 +93,40 @@
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
+ ":localizer",
"//aos:init",
"//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
],
)
+
+aos_config(
+ name = "simulation_config",
+ src = "drivetrain_simulation_config.json",
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops/drivetrain:simulation_channels",
+ "//y2022:config",
+ ],
+)
+
+cc_test(
+ name = "localizer_test",
+ srcs = ["localizer_test.cc"],
+ data = [":simulation_config"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":drivetrain_base",
+ ":localizer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_writer",
+ "//aos/network:team_number",
+ "//aos/network:testing_time_converter",
+ "//frc971/control_loops:control_loop_test",
+ "//frc971/control_loops:team_number_test_environment",
+ "//frc971/control_loops/drivetrain:drivetrain_lib",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ "//y2022/control_loops/localizer:localizer_output_fbs",
+ ],
+)
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index cbc9c42..93233d2 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -25,7 +25,7 @@
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
- ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+ ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
drivetrain::MakeDrivetrainLoop,
diff --git a/y2022/control_loops/drivetrain/drivetrain_main.cc b/y2022/control_loops/drivetrain/drivetrain_main.cc
index e29f950..ecdcdbb 100644
--- a/y2022/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_main.cc
@@ -4,6 +4,7 @@
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/control_loops/drivetrain/localizer.h"
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
@@ -14,7 +15,7 @@
aos::configuration::ReadConfig("config.json");
::aos::ShmEventLoop event_loop(&config.message());
- ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+ ::y2022::control_loops::drivetrain::Localizer localizer(
&event_loop,
::y2022::control_loops::drivetrain::GetDrivetrainConfig());
std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
diff --git a/y2022/control_loops/drivetrain/drivetrain_simulation_config.json b/y2022/control_loops/drivetrain/drivetrain_simulation_config.json
new file mode 100644
index 0000000..37c1bb7
--- /dev/null
+++ b/y2022/control_loops/drivetrain/drivetrain_simulation_config.json
@@ -0,0 +1,6 @@
+{
+ "imports": [
+ "../../y2022.json",
+ "../../../frc971/control_loops/drivetrain/drivetrain_simulation_channels.json"
+ ]
+}
diff --git a/y2022/control_loops/drivetrain/localizer.cc b/y2022/control_loops/drivetrain/localizer.cc
new file mode 100644
index 0000000..3d02312
--- /dev/null
+++ b/y2022/control_loops/drivetrain/localizer.cc
@@ -0,0 +1,102 @@
+#include "y2022/control_loops/drivetrain/localizer.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace drivetrain {
+
+Localizer::Localizer(
+ aos::EventLoop *event_loop,
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &dt_config)
+ : event_loop_(event_loop),
+ dt_config_(dt_config),
+ ekf_(dt_config),
+ localizer_output_fetcher_(
+ event_loop_->MakeFetcher<frc971::controls::LocalizerOutput>(
+ "/localizer")),
+ clock_offset_fetcher_(
+ event_loop_->MakeFetcher<aos::message_bridge::ServerStatistics>(
+ "/aos")) {
+ ekf_.set_ignore_accel(true);
+
+ event_loop->OnRun([this, event_loop]() {
+ ekf_.ResetInitialState(event_loop->monotonic_now(),
+ HybridEkf::State::Zero(), ekf_.P());
+ });
+
+ target_selector_.set_has_target(false);
+}
+
+void Localizer::Reset(
+ aos::monotonic_clock::time_point t,
+ const frc971::control_loops::drivetrain::HybridEkf<double>::State &state) {
+ // Go through and clear out all of the fetchers so that we don't get behind.
+ localizer_output_fetcher_.Fetch();
+ ekf_.ResetInitialState(t, state.cast<float>(), ekf_.P());
+}
+
+void Localizer::Update(const Eigen::Matrix<double, 2, 1> &U,
+ aos::monotonic_clock::time_point now,
+ double left_encoder, double right_encoder,
+ double gyro_rate, const Eigen::Vector3d &accel) {
+ ekf_.UpdateEncodersAndGyro(left_encoder, right_encoder, gyro_rate,
+ U.cast<float>(), accel.cast<float>(), now);
+ if (localizer_output_fetcher_.Fetch()) {
+ clock_offset_fetcher_.Fetch();
+ bool message_bridge_connected = true;
+ std::chrono::nanoseconds monotonic_offset{0};
+ 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() == "imu") {
+ 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, in which case we should break the loop but shouldn't
+ // populate the offset.
+ message_bridge_connected = false;
+ }
+ break;
+ }
+ }
+ }
+ if (!message_bridge_connected) {
+ return;
+ }
+ aos::monotonic_clock::time_point capture_time(
+ std::chrono::nanoseconds(
+ localizer_output_fetcher_->monotonic_timestamp_ns()) -
+ monotonic_offset);
+ // TODO: Finish implementing simple x/y/theta updater with state_at_capture.
+ // TODO: Implement turret/camera processing logic on pi side.
+ const std::optional<State> state_at_capture =
+ ekf_.LastStateBeforeTime(capture_time);
+ Eigen::Matrix<float, HybridEkf::kNOutputs, HybridEkf::kNStates> H;
+ H.setZero();
+ H(0, StateIdx::kX) = 1;
+ H(1, StateIdx::kY) = 1;
+ H(2, StateIdx::kTheta) = 1;
+ const Eigen::Vector3f Z{
+ static_cast<float>(localizer_output_fetcher_->x()),
+ static_cast<float>(localizer_output_fetcher_->y()),
+ static_cast<float>(localizer_output_fetcher_->theta())};
+ Eigen::Matrix3f R = Eigen::Matrix3f::Zero();
+ R.diagonal() << 0.01, 0.01, 1e-4;
+ const Input U_correct = ekf_.MostRecentInput();
+ ekf_.Correct(
+ Eigen::Vector3f::Zero(), &U_correct, {},
+ [H, state_at_capture, Z](const State &,
+ const Input &) -> Eigen::Vector3f {
+ Eigen::Vector3f error = H * state_at_capture.value() - Z;
+ error(2) = aos::math::NormalizeAngle(error(2));
+ return error;
+ },
+ [H](const State &) { return H; }, R, now);
+ }
+}
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2022
diff --git a/y2022/control_loops/drivetrain/localizer.h b/y2022/control_loops/drivetrain/localizer.h
new file mode 100644
index 0000000..50d083a
--- /dev/null
+++ b/y2022/control_loops/drivetrain/localizer.h
@@ -0,0 +1,80 @@
+#ifndef Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
+#define Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
+
+#include <string_view>
+
+#include "aos/events/event_loop.h"
+#include "frc971/control_loops/drivetrain/hybrid_ekf.h"
+#include "frc971/control_loops/drivetrain/localizer.h"
+#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "aos/network/message_bridge_server_generated.h"
+
+namespace y2022 {
+namespace control_loops {
+namespace drivetrain {
+
+// This class handles the localization for the 2022 robot. Rather than actually
+// doing any work on the roborio, we farm all the localization out to a
+// raspberry pi and it then sends out LocalizerOutput messages that we treat as
+// measurement updates. See //y2022/control_loops/localizer.
+// TODO(james): Needs tests. Should refactor out some of the code from the 2020
+// localizer test.
+class Localizer : public frc971::control_loops::drivetrain::LocalizerInterface {
+ public:
+ typedef frc971::control_loops::TypedPose<float> Pose;
+ typedef frc971::control_loops::drivetrain::HybridEkf<float> HybridEkf;
+ typedef typename HybridEkf::State State;
+ typedef typename HybridEkf::StateIdx StateIdx;
+ typedef typename HybridEkf::StateSquare StateSquare;
+ typedef typename HybridEkf::Input Input;
+ typedef typename HybridEkf::Output Output;
+ Localizer(aos::EventLoop *event_loop,
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double>
+ &dt_config);
+ frc971::control_loops::drivetrain::HybridEkf<double>::State Xhat()
+ const override {
+ return ekf_.X_hat().cast<double>();
+ }
+ frc971::control_loops::drivetrain::TrivialTargetSelector *target_selector()
+ override {
+ return &target_selector_;
+ }
+
+ void Update(const ::Eigen::Matrix<double, 2, 1> &U,
+ aos::monotonic_clock::time_point now, double left_encoder,
+ double right_encoder, double gyro_rate,
+ const Eigen::Vector3d &accel) override;
+
+ void Reset(aos::monotonic_clock::time_point t,
+ const frc971::control_loops::drivetrain::HybridEkf<double>::State
+ &state) override;
+
+ void ResetPosition(aos::monotonic_clock::time_point t, double x, double y,
+ double theta, double /*theta_override*/,
+ bool /*reset_theta*/) override {
+ const double left_encoder = ekf_.X_hat(StateIdx::kLeftEncoder);
+ const double right_encoder = ekf_.X_hat(StateIdx::kRightEncoder);
+ ekf_.ResetInitialState(t,
+ (HybridEkf::State() << x, y, theta, left_encoder, 0,
+ right_encoder, 0, 0, 0, 0, 0, 0)
+ .finished(),
+ ekf_.P());
+ }
+
+ private:
+ aos::EventLoop *const event_loop_;
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ HybridEkf ekf_;
+
+ aos::Fetcher<frc971::controls::LocalizerOutput> localizer_output_fetcher_;
+ aos::Fetcher<aos::message_bridge::ServerStatistics> clock_offset_fetcher_;
+
+ // Target selector to allow us to satisfy the LocalizerInterface requirements.
+ frc971::control_loops::drivetrain::TrivialTargetSelector target_selector_;
+};
+
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2022
+
+#endif // Y2022_CONTROL_LOOPS_DRIVETRAIN_LOCALIZER_H_
diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
new file mode 100644
index 0000000..87fc3fd
--- /dev/null
+++ b/y2022/control_loops/drivetrain/localizer_test.cc
@@ -0,0 +1,208 @@
+#include "y2022/control_loops/drivetrain/localizer.h"
+
+#include <queue>
+
+#include "aos/events/logging/log_writer.h"
+#include "aos/network/message_bridge_server_generated.h"
+#include "aos/network/team_number.h"
+#include "aos/network/testing_time_converter.h"
+#include "frc971/control_loops/control_loop_test.h"
+#include "frc971/control_loops/drivetrain/drivetrain.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+#include "frc971/control_loops/team_number_test_environment.h"
+#include "y2022/control_loops/localizer/localizer_output_generated.h"
+#include "gtest/gtest.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(output_folder, "",
+ "If set, logs all channels to the provided logfile.");
+
+namespace y2022 {
+namespace control_loops {
+namespace drivetrain {
+namespace testing {
+
+using frc971::control_loops::drivetrain::DrivetrainConfig;
+using frc971::control_loops::drivetrain::Goal;
+using frc971::control_loops::drivetrain::LocalizerControl;
+
+namespace {
+DrivetrainConfig<double> GetTest2022DrivetrainConfig() {
+ DrivetrainConfig<double> config = GetDrivetrainConfig();
+ return config;
+}
+}
+
+namespace chrono = std::chrono;
+using aos::monotonic_clock;
+using frc971::control_loops::drivetrain::DrivetrainLoop;
+using frc971::control_loops::drivetrain::testing::DrivetrainSimulation;
+
+// TODO(james): Make it so this actually tests the full system of the localizer.
+class LocalizedDrivetrainTest : public frc971::testing::ControlLoopTest {
+ protected:
+ // We must use the 2022 drivetrain config so that we don't have to deal
+ // with shifting:
+ LocalizedDrivetrainTest()
+ : frc971::testing::ControlLoopTest(
+ aos::configuration::ReadConfig(
+ "y2022/control_loops/drivetrain/simulation_config.json"),
+ GetTest2022DrivetrainConfig().dt),
+ roborio_(aos::configuration::GetNode(configuration(), "roborio")),
+ imu_(aos::configuration::GetNode(configuration(), "imu")),
+ test_event_loop_(MakeEventLoop("test", roborio_)),
+ imu_test_event_loop_(MakeEventLoop("test", imu_)),
+ drivetrain_goal_sender_(
+ test_event_loop_->MakeSender<Goal>("/drivetrain")),
+ localizer_output_sender_(
+ imu_test_event_loop_->MakeSender<frc971::controls::LocalizerOutput>(
+ "/localizer")),
+ drivetrain_goal_fetcher_(
+ test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
+ drivetrain_status_fetcher_(
+ test_event_loop_
+ ->MakeFetcher<frc971::control_loops::drivetrain::Status>(
+ "/drivetrain")),
+ localizer_control_sender_(
+ test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
+ drivetrain_event_loop_(MakeEventLoop("drivetrain", roborio_)),
+ dt_config_(GetTest2022DrivetrainConfig()),
+ localizer_(drivetrain_event_loop_.get(), dt_config_),
+ drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
+ drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
+ drivetrain_plant_imu_event_loop_(MakeEventLoop("plant", imu_)),
+ drivetrain_plant_(drivetrain_plant_event_loop_.get(),
+ drivetrain_plant_imu_event_loop_.get(), dt_config_,
+ std::chrono::microseconds(500)) {
+ set_team_id(frc971::control_loops::testing::kTeamNumber);
+ set_battery_voltage(12.0);
+
+ if (!FLAGS_output_folder.empty()) {
+ logger_event_loop_ = MakeEventLoop("logger", roborio_);
+ logger_ = std::make_unique<aos::logger::Logger>(logger_event_loop_.get());
+ logger_->StartLoggingOnRun(FLAGS_output_folder);
+ }
+
+ test_event_loop_->OnRun([this]() { SetStartingPosition({3.0, 2.0, 0.0}); });
+
+ imu_test_event_loop_
+ ->AddTimer([this]() {
+ auto builder = localizer_output_sender_.MakeBuilder();
+ frc971::controls::LocalizerOutput::Builder output_builder =
+ builder.MakeBuilder<frc971::controls::LocalizerOutput>();
+ output_builder.add_monotonic_timestamp_ns(
+ imu_test_event_loop_->monotonic_now().time_since_epoch().count());
+ output_builder.add_x(drivetrain_plant_.state()(0));
+ output_builder.add_y(drivetrain_plant_.state()(1));
+ output_builder.add_theta(drivetrain_plant_.state()(2));
+ })
+ ->Setup(imu_test_event_loop_->monotonic_now(),
+ std::chrono::milliseconds(5));
+ }
+
+ virtual ~LocalizedDrivetrainTest() override {}
+
+ void SetStartingPosition(const Eigen::Matrix<double, 3, 1> &xytheta) {
+ *drivetrain_plant_.mutable_state() << xytheta.x(), xytheta.y(),
+ xytheta(2, 0), 0.0, 0.0;
+ Eigen::Matrix<double, Localizer::HybridEkf::kNStates, 1> localizer_state;
+ localizer_state.setZero();
+ localizer_state.block<3, 1>(0, 0) = xytheta;
+ localizer_.Reset(monotonic_now(), localizer_state);
+ }
+
+ void VerifyNearGoal(double eps = 1e-2) {
+ drivetrain_goal_fetcher_.Fetch();
+ EXPECT_NEAR(drivetrain_goal_fetcher_->left_goal(),
+ drivetrain_plant_.GetLeftPosition(), eps);
+ EXPECT_NEAR(drivetrain_goal_fetcher_->right_goal(),
+ drivetrain_plant_.GetRightPosition(), eps);
+ }
+
+ ::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);
+ if (!(result = IsNear(localizer_.x(), true_state(0), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.y(), true_state(1), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.theta(), true_state(2), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.left_velocity(), true_state(3), eps))) {
+ return result;
+ }
+ if (!(result = IsNear(localizer_.right_velocity(), true_state(4), eps))) {
+ return result;
+ }
+ return result;
+ }
+
+ const aos::Node *const roborio_;
+ const aos::Node *const imu_;
+
+ std::unique_ptr<aos::EventLoop> test_event_loop_;
+ std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
+ aos::Sender<Goal> drivetrain_goal_sender_;
+ aos::Sender<frc971::controls::LocalizerOutput> localizer_output_sender_;
+ aos::Fetcher<Goal> drivetrain_goal_fetcher_;
+ aos::Fetcher<frc971::control_loops::drivetrain::Status>
+ drivetrain_status_fetcher_;
+ aos::Sender<LocalizerControl> localizer_control_sender_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_event_loop_;
+ const frc971::control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+
+ Localizer localizer_;
+ DrivetrainLoop drivetrain_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
+ DrivetrainSimulation drivetrain_plant_;
+
+ void SendGoal(double left, double right) {
+ auto builder = drivetrain_goal_sender_.MakeBuilder();
+
+ Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
+ drivetrain_builder.add_controller_type(
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
+ drivetrain_builder.add_left_goal(left);
+ drivetrain_builder.add_right_goal(right);
+
+ EXPECT_EQ(builder.Send(drivetrain_builder.Finish()),
+ aos::RawSender::Error::kOk);
+ }
+
+ private:
+ std::unique_ptr<aos::EventLoop> logger_event_loop_;
+ std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+TEST_F(LocalizedDrivetrainTest, Nominal) {
+ SetEnabled(true);
+ EXPECT_TRUE(VerifyEstimatorAccurate(1e-7));
+
+ SendGoal(-1.0, 1.0);
+
+ RunFor(chrono::seconds(10));
+ VerifyNearGoal();
+ EXPECT_TRUE(VerifyEstimatorAccurate(5e-3));
+}
+
+} // namespace testing
+} // namespace drivetrain
+} // namespace control_loops
+} // namespace y2022
diff --git a/y2022/control_loops/localizer/BUILD b/y2022/control_loops/localizer/BUILD
new file mode 100644
index 0000000..034c779
--- /dev/null
+++ b/y2022/control_loops/localizer/BUILD
@@ -0,0 +1,119 @@
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//aos:flatbuffers.bzl", "cc_static_flatbuffer")
+load("@npm//@bazel/typescript:index.bzl", "ts_library")
+
+ts_library(
+ name = "localizer_plotter",
+ srcs = ["localizer_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ "//frc971/wpilib:imu_plot_utils",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_output_fbs",
+ srcs = [
+ "localizer_output.fbs",
+ ],
+ gen_reflections = True,
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "localizer_status_fbs",
+ srcs = [
+ "localizer_status.fbs",
+ ],
+ gen_reflections = True,
+ 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",
+ target = ":localizer_status_fbs_reflection_out",
+ visibility = ["//visibility:public"],
+)
+
+cc_library(
+ name = "localizer",
+ srcs = ["localizer.cc"],
+ hdrs = ["localizer.h"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer_output_fbs",
+ ":localizer_status_fbs",
+ "//aos/containers:ring_buffer",
+ "//aos/events:event_loop",
+ "//aos/time",
+ "//frc971/control_loops:c2d",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
+ "//frc971/control_loops/drivetrain:improved_down_estimator",
+ "//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//frc971/zeroing:imu_zeroer",
+ "//y2020/vision/sift:sift_fbs",
+ "@org_tuxfamily_eigen//:eigen",
+ ],
+)
+
+cc_binary(
+ name = "localizer_main",
+ srcs = ["localizer_main.cc"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":localizer",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ "//y2022/control_loops/drivetrain:drivetrain_base",
+ ],
+)
+
+cc_test(
+ name = "localizer_test",
+ srcs = ["localizer_test.cc"],
+ data = [
+ "//y2022:config",
+ ],
+ shard_count = 10,
+ deps = [
+ ":localizer",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ "//frc971/control_loops/drivetrain:drivetrain_test_lib",
+ ],
+)
+
+cc_binary(
+ name = "localizer_replay",
+ srcs = ["localizer_replay.cc"],
+ data = [
+ "//y2020:config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":localizer",
+ ":localizer_schema",
+ "//aos:configuration",
+ "//aos:init",
+ "//aos:json_to_flatbuffer",
+ "//aos/events:simulated_event_loop",
+ "//aos/events/logging:log_reader",
+ "//aos/events/logging:log_writer",
+ "//y2020/control_loops/drivetrain:drivetrain_base",
+ ],
+)
diff --git a/y2022/control_loops/localizer/localizer.cc b/y2022/control_loops/localizer/localizer.cc
new file mode 100644
index 0000000..3c68e59
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer.cc
@@ -0,0 +1,571 @@
+#include "y2022/control_loops/localizer/localizer.h"
+
+#include "frc971/control_loops/c2d.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+// TODO(james): Things to do:
+// -Approach still seems fundamentally sound.
+// -Really need to work on cost/residual function.
+// -Particularly for handling stopping.
+// -Extra hysteresis
+
+namespace frc971::controls {
+
+namespace {
+constexpr double kG = 9.80665;
+constexpr std::chrono::microseconds kNominalDt(500);
+
+template <int N>
+Eigen::Matrix<double, N, 1> MakeState(std::vector<double> values) {
+ CHECK_EQ(static_cast<size_t>(N), values.size());
+ Eigen::Matrix<double, N, 1> vector;
+ for (int ii = 0; ii < N; ++ii) {
+ vector(ii, 0) = values[ii];
+ }
+ return vector;
+}
+} // namespace
+
+ModelBasedLocalizer::ModelBasedLocalizer(
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
+ : dt_config_(dt_config),
+ velocity_drivetrain_coefficients_(
+ dt_config.make_hybrid_drivetrain_velocity_loop()
+ .plant()
+ .coefficients()),
+ down_estimator_(dt_config) {
+ CHECK_EQ(branches_.capacity(), static_cast<size_t>(std::chrono::seconds(1) /
+ kNominalDt / kBranchPeriod));
+ if (dt_config_.is_simulated) {
+ down_estimator_.assume_perfect_gravity();
+ }
+ A_continuous_accel_.setZero();
+ A_continuous_model_.setZero();
+ B_continuous_accel_.setZero();
+ B_continuous_model_.setZero();
+
+ A_continuous_accel_(kX, kVelocityX) = 1.0;
+ A_continuous_accel_(kY, kVelocityY) = 1.0;
+
+ const double diameter = 2.0 * dt_config_.robot_radius;
+
+ A_continuous_model_(kTheta, kLeftVelocity) = -1.0 / diameter;
+ A_continuous_model_(kTheta, kRightVelocity) = 1.0 / diameter;
+ A_continuous_model_(kLeftEncoder, kLeftVelocity) = 1.0;
+ A_continuous_model_(kRightEncoder, kRightVelocity) = 1.0;
+ const auto &vel_coefs = velocity_drivetrain_coefficients_;
+ A_continuous_model_(kLeftVelocity, kLeftVelocity) =
+ vel_coefs.A_continuous(0, 0);
+ A_continuous_model_(kLeftVelocity, kRightVelocity) =
+ vel_coefs.A_continuous(0, 1);
+ A_continuous_model_(kRightVelocity, kLeftVelocity) =
+ vel_coefs.A_continuous(1, 0);
+ A_continuous_model_(kRightVelocity, kRightVelocity) =
+ vel_coefs.A_continuous(1, 1);
+
+ A_continuous_model_(kLeftVelocity, kLeftVoltageError) =
+ 1 * vel_coefs.B_continuous(0, 0);
+ A_continuous_model_(kLeftVelocity, kRightVoltageError) =
+ 1 * vel_coefs.B_continuous(0, 1);
+ A_continuous_model_(kRightVelocity, kLeftVoltageError) =
+ 1 * vel_coefs.B_continuous(1, 0);
+ A_continuous_model_(kRightVelocity, kRightVoltageError) =
+ 1 * vel_coefs.B_continuous(1, 1);
+
+ B_continuous_model_.block<1, 2>(kLeftVelocity, kLeftVoltage) =
+ vel_coefs.B_continuous.row(0);
+ B_continuous_model_.block<1, 2>(kRightVelocity, kLeftVoltage) =
+ vel_coefs.B_continuous.row(1);
+
+ B_continuous_accel_(kVelocityX, kAccelX) = 1.0;
+ B_continuous_accel_(kVelocityY, kAccelY) = 1.0;
+ 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,
+ 1e-0, 1e-0;
+
+ P_model_ = Q_continuous_model_ * aos::time::DurationInSeconds(kNominalDt);
+}
+
+Eigen::Matrix<double, ModelBasedLocalizer::kNModelStates,
+ ModelBasedLocalizer::kNModelStates>
+ModelBasedLocalizer::AModel(
+ const ModelBasedLocalizer::ModelState &state) const {
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A = A_continuous_model_;
+ const double theta = state(kTheta);
+ const double stheta = std::sin(theta);
+ const double ctheta = std::cos(theta);
+ const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ A(kX, kTheta) = -stheta * velocity;
+ A(kX, kLeftVelocity) = ctheta / 2.0;
+ A(kX, kRightVelocity) = ctheta / 2.0;
+ A(kY, kTheta) = ctheta * velocity;
+ A(kY, kLeftVelocity) = stheta / 2.0;
+ A(kY, kRightVelocity) = stheta / 2.0;
+ return A;
+}
+
+Eigen::Matrix<double, ModelBasedLocalizer::kNAccelStates,
+ ModelBasedLocalizer::kNAccelStates>
+ModelBasedLocalizer::AAccel() const {
+ return A_continuous_accel_;
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::DiffModel(
+ const ModelBasedLocalizer::ModelState &state,
+ const ModelBasedLocalizer::ModelInput &U) const {
+ ModelState x_dot = AModel(state) * state + B_continuous_model_ * U;
+ const double theta = state(kTheta);
+ const double stheta = std::sin(theta);
+ const double ctheta = std::cos(theta);
+ const double velocity = (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ x_dot(kX) = ctheta * velocity;
+ x_dot(kY) = stheta * velocity;
+ return x_dot;
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::DiffAccel(
+ const ModelBasedLocalizer::AccelState &state,
+ const ModelBasedLocalizer::AccelInput &U) const {
+ return AAccel() * state + B_continuous_accel_ * U;
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::UpdateModel(
+ const ModelBasedLocalizer::ModelState &model,
+ const ModelBasedLocalizer::ModelInput &input,
+ const aos::monotonic_clock::duration dt) const {
+ return control_loops::RungeKutta(
+ std::bind(&ModelBasedLocalizer::DiffModel, this, std::placeholders::_1,
+ input),
+ model, aos::time::DurationInSeconds(dt));
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::UpdateAccel(
+ const ModelBasedLocalizer::AccelState &accel,
+ const ModelBasedLocalizer::AccelInput &input,
+ const aos::monotonic_clock::duration dt) const {
+ return control_loops::RungeKutta(
+ std::bind(&ModelBasedLocalizer::DiffAccel, this, std::placeholders::_1,
+ input),
+ accel, aos::time::DurationInSeconds(dt));
+}
+
+ModelBasedLocalizer::AccelState ModelBasedLocalizer::AccelStateForModelState(
+ const ModelBasedLocalizer::ModelState &state) const {
+ const double robot_speed =
+ (state(kLeftVelocity) + state(kRightVelocity)) / 2.0;
+ const double velocity_x = std::cos(state(kTheta)) * robot_speed;
+ const double velocity_y = std::sin(state(kTheta)) * robot_speed;
+ return (AccelState() << state(0), state(1), state(2), velocity_x, velocity_y)
+ .finished();
+}
+
+ModelBasedLocalizer::ModelState ModelBasedLocalizer::ModelStateForAccelState(
+ const ModelBasedLocalizer::AccelState &state,
+ const Eigen::Vector2d &encoders, const double yaw_rate) const {
+ const double robot_speed = state(kVelocityX) * std::cos(state(kTheta)) +
+ state(kVelocityY) * std::sin(state(kTheta));
+ const double radius = dt_config_.robot_radius;
+ const double left_velocity = robot_speed - yaw_rate * radius;
+ const double right_velocity = robot_speed + yaw_rate * radius;
+ return (ModelState() << state(0), state(1), state(2), encoders(0),
+ left_velocity, 0.0, encoders(1), right_velocity, 0.0)
+ .finished();
+}
+
+double ModelBasedLocalizer::ModelDivergence(
+ const ModelBasedLocalizer::CombinedState &state,
+ const ModelBasedLocalizer::AccelInput &accel_inputs,
+ const Eigen::Vector2d &filtered_accel,
+ const ModelBasedLocalizer::ModelInput &model_inputs) {
+ // Convert the model state into the acceleration-based state-space and check
+ // the distance between the two (should really be a weighted norm, but all the
+ // numbers are on ~the same scale).
+ VLOG(2) << "divergence: "
+ << (state.accel_state - AccelStateForModelState(state.model_state))
+ .transpose();
+ const AccelState diff_accel = DiffAccel(state.accel_state, accel_inputs);
+ const ModelState diff_model = DiffModel(state.model_state, model_inputs);
+ const double model_lng_velocity =
+ (state.model_state(kLeftVelocity) + state.model_state(kRightVelocity)) /
+ 2.0;
+ const double model_lng_accel =
+ (diff_model(kLeftVelocity) + diff_model(kRightVelocity)) / 2.0;
+ const Eigen::Vector2d robot_frame_accel(
+ model_lng_accel, diff_model(kTheta) * model_lng_velocity);
+ const Eigen::Vector2d model_accel =
+ Eigen::AngleAxisd(state.model_state(kTheta), Eigen::Vector3d::UnitZ())
+ .toRotationMatrix()
+ .block<2, 2>(0, 0) *
+ robot_frame_accel;
+ const double accel_diff = (model_accel - filtered_accel).norm();
+ const double theta_rate_diff =
+ std::abs(diff_accel(kTheta) - diff_model(kTheta));
+
+ const Eigen::Vector2d accel_vel = state.accel_state.bottomRows<2>();
+ const Eigen::Vector2d model_vel =
+ AccelStateForModelState(state.model_state).bottomRows<2>();
+ velocity_residual_ = (accel_vel - model_vel).norm() /
+ (1.0 + accel_vel.norm() + model_vel.norm());
+ theta_rate_residual_ = theta_rate_diff;
+ accel_residual_ = accel_diff / 4.0;
+ return velocity_residual_ + theta_rate_residual_ + accel_residual_;
+}
+
+void ModelBasedLocalizer::HandleImu(aos::monotonic_clock::time_point t,
+ const Eigen::Vector3d &gyro,
+ const Eigen::Vector3d &accel,
+ const Eigen::Vector2d encoders,
+ const Eigen::Vector2d voltage) {
+ VLOG(2) << t;
+ if (t_ == aos::monotonic_clock::min_time) {
+ t_ = t;
+ }
+ if (t_ + 2 * kNominalDt < t) {
+ t_ = t;
+ ++clock_resets_;
+ }
+ const aos::monotonic_clock::duration dt = t - t_;
+ t_ = t;
+ down_estimator_.Predict(gyro, accel, dt);
+ // TODO(james): Should we prefer this or use the down-estimator corrected
+ // version?
+ const double yaw_rate = (dt_config_.imu_transform * gyro)(2);
+ const double diameter = 2.0 * dt_config_.robot_radius;
+
+ const Eigen::AngleAxis<double> orientation(
+ Eigen::AngleAxis<double>(xytheta()(kTheta), Eigen::Vector3d::UnitZ()) *
+ down_estimator_.X_hat());
+
+ const Eigen::Vector3d absolute_accel =
+ orientation * dt_config_.imu_transform * kG * accel;
+ abs_accel_ = absolute_accel;
+ const Eigen::Vector3d absolute_gyro =
+ orientation * dt_config_.imu_transform * gyro;
+ (void)absolute_gyro;
+
+ VLOG(2) << "abs accel " << absolute_accel.transpose();
+ VLOG(2) << "abs gyro " << absolute_gyro.transpose();
+ VLOG(2) << "dt " << aos::time::DurationInSeconds(dt);
+
+ // Update all the branched states.
+ const AccelInput accel_input(absolute_accel.x(), absolute_accel.y(),
+ yaw_rate);
+ const ModelInput model_input(voltage);
+
+ const Eigen::Matrix<double, kNModelStates, kNModelStates> A_continuous =
+ AModel(current_state_.model_state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> A_discrete;
+ Eigen::Matrix<double, kNModelStates, kNModelStates> Q_discrete;
+
+ DiscretizeQAFast(Q_continuous_model_, A_continuous, dt, &Q_discrete,
+ &A_discrete);
+
+ P_model_ = A_discrete * P_model_ * A_discrete.transpose() + Q_discrete;
+
+ Eigen::Matrix<double, kNModelOutputs, kNModelStates> H;
+ Eigen::Matrix<double, kNModelOutputs, kNModelOutputs> R;
+ {
+ H.setZero();
+ R.setZero();
+ H(0, kLeftEncoder) = 1.0;
+ H(1, kRightEncoder) = 1.0;
+ H(2, kRightVelocity) = 1.0 / diameter;
+ H(2, kLeftVelocity) = -1.0 / diameter;
+
+ R.diagonal() << 1e-9, 1e-9, 1e-13;
+ }
+
+ const Eigen::Matrix<double, kNModelOutputs, 1> Z(encoders(0), encoders(1),
+ yaw_rate);
+
+ 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;
+ branches_.Push(current_state_);
+ }
+
+ const Eigen::Matrix<double, kNModelStates, kNModelOutputs> K =
+ P_model_ * H.transpose() * (H * P_model_ * H.transpose() + R).inverse();
+ P_model_ = (Eigen::Matrix<double, kNModelStates, kNModelStates>::Identity() -
+ K * H) *
+ P_model_;
+ VLOG(2) << "K\n" << K;
+ VLOG(2) << "Z\n" << Z.transpose();
+
+ for (CombinedState &state : branches_) {
+ state.accel_state = UpdateAccel(state.accel_state, accel_input, dt);
+ if (down_estimator_.consecutive_still() > 100.0) {
+ state.accel_state(kVelocityX) *= 0.9;
+ state.accel_state(kVelocityY) *= 0.9;
+ }
+ state.model_state = UpdateModel(state.model_state, model_input, dt);
+ state.model_state += K * (Z - H * state.model_state);
+ }
+
+ VLOG(2) << "oildest accel " << branches_[0].accel_state.transpose();
+ VLOG(2) << "oildest accel diff "
+ << DiffAccel(branches_[0].accel_state, accel_input).transpose();
+ VLOG(2) << "oildest model " << branches_[0].model_state.transpose();
+
+ // Determine whether to switch modes--if we are currently in model-based mode,
+ // swap to accel-based if the two states have divergeed meaningfully in the
+ // oldest branch. If we are currently in accel-based, then swap back to model
+ // if the oldest model branch matches has matched the
+ filtered_residual_accel_ +=
+ 0.01 * (accel_input.topRows<2>() - filtered_residual_accel_);
+ const double model_divergence =
+ branches_.full() ? ModelDivergence(branches_[0], accel_input,
+ filtered_residual_accel_, model_input)
+ : 0.0;
+ filtered_residual_ +=
+ (1.0 - std::exp(-aos::time::DurationInSeconds(kNominalDt) / 0.0095)) *
+ (model_divergence - filtered_residual_);
+ constexpr double kUseAccelThreshold = 0.4;
+ constexpr double kUseModelThreshold = 0.2;
+ constexpr size_t kShareStates = kNModelStates;
+ static_assert(kUseModelThreshold < kUseAccelThreshold);
+ if (using_model_) {
+ if (filtered_residual_ > kUseAccelThreshold) {
+ hysteresis_count_++;
+ } else {
+ hysteresis_count_ = 0;
+ }
+ if (hysteresis_count_ > 0) {
+ using_model_ = false;
+ // Grab the accel-based state from back when we started diverging.
+ // TODO(james): This creates a problematic selection bias, because
+ // we will tend to bias towards deliberately out-of-tune measurements.
+ current_state_.accel_state = branches_[0].accel_state;
+ current_state_.model_state = branches_[0].model_state;
+ current_state_.model_state = ModelStateForAccelState(
+ current_state_.accel_state, encoders, yaw_rate);
+ } else {
+ VLOG(2) << "Normal branching";
+ current_state_.model_state = branches_[branches_.size() - 1].model_state;
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ current_state_.branch_time = t;
+ }
+ hysteresis_count_ = 0;
+ } else {
+ if (filtered_residual_ < kUseModelThreshold) {
+ hysteresis_count_++;
+ } else {
+ hysteresis_count_ = 0;
+ }
+ if (hysteresis_count_ > 100) {
+ using_model_ = true;
+ // Grab the model-based state from back when we stopped diverging.
+ current_state_.model_state.topRows<kShareStates>() =
+ ModelStateForAccelState(branches_[0].accel_state, encoders, yaw_rate)
+ .topRows<kShareStates>();
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ } else {
+ current_state_.accel_state = branches_[branches_.size() - 1].accel_state;
+ // TODO(james): Why was I leaving the encoders/wheel velocities in place?
+ current_state_.model_state = branches_[branches_.size() - 1].model_state;
+ current_state_.model_state = ModelStateForAccelState(
+ current_state_.accel_state, encoders, yaw_rate);
+ current_state_.branch_time = t;
+ }
+ }
+
+ // Generate a new branch, with the accel state reset based on the model-based
+ // state (really, just getting rid of the lateral velocity).
+ CombinedState new_branch = current_state_;
+ //if (!keep_accel_state) {
+ if (using_model_) {
+ new_branch.accel_state = AccelStateForModelState(new_branch.model_state);
+ }
+ new_branch.accumulated_divergence = 0.0;
+
+ ++branch_counter_;
+ if (branch_counter_ % kBranchPeriod == 0) {
+ branches_.Push(new_branch);
+ branch_counter_ = 0;
+ }
+
+ last_residual_ = model_divergence;
+
+ VLOG(2) << "Using " << (using_model_ ? "model" : "accel");
+ VLOG(2) << "Residual " << last_residual_;
+ VLOG(2) << "Filtered Residual " << filtered_residual_;
+ VLOG(2) << "buffer size " << branches_.size();
+ VLOG(2) << "Model state " << current_state_.model_state.transpose();
+ VLOG(2) << "Accel state " << current_state_.accel_state.transpose();
+ VLOG(2) << "Accel state for model "
+ << AccelStateForModelState(current_state_.model_state).transpose();
+ VLOG(2) << "Input acce " << accel.transpose();
+ VLOG(2) << "Input gyro " << gyro.transpose();
+ VLOG(2) << "Input voltage " << voltage.transpose();
+ VLOG(2) << "Input encoder " << encoders.transpose();
+ VLOG(2) << "yaw rate " << yaw_rate;
+
+ CHECK(std::isfinite(last_residual_));
+}
+
+void ModelBasedLocalizer::HandleReset(aos::monotonic_clock::time_point now,
+ const Eigen::Vector3d &xytheta) {
+ branches_.Reset();
+ t_ = now;
+ using_model_ = true;
+ current_state_.model_state << xytheta(0), xytheta(1), xytheta(2),
+ current_state_.model_state(kLeftEncoder), 0.0, 0.0,
+ current_state_.model_state(kRightEncoder), 0.0, 0.0;
+ current_state_.accel_state =
+ AccelStateForModelState(current_state_.model_state);
+ last_residual_ = 0.0;
+ filtered_residual_ = 0.0;
+ filtered_residual_accel_.setZero();
+ abs_accel_.setZero();
+}
+
+flatbuffers::Offset<AccelBasedState> ModelBasedLocalizer::BuildAccelState(
+ flatbuffers::FlatBufferBuilder *fbb, const AccelState &state) {
+ AccelBasedState::Builder accel_state_builder(*fbb);
+ accel_state_builder.add_x(state(kX));
+ accel_state_builder.add_y(state(kY));
+ accel_state_builder.add_theta(state(kTheta));
+ accel_state_builder.add_velocity_x(state(kVelocityX));
+ accel_state_builder.add_velocity_y(state(kVelocityY));
+ return accel_state_builder.Finish();
+}
+
+flatbuffers::Offset<ModelBasedState> ModelBasedLocalizer::BuildModelState(
+ flatbuffers::FlatBufferBuilder *fbb, const ModelState &state) {
+ ModelBasedState::Builder model_state_builder(*fbb);
+ model_state_builder.add_x(state(kX));
+ model_state_builder.add_y(state(kY));
+ model_state_builder.add_theta(state(kTheta));
+ model_state_builder.add_left_encoder(state(kLeftEncoder));
+ model_state_builder.add_left_velocity(state(kLeftVelocity));
+ model_state_builder.add_left_voltage_error(state(kLeftVoltageError));
+ model_state_builder.add_right_encoder(state(kRightEncoder));
+ model_state_builder.add_right_velocity(state(kRightVelocity));
+ model_state_builder.add_right_voltage_error(state(kRightVoltageError));
+ return model_state_builder.Finish();
+}
+
+flatbuffers::Offset<ModelBasedStatus> ModelBasedLocalizer::PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb) {
+ const flatbuffers::Offset<control_loops::drivetrain::DownEstimatorState>
+ down_estimator_offset = down_estimator_.PopulateStatus(fbb, t_);
+
+ const CombinedState &state = current_state_;
+
+ const flatbuffers::Offset<ModelBasedState> model_state_offset =
+ BuildModelState(fbb, state.model_state);
+
+ const flatbuffers::Offset<AccelBasedState> accel_state_offset =
+ BuildAccelState(fbb, state.accel_state);
+
+ const flatbuffers::Offset<AccelBasedState> oldest_accel_state_offset =
+ branches_.empty() ? flatbuffers::Offset<AccelBasedState>()
+ : BuildAccelState(fbb, branches_[0].accel_state);
+
+ const flatbuffers::Offset<ModelBasedState> oldest_model_state_offset =
+ branches_.empty() ? flatbuffers::Offset<ModelBasedState>()
+ : BuildModelState(fbb, branches_[0].model_state);
+
+ ModelBasedStatus::Builder builder(*fbb);
+ builder.add_accel_state(accel_state_offset);
+ builder.add_oldest_accel_state(oldest_accel_state_offset);
+ builder.add_oldest_model_state(oldest_model_state_offset);
+ builder.add_model_state(model_state_offset);
+ builder.add_using_model(using_model_);
+ builder.add_residual(last_residual_);
+ builder.add_filtered_residual(filtered_residual_);
+ builder.add_velocity_residual(velocity_residual_);
+ builder.add_accel_residual(accel_residual_);
+ builder.add_theta_rate_residual(theta_rate_residual_);
+ builder.add_down_estimator(down_estimator_offset);
+ builder.add_x(xytheta()(0));
+ builder.add_y(xytheta()(1));
+ builder.add_theta(xytheta()(2));
+ builder.add_implied_accel_x(abs_accel_(0));
+ builder.add_implied_accel_y(abs_accel_(1));
+ builder.add_implied_accel_z(abs_accel_(2));
+ builder.add_clock_resets(clock_resets_);
+ return builder.Finish();
+}
+
+EventLoopLocalizer::EventLoopLocalizer(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
+ : event_loop_(event_loop),
+ model_based_(dt_config),
+ status_sender_(event_loop_->MakeSender<LocalizerStatus>("/localizer")),
+ output_sender_(event_loop_->MakeSender<LocalizerOutput>("/localizer")),
+ output_fetcher_(
+ event_loop_->MakeFetcher<frc971::control_loops::drivetrain::Output>(
+ "/drivetrain")) {
+ event_loop_->MakeWatcher(
+ "/drivetrain",
+ [this](
+ const frc971::control_loops::drivetrain::LocalizerControl &control) {
+ const double theta = control.keep_current_theta()
+ ? model_based_.xytheta()(2)
+ : control.theta();
+ model_based_.HandleReset(event_loop_->monotonic_now(),
+ {control.x(), control.y(), theta});
+ });
+ event_loop_->MakeWatcher(
+ "/localizer", [this](const frc971::IMUValuesBatch &values) {
+ CHECK(values.has_readings());
+ output_fetcher_.Fetch();
+ for (const IMUValues *value : *values.readings()) {
+ zeroer_.InsertAndProcessMeasurement(*value);
+ if (zeroer_.Zeroed()) {
+ if (output_fetcher_.get() != nullptr) {
+ const bool disabled =
+ output_fetcher_.context().monotonic_event_time +
+ std::chrono::milliseconds(10) <
+ event_loop_->context().monotonic_event_time;
+ model_based_.HandleImu(
+ aos::monotonic_clock::time_point(std::chrono::nanoseconds(
+ value->monotonic_timestamp_ns())),
+ zeroer_.ZeroedGyro(), zeroer_.ZeroedAccel(),
+ {value->left_encoder(), value->right_encoder()},
+ disabled ? Eigen::Vector2d::Zero()
+ : Eigen::Vector2d{output_fetcher_->left_voltage(),
+ output_fetcher_->right_voltage()});
+ }
+ }
+ {
+ auto builder = status_sender_.MakeBuilder();
+ const flatbuffers::Offset<ModelBasedStatus> model_based_status =
+ model_based_.PopulateStatus(builder.fbb());
+ LocalizerStatus::Builder status_builder =
+ builder.MakeBuilder<LocalizerStatus>();
+ status_builder.add_model_based(model_based_status);
+ status_builder.add_zeroed(zeroer_.Zeroed());
+ status_builder.add_faulted_zero(zeroer_.Faulted());
+ builder.CheckOk(builder.Send(status_builder.Finish()));
+ }
+ if (last_output_send_ + std::chrono::milliseconds(5) <
+ event_loop_->context().monotonic_event_time) {
+ auto builder = output_sender_.MakeBuilder();
+ LocalizerOutput::Builder output_builder =
+ builder.MakeBuilder<LocalizerOutput>();
+ // TODO(james): Should we bother to try to estimate time offsets for
+ // the pico?
+ output_builder.add_monotonic_timestamp_ns(
+ value->monotonic_timestamp_ns());
+ output_builder.add_x(model_based_.xytheta()(0));
+ output_builder.add_y(model_based_.xytheta()(1));
+ output_builder.add_theta(model_based_.xytheta()(2));
+ builder.CheckOk(builder.Send(output_builder.Finish()));
+ last_output_send_ = event_loop_->monotonic_now();
+ }
+ }
+ });
+}
+
+} // namespace frc971::controls
diff --git a/y2022/control_loops/localizer/localizer.h b/y2022/control_loops/localizer/localizer.h
new file mode 100644
index 0000000..bb52a40
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer.h
@@ -0,0 +1,220 @@
+#ifndef Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
+#define Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
+
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
+
+#include "aos/events/event_loop.h"
+#include "aos/containers/ring_buffer.h"
+#include "aos/time/time.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2022/control_loops/localizer/localizer_status_generated.h"
+#include "y2022/control_loops/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/localizer_generated.h"
+#include "frc971/zeroing/imu_zeroer.h"
+
+namespace frc971::controls {
+
+namespace testing {
+class LocalizerTest;
+}
+
+// Localizer implementation that makes use of a 6-axis IMU, encoder readings,
+// drivetrain voltages, and camera returns to localize the robot. Meant to
+// be run on a raspberry pi.
+//
+// This operates on the principle that the drivetrain can be in one of two
+// modes:
+// 1) A "normal" mode where it is obeying the regular drivetrain model, with
+// minimal lateral motion and no major external disturbances. This is
+// referred to as the "model" mode in the code/variable names.
+// 2) An non-holonomic mode where the robot is just flying around on a 2-D
+// plane with no meaningful constraints (referred to as an "accel" model
+// in the code, because we rely primarily on the accelerometer readings).
+//
+// In order to determine which mode to be in, we attempt to track whether the
+// two models are diverging substantially. In order to do this, we maintain a
+// 1-second long queue of "branches". A branch is generated every X iterations
+// and contains a model state and an accel state. When the branch starts, the
+// two will have identical states. For the remaining 1 second, the model state
+// will evolve purely according to the drivetrian model, and the accel state
+// will evolve purely using IMU readings.
+//
+// When the branch reaches 1 second in age, we calculate a residual associated
+// with how much the accel and model based states diverged. If they have
+// diverged substantially, that implies that the model is a poor match for
+// whatever has been happening to the robot in the past second, so if we were
+// previously relying on the model, we will override the current "actual"
+// state with the branched accel state, and then continue to update the accel
+// state based on IMU readings.
+// If we are currently in the accel state, we will continue generating branches
+// until the branches stop diverging--this will indicate that the model
+// matches the accelerometer readings again, and so we will swap back to
+// the model-based state.
+//
+// TODO:
+// * Implement paying attention to camera readings.
+// * Tune for ADIS16505/real robot.
+// * Tune down CPU usage to run on a pi.
+class ModelBasedLocalizer {
+ public:
+ static constexpr size_t kX = 0;
+ static constexpr size_t kY = 1;
+ static constexpr size_t kTheta = 2;
+
+ static constexpr size_t kVelocityX = 3;
+ static constexpr size_t kVelocityY = 4;
+ static constexpr size_t kNAccelStates = 5;
+
+ static constexpr size_t kLeftEncoder = 3;
+ static constexpr size_t kLeftVelocity = 4;
+ static constexpr size_t kLeftVoltageError = 5;
+ static constexpr size_t kRightEncoder = 6;
+ static constexpr size_t kRightVelocity = 7;
+ static constexpr size_t kRightVoltageError = 8;
+ static constexpr size_t kNModelStates = 9;
+
+ static constexpr size_t kNModelOutputs = 3;
+
+ static constexpr size_t kNAccelOuputs = 1;
+
+ static constexpr size_t kAccelX = 0;
+ static constexpr size_t kAccelY = 1;
+ static constexpr size_t kThetaRate = 2;
+ static constexpr size_t kNAccelInputs = 3;
+
+ static constexpr size_t kLeftVoltage = 0;
+ static constexpr size_t kRightVoltage = 1;
+ static constexpr size_t kNModelInputs = 2;
+
+ // Branching period, in cycles.
+ static constexpr int kBranchPeriod = 1;
+
+ typedef Eigen::Matrix<double, kNModelStates, 1> ModelState;
+ typedef Eigen::Matrix<double, kNAccelStates, 1> AccelState;
+ typedef Eigen::Matrix<double, kNModelInputs, 1> ModelInput;
+ typedef Eigen::Matrix<double, kNAccelInputs, 1> AccelInput;
+
+ ModelBasedLocalizer(
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
+ 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 HandleReset(aos::monotonic_clock::time_point,
+ const Eigen::Vector3d &xytheta);
+
+ flatbuffers::Offset<ModelBasedStatus> PopulateStatus(
+ flatbuffers::FlatBufferBuilder *fbb);
+
+ Eigen::Vector3d xytheta() const {
+ if (using_model_) {
+ return current_state_.model_state.block<3, 1>(0, 0);
+ } else {
+ return current_state_.accel_state.block<3, 1>(0, 0);
+ }
+ }
+
+ AccelState accel_state() const { return current_state_.accel_state; };
+
+ private:
+ struct CombinedState {
+ AccelState accel_state;
+ ModelState model_state;
+ aos::monotonic_clock::time_point branch_time;
+ double accumulated_divergence;
+ };
+
+ static flatbuffers::Offset<AccelBasedState> BuildAccelState(
+ flatbuffers::FlatBufferBuilder *fbb, const AccelState &state);
+
+ static flatbuffers::Offset<ModelBasedState> BuildModelState(
+ flatbuffers::FlatBufferBuilder *fbb, const ModelState &state);
+
+ Eigen::Matrix<double, kNModelStates, kNModelStates> AModel(
+ const ModelState &state) const;
+ Eigen::Matrix<double, kNAccelStates, kNAccelStates> AAccel() const;
+ ModelState DiffModel(const ModelState &state, const ModelInput &U) const;
+ AccelState DiffAccel(const AccelState &state, const AccelInput &U) const;
+
+ ModelState UpdateModel(const ModelState &model, const ModelInput &input,
+ aos::monotonic_clock::duration dt) const;
+ AccelState UpdateAccel(const AccelState &accel, const AccelInput &input,
+ aos::monotonic_clock::duration dt) const;
+
+ AccelState AccelStateForModelState(const ModelState &state) const;
+ ModelState ModelStateForAccelState(const AccelState &state,
+ const Eigen::Vector2d &encoders,
+ const double yaw_rate) const;
+ double ModelDivergence(const CombinedState &state,
+ const AccelInput &accel_inputs,
+ const Eigen::Vector2d &filtered_accel,
+ const ModelInput &model_inputs);
+
+ 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, 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_;
+ // 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
+ // accel-based state on top of that new model-based state (to eliminate the
+ // impact of any lateral motion).
+ // We then integrate up all of these states and observe how much the model and
+ // accel based states of each branch compare to one another.
+ aos::RingBuffer<CombinedState, 2000 / kBranchPeriod> branches_;
+ int branch_counter_ = 0;
+
+ CombinedState current_state_;
+ aos::monotonic_clock::time_point t_ = aos::monotonic_clock::min_time;
+ bool using_model_;
+
+ double last_residual_ = 0.0;
+ double filtered_residual_ = 0.0;
+ Eigen::Vector2d filtered_residual_accel_ = Eigen::Vector2d::Zero();
+ Eigen::Vector3d abs_accel_ = Eigen::Vector3d::Zero();
+ double velocity_residual_ = 0.0;
+ double accel_residual_ = 0.0;
+ double theta_rate_residual_ = 0.0;
+ int hysteresis_count_ = 0;
+
+ int clock_resets_ = 0;
+
+ friend class testing::LocalizerTest;
+};
+
+class EventLoopLocalizer {
+ public:
+ EventLoopLocalizer(
+ aos::EventLoop *event_loop,
+ const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
+
+ private:
+ aos::EventLoop *event_loop_;
+ ModelBasedLocalizer model_based_;
+ aos::Sender<LocalizerStatus> status_sender_;
+ aos::Sender<LocalizerOutput> output_sender_;
+ aos::Fetcher<frc971::control_loops::drivetrain::Output> output_fetcher_;
+ zeroing::ImuZeroer zeroer_;
+ aos::monotonic_clock::time_point last_output_send_ =
+ aos::monotonic_clock::min_time;
+};
+} // namespace frc971::controls
+#endif // Y2022_CONTROL_LOOPS_LOCALIZER_LOCALIZER_H_
diff --git a/y2022/control_loops/localizer/localizer_main.cc b/y2022/control_loops/localizer/localizer_main.cc
new file mode 100644
index 0000000..0cc53bb
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_main.cc
@@ -0,0 +1,21 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+ frc971::controls::EventLoopLocalizer localizer(
+ &event_loop, ::y2022::control_loops::drivetrain::GetDrivetrainConfig());
+
+ event_loop.Run();
+
+ return 0;
+}
diff --git a/y2022/control_loops/localizer/localizer_output.fbs b/y2022/control_loops/localizer/localizer_output.fbs
new file mode 100644
index 0000000..078d723
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_output.fbs
@@ -0,0 +1,17 @@
+namespace frc971.controls;
+
+// This provides a minimal output from the localizer that can be forwarded to
+// the roborio and used for corrections to its (simpler) localizer.
+
+table LocalizerOutput {
+ // Timestamp (on the source node) that this sample corresponds with. This
+ // may be older than the sent time to account for delays in sensor readings.
+ monotonic_timestamp_ns:int64 (id: 0);
+ // Current x/y position estimate, in meters.
+ x:double (id: 1);
+ y:double (id: 2);
+ // Current heading, in radians.
+ theta:double (id: 3);
+}
+
+root_type LocalizerOutput;
diff --git a/y2022/control_loops/localizer/localizer_plotter.ts b/y2022/control_loops/localizer/localizer_plotter.ts
new file mode 100644
index 0000000..ce348e7
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_plotter.ts
@@ -0,0 +1,267 @@
+// Provides a plot for debugging drivetrain-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import {ImuMessageHandler} from 'org_frc971/frc971/wpilib/imu_plot_utils';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT;
+
+export function plotLocalizer(conn: Connection, element: Element): void {
+ const aosPlotter = new AosPlotter(conn);
+
+ const position = aosPlotter.addMessageSource("/drivetrain",
+ "frc971.control_loops.drivetrain.Position");
+ const status = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Status');
+ const output = aosPlotter.addMessageSource(
+ '/drivetrain', 'frc971.control_loops.drivetrain.Output');
+ const localizer = aosPlotter.addMessageSource(
+ '/localizer', 'frc971.controls.LocalizerStatus');
+ const imu = aosPlotter.addRawMessageSource(
+ '/drivetrain', 'frc971.IMUValuesBatch',
+ new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
+
+ // Drivetrain Status estimated relative position
+ const positionPlot = aosPlotter.addPlot(element);
+ positionPlot.plot.getAxisLabels().setTitle("Estimated Relative Position " +
+ "of the Drivetrain");
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel("Relative Position (m)");
+ const leftPosition =
+ positionPlot.addMessageLine(status, ["estimated_left_position"]);
+ leftPosition.setColor(RED);
+ const rightPosition =
+ positionPlot.addMessageLine(status, ["estimated_right_position"]);
+ rightPosition.setColor(GREEN);
+ positionPlot
+ .addMessageLine(localizer, ['model_based', 'model_state', 'left_encoder'])
+ .setColor(BROWN)
+ .setPointSize(0.0);
+ positionPlot
+ .addMessageLine(localizer, ['model_based', 'model_state', 'right_encoder'])
+ .setColor(CYAN)
+ .setPointSize(0.0);
+ positionPlot.addMessageLine(position, ['left_encoder'])
+ .setColor(BROWN)
+ .setDrawLine(false);
+ positionPlot.addMessageLine(position, ['right_encoder'])
+ .setColor(CYAN)
+ .setDrawLine(false);
+
+
+ // Drivetrain Velocities
+ const velocityPlot = aosPlotter.addPlot(element);
+ velocityPlot.plot.getAxisLabels().setTitle('Velocity Plots');
+ velocityPlot.plot.getAxisLabels().setXLabel(TIME);
+ velocityPlot.plot.getAxisLabels().setYLabel('Wheel Velocity (m/s)');
+
+ const leftVelocity =
+ velocityPlot.addMessageLine(status, ['estimated_left_velocity']);
+ leftVelocity.setColor(RED);
+ const rightVelocity =
+ velocityPlot.addMessageLine(status, ['estimated_right_velocity']);
+ rightVelocity.setColor(GREEN);
+
+ const leftSpeed = velocityPlot.addMessageLine(position, ["left_speed"]);
+ leftSpeed.setColor(BLUE);
+ const rightSpeed = velocityPlot.addMessageLine(position, ["right_speed"]);
+ rightSpeed.setColor(BROWN);
+
+ const ekfLeftVelocity = velocityPlot.addMessageLine(
+ localizer, ['model_based', 'model_state', 'left_velocity']);
+ ekfLeftVelocity.setColor(RED);
+ ekfLeftVelocity.setPointSize(0.0);
+ const ekfRightVelocity = velocityPlot.addMessageLine(
+ localizer, ['model_based', 'model_state', 'right_velocity']);
+ ekfRightVelocity.setColor(GREEN);
+ ekfRightVelocity.setPointSize(0.0);
+
+ velocityPlot
+ .addMessageLine(
+ localizer, ['model_based', 'oldest_model_state', 'left_velocity'])
+ .setColor(RED)
+ .setDrawLine(false);
+
+ velocityPlot
+ .addMessageLine(
+ localizer, ['model_based', 'oldest_model_state', 'right_velocity'])
+ .setColor(GREEN)
+ .setDrawLine(false);
+
+ const splineVelocityOffset =
+ velocityPlot
+ .addMessageLine(status, ['localizer', 'longitudinal_velocity_offset'])
+ .setColor(BROWN)
+ .setPointSize(0.0);
+
+ const splineLateralVelocity =
+ velocityPlot.addMessageLine(status, ['localizer', 'lateral_velocity'])
+ .setColor(PINK)
+ .setPointSize(0.0);
+
+ // Drivetrain Voltage
+ const voltagePlot = aosPlotter.addPlot(element);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage Plots');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Voltage (V)')
+
+ voltagePlot.addMessageLine(localizer, ['model_based', 'model_state', 'left_voltage_error'])
+ .setColor(RED)
+ .setDrawLine(false);
+ voltagePlot.addMessageLine(localizer, ['model_based', 'model_state', 'right_voltage_error'])
+ .setColor(GREEN)
+ .setDrawLine(false);
+ voltagePlot.addMessageLine(output, ['left_voltage'])
+ .setColor(RED)
+ .setPointSize(0);
+ voltagePlot.addMessageLine(output, ['right_voltage'])
+ .setColor(GREEN)
+ .setPointSize(0);
+
+ // Heading
+ const yawPlot = aosPlotter.addPlot(element);
+ yawPlot.plot.getAxisLabels().setTitle('Robot Yaw');
+ yawPlot.plot.getAxisLabels().setXLabel(TIME);
+ yawPlot.plot.getAxisLabels().setYLabel('Yaw (rad)');
+
+ yawPlot.addMessageLine(status, ['localizer', 'theta']).setColor(GREEN);
+
+ yawPlot.addMessageLine(status, ['down_estimator', 'yaw']).setColor(BLUE);
+
+ yawPlot.addMessageLine(localizer, ['model_based', 'theta']).setColor(RED);
+
+ // Pitch/Roll
+ const orientationPlot = aosPlotter.addPlot(element);
+ orientationPlot.plot.getAxisLabels().setTitle('Orientation');
+ orientationPlot.plot.getAxisLabels().setXLabel(TIME);
+ orientationPlot.plot.getAxisLabels().setYLabel('Angle (rad)');
+
+ orientationPlot.addMessageLine(localizer, ['model_based', 'down_estimator', 'lateral_pitch'])
+ .setColor(RED)
+ .setLabel('roll');
+ orientationPlot
+ .addMessageLine(localizer, ['model_based', 'down_estimator', 'longitudinal_pitch'])
+ .setColor(GREEN)
+ .setLabel('pitch');
+
+ const stillPlot = aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 3]);
+ stillPlot.plot.getAxisLabels().setTitle('Still Plot');
+ stillPlot.plot.getAxisLabels().setXLabel(TIME);
+ stillPlot.plot.getAxisLabels().setYLabel('bool, g\'s');
+ stillPlot.plot.setDefaultYRange([-0.1, 1.1]);
+
+ stillPlot.addMessageLine(localizer, ['model_based', 'down_estimator', 'gravity_magnitude'])
+ .setColor(WHITE)
+ .setDrawLine(false);
+ stillPlot.addMessageLine(localizer, ['model_based', 'using_model'])
+ .setColor(PINK)
+ .setDrawLine(false);
+
+ // Accelerometer/Gravity
+ const accelPlot = aosPlotter.addPlot(element);
+ accelPlot.plot.getAxisLabels().setTitle('Absoluate Velocities')
+ accelPlot.plot.getAxisLabels().setYLabel('Velocity (m/s)');
+ accelPlot.plot.getAxisLabels().setXLabel('Monotonic Time (sec)');
+
+ accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_x'])
+ .setColor(PINK);
+ accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_y'])
+ .setColor(GREEN);
+ accelPlot.addMessageLine(localizer, ['no_wheel_status', 'velocity_z'])
+ .setColor(BLUE);
+
+ accelPlot.addMessageLine(localizer, ['model_based', 'accel_state', 'velocity_x'])
+ .setColor(RED)
+ .setDrawLine(false);
+ accelPlot.addMessageLine(localizer, ['model_based', 'accel_state', 'velocity_y'])
+ .setColor(GREEN)
+ .setDrawLine(false);
+
+ accelPlot.addMessageLine(localizer, ['model_based', 'oldest_accel_state', 'velocity_x'])
+ .setColor(RED)
+ .setPointSize(0);
+ accelPlot.addMessageLine(localizer, ['model_based', 'oldest_accel_state', 'velocity_y'])
+ .setColor(GREEN)
+ .setPointSize(0);
+
+ // Absolute X Position
+ const xPositionPlot = aosPlotter.addPlot(element);
+ xPositionPlot.plot.getAxisLabels().setTitle('X Position');
+ xPositionPlot.plot.getAxisLabels().setXLabel(TIME);
+ xPositionPlot.plot.getAxisLabels().setYLabel('X Position (m)');
+
+ xPositionPlot.addMessageLine(status, ['x']).setColor(RED);
+ xPositionPlot.addMessageLine(status, ['down_estimator', 'position_x'])
+ .setColor(BLUE);
+ xPositionPlot.addMessageLine(localizer, ['no_wheel_status', 'x']).setColor(GREEN);
+ xPositionPlot.addMessageLine(localizer, ['model_based', 'x']).setColor(CYAN);
+
+ xPositionPlot.plot.setDefaultYRange([0.0, 0.5]);
+
+ // Absolute Y Position
+ const yPositionPlot = aosPlotter.addPlot(element);
+ yPositionPlot.plot.getAxisLabels().setTitle('Y Position');
+ yPositionPlot.plot.getAxisLabels().setXLabel(TIME);
+ yPositionPlot.plot.getAxisLabels().setYLabel('Y Position (m)');
+
+ const localizerY = yPositionPlot.addMessageLine(status, ['y']);
+ localizerY.setColor(RED);
+ yPositionPlot.addMessageLine(status, ['down_estimator', 'position_y'])
+ .setColor(BLUE);
+ yPositionPlot.addMessageLine(localizer, ['no_wheel_status', 'y']).setColor(GREEN);
+ yPositionPlot.addMessageLine(localizer, ['model_based', 'y']).setColor(CYAN);
+
+ // Gyro
+ const gyroPlot = aosPlotter.addPlot(element);
+ gyroPlot.plot.getAxisLabels().setTitle('Gyro Readings');
+ gyroPlot.plot.getAxisLabels().setYLabel('Angular Velocity (rad / sec)');
+ gyroPlot.plot.getAxisLabels().setXLabel('Monotonic Reading Time (sec)');
+
+ const gyroX = gyroPlot.addMessageLine(imu, ['gyro_x']);
+ gyroX.setColor(RED);
+ const gyroY = gyroPlot.addMessageLine(imu, ['gyro_y']);
+ gyroY.setColor(GREEN);
+ const gyroZ = gyroPlot.addMessageLine(imu, ['gyro_z']);
+ gyroZ.setColor(BLUE);
+
+ const impliedAccelPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+ impliedAccelPlot.plot.getAxisLabels().setTitle('Implied Accelerations');
+ impliedAccelPlot.plot.getAxisLabels().setXLabel(TIME);
+
+ impliedAccelPlot.addMessageLine(localizer, ['model_based', 'implied_accel_z'])
+ .setColor(BLUE);
+ impliedAccelPlot.addMessageLine(localizer, ['model_based', 'implied_accel_y'])
+ .setColor(GREEN);
+ impliedAccelPlot.addMessageLine(localizer, ['model_based', 'implied_accel_x'])
+ .setColor(RED);
+
+ const costPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT]);
+ costPlot.plot.getAxisLabels().setTitle('Costs');
+ costPlot.plot.getAxisLabels().setXLabel(TIME);
+
+ costPlot.addMessageLine(localizer, ['model_based', 'residual'])
+ .setColor(RED)
+ .setPointSize(0);
+
+ costPlot.addMessageLine(localizer, ['model_based', 'filtered_residual'])
+ .setColor(BLUE)
+ .setPointSize(0);
+
+ costPlot.addMessageLine(localizer, ['model_based', 'velocity_residual'])
+ .setColor(GREEN)
+ .setPointSize(0);
+
+ costPlot.addMessageLine(localizer, ['model_based', 'theta_rate_residual'])
+ .setColor(BROWN)
+ .setPointSize(0);
+
+ costPlot.addMessageLine(localizer, ['model_based', 'accel_residual'])
+ .setColor(CYAN)
+ .setPointSize(0);
+}
diff --git a/y2022/control_loops/localizer/localizer_replay.cc b/y2022/control_loops/localizer/localizer_replay.cc
new file mode 100644
index 0000000..67fb35a
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_replay.cc
@@ -0,0 +1,119 @@
+
+#include "aos/configuration.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/log_writer.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/network/team_number.h"
+#include "y2022/control_loops/localizer/localizer.h"
+#include "y2022/control_loops/localizer/localizer_schema.h"
+#include "gflags/gflags.h"
+#include "y2020/control_loops/drivetrain/drivetrain_base.h"
+
+DEFINE_string(config, "y2020/config.json",
+ "Name of the config file to replay using.");
+DEFINE_int32(team, 7971, "Team number to use for logfile replay.");
+DEFINE_string(output_folder, "/tmp/replayed",
+ "Name of the folder to write replayed logs to.");
+
+class LoggerState {
+ public:
+ LoggerState(aos::logger::LogReader *reader, const aos::Node *node)
+ : event_loop_(
+ reader->event_loop_factory()->MakeEventLoop("logger", node)),
+ namer_(std::make_unique<aos::logger::MultiNodeLogNamer>(
+ absl::StrCat(FLAGS_output_folder, "/", node->name()->string_view(),
+ "/"),
+ event_loop_.get())),
+ logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
+ event_loop_->SkipTimingReport();
+ event_loop_->SkipAosLog();
+ event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
+ }
+
+ private:
+ std::unique_ptr<aos::EventLoop> event_loop_;
+ std::unique_ptr<aos::logger::LogNamer> namer_;
+ std::unique_ptr<aos::logger::Logger> logger_;
+};
+
+// TODO(james): Currently, this replay produces logfiles that can't be read due
+// to time estimation issues. Pending the active refactorings of the
+// timestamp-related code, fix this.
+int main(int argc, char **argv) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::network::OverrideTeamNumber(FLAGS_team);
+
+ const aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ // find logfiles
+ std::vector<std::string> unsorted_logfiles =
+ aos::logger::FindLogs(argc, argv);
+
+ // sort logfiles
+ const std::vector<aos::logger::LogFile> logfiles =
+ aos::logger::SortParts(unsorted_logfiles);
+
+ // open logfiles
+ aos::logger::LogReader reader(logfiles);
+ // Patch in any new channels.
+ // TODO(james): With some of the extra changes I've made recently, this is no
+ // longer adequate for replaying old logfiles. Just stop trying to support old
+ // logs.
+ aos::FlatbufferDetachedBuffer<aos::Configuration> updated_config =
+ aos::configuration::MergeWithConfig(
+ reader.configuration(),
+ aos::configuration::AddSchema(
+ R"channel({
+ "channels": [
+ {
+ "name": "/localizer",
+ "type": "frc971.controls.LocalizerStatus",
+ "source_node": "roborio",
+ "frequency": 2000,
+ "max_size": 2000,
+ "num_senders": 2
+ }
+ ]
+})channel",
+ {aos::FlatbufferVector<reflection::Schema>(
+ aos::FlatbufferSpan<reflection::Schema>(
+ frc971::controls::LocalizerStatusSchema()))}));
+
+ auto factory = std::make_unique<aos::SimulatedEventLoopFactory>(
+ &updated_config.message());
+
+ reader.Register(factory.get());
+
+ std::vector<std::unique_ptr<LoggerState>> loggers;
+ // List of nodes to create loggers for (note: currently just roborio; this
+ // code was refactored to allow easily adding new loggers to accommodate
+ // debugging and potential future changes).
+ const std::vector<std::string> nodes_to_log = {"roborio"};
+ for (const std::string &node : nodes_to_log) {
+ loggers.emplace_back(std::make_unique<LoggerState>(
+ &reader, aos::configuration::GetNode(reader.configuration(), node)));
+ }
+
+ const aos::Node *node = nullptr;
+ if (aos::configuration::MultiNode(reader.configuration())) {
+ node = aos::configuration::GetNode(reader.configuration(), "roborio");
+ }
+
+ std::unique_ptr<aos::EventLoop> localizer_event_loop =
+ reader.event_loop_factory()->MakeEventLoop("localizer", node);
+ localizer_event_loop->SkipTimingReport();
+
+ frc971::controls::EventLoopLocalizer localizer(
+ localizer_event_loop.get(),
+ y2020::control_loops::drivetrain::GetDrivetrainConfig());
+
+ reader.event_loop_factory()->Run();
+
+ reader.Deregister();
+
+ return 0;
+}
diff --git a/y2022/control_loops/localizer/localizer_status.fbs b/y2022/control_loops/localizer/localizer_status.fbs
new file mode 100644
index 0000000..6771c5f
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_status.fbs
@@ -0,0 +1,87 @@
+include "frc971/control_loops/drivetrain/drivetrain_status.fbs";
+
+namespace frc971.controls;
+
+// Stores the state associated with the acceleration-based modelling.
+table AccelBasedState {
+ // x/y position, in meters.
+ x:double (id: 0);
+ y:double (id: 1);
+ // heading, in radians.
+ theta:double (id: 2);
+ // Velocity in X/Y directions, in m/s.
+ velocity_x:double (id: 3);
+ velocity_y:double (id: 4);
+}
+
+// Stores the state associated with the drivetrain model-based state.
+// This model assumes zero lateral motion of the drivetrain.
+table ModelBasedState {
+ // x/y position, in meters.
+ x:double (id: 0);
+ y:double (id: 1);
+ // heading, in radians.
+ theta:double (id: 2);
+ // Expected encoder reading for the left side of the drivetrain, in meters.
+ left_encoder:double (id: 3);
+ // Modelled velocity of the left side of the drivetrain, in meters / second.
+ left_velocity:double (id: 4);
+ // Estimated voltage error, in volts.
+ left_voltage_error:double (id: 5);
+ // Same as the left_* fields, but for the right side of the drivetrain.
+ right_encoder:double (id: 6);
+ right_velocity:double (id: 7);
+ right_voltage_error:double (id: 8);
+}
+
+table ModelBasedStatus {
+ // Current acceleration and model-based states. Depending on using_model,
+ // one of these will be the ground-truth and the other will be calculated
+ // based on it. E.g. if using_model is true, then model_state will be
+ // populated as you'd expect, while accel_state will be populated to be
+ // consistent with model_state (e.g., no lateral motion).
+ accel_state:AccelBasedState (id: 0);
+ model_state:ModelBasedState (id: 1);
+ // using_model indicates whether we are currently in in model-based or
+ // accelerometer-based estimation.
+ using_model:bool (id: 2);
+ // Current residual associated with the amount of inconsistency between
+ // the two models. Will be zero if the drivetrain model is perfectly
+ // consistent with the IMU readings.
+ residual:double (id: 3);
+ // Status from the down estimator.
+ down_estimator:frc971.control_loops.drivetrain.DownEstimatorState (id: 4);
+ // Current ground-truth for x/y/theta. Should match those present in *_state.
+ x:double (id: 5);
+ y:double (id: 6);
+ theta:double (id: 7);
+ // Current accelerations implied by the current accelerometer + down estimator
+ // + yaw readings.
+ implied_accel_x:double (id: 8);
+ implied_accel_y:double (id: 9);
+ implied_accel_z:double (id: 10);
+ // oldest_* are the oldest surviving branches of the model that have just been
+ // running purely on one model.
+ oldest_accel_state:AccelBasedState (id: 11);
+ oldest_model_state:ModelBasedState (id: 12);
+ // Filtered version of the residual field--this is what is actually used by
+ // the code for determining when to swap between modes.
+ filtered_residual:double (id: 13);
+ // Components of the residual. Useful for debugging.
+ velocity_residual:double (id: 14);
+ accel_residual:double (id: 15);
+ theta_rate_residual:double (id: 16);
+ // Number of times we have missed an IMU reading. Should never increase except
+ // *maybe* during startup.
+ clock_resets:int (id: 17);
+}
+
+table LocalizerStatus {
+ model_based:ModelBasedStatus (id: 0);
+ // Whether the IMU is zeroed or not.
+ zeroed:bool (id: 1);
+ // Whether the IMU zeroing is faulted or not.
+ faulted_zero:bool (id: 2);
+}
+
+root_type LocalizerStatus;
diff --git a/y2022/control_loops/localizer/localizer_test.cc b/y2022/control_loops/localizer/localizer_test.cc
new file mode 100644
index 0000000..5857bda
--- /dev/null
+++ b/y2022/control_loops/localizer/localizer_test.cc
@@ -0,0 +1,525 @@
+#include "y2022/control_loops/localizer/localizer.h"
+
+#include "aos/events/simulated_event_loop.h"
+#include "gtest/gtest.h"
+#include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
+
+namespace frc971::controls::testing {
+typedef ModelBasedLocalizer::ModelState ModelState;
+typedef ModelBasedLocalizer::AccelState AccelState;
+typedef ModelBasedLocalizer::ModelInput ModelInput;
+typedef ModelBasedLocalizer::AccelInput AccelInput;
+namespace {
+constexpr size_t kX = ModelBasedLocalizer::kX;
+constexpr size_t kY = ModelBasedLocalizer::kY;
+constexpr size_t kTheta = ModelBasedLocalizer::kTheta;
+constexpr size_t kVelocityX = ModelBasedLocalizer::kVelocityX;
+constexpr size_t kVelocityY = ModelBasedLocalizer::kVelocityY;
+constexpr size_t kAccelX = ModelBasedLocalizer::kAccelX;
+constexpr size_t kAccelY = ModelBasedLocalizer::kAccelY;
+constexpr size_t kThetaRate = ModelBasedLocalizer::kThetaRate;
+constexpr size_t kLeftEncoder = ModelBasedLocalizer::kLeftEncoder;
+constexpr size_t kLeftVelocity = ModelBasedLocalizer::kLeftVelocity;
+constexpr size_t kLeftVoltageError = ModelBasedLocalizer::kLeftVoltageError;
+constexpr size_t kRightEncoder = ModelBasedLocalizer::kRightEncoder;
+constexpr size_t kRightVelocity = ModelBasedLocalizer::kRightVelocity;
+constexpr size_t kRightVoltageError = ModelBasedLocalizer::kRightVoltageError;
+constexpr size_t kLeftVoltage = ModelBasedLocalizer::kLeftVoltage;
+constexpr size_t kRightVoltage = ModelBasedLocalizer::kRightVoltage;
+}
+
+class LocalizerTest : public ::testing::Test {
+ protected:
+ LocalizerTest()
+ : dt_config_(
+ control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
+ localizer_(dt_config_) {}
+ ModelState CallDiffModel(const ModelState &state, const ModelInput &U) {
+ return localizer_.DiffModel(state, U);
+ }
+
+ AccelState CallDiffAccel(const AccelState &state, const AccelInput &U) {
+ return localizer_.DiffAccel(state, U);
+ }
+
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ ModelBasedLocalizer localizer_;
+
+};
+
+TEST_F(LocalizerTest, AccelIntegrationTest) {
+ AccelState state;
+ state.setZero();
+ AccelInput input;
+ input.setZero();
+
+ EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
+ // Non-zero x/y/theta states should still result in a zero derivative.
+ state(kX) = 1.0;
+ state(kY) = 1.0;
+ state(kTheta) = 1.0;
+ EXPECT_EQ(0.0, CallDiffAccel(state, input).norm());
+
+ state.setZero();
+ state(kVelocityX) = 1.0;
+ state(kVelocityY) = 2.0;
+ EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
+ CallDiffAccel(state, input));
+ // Derivatives should be independent of theta.
+ state(kTheta) = M_PI / 2.0;
+ EXPECT_EQ((AccelState() << 1.0, 2.0, 0.0, 0.0, 0.0).finished(),
+ CallDiffAccel(state, input));
+
+ state.setZero();
+ input(kAccelX) = 1.0;
+ input(kAccelY) = 2.0;
+ input(kThetaRate) = 3.0;
+ EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
+ CallDiffAccel(state, input));
+ state(kTheta) = M_PI / 2.0;
+ EXPECT_EQ((AccelState() << 0.0, 0.0, 3.0, 1.0, 2.0).finished(),
+ CallDiffAccel(state, input));
+}
+
+TEST_F(LocalizerTest, ModelIntegrationTest) {
+ ModelState state;
+ state.setZero();
+ ModelInput input;
+ input.setZero();
+ ModelState diff;
+
+ EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
+ // Non-zero x/y/theta/encoder states should still result in a zero derivative.
+ state(kX) = 1.0;
+ state(kY) = 1.0;
+ state(kTheta) = 1.0;
+ state(kLeftEncoder) = 1.0;
+ state(kRightEncoder) = 1.0;
+ EXPECT_EQ(0.0, CallDiffModel(state, input).norm());
+
+ state.setZero();
+ state(kLeftVelocity) = 1.0;
+ state(kRightVelocity) = 1.0;
+ diff = CallDiffModel(state, input);
+ const ModelState mask_velocities =
+ (ModelState() << 1.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0).finished();
+ EXPECT_EQ(
+ (ModelState() << 1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0).finished(),
+ diff.cwiseProduct(mask_velocities));
+ EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_GT(0.0, diff(kLeftVelocity));
+ state(kTheta) = M_PI / 2.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_NEAR(0.0,
+ ((ModelState() << 0.0, 1.0, 0.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0)
+ .finished() -
+ diff.cwiseProduct(mask_velocities))
+ .norm(),
+ 1e-12);
+ EXPECT_EQ(diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_GT(0.0, diff(kLeftVelocity));
+
+ state.setZero();
+ state(kLeftVelocity) = -1.0;
+ state(kRightVelocity) = 1.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_EQ((ModelState() << 0.0, 0.0, 1.0 / dt_config_.robot_radius, -1.0, 0.0,
+ 0.0, 1.0, 0.0, 0.0)
+ .finished(),
+ diff.cwiseProduct(mask_velocities));
+ EXPECT_EQ(-diff(kLeftVelocity), diff(kRightVelocity));
+ EXPECT_LT(0.0, diff(kLeftVelocity));
+
+ state.setZero();
+ input(kLeftVoltage) = 5.0;
+ input(kRightVoltage) = 6.0;
+ diff = CallDiffModel(state, input);
+ EXPECT_EQ(0, diff(kX));
+ EXPECT_EQ(0, diff(kY));
+ EXPECT_EQ(0, diff(kTheta));
+ EXPECT_EQ(0, diff(kLeftEncoder));
+ EXPECT_EQ(0, diff(kRightEncoder));
+ EXPECT_EQ(0, diff(kLeftVoltageError));
+ EXPECT_EQ(0, diff(kRightVoltageError));
+ EXPECT_LT(0, diff(kLeftVelocity));
+ EXPECT_LT(0, diff(kRightVelocity));
+ EXPECT_LT(diff(kLeftVelocity), diff(kRightVelocity));
+
+ state.setZero();
+ state(kLeftVoltageError) = -1.0;
+ state(kRightVoltageError) = -2.0;
+ input(kLeftVoltage) = 1.0;
+ input(kRightVoltage) = 2.0;
+ EXPECT_EQ(ModelState::Zero(), CallDiffModel(state, input));
+}
+
+// Test that the HandleReset does indeed reset the state of the localizer.
+TEST_F(LocalizerTest, LocalizerReset) {
+ aos::monotonic_clock::time_point t = aos::monotonic_clock::epoch();
+ localizer_.HandleReset(t, {1.0, 2.0, 3.0});
+ EXPECT_EQ((Eigen::Vector3d{1.0, 2.0, 3.0}), localizer_.xytheta());
+ localizer_.HandleReset(t, {4.0, 5.0, 6.0});
+ EXPECT_EQ((Eigen::Vector3d{4.0, 5.0, 6.0}), localizer_.xytheta());
+}
+
+// Test that if we are moving only by accelerometer readings (and just assuming
+// zero voltage/encoders) that we initially don't believe it but then latch into
+// following the accelerometer.
+// Note: this test is somewhat sensitive to the exact tuning values used for the
+// filter.
+TEST_F(LocalizerTest, AccelOnly) {
+ const aos::monotonic_clock::time_point start = aos::monotonic_clock::epoch();
+ const std::chrono::microseconds kDt{500};
+ aos::monotonic_clock::time_point t = start - std::chrono::milliseconds(1000);
+ Eigen::Vector3d gyro{0.0, 0.0, 0.0};
+ const Eigen::Vector2d encoders{0.0, 0.0};
+ const Eigen::Vector2d voltages{0.0, 0.0};
+ Eigen::Vector3d accel{1.0, 0.2, 9.80665};
+ Eigen::Vector3d accel_gs = accel / 9.80665;
+ while (t < start) {
+ // Spin to fill up the buffer.
+ localizer_.HandleImu(t, gyro, Eigen::Vector3d::UnitZ(), encoders, voltages);
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(100)) {
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ EXPECT_EQ(Eigen::Vector3d::Zero(), localizer_.xytheta());
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(500)) {
+ // Too lazy to hard-code when the transition happens.
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ t += kDt;
+ }
+ while (t < start + std::chrono::milliseconds(1000)) {
+ SCOPED_TRACE(t);
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ const Eigen::Vector3d xytheta = localizer_.xytheta();
+ t += kDt;
+ EXPECT_NEAR(
+ 0.5 * accel(0) * std::pow(aos::time::DurationInSeconds(t - start), 2),
+ xytheta(0), 1e-4);
+ EXPECT_NEAR(
+ 0.5 * accel(1) * std::pow(aos::time::DurationInSeconds(t - start), 2),
+ xytheta(1), 1e-4);
+ EXPECT_EQ(0.0, xytheta(2));
+ }
+
+ ASSERT_NEAR(1.0, localizer_.accel_state()(kVelocityX), 1e-10);
+ ASSERT_NEAR(0.2, localizer_.accel_state()(kVelocityY), 1e-10);
+
+ // Start going in a cirlce, and confirm that we
+ // handle things correctly. We rotate the accelerometer readings by 90 degrees
+ // 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;
+ // v^2 / r = a
+ // w * r = v
+ // v^2 / v * w = a
+ // w = a / v
+ const double omega = accel.topRows<2>().norm() /
+ std::hypot(localizer_.accel_state()(kVelocityX),
+ localizer_.accel_state()(kVelocityY));
+ gyro << 0.0, 0.0, omega;
+ // Due to the magic of math, omega works out to be 1.0 after having run at the
+ // acceleration for one second.
+ ASSERT_NEAR(1.0, omega, 1e-10);
+ // Yes, we could save some operations here, but let's be at least somewhat
+ // clear about what we're doing...
+ const double radius = accel.topRows<2>().norm() / (omega * omega);
+ const Eigen::Vector2d center = localizer_.xytheta().topRows<2>() +
+ accel.topRows<2>().normalized() * radius;
+ const double initial_theta = std::atan2(-accel(1), -accel(0));
+
+ std::chrono::microseconds one_revolution_time(
+ static_cast<int>(2 * M_PI / omega * 1e6));
+
+ aos::monotonic_clock::time_point circle_start = t;
+
+ while (t < circle_start + one_revolution_time) {
+ SCOPED_TRACE(t);
+ localizer_.HandleImu(t, gyro, accel_gs, encoders, voltages);
+ t += kDt;
+ const double t_circle = aos::time::DurationInSeconds(t - circle_start);
+ ASSERT_NEAR(t_circle * omega, localizer_.xytheta()(2), 1e-5);
+ const double theta_circle = t_circle * omega + initial_theta;
+ const Eigen::Vector2d offset =
+ radius *
+ Eigen::Vector2d{std::cos(theta_circle), std::sin(theta_circle)};
+ const Eigen::Vector2d expected = center + offset;
+ const Eigen::Vector2d estimated = localizer_.xytheta().topRows<2>();
+ const Eigen::Vector2d implied_offset = estimated - center;
+ const double implied_theta =
+ std::atan2(implied_offset.y(), implied_offset.x());
+ VLOG(1) << "center: " << center.transpose() << " radius " << radius
+ << "\nlocalizer " << localizer_.xytheta().transpose()
+ << " t_circle " << t_circle << " omega " << omega << " theta "
+ << theta_circle << "\noffset " << offset.transpose()
+ << "\nexpected " << expected.transpose() << "\nimplied offset "
+ << implied_offset << " implied_theta " << implied_theta << "\nvel "
+ << localizer_.accel_state()(kVelocityX) << ", "
+ << localizer_.accel_state()(kVelocityY);
+ ASSERT_NEAR(0.0, (expected - localizer_.xytheta().topRows<2>()).norm(),
+ 1e-2);
+ }
+
+ // Set accelerometer back to zero and confirm that we recover (the
+ // implementation decays the accelerometer speeds to zero when still, so
+ // should recover).
+ while (t <
+ circle_start + one_revolution_time + std::chrono::milliseconds(3000)) {
+ localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
+ encoders, voltages);
+ t += kDt;
+ }
+ const Eigen::Vector3d final_pos = localizer_.xytheta();
+ localizer_.HandleImu(t, Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ(),
+ encoders, voltages);
+ ASSERT_NEAR(0.0, (final_pos - localizer_.xytheta()).norm(), 1e-10);
+}
+
+using control_loops::drivetrain::Output;
+
+class EventLoopLocalizerTest : public ::testing::Test {
+ protected:
+ EventLoopLocalizerTest()
+ : configuration_(aos::configuration::ReadConfig("y2022/config.json")),
+ event_loop_factory_(&configuration_.message()),
+ roborio_node_(
+ aos::configuration::GetNode(&configuration_.message(), "roborio")),
+ imu_node_(
+ aos::configuration::GetNode(&configuration_.message(), "imu")),
+ dt_config_(
+ control_loops::drivetrain::testing::GetTestDrivetrainConfig()),
+ localizer_event_loop_(
+ event_loop_factory_.MakeEventLoop("localizer", imu_node_)),
+ localizer_(localizer_event_loop_.get(), dt_config_),
+ drivetrain_plant_event_loop_(event_loop_factory_.MakeEventLoop(
+ "drivetrain_plant", roborio_node_)),
+ drivetrain_plant_imu_event_loop_(
+ event_loop_factory_.MakeEventLoop("drivetrain_plant", imu_node_)),
+ drivetrain_plant_(drivetrain_plant_event_loop_.get(),
+ drivetrain_plant_imu_event_loop_.get(), dt_config_,
+ std::chrono::microseconds(500)),
+ roborio_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", roborio_node_)),
+ imu_test_event_loop_(
+ event_loop_factory_.MakeEventLoop("test", imu_node_)),
+ logger_test_event_loop_(
+ event_loop_factory_.GetNodeEventLoopFactory("logger")
+ ->MakeEventLoop("test")),
+ output_sender_(
+ roborio_test_event_loop_->MakeSender<Output>("/drivetrain")),
+ output_fetcher_(roborio_test_event_loop_->MakeFetcher<LocalizerOutput>(
+ "/localizer")),
+ status_fetcher_(
+ imu_test_event_loop_->MakeFetcher<LocalizerStatus>("/localizer")) {
+ 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));
+ });
+ // Get things zeroed.
+ event_loop_factory_.RunFor(std::chrono::seconds(10));
+ CHECK(status_fetcher_.Fetch());
+ CHECK(status_fetcher_->zeroed());
+ }
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> configuration_;
+ aos::SimulatedEventLoopFactory event_loop_factory_;
+ const aos::Node *const roborio_node_;
+ const aos::Node *const imu_node_;
+ const control_loops::drivetrain::DrivetrainConfig<double> dt_config_;
+ std::unique_ptr<aos::EventLoop> localizer_event_loop_;
+ EventLoopLocalizer localizer_;
+
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_event_loop_;
+ std::unique_ptr<aos::EventLoop> drivetrain_plant_imu_event_loop_;
+ control_loops::drivetrain::testing::DrivetrainSimulation drivetrain_plant_;
+
+ std::unique_ptr<aos::EventLoop> roborio_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> imu_test_event_loop_;
+ std::unique_ptr<aos::EventLoop> logger_test_event_loop_;
+
+ aos::Sender<Output> output_sender_;
+ aos::Fetcher<LocalizerOutput> output_fetcher_;
+ aos::Fetcher<LocalizerStatus> status_fetcher_;
+
+ Eigen::Vector2d output_voltages_ = Eigen::Vector2d::Zero();
+};
+
+TEST_F(EventLoopLocalizerTest, Nominal) {
+ output_voltages_ << 1.0, 1.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-6);
+ ASSERT_LT(0.1, output_fetcher_->x());
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+}
+
+TEST_F(EventLoopLocalizerTest, Reverse) {
+ output_voltages_ << -4.0, -4.0;
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-6);
+ ASSERT_GT(-0.1, output_fetcher_->x());
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->theta(), 1e-10);
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_GT(-0.1, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+}
+
+TEST_F(EventLoopLocalizerTest, SpinInPlace) {
+ output_voltages_ << 4.0, -4.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-6);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-1);
+ ASSERT_NEAR(0.0, output_fetcher_->x(), 1e-10);
+ ASSERT_NEAR(0.0, output_fetcher_->y(), 1e-10);
+ ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_x(),
+ 1e-10);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->accel_state()->velocity_y(),
+ 1e-10);
+ ASSERT_NEAR(-status_fetcher_->model_based()->model_state()->left_velocity(),
+ status_fetcher_->model_based()->model_state()->right_velocity(),
+ 1e-3);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-3);
+}
+
+TEST_F(EventLoopLocalizerTest, Curve) {
+ output_voltages_ << 2.0, 4.0;
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // The two can be different because they may've been sent at different times.
+ ASSERT_NEAR(output_fetcher_->x(), status_fetcher_->model_based()->x(), 1e-2);
+ ASSERT_NEAR(output_fetcher_->y(), status_fetcher_->model_based()->y(), 1e-2);
+ ASSERT_NEAR(output_fetcher_->theta(), status_fetcher_->model_based()->theta(),
+ 1e-1);
+ ASSERT_LT(0.1, output_fetcher_->x());
+ ASSERT_LT(0.1, output_fetcher_->y());
+ ASSERT_LT(0.1, std::abs(output_fetcher_->theta()));
+ ASSERT_TRUE(status_fetcher_->has_model_based());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_x());
+ ASSERT_LT(0.0, status_fetcher_->model_based()->accel_state()->velocity_y());
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(
+ 0.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 1e-1);
+ ASSERT_NEAR(0.0, status_fetcher_->model_based()->residual(), 1e-1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+}
+
+// Tests that small amounts of voltage error are handled by the model-based
+// half of the localizer.
+TEST_F(EventLoopLocalizerTest, VoltageError) {
+ output_voltages_ << 0.0, 0.0;
+ drivetrain_plant_.set_left_voltage_offset(2.0);
+ drivetrain_plant_.set_right_voltage_offset(2.0);
+ drivetrain_plant_.set_accel_sin_magnitude(0.01);
+
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // Should still be using the model, but have a non-trivial residual.
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.1, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+
+ // Afer running for a while, voltage error terms should converge and result in
+ // low residuals.
+ event_loop_factory_.RunFor(std::chrono::seconds(10));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ ASSERT_TRUE(status_fetcher_->model_based()->using_model());
+ ASSERT_NEAR(
+ 2.0, status_fetcher_->model_based()->model_state()->left_voltage_error(),
+ 0.1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_NEAR(
+ 2.0, status_fetcher_->model_based()->model_state()->right_voltage_error(),
+ 0.1)
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_GT(0.01, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+}
+
+// Tests that large amounts of voltage error force us into the
+// acceleration-based localizer.
+TEST_F(EventLoopLocalizerTest, HighVoltageError) {
+ 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);
+
+ event_loop_factory_.RunFor(std::chrono::seconds(2));
+ CHECK(output_fetcher_.Fetch());
+ CHECK(status_fetcher_.Fetch());
+ // Should still be using the model, but have a non-trivial residual.
+ ASSERT_FALSE(status_fetcher_->model_based()->using_model());
+ ASSERT_LT(0.1, status_fetcher_->model_based()->residual())
+ << aos::FlatbufferToJson(status_fetcher_.get(), {.multi_line = true});
+ ASSERT_NEAR(drivetrain_plant_.state()(0),
+ status_fetcher_->model_based()->x(), 1.0);
+ ASSERT_NEAR(drivetrain_plant_.state()(1),
+ status_fetcher_->model_based()->y(), 1e-6);
+}
+
+} // namespace frc91::controls::testing
diff --git a/y2022/control_loops/python/BUILD b/y2022/control_loops/python/BUILD
index e0b0daa..54bce63 100644
--- a/y2022/control_loops/python/BUILD
+++ b/y2022/control_loops/python/BUILD
@@ -49,9 +49,68 @@
)
py_library(
+ name = "catapult_lib",
+ srcs = [
+ "catapult_lib.py",
+ ],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ "//frc971/control_loops/python:controls",
+ "@matplotlib_repo//:matplotlib3",
+ ],
+)
+
+py_binary(
+ name = "catapult",
+ srcs = [
+ "catapult.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":catapult_lib",
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ ],
+)
+
+py_binary(
+ name = "intake",
+ srcs = [
+ "intake.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ ],
+)
+
+py_binary(
+ name = "turret",
+ srcs = [
+ "turret.py",
+ ],
+ legacy_create_init = False,
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ deps = [
+ ":python_init",
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:angular_system",
+ "//frc971/control_loops/python:controls",
+ ],
+)
+
+py_library(
name = "python_init",
srcs = ["__init__.py"],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
- deps = ["//y2020/control_loops:python_init"],
+ deps = ["//y2022/control_loops:python_init"],
)
diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
new file mode 100755
index 0000000..bb8d74d
--- /dev/null
+++ b/y2022/control_loops/python/catapult.py
@@ -0,0 +1,84 @@
+#!/usr/bin/python3
+
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+import numpy
+import math
+import sys
+import math
+from y2022.control_loops.python import catapult_lib
+from matplotlib import pylab
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+gflags.DEFINE_bool('plot', True, 'If true, plot the loop response.')
+
+ball_mass = 0.25
+ball_diameter = 9.5 * 0.0254
+lever = 17.5 * 0.0254
+
+G = (14.0 / 72.0) * (12.0 / 33.0)
+
+
+def AddResistance(motor, resistance):
+ motor.resistance += resistance
+ return motor
+
+J_ball = 1.5 * ball_mass * lever * lever
+# Assuming carbon fiber, calculate the mass of the bar.
+M_bar = (1750 * lever * 0.0254 * 0.0254 * (1.0 - (1 - 0.07)**2.0))
+# And the moment of inertia.
+J_bar = 1.0 / 3.0 * M_bar * lever**2.0
+
+# Do the same for a theoretical cup. Assume a 40 thou thick carbon cup.
+M_cup = (1750 * 0.0254 * 0.04 * 2 * math.pi * (ball_diameter / 2.)**2.0)
+J_cup = M_cup * lever**2.0 + M_cup * (ball_diameter / 2.)**2.0
+
+print("J ball", ball_mass * lever * lever)
+print("J bar", J_bar)
+print("bar mass", M_bar)
+print("J cup", J_cup)
+print("cup mass", M_cup)
+
+J = (J_ball + J_bar + J_cup * 1.5)
+print("J", J)
+
+kFinisher = catapult_lib.CatapultParams(
+ name='Finisher',
+ motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
+ G=G,
+ J=J,
+ lever=lever,
+ q_pos=0.01,
+ q_vel=10.0,
+ q_voltage=4.0,
+ r_pos=0.01,
+ controller_poles=[.93],
+ dt=0.0005)
+
+
+def main(argv):
+ # Do all our math with a lower voltage so we have headroom.
+ U = numpy.matrix([[9.0]])
+ print("For G:", G, " max speed ", catapult_lib.MaxSpeed(params=kFinisher, U=U, final_position = math.pi / 2.0))
+
+ if FLAGS.plot:
+ catapult_lib.PlotShot(kFinisher, U, final_position = math.pi / 4.0)
+
+ gs = []
+ speed = []
+ for i in numpy.linspace(0.01, 0.15, 150):
+ kFinisher.G = i
+ gs.append(kFinisher.G)
+ speed.append(catapult_lib.MaxSpeed(params=kFinisher, U=U, final_position = math.pi / 2.0))
+ pylab.plot(gs, speed, label = "max_speed")
+ pylab.show()
+ return 0
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ sys.exit(main(argv))
diff --git a/y2022/control_loops/python/catapult_lib.py b/y2022/control_loops/python/catapult_lib.py
new file mode 100644
index 0000000..256793a
--- /dev/null
+++ b/y2022/control_loops/python/catapult_lib.py
@@ -0,0 +1,308 @@
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import controls
+import numpy
+from matplotlib import pylab
+
+import gflags
+import glog
+
+
+class CatapultParams(object):
+ def __init__(self,
+ name,
+ motor,
+ G,
+ J,
+ lever,
+ q_pos,
+ q_vel,
+ q_voltage,
+ r_pos,
+ controller_poles,
+ dt=0.00505):
+ self.name = name
+ self.motor = motor
+ self.G = G
+ self.J = J
+ self.lever = lever
+ self.q_pos = q_pos
+ self.q_vel = q_vel
+ self.q_voltage = q_voltage
+ self.r_pos = r_pos
+ self.dt = dt
+ self.controller_poles = controller_poles
+
+
+class VelocityCatapult(control_loop.HybridControlLoop):
+ def __init__(self, params, name="Catapult"):
+ super(VelocityCatapult, self).__init__(name=name)
+ self.params = params
+ # Set Motor
+ self.motor = self.params.motor
+ # Gear ratio
+ self.G = self.params.G
+ # Moment of inertia of the catapult wheel in kg m^2
+ self.J = self.params.J + self.motor.motor_inertia / (self.G**2.0)
+ # Control loop time step
+ self.dt = self.params.dt
+
+ # State feedback matrices
+ # [angular velocity]
+ self.A_continuous = numpy.matrix([[
+ -self.motor.Kt / self.motor.Kv /
+ (self.J * self.G * self.G * self.motor.resistance)
+ ]])
+ self.B_continuous = numpy.matrix(
+ [[self.motor.Kt / (self.J * self.G * self.motor.resistance)]])
+ self.C = numpy.matrix([[1]])
+ self.D = numpy.matrix([[0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ self.PlaceControllerPoles(self.params.controller_poles)
+
+ # Generated controller not used.
+ self.PlaceObserverPoles([0.3])
+
+ self.U_max = numpy.matrix([[12.0]])
+ self.U_min = numpy.matrix([[-12.0]])
+
+ qff_vel = 8.0
+ self.Qff = numpy.matrix([[1.0 / (qff_vel**2.0)]])
+
+ self.Kff = controls.TwoStateFeedForwards(self.B, self.Qff)
+
+ glog.debug('K: %s', str(self.K))
+ glog.debug('Poles: %s',
+ str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+
+
+class Catapult(VelocityCatapult):
+ def __init__(self, params, name="Catapult"):
+ super(Catapult, self).__init__(params, name=name)
+
+ self.A_continuous_unaugmented = self.A_continuous
+ self.B_continuous_unaugmented = self.B_continuous
+
+ self.A_continuous = numpy.matrix(numpy.zeros((2, 2)))
+ self.A_continuous[1:2, 1:2] = self.A_continuous_unaugmented
+ self.A_continuous[0, 1] = 1
+
+ self.B_continuous = numpy.matrix(numpy.zeros((2, 1)))
+ self.B_continuous[1:2, 0] = self.B_continuous_unaugmented
+
+ # State feedback matrices
+ # [position, angular velocity]
+ self.C = numpy.matrix([[1, 0]])
+ self.D = numpy.matrix([[0]])
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ rpl = 0.45
+ ipl = 0.07
+ self.PlaceObserverPoles([rpl + 1j * ipl, rpl - 1j * ipl])
+
+ self.K_unaugmented = self.K
+ self.K = numpy.matrix(numpy.zeros((1, 2)))
+ self.K[0, 1:2] = self.K_unaugmented
+ self.Kff_unaugmented = self.Kff
+ self.Kff = numpy.matrix(numpy.zeros((1, 2)))
+ self.Kff[0, 1:2] = self.Kff_unaugmented
+
+ self.InitializeState()
+
+
+class IntegralCatapult(Catapult):
+ def __init__(self, params, name="IntegralCatapult"):
+ super(IntegralCatapult, self).__init__(params, name=name)
+
+ self.A_continuous_unaugmented = self.A_continuous
+ self.B_continuous_unaugmented = self.B_continuous
+
+ self.A_continuous = numpy.matrix(numpy.zeros((3, 3)))
+ self.A_continuous[0:2, 0:2] = self.A_continuous_unaugmented
+ self.A_continuous[0:2, 2] = self.B_continuous_unaugmented
+
+ self.B_continuous = numpy.matrix(numpy.zeros((3, 1)))
+ self.B_continuous[0:2, 0] = self.B_continuous_unaugmented
+
+ # states
+ # [position, velocity, voltage_error]
+ self.C_unaugmented = self.C
+ self.C = numpy.matrix(numpy.zeros((1, 3)))
+ self.C[0:1, 0:2] = self.C_unaugmented
+
+ glog.debug('A_continuous %s' % str(self.A_continuous))
+ glog.debug('B_continuous %s' % str(self.B_continuous))
+ glog.debug('C %s' % str(self.C))
+
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous,
+ self.B_continuous, self.dt)
+
+ glog.debug('A %s' % str(self.A))
+ glog.debug('B %s' % str(self.B))
+
+ q_pos = self.params.q_pos
+ q_vel = self.params.q_vel
+ q_voltage = self.params.q_voltage
+ self.Q_continuous = numpy.matrix([[(q_pos**2.0), 0.0,
+ 0.0], [0.0, (q_vel**2.0), 0.0],
+ [0.0, 0.0, (q_voltage**2.0)]])
+
+ r_pos = self.params.r_pos
+ self.R_continuous = numpy.matrix([[(r_pos**2.0)]])
+
+ _, _, self.Q, self.R = controls.kalmd(
+ A_continuous=self.A_continuous,
+ B_continuous=self.B_continuous,
+ Q_continuous=self.Q_continuous,
+ R_continuous=self.R_continuous,
+ dt=self.dt)
+
+ glog.debug('Q_discrete %s' % (str(self.Q)))
+ glog.debug('R_discrete %s' % (str(self.R)))
+
+ self.KalmanGain, self.P_steady_state = controls.kalman(
+ A=self.A, B=self.B, C=self.C, Q=self.Q, R=self.R)
+ self.L = self.A * self.KalmanGain
+
+ self.K_unaugmented = self.K
+ self.K = numpy.matrix(numpy.zeros((1, 3)))
+ self.K[0, 0:2] = self.K_unaugmented
+ self.K[0, 2] = 1
+ self.Kff_unaugmented = self.Kff
+ self.Kff = numpy.matrix(numpy.zeros((1, 3)))
+ self.Kff[0, 0:2] = self.Kff_unaugmented
+
+ self.InitializeState()
+
+
+def MaxSpeed(params, U, final_position):
+ """Runs the catapult plant with an initial condition and goal.
+
+ Args:
+ catapult: Catapult object to use.
+ goal: goal state.
+ iterations: Number of timesteps to run the model for.
+ controller_catapult: Catapult object to get K from, or None if we should
+ use catapult.
+ observer_catapult: Catapult object to use for the observer, or None if we
+ should use the actual state.
+ """
+
+ # Various lists for graphing things.
+ catapult = Catapult(params, params.name)
+ controller_catapult = IntegralCatapult(params, params.name)
+ observer_catapult = IntegralCatapult(params, params.name)
+ vbat = 12.0
+
+ while True:
+ X_hat = catapult.X
+ if catapult.X[0, 0] > final_position:
+ return catapult.X[1, 0] * params.lever
+
+ if observer_catapult is not None:
+ X_hat = observer_catapult.X_hat
+
+ U[0, 0] = numpy.clip(U[0, 0], -vbat, vbat)
+
+ if observer_catapult is not None:
+ observer_catapult.Y = catapult.Y
+ observer_catapult.CorrectHybridObserver(U)
+
+ applied_U = U.copy()
+ catapult.Update(applied_U)
+
+ if observer_catapult is not None:
+ observer_catapult.PredictHybridObserver(U, catapult.dt)
+
+
+def PlotShot(params, U, final_position):
+ """Runs the catapult plant with an initial condition and goal.
+
+ Args:
+ catapult: Catapult object to use.
+ goal: goal state.
+ iterations: Number of timesteps to run the model for.
+ controller_catapult: Catapult object to get K from, or None if we should
+ use catapult.
+ observer_catapult: Catapult object to use for the observer, or None if we
+ should use the actual state.
+ """
+
+ # Various lists for graphing things.
+ t = []
+ x = []
+ x_hat = []
+ v = []
+ w_hat = []
+ v_hat = []
+ a = []
+ u = []
+ offset = []
+
+ catapult = Catapult(params, params.name)
+ controller_catapult = IntegralCatapult(params, params.name)
+ observer_catapult = IntegralCatapult(params, params.name)
+ vbat = 12.0
+
+ if t:
+ initial_t = t[-1] + catapult.dt
+ else:
+ initial_t = 0
+
+ for i in range(10000):
+ X_hat = catapult.X
+ if catapult.X[0, 0] > final_position:
+ break
+
+ if observer_catapult is not None:
+ X_hat = observer_catapult.X_hat
+ x_hat.append(observer_catapult.X_hat[0, 0])
+ w_hat.append(observer_catapult.X_hat[1, 0])
+ v_hat.append(observer_catapult.X_hat[1, 0] * params.lever)
+
+ U[0, 0] = numpy.clip(U[0, 0], -vbat, vbat)
+ x.append(catapult.X[0, 0])
+
+ if v:
+ last_v = v[-1]
+ else:
+ last_v = 0
+
+ v.append(catapult.X[1, 0])
+ a.append((v[-1] - last_v) / catapult.dt)
+
+ if observer_catapult is not None:
+ observer_catapult.Y = catapult.Y
+ observer_catapult.CorrectHybridObserver(U)
+ offset.append(observer_catapult.X_hat[2, 0])
+
+ catapult.Update(U)
+
+ if observer_catapult is not None:
+ observer_catapult.PredictHybridObserver(U, catapult.dt)
+
+ t.append(initial_t + i * catapult.dt)
+ u.append(U[0, 0])
+
+ pylab.subplot(3, 1, 1)
+ pylab.plot(t, v, label='v')
+ pylab.plot(t, x_hat, label='x_hat')
+ pylab.plot(t, v, label='v')
+ pylab.plot(t, v_hat, label='v_hat')
+ pylab.plot(t, w_hat, label='w_hat')
+ pylab.legend()
+
+ pylab.subplot(3, 1, 2)
+ pylab.plot(t, u, label='u')
+ pylab.plot(t, offset, label='voltage_offset')
+ pylab.legend()
+
+ pylab.subplot(3, 1, 3)
+ pylab.plot(t, a, label='a')
+ pylab.legend()
+
+ pylab.show()
diff --git a/y2022/control_loops/python/drivetrain.py b/y2022/control_loops/python/drivetrain.py
index 7b8dc49..59b9651 100644
--- a/y2022/control_loops/python/drivetrain.py
+++ b/y2022/control_loops/python/drivetrain.py
@@ -16,11 +16,11 @@
J=6.0,
mass=58.0,
# TODO(austin): Measure radius a bit better.
- robot_radius= 0.39,
- wheel_radius= 3/39.37,
+ robot_radius=0.39,
+ wheel_radius=2.5 * 0.0254,
motor_type=control_loop.Falcon(),
- num_motors = 3,
- G=8.0 / 80.0,
+ num_motors=3,
+ G=(14.0 / 54.0) * (22.0 / 56.0),
q_pos=0.24,
q_vel=2.5,
efficiency=0.80,
diff --git a/y2022/control_loops/python/intake.py b/y2022/control_loops/python/intake.py
new file mode 100644
index 0000000..e5030e5
--- /dev/null
+++ b/y2022/control_loops/python/intake.py
@@ -0,0 +1,55 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kIntake = angular_system.AngularSystemParams(
+ name='Intake',
+ motor=control_loop.Falcon(),
+ # TODO(Milo): Change gear ratios when we have all of them
+ G=0.02,
+ J=0.34,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=13 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ angular_system.PlotKick(kIntake, R)
+ angular_system.PlotMotion(kIntake, R)
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the intake and integral intake.'
+ )
+ else:
+ namespaces = ['y2022', 'control_loops', 'superstructure', 'intake']
+ angular_system.WriteAngularSystem(kIntake, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2022/control_loops/python/turret.py b/y2022/control_loops/python/turret.py
new file mode 100644
index 0000000..83ba4b3
--- /dev/null
+++ b/y2022/control_loops/python/turret.py
@@ -0,0 +1,54 @@
+#!/usr/bin/python3
+
+from aos.util.trapezoid_profile import TrapezoidProfile
+from frc971.control_loops.python import control_loop
+from frc971.control_loops.python import angular_system
+from frc971.control_loops.python import controls
+import numpy
+import sys
+from matplotlib import pylab
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+try:
+ gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+except gflags.DuplicateFlagError:
+ pass
+
+kTurret = angular_system.AngularSystemParams(
+ name='Turret',
+ motor=control_loop.Falcon(),
+ G=0.01,
+ J=2.0,
+ q_pos=0.40,
+ q_vel=20.0,
+ kalman_q_pos=0.12,
+ kalman_q_vel=2.0,
+ kalman_q_voltage=4.0,
+ kalman_r_position=0.05,
+ radius=24 * 0.0254)
+
+
+def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi], [0.0]])
+ angular_system.PlotKick(kTurret, R)
+ angular_system.PlotMotion(kTurret, R)
+
+ # Write the generated constants out to a file.
+ if len(argv) != 5:
+ glog.fatal(
+ 'Expected .h file name and .cc file name for the turret and integral turret.'
+ )
+ else:
+ namespaces = ['y2022', 'control_loops', 'superstructure', 'turret']
+ angular_system.WriteAngularSystem(kTurret, argv[1:3], argv[3:5],
+ namespaces)
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ sys.exit(main(argv))
diff --git a/y2022/control_loops/superstructure/intake/BUILD b/y2022/control_loops/superstructure/intake/BUILD
new file mode 100644
index 0000000..f6e5be0
--- /dev/null
+++ b/y2022/control_loops/superstructure/intake/BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//y2022:__subpackages__"])
+
+genrule(
+ name = "genrule_intake",
+ outs = [
+ "intake_plant.h",
+ "intake_plant.cc",
+ "integral_intake_plant.h",
+ "integral_intake_plant.cc",
+ ],
+ cmd = "$(location //y2022/control_loops/python:intake) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ "//y2022/control_loops/python:intake",
+ ],
+)
+
+cc_library(
+ name = "intake_plants",
+ srcs = [
+ "intake_plant.cc",
+ "integral_intake_plant.cc",
+ ],
+ hdrs = [
+ "intake_plant.h",
+ "integral_intake_plant.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:hybrid_state_feedback_loop",
+ "//frc971/control_loops:state_feedback_loop",
+ ],
+)
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
new file mode 100644
index 0000000..c2afa55
--- /dev/null
+++ b/y2022/localizer/BUILD
@@ -0,0 +1,32 @@
+cc_library(
+ name = "imu",
+ srcs = [
+ "imu.cc",
+ ],
+ hdrs = [
+ "imu.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:epoll",
+ "//aos/events:shm_event_loop",
+ "//aos/util:crc32",
+ "//frc971/wpilib:imu_batch_fbs",
+ "//frc971/wpilib:imu_fbs",
+ "//y2022:constants",
+ "@com_github_google_glog//:glog",
+ "@com_google_absl//absl/types:span",
+ ],
+)
+
+cc_binary(
+ name = "imu_main",
+ srcs = ["imu_main.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":imu",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
new file mode 100644
index 0000000..eb76e00
--- /dev/null
+++ b/y2022/localizer/imu.cc
@@ -0,0 +1,168 @@
+#include "y2022/localizer/imu.h"
+
+#include "aos/util/crc32.h"
+#include "glog/logging.h"
+#include "y2022/constants.h"
+
+namespace y2022::localizer {
+
+namespace {
+
+constexpr size_t kReadSize = 50;
+constexpr double kGyroScale = 1 / 655360.0 / 360.0 * (2 * M_PI);
+constexpr double kAccelScale = 1 / 26756268.0 / 9.80665;
+constexpr double kTempScale = 0.1;
+
+} // namespace
+
+Imu::Imu(aos::ShmEventLoop *event_loop)
+ : event_loop_(event_loop),
+ imu_sender_(
+ event_loop_->MakeSender<frc971::IMUValuesBatch>("/localizer")) {
+ event_loop->SetRuntimeRealtimePriority(30);
+ imu_fd_ = open("/dev/adis16505", O_RDONLY | O_NONBLOCK);
+ PCHECK(imu_fd_ != -1) << ": Failed to open SPI device for IMU.";
+ aos::internal::EPoll *epoll = event_loop_->epoll();
+ epoll->OnReadable(imu_fd_, [this]() {
+ uint8_t buf[kReadSize];
+ ssize_t read_len = read(imu_fd_, buf, kReadSize);
+ // TODO: Do we care about gracefully handling EAGAIN or anything else?
+ // This should only get called when there is data.
+ PCHECK(read_len != -1);
+ CHECK_EQ(read_len, static_cast<ssize_t>(kReadSize))
+ << ": Read incorrect number of bytes.";
+
+ auto sender = imu_sender_.MakeBuilder();
+
+ const flatbuffers::Offset<frc971::IMUValues> values_offset =
+ ProcessReading(sender.fbb(), absl::Span(buf, kReadSize));
+ const flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::IMUValues>>>
+ readings_offset = sender.fbb()->CreateVector(&values_offset, 1);
+ frc971::IMUValuesBatch::Builder batch_builder =
+ sender.MakeBuilder<frc971::IMUValuesBatch>();
+ batch_builder.add_readings(readings_offset);
+ imu_sender_.CheckOk(sender.Send(batch_builder.Finish()));
+ });
+}
+
+flatbuffers::Offset<frc971::IMUValues> Imu::ProcessReading(
+ flatbuffers::FlatBufferBuilder *fbb, const absl::Span<uint8_t> message) {
+ absl::Span<const uint8_t> buf = message;
+
+ uint64_t driver_timestamp;
+ memcpy(&driver_timestamp, buf.data(), sizeof(driver_timestamp));
+ buf = buf.subspan(8);
+
+ uint16_t diag_stat;
+ memcpy(&diag_stat, buf.data(), sizeof(diag_stat));
+ buf = buf.subspan(2);
+
+ double x_gyro = ConvertValue32(buf, kGyroScale);
+ buf = buf.subspan(4);
+ double y_gyro = ConvertValue32(buf, kGyroScale);
+ buf = buf.subspan(4);
+ double z_gyro = ConvertValue32(buf, kGyroScale);
+ buf = buf.subspan(4);
+ double x_accel = ConvertValue32(buf, kAccelScale);
+ buf = buf.subspan(4);
+ double y_accel = ConvertValue32(buf, kAccelScale);
+ buf = buf.subspan(4);
+ double z_accel = ConvertValue32(buf, kAccelScale);
+ buf = buf.subspan(4);
+ double temp = ConvertValue16(buf, kTempScale);
+ buf = buf.subspan(2);
+ uint16_t data_counter;
+ memcpy(&data_counter, buf.data(), sizeof(data_counter));
+ buf = buf.subspan(2);
+ uint32_t pico_timestamp;
+ memcpy(&pico_timestamp, buf.data(), sizeof(pico_timestamp));
+ buf = buf.subspan(4);
+ int16_t encoder1_count;
+ memcpy(&encoder1_count, buf.data(), sizeof(encoder1_count));
+ buf = buf.subspan(2);
+ int16_t encoder2_count;
+ memcpy(&encoder2_count, buf.data(), sizeof(encoder2_count));
+ buf = buf.subspan(2);
+ uint32_t checksum;
+ memcpy(&checksum, buf.data(), sizeof(checksum));
+ buf = buf.subspan(4);
+
+ CHECK(buf.empty()) << "Have leftover bytes: " << buf.size();
+
+ u_int32_t calculated_checksum = aos::ComputeCrc32(message.subspan(8, 38));
+
+ if (checksum != calculated_checksum) {
+ this->failed_checksums_++;
+ }
+
+ const auto diag_stat_offset = PackDiagStat(fbb, diag_stat);
+
+ frc971::IMUValues::Builder imu_builder(*fbb);
+
+ if (checksum == calculated_checksum) {
+ constexpr uint16_t kChecksumMismatch = 1 << 0;
+ bool imu_checksum_matched = !(diag_stat & kChecksumMismatch);
+
+ // data from the IMU packet
+ if (imu_checksum_matched) {
+ imu_builder.add_gyro_x(x_gyro);
+ imu_builder.add_gyro_y(y_gyro);
+ imu_builder.add_gyro_z(z_gyro);
+
+ imu_builder.add_accelerometer_x(x_accel);
+ imu_builder.add_accelerometer_y(y_accel);
+ imu_builder.add_accelerometer_z(z_accel);
+
+ imu_builder.add_temperature(temp);
+
+ imu_builder.add_data_counter(data_counter);
+ }
+
+ // extra data from the pico
+ imu_builder.add_pico_timestamp_us(pico_timestamp);
+ imu_builder.add_left_encoder(
+ constants::Values::DrivetrainEncoderToMeters(encoder1_count));
+ imu_builder.add_right_encoder(
+ constants::Values::DrivetrainEncoderToMeters(encoder2_count));
+ imu_builder.add_previous_reading_diag_stat(diag_stat_offset);
+ }
+
+ // extra data from us
+ imu_builder.add_monotonic_timestamp_ns(driver_timestamp);
+ imu_builder.add_failed_checksums(failed_checksums_);
+ imu_builder.add_checksum_failed(checksum != calculated_checksum);
+
+ return imu_builder.Finish();
+}
+
+flatbuffers::Offset<frc971::ADIS16470DiagStat> Imu::PackDiagStat(
+ flatbuffers::FlatBufferBuilder *fbb, uint16_t value) {
+ frc971::ADIS16470DiagStat::Builder diag_stat_builder(*fbb);
+ diag_stat_builder.add_clock_error(value & (1 << 7));
+ diag_stat_builder.add_memory_failure(value & (1 << 6));
+ diag_stat_builder.add_sensor_failure(value & (1 << 5));
+ diag_stat_builder.add_standby_mode(value & (1 << 4));
+ diag_stat_builder.add_spi_communication_error(value & (1 << 3));
+ diag_stat_builder.add_flash_memory_update_error(value & (1 << 2));
+ diag_stat_builder.add_data_path_overrun(value & (1 << 1));
+ diag_stat_builder.add_checksum_mismatch(value & (1 << 0));
+ return diag_stat_builder.Finish();
+}
+
+double Imu::ConvertValue32(absl::Span<const uint8_t> data,
+ double lsb_per_output) {
+ int32_t value;
+ memcpy(&value, data.data(), sizeof(value));
+ return static_cast<double>(value) * lsb_per_output;
+}
+
+double Imu::ConvertValue16(absl::Span<const uint8_t> data,
+ double lsb_per_output) {
+ int16_t value;
+ memcpy(&value, data.data(), sizeof(value));
+ return static_cast<double>(value) * lsb_per_output;
+}
+
+Imu::~Imu() { PCHECK(0 == close(imu_fd_)); }
+} // namespace y2022::localizer
diff --git a/y2022/localizer/imu.h b/y2022/localizer/imu.h
new file mode 100644
index 0000000..cd45710
--- /dev/null
+++ b/y2022/localizer/imu.h
@@ -0,0 +1,31 @@
+#ifndef Y2022_LOCALIZER_IMU_H_
+#define Y2022_LOCALIZER_IMU_H_
+#include "aos/events/shm_event_loop.h"
+#include "frc971/wpilib/imu_batch_generated.h"
+#include "y2022/constants.h"
+
+namespace y2022::localizer {
+
+// Reads IMU packets from the kernel driver which reads them over spi
+// from the Raspberry Pi Pico on the IMU board.
+class Imu {
+ public:
+ Imu(aos::ShmEventLoop *event_loop);
+ ~Imu();
+
+ private:
+ flatbuffers::Offset<frc971::ADIS16470DiagStat> PackDiagStat(
+ flatbuffers::FlatBufferBuilder *fbb, uint16_t value);
+ flatbuffers::Offset<frc971::IMUValues> ProcessReading(
+ flatbuffers::FlatBufferBuilder *fbb, absl::Span<uint8_t> buf);
+ double ConvertValue32(absl::Span<const uint8_t> data, double lsb_per_output);
+ double ConvertValue16(absl::Span<const uint8_t> data, double lsb_per_output);
+
+ aos::ShmEventLoop *event_loop_;
+ aos::Sender<frc971::IMUValuesBatch> imu_sender_;
+ int imu_fd_;
+
+ uint failed_checksums_ = 0;
+};
+} // namespace y2022::localizer
+#endif // Y2022_LOCALIZER_IMU_H_
diff --git a/y2022/localizer/imu_main.cc b/y2022/localizer/imu_main.cc
new file mode 100644
index 0000000..bba2dd7
--- /dev/null
+++ b/y2022/localizer/imu_main.cc
@@ -0,0 +1,19 @@
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "y2022/localizer/imu.h"
+
+DEFINE_string(config, "config.json", "Path to the config file to use.");
+
+int main(int argc, char *argv[]) {
+ aos::InitGoogle(&argc, &argv);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(FLAGS_config);
+
+ aos::ShmEventLoop event_loop(&config.message());
+ y2022::localizer::Imu imu(&event_loop);
+
+ event_loop.Run();
+
+ return 0;
+}
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index a732762..96d7ffd 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -9,26 +9,40 @@
#include "opencv2/features2d.hpp"
#include "opencv2/imgproc.hpp"
-DEFINE_uint64(green_delta, 50,
- "Required difference between green pixels vs. red and blue");
+DEFINE_uint64(red_delta, 100,
+ "Required difference between green pixels vs. red");
+DEFINE_uint64(blue_delta, 50,
+ "Required difference between green pixels vs. blue");
+
DEFINE_bool(use_outdoors, false,
"If true, change thresholds to handle outdoor illumination");
+DEFINE_uint64(outdoors_red_delta, 100,
+ "Difference between green pixels vs. red, when outdoors");
+DEFINE_uint64(outdoors_blue_delta, 15,
+ "Difference between green pixels vs. blue, when outdoors");
namespace y2022 {
namespace vision {
-cv::Mat BlobDetector::ThresholdImage(cv::Mat rgb_image) {
- cv::Mat binarized_image(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
- for (int row = 0; row < rgb_image.rows; row++) {
- for (int col = 0; col < rgb_image.cols; col++) {
- cv::Vec3b pixel = rgb_image.at<cv::Vec3b>(row, col);
+cv::Mat BlobDetector::ThresholdImage(cv::Mat bgr_image) {
+ size_t red_delta = FLAGS_red_delta;
+ size_t blue_delta = FLAGS_blue_delta;
+
+ if (FLAGS_use_outdoors) {
+ red_delta = FLAGS_outdoors_red_delta;
+ red_delta = FLAGS_outdoors_blue_delta;
+ }
+
+ cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
+ for (int row = 0; row < bgr_image.rows; row++) {
+ for (int col = 0; col < bgr_image.cols; col++) {
+ cv::Vec3b pixel = bgr_image.at<cv::Vec3b>(row, col);
uint8_t blue = pixel.val[0];
uint8_t green = pixel.val[1];
uint8_t red = pixel.val[2];
// Simple filter that looks for green pixels sufficiently brigher than
// red and blue
- if ((green > blue + FLAGS_green_delta) &&
- (green > red + FLAGS_green_delta)) {
+ if ((green > blue + blue_delta) && (green > red + red_delta)) {
binarized_image.at<uint8_t>(row, col) = 255;
} else {
binarized_image.at<uint8_t>(row, col) = 0;
@@ -143,15 +157,26 @@
}
double DistanceTo(cv::Point2d p) const {
- // Translate the point so that the circle orgin can be (0, 0)
- const auto p_prime = cv::Point2d(p.y - center.y, p.x - center.x);
+ const auto p_prime = TranslateToOrigin(p);
// Now, the distance is simply the difference between distance from the
// origin to p' and the radius.
return std::abs(cv::norm(p_prime) - radius);
}
- // Inverted because y-coordinates go backwards
- bool OnTopHalf(cv::Point2d p) const { return p.y <= center.y; }
+ bool InAngleRange(cv::Point2d p, double theta_min, double theta_max) const {
+ auto p_prime = TranslateToOrigin(p);
+ // Flip the y because y values go downwards.
+ p_prime.y *= -1;
+ const double theta = std::atan2(p_prime.y, p_prime.x);
+ return (theta >= theta_min && theta <= theta_max);
+ }
+
+ private:
+ // Translate the point on the circle
+ // as if the circle's center is the origin (0,0)
+ cv::Point2d TranslateToOrigin(cv::Point2d p) const {
+ return cv::Point2d(p.x - center.x, p.y - center.y);
+ }
};
} // namespace
@@ -169,24 +194,24 @@
// when the camera is the farthest from the target, at the field corner.
// We can solve for the pitch of the blob:
// blob_pitch = atan((height_tape - height_camera) / depth) + camera_pitch
- // The triangle with the height of the tape above the camera and the camera
- // depth is similar to the one with the focal length in y pixels and the y
- // coordinate offset from the center of the image.
- // Therefore y_offset = focal_length_y * tan(blob_pitch), and
- // y = -(y_offset - offset_y)
+ // The triangle with the height of the tape above the camera and the
+ // camera depth is similar to the one with the focal length in y pixels
+ // and the y coordinate offset from the center of the image. Therefore
+ // y_offset = focal_length_y * tan(blob_pitch), and y = -(y_offset -
+ // offset_y)
constexpr int kMaxY = 400;
constexpr double kTapeAspectRatio = 5.0 / 2.0;
- constexpr double kAspectRatioThreshold = 1.5;
+ constexpr double kAspectRatioThreshold = 1.6;
constexpr double kMinArea = 10;
- constexpr size_t kMinPoints = 6;
+ constexpr size_t kMinNumPoints = 6;
// Remove all blobs that are at the bottom of the image, have a different
- // aspect ratio than the tape, or have too little area or points
- // TODO(milind): modify to take into account that blobs will be on the side.
+ // aspect ratio than the tape, or have too little area or points.
if ((stats_it->centroid.y <= kMaxY) &&
(std::abs(kTapeAspectRatio - stats_it->aspect_ratio) <
kAspectRatioThreshold) &&
- (stats_it->area >= kMinArea) && (stats_it->num_points >= kMinPoints)) {
+ (stats_it->area >= kMinArea) &&
+ (stats_it->num_points >= kMinNumPoints)) {
filtered_blobs.push_back(*blob_it);
filtered_stats.push_back(*stats_it);
}
@@ -196,6 +221,9 @@
// Threshold for mean distance from a blob centroid to a circle.
constexpr double kCircleDistanceThreshold = 5.0;
+ // We should only expect to see blobs between these angles on a circle.
+ constexpr double kMinBlobAngle = M_PI / 3;
+ constexpr double kMaxBlobAngle = M_PI - kMinBlobAngle;
std::vector<std::vector<cv::Point>> blob_circle;
std::vector<cv::Point2d> centroids;
@@ -230,16 +258,20 @@
continue;
}
- // Only try to fit points to this circle if all of these are on the top
- // half, like how the blobs should be
- if (circle->OnTopHalf(current_centroids[0]) &&
- circle->OnTopHalf(current_centroids[1]) &&
- circle->OnTopHalf(current_centroids[2])) {
+ // Only try to fit points to this circle if all of these are between
+ // certain angles.
+ if (circle->InAngleRange(current_centroids[0], kMinBlobAngle,
+ kMaxBlobAngle) &&
+ circle->InAngleRange(current_centroids[1], kMinBlobAngle,
+ kMaxBlobAngle) &&
+ circle->InAngleRange(current_centroids[2], kMinBlobAngle,
+ kMaxBlobAngle)) {
for (size_t m = 0; m < filtered_blobs.size(); m++) {
// Add this blob to the list if it is close to the circle, is on the
// top half, and isn't one of the other blobs
if ((m != i) && (m != j) && (m != k) &&
- circle->OnTopHalf(filtered_stats[m].centroid) &&
+ circle->InAngleRange(filtered_stats[m].centroid, kMinBlobAngle,
+ kMaxBlobAngle) &&
(circle->DistanceTo(filtered_stats[m].centroid) <
kCircleDistanceThreshold)) {
current_blobs.emplace_back(filtered_blobs[m]);
@@ -293,10 +325,10 @@
cv::circle(view_image, centroid, 3, cv::Scalar(255, 255, 0), cv::FILLED);
}
-void BlobDetector::ExtractBlobs(cv::Mat rgb_image,
+void BlobDetector::ExtractBlobs(cv::Mat bgr_image,
BlobDetector::BlobResult *blob_result) {
auto start = aos::monotonic_clock::now();
- blob_result->binarized_image = ThresholdImage(rgb_image);
+ blob_result->binarized_image = ThresholdImage(bgr_image);
blob_result->unfiltered_blobs = FindBlobs(blob_result->binarized_image);
blob_result->blob_stats = ComputeStats(blob_result->unfiltered_blobs);
auto filtered_pair =
@@ -304,9 +336,9 @@
blob_result->filtered_blobs = filtered_pair.first;
blob_result->centroid = filtered_pair.second;
auto end = aos::monotonic_clock::now();
- LOG(INFO) << "Blob detection elapsed time: "
- << std::chrono::duration<double, std::milli>(end - start).count()
- << " ms";
+ VLOG(2) << "Blob detection elapsed time: "
+ << std::chrono::duration<double, std::milli>(end - start).count()
+ << " ms";
}
} // namespace vision
diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
index 4077e2c..d263d32 100644
--- a/y2022/vision/blob_detector.h
+++ b/y2022/vision/blob_detector.h
@@ -28,7 +28,7 @@
// Given an image, threshold it to find "green" pixels
// Input: Color image
// Output: Grayscale (binarized) image with green pixels set to 255
- static cv::Mat ThresholdImage(cv::Mat rgb_image);
+ static cv::Mat ThresholdImage(cv::Mat bgr_image);
// Given binary image, extract blobs
static std::vector<std::vector<cv::Point>> FindBlobs(cv::Mat threshold_image);
@@ -52,7 +52,7 @@
const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
const std::vector<BlobStats> &blob_stats, cv::Point centroid);
- static void ExtractBlobs(cv::Mat rgb_image, BlobResult *blob_result);
+ static void ExtractBlobs(cv::Mat bgr_image, BlobResult *blob_result);
};
} // namespace vision
} // namespace y2022
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-01_2022-02-12_14-35_00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-01_2022-02-12_14-35_00.000000000.json
new file mode 100644
index 0000000..3c30b15
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-01_2022-02-12_14-35_00.000000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 391.63916,
+ 0.0,
+ 312.691162,
+ 0.0,
+ 391.535889,
+ 267.138672,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.121374,
+ -0.203352,
+ 0.000325,
+ 0.002694,
+ 0.054089
+ ],
+ "calibration_timestamp": 1635611589630802881,
+ "camera_id": "22-01"
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json
new file mode 100644
index 0000000..b147867
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-02_2022-01-28_05-35-16.002911868.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 390.833618,
+ 0.0,
+ 298.229218,
+ 0.0,
+ 390.547882,
+ 251.143417,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.120491,
+ -0.190643,
+ 0.000534,
+ -0.000345,
+ 0.029808
+ ],
+ "calibration_timestamp": 1643348116002911868,
+ "camera_id": "22-02"
+}
\ No newline at end of file
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json
new file mode 100644
index 0000000..a107065
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-03_2022-02-12_16-53-00.000000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 388.182281,
+ 0.0,
+ 306.279083,
+ 0.0,
+ 388.440582,
+ 224.480484,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.129443,
+ -0.225948,
+ 0.001234,
+ -0.000004,
+ 0.068937
+ ],
+ "calibration_timestamp": 1643342760319632865,
+ "camera_id": "22-03"
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json
new file mode 100755
index 0000000..8c19c46
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-04_2022-01-28_05-26-43.135661745.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 386.619232,
+ 0.0,
+ 335.525116,
+ 0.0,
+ 386.309601,
+ 225.775742,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.130693,
+ -0.238688,
+ 0.002466,
+ -0.00017,
+ 0.083145
+ ],
+ "calibration_timestamp": 1643347603135661745,
+ "camera_id": "22-04"
+}
\ No newline at end of file
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json
new file mode 100755
index 0000000..a5ebf82
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-05_2022-02-16_20-40-00.000000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 387.791046,
+ 0.0,
+ 360.276276,
+ 0.0,
+ 387.214264,
+ 235.913925,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.132322,
+ -0.247507,
+ 0.001326,
+ 0.002151,
+ 0.098543
+ ],
+ "calibration_timestamp": 1643348271146848848,
+ "camera_id": "22-05"
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json
new file mode 100755
index 0000000..71aaf02
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-06_2022-02-16_20-54-00.000000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 389.730774,
+ 0.0,
+ 329.825134,
+ 0.0,
+ 389.599243,
+ 205.222931,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.12185,
+ -0.214579,
+ -0.00013,
+ 0.000629,
+ 0.066571
+ ],
+ "calibration_timestamp": 1643348049373070054,
+ "camera_id": "22-06"
+}
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
new file mode 100755
index 0000000..27ed863
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_cam-22-07_2022-02-16_21-20-00.000000000.json
@@ -0,0 +1,24 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 388.062378,
+ 0.0,
+ 333.890381,
+ 0.0,
+ 388.149048,
+ 212.644363,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.123399,
+ -0.21765,
+ -0.00085,
+ 0.000694,
+ 0.067006
+ ],
+ "calibration_timestamp": 1643348078845387555,
+ "camera_id": "22-07"
+}
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index a45c704..30057a5 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -48,6 +48,7 @@
self.turret_ext = None
self.node_name = ""
self.team_number = -1
+ self.camera_id = ""
self.timestamp = 0
@@ -144,6 +145,10 @@
team_number = calib_dict["team_number"]
node_name = calib_dict["node_name"]
+ camera_id = "UNKNOWN"
+ if "camera_id" in calib_dict:
+ camera_id = calib_dict["camera_id"]
+
camera_matrix = np.asarray(calib_dict["intrinsics"]).reshape(
(3, 3))
dist_coeffs = np.asarray(calib_dict["dist_coeffs"]).reshape((1, 5))
@@ -158,6 +163,7 @@
camera_params.node_name = node_name
camera_params.team_number = team_number
+ camera_params.camera_id = camera_id
camera_params.camera_int.camera_matrix = copy.copy(camera_matrix)
camera_params.camera_int.dist_coeffs = copy.copy(dist_coeffs)
camera_list.append(camera_params)
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index db87cb0..abce18c 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -124,8 +124,8 @@
// that can be sent in a second.
std::this_thread::sleep_for(std::chrono::milliseconds(50));
LOG(INFO) << "Reading file " << file;
- cv::Mat rgb_image = cv::imread(file.c_str());
- ProcessImage(rgb_image);
+ cv::Mat bgr_image = cv::imread(file.c_str());
+ ProcessImage(bgr_image);
}
event_loop_->Exit();
return;
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index f1c5fdf..52ee51a 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -6,7 +6,8 @@
// bazel run //y2022/vision:camera_reader -- --config y2022/config.json
// --override_hostname pi-7971-1 --ignore_timestamps true
DEFINE_string(config, "config.json", "Path to the config file to use.");
-DEFINE_uint32(exposure, 5, "Exposure time, in 100us increments");
+DEFINE_uint32(exposure, 5,
+ "Exposure time, in 100us increments; 0 implies auto exposure");
namespace y2022 {
namespace vision {
@@ -33,7 +34,9 @@
}
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
- v4l2_reader.SetExposure(FLAGS_exposure);
+ if (FLAGS_exposure > 0) {
+ v4l2_reader.SetExposure(FLAGS_exposure);
+ }
CameraReader camera_reader(&event_loop, &calibration_data.message(),
&v4l2_reader);
diff --git a/y2022/vision/create_calib_file.py b/y2022/vision/create_calib_file.py
index de9f65d..6b24d28 100644
--- a/y2022/vision/create_calib_file.py
+++ b/y2022/vision/create_calib_file.py
@@ -44,13 +44,9 @@
def main():
-
- camera_calib_list = None
-
- output_path = sys.argv[1]
-
camera_calib_list = camera_definition.load_camera_definitions()
+ output_path = sys.argv[1]
glog.debug("Writing file to %s", output_path)
fbb = flatbuffers.Builder(0)
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 6ee6144..2a6f0a6 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -76,11 +76,11 @@
// Create color image:
cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
(void *)image->data()->data());
- cv::Mat rgb_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
- cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+ cv::Mat bgr_image(cv::Size(image->cols(), image->rows()), CV_8UC3);
+ cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
if (!FLAGS_capture.empty()) {
- cv::imwrite(FLAGS_capture, rgb_image);
+ cv::imwrite(FLAGS_capture, bgr_image);
return false;
}
@@ -100,15 +100,15 @@
cv::imshow("blobs", ret_image);
}
- cv::imshow("image", rgb_image);
+ cv::imshow("image", bgr_image);
int keystroke = cv::waitKey(1);
if ((keystroke & 0xFF) == static_cast<int>('c')) {
// Convert again, to get clean image
- cv::cvtColor(image_color_mat, rgb_image, cv::COLOR_YUV2BGR_YUYV);
+ cv::cvtColor(image_color_mat, bgr_image, cv::COLOR_YUV2BGR_YUYV);
std::stringstream name;
name << "capture-" << aos::realtime_clock::now() << ".png";
- cv::imwrite(name.str(), rgb_image);
+ cv::imwrite(name.str(), bgr_image);
LOG(INFO) << "Saved image file: " << name.str();
} else if ((keystroke & 0xFF) == static_cast<int>('q')) {
return false;
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 9586c25..32482ea 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -68,14 +68,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-double drivetrain_translate(int32_t in) {
- return ((static_cast<double>(in) /
- Values::kDrivetrainEncoderCountsPerRevolution()) *
- (2.0 * M_PI)) *
- Values::kDrivetrainEncoderRatio() *
- control_loops::drivetrain::kWheelRadius;
-}
-
double drivetrain_velocity_translate(double in) {
return (((1.0 / in) / Values::kDrivetrainCyclesPerRevolution()) *
(2.0 * M_PI)) *
@@ -127,12 +119,14 @@
frc971::control_loops::drivetrain::Position::Builder drivetrain_builder =
builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
drivetrain_builder.add_left_encoder(
- drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+ constants::Values::DrivetrainEncoderToMeters(
+ drivetrain_left_encoder_->GetRaw()));
drivetrain_builder.add_left_speed(
drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
drivetrain_builder.add_right_encoder(
- -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+ -constants::Values::DrivetrainEncoderToMeters(
+ drivetrain_right_encoder_->GetRaw()));
drivetrain_builder.add_right_speed(-drivetrain_velocity_translate(
drivetrain_right_encoder_->GetPeriod()));
diff --git a/y2022/y2022.json b/y2022/y2022.json
index 010c675..4fafa8e 100644
--- a/y2022/y2022.json
+++ b/y2022/y2022.json
@@ -18,6 +18,7 @@
"y2022_pi3.json",
"y2022_pi4.json",
"y2022_pi5.json",
+ "y2022_imu.json",
"y2022_logger.json"
]
}
diff --git a/y2022/y2022_imu.json b/y2022/y2022_imu.json
new file mode 100644
index 0000000..9478123
--- /dev/null
+++ b/y2022/y2022_imu.json
@@ -0,0 +1,376 @@
+{
+ "channels": [
+ {
+ "name": "/imu/aos",
+ "type": "aos.timing.Report",
+ "source_node": "imu",
+ "frequency": 50,
+ "num_senders": 20,
+ "max_size": 4096
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.logging.LogMessageFbs",
+ "source_node": "imu",
+ "frequency": 200,
+ "num_senders": 20
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.starter.Status",
+ "source_node": "imu",
+ "frequency": 50,
+ "num_senders": 20,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "imu",
+ "frequency": 10,
+ "num_senders": 2,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.message_bridge.ServerStatistics",
+ "source_node": "imu",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.message_bridge.ClientStatistics",
+ "source_node": "imu",
+ "frequency": 10,
+ "num_senders": 2
+ },
+ {
+ "name": "/imu/aos",
+ "type": "aos.message_bridge.Timestamp",
+ "source_node": "imu",
+ "frequency": 15,
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio",
+ "logger"
+ ],
+ "max_size": 200,
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 1,
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 1,
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/logger/aos",
+ "type": "aos.starter.Status",
+ "source_node": "logger",
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.StarterRpc",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/roborio/aos",
+ "type": "aos.starter.Status",
+ "source_node": "roborio",
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/localizer",
+ "type": "frc971.controls.LocalizerStatus",
+ "source_node": "imu",
+ "frequency": 2200,
+ "max_size": 2000,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "roborio"
+ ],
+ "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-LocalizerStatus",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 2200,
+ "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"
+ ],
+ "destination_nodes": [
+ {
+ "name": "roborio",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ },
+ {
+ "name": "logger",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/imu/aos/remote_timestamps/logger/localizer/frc971-controls-LocalizerOutput",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
+ "name": "/localizer",
+ "type": "frc971.IMUValuesBatch",
+ "source_node": "imu",
+ "frequency": 2200,
+ "max_size": 1600,
+ "num_senders": 2,
+ "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-IMUValuesBatch",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "imu",
+ "logger": "NOT_LOGGED",
+ "frequency": 2200,
+ "num_senders": 2,
+ "max_size": 200
+ }
+ ],
+ "applications": [
+ {
+ "name": "message_bridge_client",
+ "executable_name": "message_bridge_client",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "localizer",
+ "executable_name": "localizer",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "message_bridge_server",
+ "executable_name": "message_bridge_server",
+ "nodes": [
+ "imu"
+ ]
+ },
+ {
+ "name": "localizer_logger",
+ "executable_name": "logger_main",
+ "args": ["--logging_folder", "", "--snappy_compress"],
+ "nodes": [
+ "logger"
+ ]
+ },
+ {
+ "name": "web_proxy",
+ "executable_name": "web_proxy_main",
+ "nodes": [
+ "imu"
+ ]
+ }
+ ],
+ "maps": [
+ {
+ "match": {
+ "name": "/aos*",
+ "source_node": "imu"
+ },
+ "rename": {
+ "name": "/imu/aos"
+ }
+ }
+ ],
+ "nodes": [
+ {
+ "name": "imu",
+ "hostname": "imu",
+ "hostnames": [
+ "pi-971-7",
+ "pi-7971-7",
+ "pi-8971-7",
+ "pi-9971-7"
+ ],
+ "port": 9971
+ },
+ {
+ "name": "logger"
+ },
+ {
+ "name": "roborio"
+ }
+ ]
+}
diff --git a/y2022/y2022_logger.json b/y2022/y2022_logger.json
index 1c71234..592109e 100644
--- a/y2022/y2022_logger.json
+++ b/y2022/y2022_logger.json
@@ -20,22 +20,6 @@
},
{
"name": "/drivetrain",
- "type": "frc971.IMUValuesBatch",
- "source_node": "roborio",
- "logger": "LOCAL_AND_REMOTE_LOGGER",
- "logger_nodes": [
- "logger"
- ],
- "destination_nodes": [
- {
- "name": "logger",
- "priority": 2,
- "time_to_live": 500000000
- }
- ]
- },
- {
- "name": "/drivetrain",
"type": "frc971.control_loops.drivetrain.Position",
"source_node": "roborio",
"logger": "LOCAL_AND_REMOTE_LOGGER",
@@ -268,6 +252,15 @@
]
},
{
+ "name": "imu",
+ "priority": 1,
+ "time_to_live": 5000000,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "logger"
+ ]
+ },
+ {
"name": "roborio",
"priority": 1,
"time_to_live": 5000000,
@@ -288,6 +281,15 @@
"max_size": 200
},
{
+ "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "logger",
+ "logger": "NOT_LOGGED",
+ "frequency": 20,
+ "num_senders": 2,
+ "max_size": 200
+ },
+ {
"name": "/logger/aos/remote_timestamps/pi1/logger/aos/aos-message_bridge-Timestamp",
"type": "aos.message_bridge.RemoteMessage",
"source_node": "logger",
@@ -474,6 +476,9 @@
"name": "roborio"
},
{
+ "name": "imu"
+ },
+ {
"name": "pi4"
},
{
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 823a7f5..07835a0 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -110,7 +110,8 @@
"type": "y2022.vision.TargetEstimate",
"source_node": "pi{{ NUM }}",
"frequency": 25,
- "num_senders": 2
+ "num_senders": 2,
+ "max_size": 20000
},
{
"name": "/logger/aos",
diff --git a/y2022/y2022_roborio.json b/y2022/y2022_roborio.json
index 24144a8..cb1b2d8 100644
--- a/y2022/y2022_roborio.json
+++ b/y2022/y2022_roborio.json
@@ -138,12 +138,19 @@
"max_size": 208
},
{
+ "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-message_bridge-Timestamp",
+ "type": "aos.message_bridge.RemoteMessage",
+ "frequency": 20,
+ "source_node": "roborio",
+ "max_size": 208
+ },
+ {
"name": "/roborio/aos",
"type": "aos.message_bridge.Timestamp",
"source_node": "roborio",
"frequency": 15,
"num_senders": 2,
- "max_size": 304,
+ "max_size": 512,
"destination_nodes": [
{
"name": "pi1",
@@ -189,6 +196,15 @@
"roborio"
],
"time_to_live": 5000000
+ },
+ {
+ "name": "imu",
+ "priority": 1,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "roborio"
+ ],
+ "time_to_live": 5000000
}
]
},
@@ -204,7 +220,18 @@
"type": "y2022.control_loops.superstructure.Status",
"source_node": "roborio",
"frequency": 200,
- "num_senders": 2
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "time_to_live": 5000000
+ }
+ ]
},
{
"name": "/superstructure",
@@ -224,14 +251,6 @@
},
{
"name": "/drivetrain",
- "type": "frc971.IMUValuesBatch",
- "source_node": "roborio",
- "frequency": 250,
- "max_size": 2000,
- "num_senders": 2
- },
- {
- "name": "/drivetrain",
"type": "frc971.sensors.GyroReading",
"source_node": "roborio",
"frequency": 200,
@@ -282,7 +301,31 @@
"source_node": "roborio",
"frequency": 200,
"max_size": 80,
- "num_senders": 2
+ "num_senders": 2,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 5000000
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-Output",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
},
{
"name": "/drivetrain",
@@ -297,7 +340,31 @@
"type": "frc971.control_loops.drivetrain.LocalizerControl",
"source_node": "roborio",
"frequency": 200,
- "max_size": 96
+ "max_size": 96,
+ "logger": "LOCAL_AND_REMOTE_LOGGER",
+ "logger_nodes": [
+ "imu"
+ ],
+ "destination_nodes": [
+ {
+ "name": "imu",
+ "priority": 5,
+ "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
+ "timestamp_logger_nodes": [
+ "imu"
+ ],
+ "time_to_live": 0
+ }
+ ]
+ },
+ {
+ "name": "/roborio/aos/remote_timestamps/imu/drivetrain/frc971-control_loops-drivetrain-LocalizerControl",
+ "type": "aos.message_bridge.RemoteMessage",
+ "source_node": "roborio",
+ "logger": "NOT_LOGGED",
+ "frequency": 200,
+ "num_senders": 2,
+ "max_size": 200
},
{
"name": "/drivetrain",
@@ -435,6 +502,9 @@
"port": 9971
},
{
+ "name": "imu"
+ },
+ {
"name": "logger"
},
{
diff --git a/yarn.lock b/yarn.lock
index 7c4ac25..207757e 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -133,7 +133,7 @@
dependencies:
"@babel/highlight" "^7.16.7"
-"@babel/compat-data@^7.13.11", "@babel/compat-data@^7.16.4", "@babel/compat-data@^7.16.8":
+"@babel/compat-data@^7.16.4":
version "7.16.8"
resolved "https://registry.yarnpkg.com/@babel/compat-data/-/compat-data-7.16.8.tgz#31560f9f29fdf1868de8cb55049538a1b9732a60"
integrity sha512-m7OkX0IdKLKPpBlJtF561YJal5y/jyI5fNfWbPxh2D/nbzzGI4qRyrD8xO2jB24u7l+5I2a43scCG2IrfjC50Q==
@@ -189,22 +189,7 @@
jsesc "^2.5.1"
source-map "^0.5.0"
-"@babel/helper-annotate-as-pure@^7.16.7":
- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-annotate-as-pure/-/helper-annotate-as-pure-7.16.7.tgz#bb2339a7534a9c128e3102024c60760a3a7f3862"
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- dependencies:
- "@babel/types" "^7.16.7"
-
-"@babel/helper-builder-binary-assignment-operator-visitor@^7.16.7":
- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-builder-binary-assignment-operator-visitor/-/helper-builder-binary-assignment-operator-visitor-7.16.7.tgz#38d138561ea207f0f69eb1626a418e4f7e6a580b"
- integrity sha512-C6FdbRaxYjwVu/geKW4ZeQ0Q31AftgRcdSnZ5/jsH6BzCJbtvXvhpfkbkThYSuutZA7nCXpPR6AD9zd1dprMkA==
- dependencies:
- "@babel/helper-explode-assignable-expression" "^7.16.7"
- "@babel/types" "^7.16.7"
-
-"@babel/helper-compilation-targets@^7.13.0", "@babel/helper-compilation-targets@^7.16.7":
+"@babel/helper-compilation-targets@^7.16.7":
version "7.16.7"
resolved "https://registry.yarnpkg.com/@babel/helper-compilation-targets/-/helper-compilation-targets-7.16.7.tgz#06e66c5f299601e6c7da350049315e83209d551b"
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@@ -214,41 +199,6 @@
browserslist "^4.17.5"
semver "^6.3.0"
-"@babel/helper-create-class-features-plugin@^7.16.7":
- version "7.16.10"
- resolved "https://registry.yarnpkg.com/@babel/helper-create-class-features-plugin/-/helper-create-class-features-plugin-7.16.10.tgz#8a6959b9cc818a88815ba3c5474619e9c0f2c21c"
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- dependencies:
- "@babel/helper-annotate-as-pure" "^7.16.7"
- "@babel/helper-environment-visitor" "^7.16.7"
- "@babel/helper-function-name" "^7.16.7"
- "@babel/helper-member-expression-to-functions" "^7.16.7"
- "@babel/helper-optimise-call-expression" "^7.16.7"
- "@babel/helper-replace-supers" "^7.16.7"
- "@babel/helper-split-export-declaration" "^7.16.7"
-
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- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-create-regexp-features-plugin/-/helper-create-regexp-features-plugin-7.16.7.tgz#0cb82b9bac358eb73bfbd73985a776bfa6b14d48"
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- dependencies:
- "@babel/helper-annotate-as-pure" "^7.16.7"
- regexpu-core "^4.7.1"
-
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- version "0.3.1"
- resolved "https://registry.yarnpkg.com/@babel/helper-define-polyfill-provider/-/helper-define-polyfill-provider-0.3.1.tgz#52411b445bdb2e676869e5a74960d2d3826d2665"
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- dependencies:
- "@babel/helper-compilation-targets" "^7.13.0"
- "@babel/helper-module-imports" "^7.12.13"
- "@babel/helper-plugin-utils" "^7.13.0"
- "@babel/traverse" "^7.13.0"
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- lodash.debounce "^4.0.8"
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resolved "https://registry.yarnpkg.com/@babel/helper-environment-visitor/-/helper-environment-visitor-7.16.7.tgz#ff484094a839bde9d89cd63cba017d7aae80ecd7"
@@ -256,13 +206,6 @@
dependencies:
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-"@babel/helper-explode-assignable-expression@^7.16.7":
- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-explode-assignable-expression/-/helper-explode-assignable-expression-7.16.7.tgz#12a6d8522fdd834f194e868af6354e8650242b7a"
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resolved "https://registry.yarnpkg.com/@babel/helper-function-name/-/helper-function-name-7.16.7.tgz#f1ec51551fb1c8956bc8dd95f38523b6cf375f8f"
@@ -286,14 +229,7 @@
dependencies:
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-"@babel/helper-member-expression-to-functions@^7.16.7":
- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-member-expression-to-functions/-/helper-member-expression-to-functions-7.16.7.tgz#42b9ca4b2b200123c3b7e726b0ae5153924905b0"
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- dependencies:
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-
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resolved "https://registry.yarnpkg.com/@babel/helper-module-imports/-/helper-module-imports-7.16.7.tgz#25612a8091a999704461c8a222d0efec5d091437"
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"@babel/types" "^7.16.7"
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- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/helper-optimise-call-expression/-/helper-optimise-call-expression-7.16.7.tgz#a34e3560605abbd31a18546bd2aad3e6d9a174f2"
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- "@babel/plugin-transform-member-expression-literals" "^7.16.7"
- "@babel/plugin-transform-modules-amd" "^7.16.7"
- "@babel/plugin-transform-modules-commonjs" "^7.16.8"
- "@babel/plugin-transform-modules-systemjs" "^7.16.7"
- "@babel/plugin-transform-modules-umd" "^7.16.7"
- "@babel/plugin-transform-named-capturing-groups-regex" "^7.16.8"
- "@babel/plugin-transform-new-target" "^7.16.7"
- "@babel/plugin-transform-object-super" "^7.16.7"
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- "@babel/plugin-transform-property-literals" "^7.16.7"
- "@babel/plugin-transform-regenerator" "^7.16.7"
- "@babel/plugin-transform-reserved-words" "^7.16.7"
- "@babel/plugin-transform-shorthand-properties" "^7.16.7"
- "@babel/plugin-transform-spread" "^7.16.7"
- "@babel/plugin-transform-sticky-regex" "^7.16.7"
- "@babel/plugin-transform-template-literals" "^7.16.7"
- "@babel/plugin-transform-typeof-symbol" "^7.16.7"
- "@babel/plugin-transform-unicode-escapes" "^7.16.7"
- "@babel/plugin-transform-unicode-regex" "^7.16.7"
- "@babel/preset-modules" "^0.1.5"
- "@babel/types" "^7.16.8"
- babel-plugin-polyfill-corejs2 "^0.3.0"
- babel-plugin-polyfill-corejs3 "^0.5.0"
- babel-plugin-polyfill-regenerator "^0.3.0"
- core-js-compat "^3.20.2"
- semver "^6.3.0"
-
-"@babel/preset-modules@^0.1.5":
- version "0.1.5"
- resolved "https://registry.yarnpkg.com/@babel/preset-modules/-/preset-modules-0.1.5.tgz#ef939d6e7f268827e1841638dc6ff95515e115d9"
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- dependencies:
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- "@babel/plugin-proposal-unicode-property-regex" "^7.4.4"
- "@babel/plugin-transform-dotall-regex" "^7.4.4"
- "@babel/types" "^7.4.4"
- esutils "^2.0.2"
-
-"@babel/runtime@^7.8.4":
- version "7.16.7"
- resolved "https://registry.yarnpkg.com/@babel/runtime/-/runtime-7.16.7.tgz#03ff99f64106588c9c403c6ecb8c3bafbbdff1fa"
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- dependencies:
- regenerator-runtime "^0.13.4"
-
"@babel/template@^7.16.7":
version "7.16.7"
resolved "https://registry.yarnpkg.com/@babel/template/-/template-7.16.7.tgz#8d126c8701fde4d66b264b3eba3d96f07666d155"
@@ -1014,7 +311,7 @@
"@babel/parser" "^7.16.7"
"@babel/types" "^7.16.7"
-"@babel/traverse@^7.13.0", "@babel/traverse@^7.16.10", "@babel/traverse@^7.16.8":
+"@babel/traverse@^7.16.10":
version "7.16.10"
resolved "https://registry.yarnpkg.com/@babel/traverse/-/traverse-7.16.10.tgz#448f940defbe95b5a8029975b051f75993e8239f"
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@@ -1046,7 +343,7 @@
debug "^4.1.0"
globals "^11.1.0"
-"@babel/types@^7.16.0", "@babel/types@^7.16.7", "@babel/types@^7.16.8", "@babel/types@^7.4.4":
+"@babel/types@^7.16.7", "@babel/types@^7.16.8":
version "7.16.8"
resolved "https://registry.yarnpkg.com/@babel/types/-/types-7.16.8.tgz#0ba5da91dd71e0a4e7781a30f22770831062e3c1"
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@@ -1253,11 +550,31 @@
"@angular-devkit/schematics" "13.1.4"
jsonc-parser "3.0.0"
+"@socket.io/base64-arraybuffer@~1.0.2":
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/@socket.io/base64-arraybuffer/-/base64-arraybuffer-1.0.2.tgz#568d9beae00b0d835f4f8c53fd55714986492e61"
+ integrity sha512-dOlCBKnDw4iShaIsH/bxujKTM18+2TOAsYz+KSc11Am38H4q5Xw8Bbz97ZYdrVNM+um3p7w86Bvvmcn9q+5+eQ==
+
"@tootallnate/once@1":
version "1.1.2"
resolved "https://registry.yarnpkg.com/@tootallnate/once/-/once-1.1.2.tgz#ccb91445360179a04e7fe6aff78c00ffc1eeaf82"
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+"@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"
+ integrity sha512-SRXjM+tfsSlA9VuG8hGO2nft2p8zjXCK1VcC6N4NXbBbYbSia9kzCChYQajIjzIqOOOuh5Ock6MmV2oux4jDZQ==
+
+"@types/cookie@^0.4.1":
+ version "0.4.1"
+ resolved "https://registry.yarnpkg.com/@types/cookie/-/cookie-0.4.1.tgz#bfd02c1f2224567676c1545199f87c3a861d878d"
+ integrity sha512-XW/Aa8APYr6jSVVA1y/DEIZX0/GMKLEVekNG727R8cs56ahETkRAy/3DR7+fJyh7oUgGwNQaRfXCun0+KbWY7Q==
+
+"@types/cors@^2.8.12":
+ version "2.8.12"
+ resolved "https://registry.yarnpkg.com/@types/cors/-/cors-2.8.12.tgz#6b2c510a7ad7039e98e7b8d3d6598f4359e5c080"
+ integrity sha512-vt+kDhq/M2ayberEtJcIN/hxXy1Pk+59g2FV/ZQceeaTyCtCucjL2Q7FXlFjtWn4n15KCr1NE2lNNFhp0lEThw==
+
"@types/estree@0.0.39":
version "0.0.39"
resolved "https://registry.yarnpkg.com/@types/estree/-/estree-0.0.39.tgz#e177e699ee1b8c22d23174caaa7422644389509f"
@@ -1268,6 +585,11 @@
resolved "https://registry.yarnpkg.com/@types/flatbuffers/-/flatbuffers-1.10.0.tgz#aa74e30ffdc86445f2f060e1808fc9d56b5603ba"
integrity sha512-7btbphLrKvo5yl/5CC2OCxUSMx1wV1wvGT1qDXkSt7yi00/YW7E8k6qzXqJHsp+WU0eoG7r6MTQQXI9lIvd0qA==
+"@types/jasmine@latest":
+ version "3.10.3"
+ resolved "https://registry.yarnpkg.com/@types/jasmine/-/jasmine-3.10.3.tgz#a89798b3d5a8bd23ca56e855a9aee3e5a93bdaaa"
+ integrity sha512-SWyMrjgdAUHNQmutvDcKablrJhkDLy4wunTme8oYLjKp41GnHGxMRXr2MQMvy/qy8H3LdzwQk9gH4hZ6T++H8g==
+
"@types/long@^4.0.0":
version "4.0.0"
resolved "https://registry.yarnpkg.com/@types/long/-/long-4.0.0.tgz#719551d2352d301ac8b81db732acb6bdc28dbdef"
@@ -1278,11 +600,21 @@
resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.8.tgz#50d680c8a8a78fe30abe6906453b21ad8ab0ad7b"
integrity sha512-YofkM6fGv4gDJq78g4j0mMuGMkZVxZDgtU0JRdx6FgiJDG+0fY0GKVolOV8WqVmEhLCXkQRjwDdKyPxJp/uucg==
+"@types/node@>=10.0.0":
+ version "17.0.10"
+ resolved "https://registry.yarnpkg.com/@types/node/-/node-17.0.10.tgz#616f16e9d3a2a3d618136b1be244315d95bd7cab"
+ integrity sha512-S/3xB4KzyFxYGCppyDt68yzBU9ysL88lSdIah4D6cptdcltc4NCPCAMc0+PCpg/lLIyC7IPvj2Z52OJWeIUkog==
+
"@types/node@^10.1.0":
version "10.14.18"
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/resolve@1.17.1":
version "1.17.1"
resolved "https://registry.yarnpkg.com/@types/resolve/-/resolve-1.17.1.tgz#3afd6ad8967c77e4376c598a82ddd58f46ec45d6"
@@ -1300,6 +632,14 @@
resolved "https://registry.yarnpkg.com/abbrev/-/abbrev-1.1.1.tgz#f8f2c887ad10bf67f634f005b6987fed3179aac8"
integrity sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q==
+accepts@~1.3.4:
+ version "1.3.7"
+ resolved "https://registry.yarnpkg.com/accepts/-/accepts-1.3.7.tgz#531bc726517a3b2b41f850021c6cc15eaab507cd"
+ integrity sha512-Il80Qs2WjYlJIBNzNkK6KYqlVMTbZLXgHx2oT0pU/fjRHyEp+PEfEPY0R3WCwAGVOtauxh1hOxNgIf5bv7dQpA==
+ dependencies:
+ mime-types "~2.1.24"
+ negotiator "0.6.2"
+
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"
@@ -1403,37 +743,6 @@
delegates "^1.0.0"
readable-stream "^3.6.0"
-babel-plugin-dynamic-import-node@^2.3.3:
- version "2.3.3"
- resolved "https://registry.yarnpkg.com/babel-plugin-dynamic-import-node/-/babel-plugin-dynamic-import-node-2.3.3.tgz#84fda19c976ec5c6defef57f9427b3def66e17a3"
- integrity sha512-jZVI+s9Zg3IqA/kdi0i6UDCybUI3aSBLnglhYbSSjKlV7yF1F/5LWv8MakQmvYpnbJDS6fcBL2KzHSxNCMtWSQ==
- dependencies:
- object.assign "^4.1.0"
-
-babel-plugin-polyfill-corejs2@^0.3.0:
- version "0.3.1"
- resolved "https://registry.yarnpkg.com/babel-plugin-polyfill-corejs2/-/babel-plugin-polyfill-corejs2-0.3.1.tgz#440f1b70ccfaabc6b676d196239b138f8a2cfba5"
- integrity sha512-v7/T6EQcNfVLfcN2X8Lulb7DjprieyLWJK/zOWH5DUYcAgex9sP3h25Q+DLsX9TloXe3y1O8l2q2Jv9q8UVB9w==
- dependencies:
- "@babel/compat-data" "^7.13.11"
- "@babel/helper-define-polyfill-provider" "^0.3.1"
- semver "^6.1.1"
-
-babel-plugin-polyfill-corejs3@^0.5.0:
- version "0.5.1"
- resolved "https://registry.yarnpkg.com/babel-plugin-polyfill-corejs3/-/babel-plugin-polyfill-corejs3-0.5.1.tgz#d66183bf10976ea677f4149a7fcc4d8df43d4060"
- integrity sha512-TihqEe4sQcb/QcPJvxe94/9RZuLQuF1+To4WqQcRvc+3J3gLCPIPgDKzGLG6zmQLfH3nn25heRuDNkS2KR4I8A==
- dependencies:
- "@babel/helper-define-polyfill-provider" "^0.3.1"
- core-js-compat "^3.20.0"
-
-babel-plugin-polyfill-regenerator@^0.3.0:
- version "0.3.1"
- resolved "https://registry.yarnpkg.com/babel-plugin-polyfill-regenerator/-/babel-plugin-polyfill-regenerator-0.3.1.tgz#2c0678ea47c75c8cc2fbb1852278d8fb68233990"
- integrity sha512-Y2B06tvgHYt1x0yz17jGkGeeMr5FeKUu+ASJ+N6nB5lQ8Dapfg42i0OVrf8PNGJ3zKL4A23snMi1IRwrqqND7A==
- dependencies:
- "@babel/helper-define-polyfill-provider" "^0.3.1"
-
balanced-match@^1.0.0:
version "1.0.2"
resolved "https://registry.yarnpkg.com/balanced-match/-/balanced-match-1.0.2.tgz#e83e3a7e3f300b34cb9d87f615fa0cbf357690ee"
@@ -1444,6 +753,11 @@
resolved "https://registry.yarnpkg.com/base64-js/-/base64-js-1.5.1.tgz#1b1b440160a5bf7ad40b650f095963481903930a"
integrity sha512-AKpaYlHn8t4SVbOHCy+b5+KKgvR4vrsD8vbvrbiQJps7fKDTkjkDry6ji0rUJjC0kzbNePLwzxq8iypo41qeWA==
+base64id@2.0.0, base64id@~2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/base64id/-/base64id-2.0.0.tgz#2770ac6bc47d312af97a8bf9a634342e0cd25cb6"
+ integrity sha512-lGe34o6EHj9y3Kts9R4ZYs/Gr+6N7MCaMlIFA3F1R2O5/m7K06AxfSeO5530PEERE6/WyEg3lsuyw4GHlPZHog==
+
binary-extensions@^2.0.0:
version "2.2.0"
resolved "https://registry.yarnpkg.com/binary-extensions/-/binary-extensions-2.2.0.tgz#75f502eeaf9ffde42fc98829645be4ea76bd9e2d"
@@ -1458,6 +772,22 @@
inherits "^2.0.4"
readable-stream "^3.4.0"
+body-parser@^1.19.0:
+ version "1.19.1"
+ resolved "https://registry.yarnpkg.com/body-parser/-/body-parser-1.19.1.tgz#1499abbaa9274af3ecc9f6f10396c995943e31d4"
+ integrity sha512-8ljfQi5eBk8EJfECMrgqNGWPEY5jWP+1IzkzkGdFFEwFQZZyaZ21UqdaHktgiMlH0xLHqIFtE/u2OYE5dOtViA==
+ dependencies:
+ bytes "3.1.1"
+ content-type "~1.0.4"
+ debug "2.6.9"
+ depd "~1.1.2"
+ http-errors "1.8.1"
+ iconv-lite "0.4.24"
+ on-finished "~2.3.0"
+ qs "6.9.6"
+ raw-body "2.4.2"
+ type-is "~1.6.18"
+
brace-expansion@^1.1.7:
version "1.1.11"
resolved "https://registry.yarnpkg.com/brace-expansion/-/brace-expansion-1.1.11.tgz#3c7fcbf529d87226f3d2f52b966ff5271eb441dd"
@@ -1466,14 +796,14 @@
balanced-match "^1.0.0"
concat-map "0.0.1"
-braces@~3.0.2:
+braces@^3.0.2, braces@~3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/braces/-/braces-3.0.2.tgz#3454e1a462ee8d599e236df336cd9ea4f8afe107"
integrity sha512-b8um+L1RzM3WDSzvhm6gIz1yfTbBt6YTlcEKAvsmqCZZFw46z626lVj9j1yEPW33H5H+lBQpZMP1k8l+78Ha0A==
dependencies:
fill-range "^7.0.1"
-browserslist@^4.17.5, browserslist@^4.19.1:
+browserslist@^4.17.5:
version "4.19.1"
resolved "https://registry.yarnpkg.com/browserslist/-/browserslist-4.19.1.tgz#4ac0435b35ab655896c31d53018b6dd5e9e4c9a3"
integrity sha512-u2tbbG5PdKRTUoctO3NBD8FQ5HdPh1ZXPHzp1rwaa5jTc+RV9/+RlWiAIKmjRPQF+xbGM9Kklj5bZQFa2s/38A==
@@ -1506,6 +836,11 @@
resolved "https://registry.yarnpkg.com/builtins/-/builtins-1.0.3.tgz#cb94faeb61c8696451db36534e1422f94f0aee88"
integrity sha1-y5T662HIaWRR2zZTThQi+U8K7og=
+bytes@3.1.1:
+ version "3.1.1"
+ 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:
version "15.3.0"
resolved "https://registry.yarnpkg.com/cacache/-/cacache-15.3.0.tgz#dc85380fb2f556fe3dda4c719bfa0ec875a7f1eb"
@@ -1530,14 +865,6 @@
tar "^6.0.2"
unique-filename "^1.1.1"
-call-bind@^1.0.0:
- version "1.0.2"
- resolved "https://registry.yarnpkg.com/call-bind/-/call-bind-1.0.2.tgz#b1d4e89e688119c3c9a903ad30abb2f6a919be3c"
- integrity sha512-7O+FbCihrB5WGbFYesctwmTKae6rOiIzmz1icreWJ+0aA7LJfuqhEso2T9ncpcFtzMQtzXf2QGGueWJGTYsqrA==
- dependencies:
- function-bind "^1.1.1"
- get-intrinsic "^1.0.2"
-
caniuse-lite@^1.0.30001286:
version "1.0.30001299"
resolved "https://registry.yarnpkg.com/caniuse-lite/-/caniuse-lite-1.0.30001299.tgz#d753bf6444ed401eb503cbbe17aa3e1451b5a68c"
@@ -1585,7 +912,7 @@
optionalDependencies:
fsevents "~2.3.2"
-chokidar@^3.4.0:
+chokidar@^3.4.0, chokidar@^3.5.1:
version "3.5.3"
resolved "https://registry.yarnpkg.com/chokidar/-/chokidar-3.5.3.tgz#1cf37c8707b932bd1af1ae22c0432e2acd1903bd"
integrity sha512-Dr3sfKRP6oTcjf2JmUmFJfeVMvXBdegxB0iVQ5eb2V10uFJUCAS8OByZdVAyVb8xXNz3GjjTgj9kLWsZTqE6kw==
@@ -1670,6 +997,11 @@
resolved "https://registry.yarnpkg.com/color-support/-/color-support-1.1.3.tgz#93834379a1cc9a0c61f82f52f0d04322251bd5a2"
integrity sha512-qiBjkpbMLO/HL68y+lh4q0/O1MZFj2RX6X/KmMa3+gJD3z+WwI1ZzDHysvqHGS3mP6mznPckpXmw1nI9cJjyRg==
+colors@1.4.0:
+ version "1.4.0"
+ resolved "https://registry.yarnpkg.com/colors/-/colors-1.4.0.tgz#c50491479d4c1bdaed2c9ced32cf7c7dc2360f78"
+ integrity sha512-a+UqTh4kgZg/SlGvfbzDHpgRu7AAQOmmqRHJnxhRZICKFUT91brVhNNt58CMWU9PsBbv3PDCZUHbVxuDiH2mtA==
+
commander@^2.20.0:
version "2.20.3"
resolved "https://registry.yarnpkg.com/commander/-/commander-2.20.3.tgz#fd485e84c03eb4881c20722ba48035e8531aeb33"
@@ -1680,16 +1012,36 @@
resolved "https://registry.yarnpkg.com/commander/-/commander-4.1.1.tgz#9fd602bd936294e9e9ef46a3f4d6964044b18068"
integrity sha512-NOKm8xhkzAjzFx8B2v5OAHT+u5pRQc2UCa2Vq9jYL/31o2wi9mxBA7LIFs3sV5VSC49z6pEhfbMULvShKj26WA==
+component-emitter@~1.3.0:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/component-emitter/-/component-emitter-1.3.0.tgz#16e4070fba8ae29b679f2215853ee181ab2eabc0"
+ integrity sha512-Rd3se6QB+sO1TwqZjscQrurpEPIfO0/yYnSin6Q/rD3mOutHvUrCAhJub3r90uNb+SESBuE0QYoB90YdfatsRg==
+
concat-map@0.0.1:
version "0.0.1"
resolved "https://registry.yarnpkg.com/concat-map/-/concat-map-0.0.1.tgz#d8a96bd77fd68df7793a73036a3ba0d5405d477b"
integrity sha1-2Klr13/Wjfd5OnMDajug1UBdR3s=
+connect@^3.7.0:
+ version "3.7.0"
+ resolved "https://registry.yarnpkg.com/connect/-/connect-3.7.0.tgz#5d49348910caa5e07a01800b030d0c35f20484f8"
+ integrity sha512-ZqRXc+tZukToSNmh5C2iWMSoV3X1YUcPbqEM4DkEG5tNQXrQUZCNVGGv3IuicnkMtPfGf3Xtp8WCXs295iQ1pQ==
+ dependencies:
+ debug "2.6.9"
+ finalhandler "1.1.2"
+ parseurl "~1.3.3"
+ utils-merge "1.0.1"
+
console-control-strings@^1.0.0, console-control-strings@^1.1.0:
version "1.1.0"
resolved "https://registry.yarnpkg.com/console-control-strings/-/console-control-strings-1.1.0.tgz#3d7cf4464db6446ea644bf4b39507f9851008e8e"
integrity sha1-PXz0Rk22RG6mRL9LOVB/mFEAjo4=
+content-type@~1.0.4:
+ version "1.0.4"
+ resolved "https://registry.yarnpkg.com/content-type/-/content-type-1.0.4.tgz#e138cc75e040c727b1966fe5e5f8c9aee256fe3b"
+ integrity sha512-hIP3EEPs8tB9AT1L+NUqtwOAps4mk2Zob89MWXMHjHWg9milF/j4osnnQLXBCBFBk/tvIG/tUc9mOUJiPBhPXA==
+
convert-source-map@^1.1.0, convert-source-map@^1.5.1, convert-source-map@^1.7.0:
version "1.8.0"
resolved "https://registry.yarnpkg.com/convert-source-map/-/convert-source-map-1.8.0.tgz#f3373c32d21b4d780dd8004514684fb791ca4369"
@@ -1697,15 +1049,37 @@
dependencies:
safe-buffer "~5.1.1"
-core-js-compat@^3.20.0, core-js-compat@^3.20.2:
- version "3.20.3"
- resolved "https://registry.yarnpkg.com/core-js-compat/-/core-js-compat-3.20.3.tgz#d71f85f94eb5e4bea3407412e549daa083d23bd6"
- integrity sha512-c8M5h0IkNZ+I92QhIpuSijOxGAcj3lgpsWdkCqmUTZNwidujF4r3pi6x1DCN+Vcs5qTS2XWWMfWSuCqyupX8gw==
- dependencies:
- browserslist "^4.19.1"
- semver "7.0.0"
+cookie@~0.4.1:
+ version "0.4.1"
+ resolved "https://registry.yarnpkg.com/cookie/-/cookie-0.4.1.tgz#afd713fe26ebd21ba95ceb61f9a8116e50a537d1"
+ integrity sha512-ZwrFkGJxUR3EIoXtO+yVE69Eb7KlixbaeAWfBQB9vVsNn/o+Yw69gBWSSDK825hQNdN+wF8zELf3dFNl/kxkUA==
-debug@4, debug@4.3.3, debug@^4.1.0, debug@^4.1.1, debug@^4.3.1:
+cors@~2.8.5:
+ version "2.8.5"
+ resolved "https://registry.yarnpkg.com/cors/-/cors-2.8.5.tgz#eac11da51592dd86b9f06f6e7ac293b3df875d29"
+ integrity sha512-KIHbLJqu73RGr/hnbrO9uBeixNGuvSQjul/jdFvS/KFSIH1hWVd1ng7zOHx+YrEfInLG7q4n6GHQ9cDtxv/P6g==
+ dependencies:
+ object-assign "^4"
+ vary "^1"
+
+custom-event@~1.0.0:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/custom-event/-/custom-event-1.0.1.tgz#5d02a46850adf1b4a317946a3928fccb5bfd0425"
+ integrity sha1-XQKkaFCt8bSjF5RqOSj8y1v9BCU=
+
+date-format@^4.0.3:
+ version "4.0.3"
+ resolved "https://registry.yarnpkg.com/date-format/-/date-format-4.0.3.tgz#f63de5dc08dc02efd8ef32bf2a6918e486f35873"
+ integrity sha512-7P3FyqDcfeznLZp2b+OMitV9Sz2lUnsT87WaTat9nVwqsBkTzPG3lPLNwW3en6F4pHUiWzr6vb8CLhjdK9bcxQ==
+
+debug@2.6.9:
+ version "2.6.9"
+ resolved "https://registry.yarnpkg.com/debug/-/debug-2.6.9.tgz#5d128515df134ff327e90a4c93f4e077a536341f"
+ integrity sha512-bC7ElrdJaJnPbAP+1EotYvqZsb3ecl5wi6Bfi6BJTUcNowp6cvspg0jXznRTKDjm/E7AdgFBVeAPVMNcKGsHMA==
+ dependencies:
+ ms "2.0.0"
+
+debug@4, debug@4.3.3, debug@^4.1.0, debug@^4.1.1, debug@^4.3.1, debug@^4.3.3, debug@~4.3.1, debug@~4.3.2:
version "4.3.3"
resolved "https://registry.yarnpkg.com/debug/-/debug-4.3.3.tgz#04266e0b70a98d4462e6e288e38259213332b664"
integrity sha512-/zxw5+vh1Tfv+4Qn7a5nsbcJKPaSvCDhojn6FEl9vupwK2VCSDtEiEtqr8DFtzYFOdz63LBkxec7DYuc2jon6Q==
@@ -1729,19 +1103,12 @@
resolved "https://registry.yarnpkg.com/define-lazy-prop/-/define-lazy-prop-2.0.0.tgz#3f7ae421129bcaaac9bc74905c98a0009ec9ee7f"
integrity sha512-Ds09qNh8yw3khSjiJjiUInaGX9xlqZDY7JVryGxdxV7NPeuqQfplOpQ66yJFZut3jLa5zOwkXw1g9EI2uKh4Og==
-define-properties@^1.1.3:
- version "1.1.3"
- resolved "https://registry.yarnpkg.com/define-properties/-/define-properties-1.1.3.tgz#cf88da6cbee26fe6db7094f61d870cbd84cee9f1"
- integrity sha512-3MqfYKj2lLzdMSf8ZIZE/V+Zuy+BgD6f164e8K2w7dgnpKArBDerGYpM46IYYcjnkdPNMjPk9A6VFB8+3SKlXQ==
- dependencies:
- object-keys "^1.0.12"
-
delegates@^1.0.0:
version "1.0.0"
resolved "https://registry.yarnpkg.com/delegates/-/delegates-1.0.0.tgz#84c6e159b81904fdca59a0ef44cd870d31250f9a"
integrity sha1-hMbhWbgZBP3KWaDvRM2HDTElD5o=
-depd@^1.1.2:
+depd@^1.1.2, depd@~1.1.2:
version "1.1.2"
resolved "https://registry.yarnpkg.com/depd/-/depd-1.1.2.tgz#9bcd52e14c097763e749b274c4346ed2e560b5a9"
integrity sha1-m81S4UwJd2PnSbJ0xDRu0uVgtak=
@@ -1751,6 +1118,26 @@
resolved "https://registry.yarnpkg.com/dependency-graph/-/dependency-graph-0.11.0.tgz#ac0ce7ed68a54da22165a85e97a01d53f5eb2e27"
integrity sha512-JeMq7fEshyepOWDfcfHK06N3MhyPhz++vtqWhMT5O9A3K42rdsEDpfdVqjaqaAhsw6a+ZqeDvQVtD0hFHQWrzg==
+di@^0.0.1:
+ version "0.0.1"
+ resolved "https://registry.yarnpkg.com/di/-/di-0.0.1.tgz#806649326ceaa7caa3306d75d985ea2748ba913c"
+ integrity sha1-gGZJMmzqp8qjMG112YXqJ0i6kTw=
+
+dom-serialize@^2.2.1:
+ version "2.2.1"
+ resolved "https://registry.yarnpkg.com/dom-serialize/-/dom-serialize-2.2.1.tgz#562ae8999f44be5ea3076f5419dcd59eb43ac95b"
+ integrity sha1-ViromZ9Evl6jB29UGdzVnrQ6yVs=
+ dependencies:
+ custom-event "~1.0.0"
+ ent "~2.2.0"
+ extend "^3.0.0"
+ void-elements "^2.0.0"
+
+ee-first@1.1.1:
+ version "1.1.1"
+ resolved "https://registry.yarnpkg.com/ee-first/-/ee-first-1.1.1.tgz#590c61156b0ae2f4f0255732a158b266bc56b21d"
+ integrity sha1-WQxhFWsK4vTwJVcyoViyZrxWsh0=
+
electron-to-chromium@^1.4.17:
version "1.4.46"
resolved "https://registry.yarnpkg.com/electron-to-chromium/-/electron-to-chromium-1.4.46.tgz#c88a6fedc766589826db0481602a888864ade1ca"
@@ -1761,6 +1148,11 @@
resolved "https://registry.yarnpkg.com/emoji-regex/-/emoji-regex-8.0.0.tgz#e818fd69ce5ccfcb404594f842963bf53164cc37"
integrity sha512-MSjYzcWNOA0ewAHpz0MxpYFvwg6yjy1NG3xteoqz644VCo/RPgnr1/GGt+ic3iJTzQ8Eu3TdM14SawnVUmGE6A==
+encodeurl@~1.0.2:
+ version "1.0.2"
+ resolved "https://registry.yarnpkg.com/encodeurl/-/encodeurl-1.0.2.tgz#ad3ff4c86ec2d029322f5a02c3a9a606c95b3f59"
+ integrity sha1-rT/0yG7C0CkyL1oCw6mmBslbP1k=
+
encoding@^0.1.12:
version "0.1.13"
resolved "https://registry.yarnpkg.com/encoding/-/encoding-0.1.13.tgz#56574afdd791f54a8e9b2785c0582a2d26210fa9"
@@ -1768,6 +1160,34 @@
dependencies:
iconv-lite "^0.6.2"
+engine.io-parser@~5.0.0:
+ version "5.0.3"
+ resolved "https://registry.yarnpkg.com/engine.io-parser/-/engine.io-parser-5.0.3.tgz#ca1f0d7b11e290b4bfda251803baea765ed89c09"
+ integrity sha512-BtQxwF27XUNnSafQLvDi0dQ8s3i6VgzSoQMJacpIcGNrlUdfHSKbgm3jmjCVvQluGzqwujQMPAoMai3oYSTurg==
+ dependencies:
+ "@socket.io/base64-arraybuffer" "~1.0.2"
+
+engine.io@~6.1.0:
+ version "6.1.2"
+ resolved "https://registry.yarnpkg.com/engine.io/-/engine.io-6.1.2.tgz#e7b9d546d90c62246ffcba4d88594be980d3855a"
+ integrity sha512-v/7eGHxPvO2AWsksyx2PUsQvBafuvqs0jJJQ0FdmJG1b9qIvgSbqDRGwNhfk2XHaTTbTXiC4quRE8Q9nRjsrQQ==
+ dependencies:
+ "@types/cookie" "^0.4.1"
+ "@types/cors" "^2.8.12"
+ "@types/node" ">=10.0.0"
+ accepts "~1.3.4"
+ base64id "2.0.0"
+ cookie "~0.4.1"
+ cors "~2.8.5"
+ debug "~4.3.1"
+ engine.io-parser "~5.0.0"
+ ws "~8.2.3"
+
+ent@~2.2.0:
+ version "2.2.0"
+ resolved "https://registry.yarnpkg.com/ent/-/ent-2.2.0.tgz#e964219325a21d05f44466a2f686ed6ce5f5dd1d"
+ integrity sha1-6WQhkyWiHQX0RGai9obtbOX13R0=
+
env-paths@^2.2.0:
version "2.2.1"
resolved "https://registry.yarnpkg.com/env-paths/-/env-paths-2.2.1.tgz#420399d416ce1fbe9bc0a07c62fa68d67fd0f8f2"
@@ -1783,6 +1203,11 @@
resolved "https://registry.yarnpkg.com/escalade/-/escalade-3.1.1.tgz#d8cfdc7000965c5a0174b4a82eaa5c0552742e40"
integrity sha512-k0er2gUkLf8O0zKJiAhmkTnJlTvINGv7ygDNPbeIsX/TJjGJZHuh9B2UxbsaEkmlEo9MfhrSzmhIlhRlI2GXnw==
+escape-html@~1.0.3:
+ version "1.0.3"
+ resolved "https://registry.yarnpkg.com/escape-html/-/escape-html-1.0.3.tgz#0258eae4d3d0c0974de1c169188ef0051d1d1988"
+ integrity sha1-Aljq5NPQwJdN4cFpGI7wBR0dGYg=
+
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"
@@ -1793,10 +1218,15 @@
resolved "https://registry.yarnpkg.com/estree-walker/-/estree-walker-1.0.1.tgz#31bc5d612c96b704106b477e6dd5d8aa138cb700"
integrity sha512-1fMXF3YP4pZZVozF8j/ZLfvnR8NSIljt56UhbZ5PeeDmmGHpgpdwQt7ITlGvYaQukCvuBRMLEiKiYC+oeIg4cg==
-esutils@^2.0.2:
- version "2.0.3"
- resolved "https://registry.yarnpkg.com/esutils/-/esutils-2.0.3.tgz#74d2eb4de0b8da1293711910d50775b9b710ef64"
- integrity sha512-kVscqXk4OCp68SZ0dkgEKVi6/8ij300KBWTJq32P/dYeWTSwK41WyTxalN1eRmA5Z9UU/LX9D7FWSmV9SAYx6g==
+eventemitter3@^4.0.0:
+ version "4.0.7"
+ resolved "https://registry.yarnpkg.com/eventemitter3/-/eventemitter3-4.0.7.tgz#2de9b68f6528d5644ef5c59526a1b4a07306169f"
+ integrity sha512-8guHBZCwKnFhYdHr2ysuRWErTwhoN2X8XELRlrRwpmfeY2jjuUN4taQMsULKUVo1K4DvZl+0pgfyoysHxvmvEw==
+
+extend@^3.0.0:
+ version "3.0.2"
+ resolved "https://registry.yarnpkg.com/extend/-/extend-3.0.2.tgz#f8b1136b4071fbd8eb140aff858b1019ec2915fa"
+ integrity sha512-fjquC59cD7CyW6urNXK0FBufkZcoiGG80wTuPujX590cB5Ttln20E2UB4S/WARVqhXffZl2LNgS+gQdPIIim/g==
external-editor@^3.0.3:
version "3.1.0"
@@ -1831,6 +1261,38 @@
dependencies:
to-regex-range "^5.0.1"
+finalhandler@1.1.2:
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/finalhandler/-/finalhandler-1.1.2.tgz#b7e7d000ffd11938d0fdb053506f6ebabe9f587d"
+ integrity sha512-aAWcW57uxVNrQZqFXjITpW3sIUQmHGG3qSb9mUah9MgMC4NeWhNOlNjXEYq3HjRAvL6arUviZGGJsBg6z0zsWA==
+ dependencies:
+ debug "2.6.9"
+ encodeurl "~1.0.2"
+ escape-html "~1.0.3"
+ on-finished "~2.3.0"
+ parseurl "~1.3.3"
+ statuses "~1.5.0"
+ unpipe "~1.0.0"
+
+flatted@^3.2.4:
+ version "3.2.4"
+ resolved "https://registry.yarnpkg.com/flatted/-/flatted-3.2.4.tgz#28d9969ea90661b5134259f312ab6aa7929ac5e2"
+ integrity sha512-8/sOawo8tJ4QOBX8YlQBMxL8+RLZfxMQOif9o0KUKTNTjMYElWPE0r/m5VNFxTRd0NSw8qSy8dajrwX4RYI1Hw==
+
+follow-redirects@^1.0.0:
+ version "1.14.7"
+ resolved "https://registry.yarnpkg.com/follow-redirects/-/follow-redirects-1.14.7.tgz#2004c02eb9436eee9a21446a6477debf17e81685"
+ integrity sha512-+hbxoLbFMbRKDwohX8GkTataGqO6Jb7jGwpAlwgy2bIz25XtRm7KEzJM76R1WiNT5SwZkX4Y75SwBolkpmE7iQ==
+
+fs-extra@^10.0.0:
+ version "10.0.0"
+ resolved "https://registry.yarnpkg.com/fs-extra/-/fs-extra-10.0.0.tgz#9ff61b655dde53fb34a82df84bb214ce802e17c1"
+ integrity sha512-C5owb14u9eJwizKGdchcDUQeFtlSHHthBk8pbX9Vc1PFZrLombudjDnNns88aYslCyF6IY5SUw3Roz6xShcEIQ==
+ dependencies:
+ graceful-fs "^4.2.0"
+ jsonfile "^6.0.1"
+ universalify "^2.0.0"
+
fs-minipass@^2.0.0, fs-minipass@^2.1.0:
version "2.1.0"
resolved "https://registry.yarnpkg.com/fs-minipass/-/fs-minipass-2.1.0.tgz#7f5036fdbf12c63c169190cbe4199c852271f9fb"
@@ -1883,15 +1345,6 @@
resolved "https://registry.yarnpkg.com/get-caller-file/-/get-caller-file-2.0.5.tgz#4f94412a82db32f36e3b0b9741f8a97feb031f7e"
integrity sha512-DyFP3BM/3YHTQOCUL/w0OZHR0lpKeGrxotcHWcqNEdnltqFwXVfhEBQ94eIo34AfQpo0rGki4cyIiftY06h2Fg==
-get-intrinsic@^1.0.2:
- version "1.1.1"
- resolved "https://registry.yarnpkg.com/get-intrinsic/-/get-intrinsic-1.1.1.tgz#15f59f376f855c446963948f0d24cd3637b4abc6"
- integrity sha512-kWZrnVM42QCiEA2Ig1bG8zjoIMOgxWwYCEeNdwY6Tv/cOSeGpcoX4pXHfKUxNKVoArnrEr2e9srnAxxGIraS9Q==
- dependencies:
- function-bind "^1.1.1"
- has "^1.0.3"
- has-symbols "^1.0.1"
-
glob-parent@~5.1.2:
version "5.1.2"
resolved "https://registry.yarnpkg.com/glob-parent/-/glob-parent-5.1.2.tgz#869832c58034fe68a4093c17dc15e8340d8401c4"
@@ -1899,7 +1352,7 @@
dependencies:
is-glob "^4.0.1"
-glob@^7.0.0, glob@^7.1.3, glob@^7.1.4, glob@^7.1.6:
+glob@^7.0.0, 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==
@@ -1921,7 +1374,7 @@
resolved "https://registry.yarnpkg.com/google-protobuf/-/google-protobuf-3.19.1.tgz#5af5390e8206c446d8f49febaffd4b7f4ac28f41"
integrity sha512-Isv1RlNC+IzZzilcxnlVSf+JvuhxmY7DaxYCBy+zPS9XVuJRtlTTIXR9hnZ1YL1MMusJn/7eSy2swCzZIomQSg==
-graceful-fs@^4.2.6:
+graceful-fs@^4.1.2, graceful-fs@^4.1.6, graceful-fs@^4.2.0, graceful-fs@^4.2.6:
version "4.2.9"
resolved "https://registry.yarnpkg.com/graceful-fs/-/graceful-fs-4.2.9.tgz#041b05df45755e587a24942279b9d113146e1c96"
integrity sha512-NtNxqUcXgpW2iMrfqSfR73Glt39K+BLwWsPs94yR63v45T0Wbej7eRmL5cWfwEgqXnmjQp3zaJTshdRW/qC2ZQ==
@@ -1936,11 +1389,6 @@
resolved "https://registry.yarnpkg.com/has-flag/-/has-flag-4.0.0.tgz#944771fd9c81c81265c4d6941860da06bb59479b"
integrity sha512-EykJT/Q1KjTWctppgIAgfSO0tKVuZUjhgMr17kqTumMl6Afv3EISleU7qZUzoXDFTAHTDC4NOoG/ZxU3EvlMPQ==
-has-symbols@^1.0.1:
- version "1.0.2"
- resolved "https://registry.yarnpkg.com/has-symbols/-/has-symbols-1.0.2.tgz#165d3070c00309752a1236a479331e3ac56f1423"
- integrity sha512-chXa79rL/UC2KlX17jo3vRGz0azaWEx5tGqZg5pO3NUyEJVB17dMruQlzCCOfUvElghKcm5194+BCRvi2Rv/Gw==
-
has-unicode@^2.0.1:
version "2.0.1"
resolved "https://registry.yarnpkg.com/has-unicode/-/has-unicode-2.0.1.tgz#e0e6fe6a28cf51138855e086d1691e771de2a8b9"
@@ -1960,19 +1408,22 @@
dependencies:
lru-cache "^6.0.0"
-html-insert-assets@^0.14.2:
- version "0.14.2"
- resolved "https://registry.yarnpkg.com/html-insert-assets/-/html-insert-assets-0.14.2.tgz#134ccfbfcc847ddc37b4e4a610c29ccfd846eea8"
- integrity sha512-6jx1Btu9D1iGlSTLMEHsqSqt0c1WJVhGNz4bEjDQ9y17JpB+GVUzr8M0MXjwPpQHDtiWdTdQ3qvPMlLzNmDXaw==
- dependencies:
- mkdirp "^1.0.3"
- parse5 "^6.0.0"
-
http-cache-semantics@^4.1.0:
version "4.1.0"
resolved "https://registry.yarnpkg.com/http-cache-semantics/-/http-cache-semantics-4.1.0.tgz#49e91c5cbf36c9b94bcfcd71c23d5249ec74e390"
integrity sha512-carPklcUh7ROWRK7Cv27RPtdhYhUsela/ue5/jKzjegVvXDqM2ILE9Q2BGn9JZJh1g87cp56su/FgQSzcWS8cQ==
+http-errors@1.8.1:
+ version "1.8.1"
+ resolved "https://registry.yarnpkg.com/http-errors/-/http-errors-1.8.1.tgz#7c3f28577cbc8a207388455dbd62295ed07bd68c"
+ integrity sha512-Kpk9Sm7NmI+RHhnj6OIWDI1d6fIoFAtFt9RLaTMRlg/8w49juAStsrBgp0Dp4OdxdVbRIeKhtCUvoi/RuAhO4g==
+ dependencies:
+ depd "~1.1.2"
+ inherits "2.0.4"
+ setprototypeof "1.2.0"
+ statuses ">= 1.5.0 < 2"
+ toidentifier "1.0.1"
+
http-proxy-agent@^4.0.1:
version "4.0.1"
resolved "https://registry.yarnpkg.com/http-proxy-agent/-/http-proxy-agent-4.0.1.tgz#8a8c8ef7f5932ccf953c296ca8291b95aa74aa3a"
@@ -1982,6 +1433,15 @@
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"
+ integrity sha512-7mz/721AbnJwIVbnaSv1Cz3Am0ZLT/UBwkC92VlxhXv/k/BBQfM2fXElQNC27BVGr0uwUpplYPQM9LnaBMR5NQ==
+ dependencies:
+ eventemitter3 "^4.0.0"
+ follow-redirects "^1.0.0"
+ requires-port "^1.0.0"
+
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"
@@ -1997,7 +1457,7 @@
dependencies:
ms "^2.0.0"
-iconv-lite@^0.4.24:
+iconv-lite@0.4.24, iconv-lite@^0.4.24:
version "0.4.24"
resolved "https://registry.yarnpkg.com/iconv-lite/-/iconv-lite-0.4.24.tgz#2022b4b25fbddc21d2f524974a474aafe733908b"
integrity sha512-v3MXnZAcvnywkTUEZomIActle7RXXeedOR31wwl7VlyoXO4Qi9arvSenNQWne1TcRwhCL1HwLI21bEqdpj8/rA==
@@ -2046,7 +1506,7 @@
once "^1.3.0"
wrappy "1"
-inherits@2, inherits@^2.0.3, inherits@^2.0.4:
+inherits@2, inherits@2.0.4, inherits@^2.0.3, inherits@^2.0.4:
version "2.0.4"
resolved "https://registry.yarnpkg.com/inherits/-/inherits-2.0.4.tgz#0fa2c64f932917c3433a0ded55363aae37416b7c"
integrity sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ==
@@ -2149,11 +1609,34 @@
dependencies:
is-docker "^2.0.0"
+isbinaryfile@^4.0.8:
+ version "4.0.8"
+ resolved "https://registry.yarnpkg.com/isbinaryfile/-/isbinaryfile-4.0.8.tgz#5d34b94865bd4946633ecc78a026fc76c5b11fcf"
+ integrity sha512-53h6XFniq77YdW+spoRrebh0mnmTxRPTlcuIArO57lmMdq4uBKFKaeTjnb92oYWrSn/LVL+LT+Hap2tFQj8V+w==
+
isexe@^2.0.0:
version "2.0.0"
resolved "https://registry.yarnpkg.com/isexe/-/isexe-2.0.0.tgz#e8fbf374dc556ff8947a10dcb0572d633f2cfa10"
integrity sha1-6PvzdNxVb/iUehDcsFctYz8s+hA=
+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@latest:
+ version "4.0.2"
+ resolved "https://registry.yarnpkg.com/jasmine/-/jasmine-4.0.2.tgz#6f5ff7fbf6b67f56600235fdb7d299ac52876c4b"
+ integrity sha512-YsrgxJQEggxzByYe4j68eQLOiQeSrPDYGv4sHhGBp3c6HHdq+uPXeAQ73kOAQpdLZ3/0zN7x/TZTloqeE1/qIA==
+ dependencies:
+ glob "^7.1.6"
+ jasmine-core "^4.0.0"
+
js-tokens@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/js-tokens/-/js-tokens-4.0.0.tgz#19203fb59991df98e3a287050d4647cdeaf32499"
@@ -2164,11 +1647,6 @@
resolved "https://registry.yarnpkg.com/jsesc/-/jsesc-2.5.2.tgz#80564d2e483dacf6e8ef209650a67df3f0c283a4"
integrity sha512-OYu7XEzjkCQ3C5Ps3QIZsQfNpqoJyZZA99wd9aWd05NCtC5pWOkShK2mkL6HXQR6/Cy2lbNdPlZBpuQHXE63gA==
-jsesc@~0.5.0:
- version "0.5.0"
- resolved "https://registry.yarnpkg.com/jsesc/-/jsesc-0.5.0.tgz#e7dee66e35d6fc16f710fe91d5cf69f70f08911d"
- integrity sha1-597mbjXW/Bb3EP6R1c9p9w8IkR0=
-
json-parse-even-better-errors@^2.3.0:
version "2.3.1"
resolved "https://registry.yarnpkg.com/json-parse-even-better-errors/-/json-parse-even-better-errors-2.3.1.tgz#7c47805a94319928e05777405dc12e1f7a4ee02d"
@@ -2191,15 +1669,82 @@
resolved "https://registry.yarnpkg.com/jsonc-parser/-/jsonc-parser-3.0.0.tgz#abdd785701c7e7eaca8a9ec8cf070ca51a745a22"
integrity sha512-fQzRfAbIBnR0IQvftw9FJveWiHp72Fg20giDrHz6TdfB12UH/uue0D3hm57UB5KgAVuniLMCaS8P1IMj9NR7cA==
+jsonfile@^6.0.1:
+ version "6.1.0"
+ resolved "https://registry.yarnpkg.com/jsonfile/-/jsonfile-6.1.0.tgz#bc55b2634793c679ec6403094eb13698a6ec0aae"
+ integrity sha512-5dgndWOriYSm5cnYaJNhalLNDKOqFwyDB/rr1E9ZsGciGvKPs8R2xYGCacuf3z6K1YKDz182fd+fY3cn3pMqXQ==
+ dependencies:
+ universalify "^2.0.0"
+ optionalDependencies:
+ graceful-fs "^4.1.6"
+
jsonparse@^1.3.1:
version "1.3.1"
resolved "https://registry.yarnpkg.com/jsonparse/-/jsonparse-1.3.1.tgz#3f4dae4a91fac315f71062f8521cc239f1366280"
integrity sha1-P02uSpH6wxX3EGL4UhzCOfE2YoA=
-lodash.debounce@^4.0.8:
- version "4.0.8"
- resolved "https://registry.yarnpkg.com/lodash.debounce/-/lodash.debounce-4.0.8.tgz#82d79bff30a67c4005ffd5e2515300ad9ca4d7af"
- integrity sha1-gteb/zCmfEAF/9XiUVMArZyk168=
+karma-chrome-launcher@latest:
+ 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:
+ version "2.1.2"
+ resolved "https://registry.yarnpkg.com/karma-firefox-launcher/-/karma-firefox-launcher-2.1.2.tgz#9a38cc783c579a50f3ed2a82b7386186385cfc2d"
+ integrity sha512-VV9xDQU1QIboTrjtGVD4NCfzIH7n01ZXqy/qpBhnOeGVOkG5JYPEm8kuSd7psHE6WouZaQ9Ool92g8LFweSNMA==
+ dependencies:
+ is-wsl "^2.2.0"
+ which "^2.0.1"
+
+karma-jasmine@latest:
+ version "4.0.1"
+ resolved "https://registry.yarnpkg.com/karma-jasmine/-/karma-jasmine-4.0.1.tgz#b99e073b6d99a5196fc4bffc121b89313b0abd82"
+ integrity sha512-h8XDAhTiZjJKzfkoO1laMH+zfNlra+dEQHUAjpn5JV1zCPtOIVWGQjLBrqhnzQa/hrU2XrZwSyBa6XjEBzfXzw==
+ dependencies:
+ jasmine-core "^3.6.0"
+
+karma-requirejs@latest:
+ 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:
+ version "0.3.8"
+ resolved "https://registry.yarnpkg.com/karma-sourcemap-loader/-/karma-sourcemap-loader-0.3.8.tgz#d4bae72fb7a8397328a62b75013d2df937bdcf9c"
+ integrity sha512-zorxyAakYZuBcHRJE+vbrK2o2JXLFWK8VVjiT/6P+ltLBUGUvqTEkUiQ119MGdOrK7mrmxXHZF1/pfT6GgIZ6g==
+ 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==
+ dependencies:
+ body-parser "^1.19.0"
+ braces "^3.0.2"
+ chokidar "^3.5.1"
+ colors "1.4.0"
+ connect "^3.7.0"
+ di "^0.0.1"
+ dom-serialize "^2.2.1"
+ glob "^7.1.7"
+ graceful-fs "^4.2.6"
+ http-proxy "^1.18.1"
+ isbinaryfile "^4.0.8"
+ lodash "^4.17.21"
+ log4js "^6.3.0"
+ mime "^2.5.2"
+ minimatch "^3.0.4"
+ qjobs "^1.2.0"
+ range-parser "^1.2.1"
+ rimraf "^3.0.2"
+ socket.io "^4.2.0"
+ source-map "^0.6.1"
+ tmp "^0.2.1"
+ ua-parser-js "^0.7.30"
+ yargs "^16.1.1"
lodash@^4.17.21:
version "4.17.21"
@@ -2214,6 +1759,17 @@
chalk "^4.1.0"
is-unicode-supported "^0.1.0"
+log4js@^6.3.0:
+ version "6.4.1"
+ resolved "https://registry.yarnpkg.com/log4js/-/log4js-6.4.1.tgz#9d3a8bf2c31c1e213fe3fc398a6053f7a2bc53e8"
+ integrity sha512-iUiYnXqAmNKiIZ1XSAitQ4TmNs8CdZYTAWINARF3LjnsLN8tY5m0vRwd6uuWj/yNY0YHxeZodnbmxKFUOM2rMg==
+ dependencies:
+ date-format "^4.0.3"
+ debug "^4.3.3"
+ flatted "^3.2.4"
+ rfdc "^1.3.0"
+ streamroller "^3.0.2"
+
long@^4.0.0:
version "4.0.0"
resolved "https://registry.yarnpkg.com/long/-/long-4.0.0.tgz#9a7b71cfb7d361a194ea555241c92f7468d5bf28"
@@ -2263,6 +1819,28 @@
socks-proxy-agent "^6.0.0"
ssri "^8.0.0"
+media-typer@0.3.0:
+ version "0.3.0"
+ resolved "https://registry.yarnpkg.com/media-typer/-/media-typer-0.3.0.tgz#8710d7af0aa626f8fffa1ce00168545263255748"
+ integrity sha1-hxDXrwqmJvj/+hzgAWhUUmMlV0g=
+
+mime-db@1.51.0:
+ version "1.51.0"
+ resolved "https://registry.yarnpkg.com/mime-db/-/mime-db-1.51.0.tgz#d9ff62451859b18342d960850dc3cfb77e63fb0c"
+ integrity sha512-5y8A56jg7XVQx2mbv1lu49NR4dokRnhZYTtL+KGfaa27uq4pSTXkwQkFJl4pkRMyNFz/EtYDSkiiEHx3F7UN6g==
+
+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==
+ dependencies:
+ mime-db "1.51.0"
+
+mime@^2.5.2:
+ version "2.6.0"
+ resolved "https://registry.yarnpkg.com/mime/-/mime-2.6.0.tgz#a2a682a95cd4d0cb1d6257e28f83da7e35800367"
+ integrity sha512-USPkMeET31rOMiarsBNIHZKLGgvKc/LrjofAnBlOttf5ajRvqiRA8QsenbcooctK6d6Ts6aqZXBA+XbkKthiQg==
+
mimic-fn@^2.1.0:
version "2.1.0"
resolved "https://registry.yarnpkg.com/mimic-fn/-/mimic-fn-2.1.0.tgz#7ed2c2ccccaf84d3ffcb7a69b57711fc2083401b"
@@ -2347,6 +1925,11 @@
resolved "https://registry.yarnpkg.com/mkdirp/-/mkdirp-1.0.4.tgz#3eb5ed62622756d79a5f0e2a221dfebad75c2f7e"
integrity sha512-vVqVZQyf3WLx2Shd0qJ9xuvqgAyKPLAiqITEtqW0oIUjzo3PePDd6fW9iFz30ef7Ysp/oiWqbhszeGWW2T6Gzw==
+ms@2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/ms/-/ms-2.0.0.tgz#5608aeadfc00be6c2901df5f9861788de0d597c8"
+ integrity sha1-VgiurfwAvmwpAd9fmGF4jeDVl8g=
+
ms@2.1.2:
version "2.1.2"
resolved "https://registry.yarnpkg.com/ms/-/ms-2.1.2.tgz#d09d1f357b443f493382a8eb3ccd183872ae6009"
@@ -2362,7 +1945,7 @@
resolved "https://registry.yarnpkg.com/mute-stream/-/mute-stream-0.0.8.tgz#1630c42b2251ff81e2a283de96a5497ea92e5e0d"
integrity sha512-nnbWWOkoWyUsTjKrhgD0dcz22mdkSnpYqbEjIm2nhwhuxlSkpywJmBo8h0ZqJdkp73mb90SssHkN4rsRaBAfAA==
-negotiator@^0.6.2:
+negotiator@0.6.2, negotiator@^0.6.2:
version "0.6.2"
resolved "https://registry.yarnpkg.com/negotiator/-/negotiator-0.6.2.tgz#feacf7ccf525a77ae9634436a64883ffeca346fb"
integrity sha512-hZXc7K2e+PgeI1eDBe/10Ard4ekbfrrqG8Ep+8Jmf4JID2bNg7NvCPOZN+kfF574pFQI7mum2AUqDidoKqcTOw==
@@ -2470,20 +2053,17 @@
gauge "^4.0.0"
set-blocking "^2.0.0"
-object-keys@^1.0.12, object-keys@^1.1.1:
- version "1.1.1"
- resolved "https://registry.yarnpkg.com/object-keys/-/object-keys-1.1.1.tgz#1c47f272df277f3b1daf061677d9c82e2322c60e"
- integrity sha512-NuAESUOUMrlIXOfHKzD6bpPu3tYt3xvjNdRIQ+FeT0lNb4K8WR70CaDxhuNguS2XG+GjkyMwOzsN5ZktImfhLA==
+object-assign@^4:
+ version "4.1.1"
+ resolved "https://registry.yarnpkg.com/object-assign/-/object-assign-4.1.1.tgz#2109adc7965887cfc05cbbd442cac8bfbb360863"
+ integrity sha1-IQmtx5ZYh8/AXLvUQsrIv7s2CGM=
-object.assign@^4.1.0:
- version "4.1.2"
- resolved "https://registry.yarnpkg.com/object.assign/-/object.assign-4.1.2.tgz#0ed54a342eceb37b38ff76eb831a0e788cb63940"
- integrity sha512-ixT2L5THXsApyiUPYKmW+2EHpXXe5Ii3M+f4e+aJFAHao5amFRW6J0OO6c/LU8Be47utCx2GL89hxGB6XSmKuQ==
+on-finished@~2.3.0:
+ version "2.3.0"
+ resolved "https://registry.yarnpkg.com/on-finished/-/on-finished-2.3.0.tgz#20f1336481b083cd75337992a16971aa2d906947"
+ integrity sha1-IPEzZIGwg811M3mSoWlxqi2QaUc=
dependencies:
- call-bind "^1.0.0"
- define-properties "^1.1.3"
- has-symbols "^1.0.1"
- object-keys "^1.1.1"
+ ee-first "1.1.1"
once@^1.3.0:
version "1.4.0"
@@ -2560,10 +2140,10 @@
ssri "^8.0.1"
tar "^6.1.0"
-parse5@^6.0.0:
- version "6.0.1"
- resolved "https://registry.yarnpkg.com/parse5/-/parse5-6.0.1.tgz#e1a1c085c569b3dc08321184f19a39cc27f7c30b"
- integrity sha512-Ofn/CTFzRGTTxwpNEs9PP93gXShHcTq255nzRYSKe8AkVpZY7e1fpmTfOyoIvjP5HG7Z2ZM7VS9PPhQGW2pOpw==
+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-is-absolute@^1.0.0:
version "1.0.1"
@@ -2627,6 +2207,31 @@
resolved "https://registry.yarnpkg.com/punycode/-/punycode-2.1.1.tgz#b58b010ac40c22c5657616c8d2c2c02c7bf479ec"
integrity sha512-XRsRjdf+j5ml+y/6GKHPZbrF/8p2Yga0JPtdqTIY2Xe5ohJPD9saDJJLPvp9+NSBprVvevdXZybnj2cv8OEd0A==
+qjobs@^1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/qjobs/-/qjobs-1.2.0.tgz#c45e9c61800bd087ef88d7e256423bdd49e5d071"
+ integrity sha512-8YOJEHtxpySA3fFDyCRxA+UUV+fA+rTWnuWvylOK/NCjhY+b4ocCtmu8TtsWb+mYeU+GCHf/S66KZF/AsteKHg==
+
+qs@6.9.6:
+ version "6.9.6"
+ resolved "https://registry.yarnpkg.com/qs/-/qs-6.9.6.tgz#26ed3c8243a431b2924aca84cc90471f35d5a0ee"
+ integrity sha512-TIRk4aqYLNoJUbd+g2lEdz5kLWIuTMRagAXxl78Q0RiVjAOugHmeKNGdd3cwo/ktpf9aL9epCfFqWDEKysUlLQ==
+
+range-parser@^1.2.1:
+ version "1.2.1"
+ resolved "https://registry.yarnpkg.com/range-parser/-/range-parser-1.2.1.tgz#3cf37023d199e1c24d1a55b84800c2f3e6468031"
+ integrity sha512-Hrgsx+orqoygnmhFbKaHE6c296J+HTAQXoxEF6gNupROmmGJRoyzfG3ccAveqCBrwr/2yxQ5BVd/GTl5agOwSg==
+
+raw-body@2.4.2:
+ version "2.4.2"
+ resolved "https://registry.yarnpkg.com/raw-body/-/raw-body-2.4.2.tgz#baf3e9c21eebced59dd6533ac872b71f7b61cb32"
+ integrity sha512-RPMAFUJP19WIet/99ngh6Iv8fzAbqum4Li7AD6DtGaW2RpMB/11xDoalPiJMTbu6I3hkbMVkATvZrqb9EEqeeQ==
+ dependencies:
+ bytes "3.1.1"
+ http-errors "1.8.1"
+ iconv-lite "0.4.24"
+ unpipe "1.0.0"
+
read-package-json-fast@^2.0.1:
version "2.0.3"
resolved "https://registry.yarnpkg.com/read-package-json-fast/-/read-package-json-fast-2.0.3.tgz#323ca529630da82cb34b36cc0b996693c98c2b83"
@@ -2656,54 +2261,6 @@
resolved "https://registry.yarnpkg.com/reflect-metadata/-/reflect-metadata-0.1.13.tgz#67ae3ca57c972a2aa1642b10fe363fe32d49dc08"
integrity sha512-Ts1Y/anZELhSsjMcU605fU9RE4Oi3p5ORujwbIKXfWa+0Zxs510Qrmrce5/Jowq3cHSZSJqBjypxmHarc+vEWg==
-regenerate-unicode-properties@^9.0.0:
- version "9.0.0"
- resolved "https://registry.yarnpkg.com/regenerate-unicode-properties/-/regenerate-unicode-properties-9.0.0.tgz#54d09c7115e1f53dc2314a974b32c1c344efe326"
- integrity sha512-3E12UeNSPfjrgwjkR81m5J7Aw/T55Tu7nUyZVQYCKEOs+2dkxEY+DpPtZzO4YruuiPb7NkYLVcyJC4+zCbk5pA==
- dependencies:
- regenerate "^1.4.2"
-
-regenerate@^1.4.2:
- version "1.4.2"
- resolved "https://registry.yarnpkg.com/regenerate/-/regenerate-1.4.2.tgz#b9346d8827e8f5a32f7ba29637d398b69014848a"
- integrity sha512-zrceR/XhGYU/d/opr2EKO7aRHUeiBI8qjtfHqADTwZd6Szfy16la6kqD0MIUs5z5hx6AaKa+PixpPrR289+I0A==
-
-regenerator-runtime@^0.13.4:
- version "0.13.9"
- resolved "https://registry.yarnpkg.com/regenerator-runtime/-/regenerator-runtime-0.13.9.tgz#8925742a98ffd90814988d7566ad30ca3b263b52"
- integrity sha512-p3VT+cOEgxFsRRA9X4lkI1E+k2/CtnKtU4gcxyaCUreilL/vqI6CdZ3wxVUx3UOUg+gnUOQQcRI7BmSI656MYA==
-
-regenerator-transform@^0.14.2:
- version "0.14.5"
- resolved "https://registry.yarnpkg.com/regenerator-transform/-/regenerator-transform-0.14.5.tgz#c98da154683671c9c4dcb16ece736517e1b7feb4"
- integrity sha512-eOf6vka5IO151Jfsw2NO9WpGX58W6wWmefK3I1zEGr0lOD0u8rwPaNqQL1aRxUaxLeKO3ArNh3VYg1KbaD+FFw==
- dependencies:
- "@babel/runtime" "^7.8.4"
-
-regexpu-core@^4.7.1:
- version "4.8.0"
- resolved "https://registry.yarnpkg.com/regexpu-core/-/regexpu-core-4.8.0.tgz#e5605ba361b67b1718478501327502f4479a98f0"
- integrity sha512-1F6bYsoYiz6is+oz70NWur2Vlh9KWtswuRuzJOfeYUrfPX2o8n74AnUVaOGDbUqVGO9fNHu48/pjJO4sNVwsOg==
- dependencies:
- regenerate "^1.4.2"
- regenerate-unicode-properties "^9.0.0"
- regjsgen "^0.5.2"
- regjsparser "^0.7.0"
- unicode-match-property-ecmascript "^2.0.0"
- unicode-match-property-value-ecmascript "^2.0.0"
-
-regjsgen@^0.5.2:
- version "0.5.2"
- resolved "https://registry.yarnpkg.com/regjsgen/-/regjsgen-0.5.2.tgz#92ff295fb1deecbf6ecdab2543d207e91aa33733"
- integrity sha512-OFFT3MfrH90xIW8OOSyUrk6QHD5E9JOTeGodiJeBS3J6IwlgzJMNE/1bZklWz5oTg+9dCMyEetclvCVXOPoN3A==
-
-regjsparser@^0.7.0:
- version "0.7.0"
- resolved "https://registry.yarnpkg.com/regjsparser/-/regjsparser-0.7.0.tgz#a6b667b54c885e18b52554cb4960ef71187e9968"
- integrity sha512-A4pcaORqmNMDVwUjWoTzuhwMGpP+NykpfqAsEgI1FSH/EzC7lrN5TMd+kN8YCovX+jMpu8eaqXgXPCa0g8FQNQ==
- dependencies:
- jsesc "~0.5.0"
-
require-directory@^2.1.1:
version "2.1.1"
resolved "https://registry.yarnpkg.com/require-directory/-/require-directory-2.1.1.tgz#8c64ad5fd30dab1c976e2344ffe7f792a6a6df42"
@@ -2714,6 +2271,16 @@
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:
+ version "2.3.6"
+ resolved "https://registry.yarnpkg.com/requirejs/-/requirejs-2.3.6.tgz#e5093d9601c2829251258c0b9445d4d19fa9e7c9"
+ integrity sha512-ipEzlWQe6RK3jkzikgCupiTbTvm4S0/CAU5GlgptkN5SO6F3u0UD0K18wy6ErDqiCyP4J4YYe1HuAShvsxePLg==
+
+requires-port@^1.0.0:
+ version "1.0.0"
+ 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"
@@ -2722,7 +2289,7 @@
is-core-module "^2.2.0"
path-parse "^1.0.6"
-resolve@^1.14.2, resolve@^1.19.0:
+resolve@^1.19.0:
version "1.21.0"
resolved "https://registry.yarnpkg.com/resolve/-/resolve-1.21.0.tgz#b51adc97f3472e6a5cf4444d34bc9d6b9037591f"
integrity sha512-3wCbTpk5WJlyE4mSOtDLhqQmGFi0/TD9VPwmiolnk8U0wRgMEktqCXd3vy5buTO3tljvalNvKrjHEfrd2WpEKA==
@@ -2744,7 +2311,12 @@
resolved "https://registry.yarnpkg.com/retry/-/retry-0.12.0.tgz#1b42a6266a21f07421d1b0b54b7dc167b01c013b"
integrity sha1-G0KmJmoh8HQh0bC1S33BZ7AcATs=
-rimraf@^3.0.2:
+rfdc@^1.3.0:
+ version "1.3.0"
+ resolved "https://registry.yarnpkg.com/rfdc/-/rfdc-1.3.0.tgz#d0b7c441ab2720d05dc4cf26e01c89631d9da08b"
+ integrity sha512-V2hovdzFbOi77/WajaSMXk2OLm+xNIeQdMMuB7icj7bk6zi2F8GGAxigcnDFpJHbNyNcgyJDiP+8nOrY5cZGrA==
+
+rimraf@^3.0.0, rimraf@^3.0.2:
version "3.0.2"
resolved "https://registry.yarnpkg.com/rimraf/-/rimraf-3.0.2.tgz#f1a5402ba6220ad52cc1282bac1ae3aa49fd061a"
integrity sha512-JZkJMZkAGFFPP2YqXZXPbMlMBgsxzE8ILs4lMIX/2o0L9UBw9O/Y3o6wFw/i9YLapcUJWwqbi3kdxIPdC62TIA==
@@ -2797,11 +2369,6 @@
resolved "https://registry.yarnpkg.com/semver/-/semver-5.6.0.tgz#7e74256fbaa49c75aa7c7a205cc22799cac80004"
integrity sha512-RS9R6R35NYgQn++fkDWaOmqGoj4Ek9gGs+DPxNUZKuwE183xjJroKvyo1IzVFeXvUrvmALy6FWD5xrdJT25gMg==
-semver@7.0.0:
- version "7.0.0"
- resolved "https://registry.yarnpkg.com/semver/-/semver-7.0.0.tgz#5f3ca35761e47e05b206c6daff2cf814f0316b8e"
- integrity sha512-+GB6zVA9LWh6zovYQLALHwv5rb2PHGlJi3lfiqIHxR0uuwCgefcOJc59v9fv1w8GbStwxuuqqAjI9NMAOOgq1A==
-
semver@7.3.5, semver@^7.0.0, semver@^7.1.1, semver@^7.3.4, semver@^7.3.5:
version "7.3.5"
resolved "https://registry.yarnpkg.com/semver/-/semver-7.3.5.tgz#0b621c879348d8998e4b0e4be94b3f12e6018ef7"
@@ -2814,7 +2381,7 @@
resolved "https://registry.yarnpkg.com/semver/-/semver-5.7.1.tgz#a954f931aeba508d307bbf069eff0c01c96116f7"
integrity sha512-sauaDf/PZdVgrLTNYHRtpXa1iRiKcaebiKQ1BJdpQlWH2lCvexQdX55snPFyK7QzpudqbCI0qXFfOasHdyNDGQ==
-semver@^6.1.1, semver@^6.1.2, semver@^6.3.0:
+semver@^6.3.0:
version "6.3.0"
resolved "https://registry.yarnpkg.com/semver/-/semver-6.3.0.tgz#ee0a64c8af5e8ceea67687b133761e1becbd1d3d"
integrity sha512-b39TBaTSfV6yBrapU89p5fKekE2m/NwnDocOVruQFS1/veMgdzuPcnOM34M6CwxW8jH/lxEa5rBoDeUwu5HHTw==
@@ -2824,6 +2391,11 @@
resolved "https://registry.yarnpkg.com/set-blocking/-/set-blocking-2.0.0.tgz#045f9782d011ae9a6803ddd382b24392b3d890f7"
integrity sha1-BF+XgtARrppoA93TgrJDkrPYkPc=
+setprototypeof@1.2.0:
+ version "1.2.0"
+ resolved "https://registry.yarnpkg.com/setprototypeof/-/setprototypeof-1.2.0.tgz#66c9a24a73f9fc28cbe66b09fed3d33dcaf1b424"
+ integrity sha512-E5LDX7Wrp85Kil5bhZv46j8jOeboKq5JMmYM3gVGdGH8xFpPWXUMsNrlODCrkoxMEeNi/XZIwuRvY4XNwYMJpw==
+
signal-exit@^3.0.0, signal-exit@^3.0.2:
version "3.0.6"
resolved "https://registry.yarnpkg.com/signal-exit/-/signal-exit-3.0.6.tgz#24e630c4b0f03fea446a2bd299e62b4a6ca8d0af"
@@ -2839,6 +2411,32 @@
resolved "https://registry.yarnpkg.com/smart-buffer/-/smart-buffer-4.2.0.tgz#6e1d71fa4f18c05f7d0ff216dd16a481d0e8d9ae"
integrity sha512-94hK0Hh8rPqQl2xXc3HsaBoOXKV20MToPkcXvwbISWLEs+64sBq5kFgn2kJDHb1Pry9yrP0dxrCI9RRci7RXKg==
+socket.io-adapter@~2.3.3:
+ version "2.3.3"
+ resolved "https://registry.yarnpkg.com/socket.io-adapter/-/socket.io-adapter-2.3.3.tgz#4d6111e4d42e9f7646e365b4f578269821f13486"
+ integrity sha512-Qd/iwn3VskrpNO60BeRyCyr8ZWw9CPZyitW4AQwmRZ8zCiyDiL+znRnWX6tDHXnWn1sJrM1+b6Mn6wEDJJ4aYQ==
+
+socket.io-parser@~4.0.4:
+ version "4.0.4"
+ resolved "https://registry.yarnpkg.com/socket.io-parser/-/socket.io-parser-4.0.4.tgz#9ea21b0d61508d18196ef04a2c6b9ab630f4c2b0"
+ integrity sha512-t+b0SS+IxG7Rxzda2EVvyBZbvFPBCjJoyHuE0P//7OAsN23GItzDRdWa6ALxZI/8R5ygK7jAR6t028/z+7295g==
+ dependencies:
+ "@types/component-emitter" "^1.2.10"
+ component-emitter "~1.3.0"
+ debug "~4.3.1"
+
+socket.io@^4.2.0:
+ version "4.4.1"
+ resolved "https://registry.yarnpkg.com/socket.io/-/socket.io-4.4.1.tgz#cd6de29e277a161d176832bb24f64ee045c56ab8"
+ integrity sha512-s04vrBswdQBUmuWJuuNTmXUVJhP0cVky8bBDhdkf8y0Ptsu7fKU2LuLbts9g+pdmAdyMMn8F/9Mf1/wbtUN0fg==
+ dependencies:
+ accepts "~1.3.4"
+ base64id "~2.0.0"
+ debug "~4.3.2"
+ engine.io "~6.1.0"
+ socket.io-adapter "~2.3.3"
+ socket.io-parser "~4.0.4"
+
socks-proxy-agent@^6.0.0:
version "6.1.1"
resolved "https://registry.yarnpkg.com/socks-proxy-agent/-/socks-proxy-agent-6.1.1.tgz#e664e8f1aaf4e1fb3df945f09e3d94f911137f87"
@@ -2881,9 +2479,10 @@
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.5.7.tgz#8a039d2d1021d22d1ea14c80d8ea468ba2ef3fcc"
integrity sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=
-source-map@^0.6.0:
+source-map@^0.6.0, source-map@^0.6.1:
version "0.6.1"
resolved "https://registry.yarnpkg.com/source-map/-/source-map-0.6.1.tgz#74722af32e9614e9c287a8d0bbde48b5e2f1a263"
+ integrity sha512-UjgapumWlbMhkBgzT7Ykc5YXUT46F0iKu8SGXq0bcwP5dz/h0Plj6enJqjz1Zbq2l5WaqYnrVbwWOWMyF3F47g==
sourcemap-codec@^1.4.4, sourcemap-codec@^1.4.8:
version "1.4.8"
@@ -2897,6 +2496,20 @@
dependencies:
minipass "^3.1.1"
+"statuses@>= 1.5.0 < 2", statuses@~1.5.0:
+ version "1.5.0"
+ resolved "https://registry.yarnpkg.com/statuses/-/statuses-1.5.0.tgz#161c7dac177659fd9811f43771fa99381478628c"
+ integrity sha1-Fhx9rBd2Wf2YEfQ3cfqZOBR4Yow=
+
+streamroller@^3.0.2:
+ version "3.0.2"
+ resolved "https://registry.yarnpkg.com/streamroller/-/streamroller-3.0.2.tgz#30418d0eee3d6c93ec897f892ed098e3a81e68b7"
+ integrity sha512-ur6y5S5dopOaRXBuRIZ1u6GC5bcEXHRZKgfBjfCglMhmIf+roVCECjvkEYzNQOXIN2/JPnkMPW/8B3CZoKaEPA==
+ dependencies:
+ date-format "^4.0.3"
+ debug "^4.1.1"
+ fs-extra "^10.0.0"
+
"string-width@^1.0.2 || 2 || 3 || 4", string-width@^4.1.0, string-width@^4.2.0, string-width@^4.2.3:
version "4.2.3"
resolved "https://registry.yarnpkg.com/string-width/-/string-width-4.2.3.tgz#269c7117d27b05ad2e536830a8ec895ef9c6d010"
@@ -2977,6 +2590,13 @@
dependencies:
os-tmpdir "~1.0.2"
+tmp@^0.2.1:
+ version "0.2.1"
+ resolved "https://registry.yarnpkg.com/tmp/-/tmp-0.2.1.tgz#8457fc3037dcf4719c251367a1af6500ee1ccf14"
+ integrity sha512-76SUhtfqR2Ijn+xllcI5P1oyannHNHByD80W1q447gU3mp9G9PSpGdWmjUOHRDPiHYacIk66W7ubDTuPF3BEtQ==
+ dependencies:
+ rimraf "^3.0.0"
+
to-fast-properties@^2.0.0:
version "2.0.0"
resolved "https://registry.yarnpkg.com/to-fast-properties/-/to-fast-properties-2.0.0.tgz#dc5e698cbd079265bc73e0377681a4e4e83f616e"
@@ -2989,6 +2609,11 @@
dependencies:
is-number "^7.0.0"
+toidentifier@1.0.1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/toidentifier/-/toidentifier-1.0.1.tgz#3be34321a88a820ed1bd80dfaa33e479fbb8dd35"
+ integrity sha512-o5sSPKEkg/DIQNmH43V0/uerLrpzVedkUh8tGNvaeXpfpuwjKenlSox/2O/BTlZUtEe+JG7s5YhEz608PlAHRA==
+
tslib@^1.8.1:
version "1.9.3"
resolved "https://registry.yarnpkg.com/tslib/-/tslib-1.9.3.tgz#d7e4dd79245d85428c4d7e4822a79917954ca286"
@@ -3015,33 +2640,23 @@
resolved "https://registry.yarnpkg.com/type-fest/-/type-fest-0.21.3.tgz#d260a24b0198436e133fa26a524a6d65fa3b2e37"
integrity sha512-t0rzBq87m3fVcduHDUFhKmyyX+9eo6WQjZvf51Ea/M0Q7+T374Jp1aUiyUl0GKxp8M/OETVHSDvmkyPgvX+X2w==
+type-is@~1.6.18:
+ version "1.6.18"
+ resolved "https://registry.yarnpkg.com/type-is/-/type-is-1.6.18.tgz#4e552cd05df09467dcbc4ef739de89f2cf37c131"
+ integrity sha512-TkRKr9sUTxEH8MdfuCSP7VizJyzRNMjj2J2do2Jr3Kym598JVdEksuzPQCnlFPW4ky9Q+iA+ma9BGm06XQBy8g==
+ dependencies:
+ 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==
-unicode-canonical-property-names-ecmascript@^2.0.0:
- version "2.0.0"
- resolved "https://registry.yarnpkg.com/unicode-canonical-property-names-ecmascript/-/unicode-canonical-property-names-ecmascript-2.0.0.tgz#301acdc525631670d39f6146e0e77ff6bbdebddc"
- integrity sha512-yY5PpDlfVIU5+y/BSCxAJRBIS1Zc2dDG3Ujq+sR0U+JjUevW2JhocOF+soROYDSaAezOzOKuyyixhD6mBknSmQ==
-
-unicode-match-property-ecmascript@^2.0.0:
- version "2.0.0"
- resolved "https://registry.yarnpkg.com/unicode-match-property-ecmascript/-/unicode-match-property-ecmascript-2.0.0.tgz#54fd16e0ecb167cf04cf1f756bdcc92eba7976c3"
- integrity sha512-5kaZCrbp5mmbz5ulBkDkbY0SsPOjKqVS35VpL9ulMPfSl0J0Xsm+9Evphv9CoIZFwre7aJoa94AY6seMKGVN5Q==
- dependencies:
- unicode-canonical-property-names-ecmascript "^2.0.0"
- unicode-property-aliases-ecmascript "^2.0.0"
-
-unicode-match-property-value-ecmascript@^2.0.0:
- version "2.0.0"
- resolved "https://registry.yarnpkg.com/unicode-match-property-value-ecmascript/-/unicode-match-property-value-ecmascript-2.0.0.tgz#1a01aa57247c14c568b89775a54938788189a714"
- integrity sha512-7Yhkc0Ye+t4PNYzOGKedDhXbYIBe1XEQYQxOPyhcXNMJ0WCABqqj6ckydd6pWRZTHV4GuCPKdBAUiMc60tsKVw==
-
-unicode-property-aliases-ecmascript@^2.0.0:
- version "2.0.0"
- resolved "https://registry.yarnpkg.com/unicode-property-aliases-ecmascript/-/unicode-property-aliases-ecmascript-2.0.0.tgz#0a36cb9a585c4f6abd51ad1deddb285c165297c8"
- integrity sha512-5Zfuy9q/DFr4tfO7ZPeVXb1aPoeQSdeFMLpYuFebehDAhbuevLs5yxSZmIFN1tP5F9Wl4IpJrYojg85/zgyZHQ==
+ua-parser-js@^0.7.30:
+ version "0.7.31"
+ resolved "https://registry.yarnpkg.com/ua-parser-js/-/ua-parser-js-0.7.31.tgz#649a656b191dffab4f21d5e053e27ca17cbff5c6"
+ integrity sha512-qLK/Xe9E2uzmYI3qLeOmI0tEOt+TBBQyUIAh4aAgU05FVYzeZrKUdkAZfBNVGRaHVgV0TDkdEngJSw/SyQchkQ==
unique-filename@^1.1.1:
version "1.1.1"
@@ -3057,6 +2672,16 @@
dependencies:
imurmurhash "^0.1.4"
+universalify@^2.0.0:
+ version "2.0.0"
+ resolved "https://registry.yarnpkg.com/universalify/-/universalify-2.0.0.tgz#75a4984efedc4b08975c5aeb73f530d02df25717"
+ integrity sha512-hAZsKq7Yy11Zu1DE0OzWjw7nnLZmJZYTDZZyEFHZdUhV8FkH5MCfoU1XMaxXovpyW5nq5scPqq0ZDP9Zyl04oQ==
+
+unpipe@1.0.0, unpipe@~1.0.0:
+ version "1.0.0"
+ resolved "https://registry.yarnpkg.com/unpipe/-/unpipe-1.0.0.tgz#b2bf4ee8514aae6165b4817829d21b2ef49904ec"
+ integrity sha1-sr9O6FFKrmFltIF4KdIbLvSZBOw=
+
uri-js@^4.2.2:
version "4.4.1"
resolved "https://registry.yarnpkg.com/uri-js/-/uri-js-4.4.1.tgz#9b1a52595225859e55f669d928f88c6c57f2a77e"
@@ -3069,6 +2694,11 @@
resolved "https://registry.yarnpkg.com/util-deprecate/-/util-deprecate-1.0.2.tgz#450d4dc9fa70de732762fbd2d4a28981419a0ccf"
integrity sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=
+utils-merge@1.0.1:
+ version "1.0.1"
+ resolved "https://registry.yarnpkg.com/utils-merge/-/utils-merge-1.0.1.tgz#9f95710f50a267947b2ccc124741c1028427e713"
+ integrity sha1-n5VxD1CiZ5R7LMwSR0HBAoQn5xM=
+
uuid@8.3.2:
version "8.3.2"
resolved "https://registry.yarnpkg.com/uuid/-/uuid-8.3.2.tgz#80d5b5ced271bb9af6c445f21a1a04c606cefbe2"
@@ -3081,6 +2711,16 @@
dependencies:
builtins "^1.0.3"
+vary@^1:
+ version "1.1.2"
+ resolved "https://registry.yarnpkg.com/vary/-/vary-1.1.2.tgz#2299f02c6ded30d4a5961b0b9f74524a18f634fc"
+ integrity sha1-IpnwLG3tMNSllhsLn3RSShj2NPw=
+
+void-elements@^2.0.0:
+ version "2.0.1"
+ resolved "https://registry.yarnpkg.com/void-elements/-/void-elements-2.0.1.tgz#c066afb582bb1cb4128d60ea92392e94d5e9dbec"
+ integrity sha1-wGavtYK7HLQSjWDqkjkulNXp2+w=
+
wcwidth@^1.0.1:
version "1.0.1"
resolved "https://registry.yarnpkg.com/wcwidth/-/wcwidth-1.0.1.tgz#f0b0dcf915bc5ff1528afadb2c0e17b532da2fe8"
@@ -3088,7 +2728,14 @@
dependencies:
defaults "^1.0.3"
-which@^2.0.2:
+which@^1.2.1:
+ version "1.3.1"
+ resolved "https://registry.yarnpkg.com/which/-/which-1.3.1.tgz#a45043d54f5805316da8d62f9f50918d3da70b0a"
+ integrity sha512-HxJdYWq1MTIQbJ3nw0cqssHoTNU267KlrDuGZ1WYlxDStUtKUhOaJmh112/TZmHxxUfuJqPXSOm7tDyas0OSIQ==
+ dependencies:
+ isexe "^2.0.0"
+
+which@^2.0.1, which@^2.0.2:
version "2.0.2"
resolved "https://registry.yarnpkg.com/which/-/which-2.0.2.tgz#7c6a8dd0a636a0327e10b59c9286eee93f3f51b1"
integrity sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==
@@ -3116,6 +2763,11 @@
resolved "https://registry.yarnpkg.com/wrappy/-/wrappy-1.0.2.tgz#b5243d8f3ec1aa35f1364605bc0d1036e30ab69f"
integrity sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8=
+ws@~8.2.3:
+ version "8.2.3"
+ resolved "https://registry.yarnpkg.com/ws/-/ws-8.2.3.tgz#63a56456db1b04367d0b721a0b80cae6d8becbba"
+ integrity sha512-wBuoj1BDpC6ZQ1B7DWQBYVLphPWkm8i9Y0/3YdHjHKHiohOJ1ws+3OccDWtH+PoC9DZD5WOTrJvNbWvjS6JWaA==
+
y18n@^5.0.5:
version "5.0.8"
resolved "https://registry.yarnpkg.com/y18n/-/y18n-5.0.8.tgz#7f4934d0f7ca8c56f95314939ddcd2dd91ce1d55"
@@ -3126,11 +2778,29 @@
resolved "https://registry.yarnpkg.com/yallist/-/yallist-4.0.0.tgz#9bb92790d9c0effec63be73519e11a35019a3a72"
integrity sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==
+yargs-parser@^20.2.2:
+ version "20.2.9"
+ resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-20.2.9.tgz#2eb7dc3b0289718fc295f362753845c41a0c94ee"
+ integrity sha512-y11nGElTIV+CT3Zv9t7VKl+Q3hTQoT9a1Qzezhhl6Rp21gJ/IVTW7Z3y9EWXhuUBC2Shnf+DX0antecpAwSP8w==
+
yargs-parser@^21.0.0:
version "21.0.0"
resolved "https://registry.yarnpkg.com/yargs-parser/-/yargs-parser-21.0.0.tgz#a485d3966be4317426dd56bdb6a30131b281dc55"
integrity sha512-z9kApYUOCwoeZ78rfRYYWdiU/iNL6mwwYlkkZfJoyMR1xps+NEBX5X7XmRpxkZHhXJ6+Ey00IwKxBBSW9FIjyA==
+yargs@^16.1.1:
+ version "16.2.0"
+ resolved "https://registry.yarnpkg.com/yargs/-/yargs-16.2.0.tgz#1c82bf0f6b6a66eafce7ef30e376f49a12477f66"
+ integrity sha512-D1mvvtDG0L5ft/jGWkLpG1+m0eQxOfaBvTNELraWj22wSVUMWxZUvYgJYcKh6jGGIkJFhH4IZPQhR4TKpc8mBw==
+ dependencies:
+ cliui "^7.0.2"
+ escalade "^3.1.1"
+ get-caller-file "^2.0.5"
+ require-directory "^2.1.1"
+ string-width "^4.2.0"
+ y18n "^5.0.5"
+ yargs-parser "^20.2.2"
+
yargs@^17.2.1:
version "17.3.1"
resolved "https://registry.yarnpkg.com/yargs/-/yargs-17.3.1.tgz#da56b28f32e2fd45aefb402ed9c26f42be4c07b9"