Merge "Non-fatally error on missing channel in plotter"
diff --git a/.gitignore b/.gitignore
index 82b963a..8c6aa64 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,10 @@
/bazel-*
/compile_commands.json
+# The `tools/build_rules/apache_runner.py` helper looks for this file by
+# default. We don't want folks to check it in.
+/ldap.json
+
# Hide vagrant's files that unfortunately make it into the source tree when you
# run "vagrant up".
/vm/.vagrant/
diff --git a/WORKSPACE b/WORKSPACE
index c15c957..199822b 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -7,6 +7,10 @@
python_debs = "files",
)
load(
+ "//debian:apache2.bzl",
+ apache2_debs = "files",
+)
+load(
"//debian:patch.bzl",
patch_debs = "files",
)
@@ -82,6 +86,8 @@
generate_repositories_for_debs(ssh_debs)
+generate_repositories_for_debs(apache2_debs)
+
generate_repositories_for_debs(patch_debs)
generate_repositories_for_debs(pandoc_debs)
@@ -155,13 +161,20 @@
"-Wformat=2",
"-Werror",
"-ggdb3",
- "-DAOS_DEBUG=0",
]
llvm_cxxopts = [
"-std=gnu++17",
]
+llvm_opt_copts = [
+ "-DAOS_DEBUG=0",
+]
+
+llvm_fastbuild_copts = [
+ "-DAOS_DEBUG=0",
+]
+
llvm_dbg_copts = [
"-DAOS_DEBUG=1",
]
@@ -187,9 +200,17 @@
},
dbg_copts = {
"linux-x86_64": llvm_dbg_copts,
- "linux-armv7": llvm_cxxopts,
+ "linux-armv7": llvm_dbg_copts,
+ },
+ fastbuild_copts = {
+ "linux-x86_64": llvm_fastbuild_copts,
+ "linux-armv7": llvm_fastbuild_copts,
},
llvm_version = llvm_version,
+ opt_copts = {
+ "linux-x86_64": llvm_opt_copts,
+ "linux-armv7": llvm_opt_copts,
+ },
standard_libraries = {
"linux-x86_64": "libstdc++-10",
"linux-armv7": "libstdc++-10",
@@ -220,6 +241,8 @@
#"//tools/cpp:cc-toolchain-cortex-m4f-k22",
"//tools/python:python_toolchain",
"//tools/go:noop_go_toolchain",
+ "//tools/rust:rust-toolchain-roborio",
+ "//tools/rust:noop_rust_toolchain",
)
load("//tools/ci:repo_defs.bzl", "ci_configure")
@@ -228,9 +251,9 @@
http_archive(
name = "platforms",
- sha256 = "3c4057c53b64dd3f2c753e0a80bbb6ccb29fb437910200c911dd51454baf619b",
- strip_prefix = "platforms-10b4d2bdde25ea1e66c02c3f83a6d921000a7272",
- url = "https://www.frc971.org/Build-Dependencies/platforms_10b4d2bdde25ea1e66c02c3f83a6d921000a7272.zip",
+ sha256 = "2c8d8347427e6bb0ba7cf9f933c08fe2be2b62ff2454546ad852f7bf267aad87",
+ strip_prefix = "platforms-e658a6af526089406d0057160542597501ba65d7",
+ url = "https://github.com/bazelbuild/platforms/archive/e658a6af526089406d0057160542597501ba65d7.zip",
)
http_archive(
@@ -490,6 +513,13 @@
)
http_archive(
+ name = "apache2",
+ build_file = "@//debian:apache2.BUILD",
+ sha256 = "98b0ad6d911751ba0aa486429e6278f995e7bbabd928c7d3d44c888fa2bf371b",
+ url = "https://www.frc971.org/Build-Dependencies/apache2.tar.gz",
+)
+
+http_archive(
name = "pandoc",
build_file = "@//debian:pandoc.BUILD",
sha256 = "9f7a7adb3974a1f14715054c349ff3edc2909e920dbe3438fca437a83845f3c4",
@@ -764,6 +794,29 @@
urls = ["https://github.com/bazelbuild/rules_webtesting/releases/download/0.3.5/rules_webtesting.tar.gz"],
)
+http_archive(
+ name = "rules_rust",
+ sha256 = "531bdd470728b61ce41cf7604dc4f9a115983e455d46ac1d0c1632f613ab9fc3",
+ strip_prefix = "rules_rust-d8238877c0e552639d3e057aadd6bfcf37592408",
+ urls = [
+ # `main` branch as of 2021-08-23
+ "https://github.com/bazelbuild/rules_rust/archive/d8238877c0e552639d3e057aadd6bfcf37592408.tar.gz",
+ ],
+)
+
+load("@rules_rust//rust:repositories.bzl", "rust_repository_set")
+
+rust_repository_set(
+ name = "rust",
+ edition = "2021",
+ exec_triple = "x86_64-unknown-linux-gnu",
+ extra_target_triples = [
+ "arm-unknown-linux-gnueabi",
+ "armv7-unknown-linux-gnueabihf",
+ ],
+ version = "1.56.1",
+)
+
# Flatbuffers
local_repository(
name = "com_github_google_flatbuffers",
diff --git a/build_tests/BUILD b/build_tests/BUILD
index c74407e..6a81509 100644
--- a/build_tests/BUILD
+++ b/build_tests/BUILD
@@ -1,6 +1,8 @@
load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
load("@com_github_google_flatbuffers//:build_defs.bzl", "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")
cc_test(
name = "gflags_build_test",
@@ -113,3 +115,35 @@
visibility = ["//visibility:private"],
deps = ["//build_tests/go_greeter"],
)
+
+py_binary(
+ name = "dummy_http_server",
+ srcs = ["dummy_http_server.py"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
+
+apache_wrapper(
+ name = "apache_https_demo",
+ binary = ":dummy_http_server",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+)
+
+rust_library(
+ name = "hello_lib",
+ srcs = ["hello_lib.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+rust_test(
+ name = "hello_lib_test",
+ srcs = ["hello_lib.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [":hello_lib"],
+)
+
+rust_binary(
+ name = "rust_hello",
+ srcs = ["rust_hello.rs"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [":hello_lib"],
+)
diff --git a/build_tests/dummy_http_server.py b/build_tests/dummy_http_server.py
new file mode 100644
index 0000000..f65122a
--- /dev/null
+++ b/build_tests/dummy_http_server.py
@@ -0,0 +1,48 @@
+"""This is a dummy server to demonstrate the apache_wrapper() rule.
+
+Don't run this server on its own. Instead run the
+`//build_tests:apache_https_demo` binary.
+
+When you authenticate against Apache via LDAP, this server prints the username
+you authenticated with and the path from the GET request.
+"""
+
+import base64
+from http.server import BaseHTTPRequestHandler, HTTPServer
+import os
+
+def parse_auth(authorization):
+ auth_type, auth_info = authorization.split(" ", maxsplit=1)
+ if auth_type != "Basic":
+ raise ValueError(f"Unknown auth type: {auth_type}")
+ username, _ = base64.b64decode(auth_info).decode().split(":", 1)
+ return username
+
+class Server(BaseHTTPRequestHandler):
+ def _set_response(self):
+ self.send_response(200)
+ self.send_header("Content-type", "text/html")
+ self.end_headers()
+
+ def _write(self, text):
+ self.wfile.write(text.encode("utf-8"))
+
+ def do_GET(self):
+ self._set_response()
+ self._write(f"GET request for {self.path}")
+ self._write("<br/>")
+ username = parse_auth(self.headers["Authorization"])
+ self._write(f"Hello, {username}")
+
+def main():
+ port = int(os.environ["APACHE_WRAPPED_PORT"])
+ server_address = ("", port)
+ httpd = HTTPServer(server_address, Server)
+ try:
+ httpd.serve_forever()
+ except KeyboardInterrupt:
+ pass
+ httpd.server_close()
+
+if __name__ == "__main__":
+ main()
diff --git a/build_tests/hello_lib.rs b/build_tests/hello_lib.rs
new file mode 100644
index 0000000..6374ce6
--- /dev/null
+++ b/build_tests/hello_lib.rs
@@ -0,0 +1,24 @@
+pub struct Greeter {
+ greeting: String,
+}
+
+impl Greeter {
+ pub fn new(greeting: &str) -> Greeter {
+ Greeter { greeting: greeting.to_string(), }
+ }
+
+ pub fn greet(&self, thing: &str) -> String {
+ format!("{} {}", &self.greeting, thing)
+ }
+}
+
+#[cfg(test)]
+mod test {
+ use super::Greeter;
+
+ #[test]
+ fn test_greeting() {
+ let hello = Greeter::new("Hi");
+ assert_eq!("Hi Rust", hello.greet("Rust"));
+ }
+}
diff --git a/build_tests/rust_hello.rs b/build_tests/rust_hello.rs
new file mode 100644
index 0000000..6c6bf9f
--- /dev/null
+++ b/build_tests/rust_hello.rs
@@ -0,0 +1,21 @@
+extern crate hello_lib;
+
+extern "C" {
+ fn sqrt(x: f64) -> f64;
+}
+
+fn main() {
+ let hello = hello_lib::Greeter::new("Hello");
+ println!("{},\n{}", hello.greet("world"), hello.greet("bazel"));
+
+ let mut numbers = Vec::new();
+ for i in 1..=10 {
+ numbers.push(i);
+ }
+ println!("{:?}", numbers);
+
+ let words = vec!["foo", "bar", "baz"];
+ println!("{:?}", words);
+
+ println!("sqrt(4) = {}", unsafe { sqrt(4.0) });
+}
diff --git a/debian/BUILD b/debian/BUILD
index 0540a28..76bcf28 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -3,6 +3,10 @@
python_debs = "files",
)
load(
+ ":apache2.bzl",
+ apache2_debs = "files",
+)
+load(
":patch.bzl",
patch_debs = "files",
)
@@ -112,6 +116,26 @@
)
download_packages(
+ name = "download_apache2_packages",
+ excludes = [
+ "libaprutil1-dbd-mysql",
+ "libaprutil1-dbd-odbc",
+ "libaprutil1-dbd-pgsql",
+ "libaprutil1-dbd-freetds",
+ "libstdc++6",
+ "lsb-base",
+ "debconf",
+ "libc6-dev",
+ ],
+ force_includes = [
+ "libaprutil1",
+ ],
+ packages = [
+ "apache2",
+ ],
+)
+
+download_packages(
name = "download_python_deps",
excludes = [
"libblas.so.3",
@@ -253,6 +277,12 @@
)
generate_deb_tarball(
+ name = "apache2",
+ files = apache2_debs,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+generate_deb_tarball(
name = "patch",
files = patch_debs,
target_compatible_with = ["@platforms//os:linux"],
diff --git a/debian/apache2.BUILD b/debian/apache2.BUILD
new file mode 100644
index 0000000..7f3f87c
--- /dev/null
+++ b/debian/apache2.BUILD
@@ -0,0 +1,5 @@
+filegroup(
+ name = "all_files",
+ srcs = glob(["**"]),
+ visibility = ["//visibility:public"],
+)
diff --git a/debian/apache2.bzl b/debian/apache2.bzl
new file mode 100644
index 0000000..3d557c9
--- /dev/null
+++ b/debian/apache2.bzl
@@ -0,0 +1,59 @@
+files = {
+ "apache2-bin_2.4.52-1~deb11u2_amd64.deb": "dc0b906cb78fb55238bc1ddda5dac6917cbf1027a4372944e24a1a16aa8c9fdc",
+ "apache2-data_2.4.52-1~deb11u2_all.deb": "8fac5b05668e3d01e97f4ec2e8c52d9b138da0e2109425d6eacbcd005651068e",
+ "apache2-utils_2.4.52-1~deb11u2_amd64.deb": "a164cb0109bfbadb932cbd0a7cf8eeb1b4ed1242bc6e44394f5a343589ddca39",
+ "apache2_2.4.52-1~deb11u2_amd64.deb": "00bd5ca827ea67e0d2a10e6191595b26261f902c66096bd9e2b80fe6b606945a",
+ "debconf_1.5.77_all.deb": "d9ee4dff77aaad12674eed3ccefdcccd332424c9e2ac2ac00a37a1e06c84ab70",
+ "dpkg_1.20.9_amd64.deb": "ac90a4705b36f2d952a4a745ad944b33ff60c5ec69a5f89e4559a89bd0c53e01",
+ "gcc-10-base_10.2.1-6_amd64.deb": "be65535e94f95fbf04b104e8ab36790476f063374430f7dfc6c516cbe2d2cd1e",
+ "init-system-helpers_1.60_all.deb": "43420922c5e3aa747f8854236bf381a35179bba3885b242edb104751dad20644",
+ "libacl1_2.2.53-10_amd64.deb": "aa18d721be8aea50fbdb32cd9a319cb18a3f111ea6ad17399aa4ba9324c8e26a",
+ "libapr1_1.7.0-6+deb11u1_amd64.deb": "b95ce92c2530ba9c3a9af906f6ad27a0894efbefe9f0a2d9f2f91c6bdcdaf874",
+ "libaprutil1-dbd-sqlite3_1.6.1-5_amd64.deb": "18778f0cfc866d6230ab4f14ec3248d214e0f2a6efec5ded409aa6709d2d9255",
+ "libaprutil1-ldap_1.6.1-5_amd64.deb": "902a329ef05b94380ba9f7e413bd53086e096dc20cb0a913a4f346febc1e69e5",
+ "libaprutil1_1.6.1-5_amd64.deb": "d6aa77a54ed7533ea5c00240a677009f1b5d4e85f1607980d51ba35768c2eb39",
+ "libbrotli1_1.0.9-2+b2_amd64.deb": "65ca7d8b03e9dac09c5d544a89dd52d1aeb74f6a19583d32e4ff5f0c77624c24",
+ "libbz2-1.0_1.0.8-4_amd64.deb": "16e27c3ebd97981e70db3733f899963362748f178a62644df69d1f247e741379",
+ "libc6_2.31-13+deb11u2_amd64.deb": "3d9421c3fc0ef0d8ce57c0a149e1f8dbad78aba067f120be9e652af28902e346",
+ "libcrypt1_4.4.18-4_amd64.deb": "f617952df0c57b4ee039448e3941bccd3f97bfff71e9b0f87ca6dae15cb3f5ef",
+ "libcurl4_7.74.0-1.3+deb11u1_amd64.deb": "6f9c494eecc920899bb2c72d1a507a34b3703105778b0b9b9ae9aebdbdffcaab",
+ "libdb5.3_5.3.28+dfsg1-0.8_amd64.deb": "00b9e63e287f45300d4a4f59b6b88e25918443c932ae3e5845d5761ae193c530",
+ "libexpat1_2.2.10-2_amd64.deb": "eda6663f34375a9456c8c701002f1271bc90ac2627b9fb0892474e65eae1b668",
+ "libgcc-s1_10.2.1-6_amd64.deb": "e478f2709d8474165bb664de42e16950c391f30eaa55bc9b3573281d83a29daf",
+ "libgcrypt20_1.8.7-6_amd64.deb": "7a2e0eef8e0c37f03f3a5fcf7102a2e3dc70ba987f696ab71949f9abf36f35ef",
+ "libgdbm-compat4_1.19-2_amd64.deb": "e62caed68b0ffaa03b5fa539d6fdc08c4151f66236d5878949bead0b71b7bb09",
+ "libgdbm6_1.19-2_amd64.deb": "e54cfe4d8b8f209bb7df31a404ce040f7c2f9b1045114a927a7e1061cdf90727",
+ "libgpg-error0_1.38-2_amd64.deb": "16a507fb20cc58b5a524a0dc254a9cb1df02e1ce758a2d8abde0bc4a3c9b7c26",
+ "libicu67_67.1-7_amd64.deb": "2bf5c46254f527865bfd6368e1120908755fa57d83634bd7d316c9b3cfd57303",
+ "libjansson4_2.13.1-1.1_amd64.deb": "7025d03e4ad4177a06692bd8e6edcbdebf7fd3897e5f29b70ae968e17e57f6fa",
+ "liblua5.3-0_5.3.3-1.1+b1_amd64.deb": "98d5a85075a936ff014f639552882914064e46bfbbdc4bc80e80db33a9c77602",
+ "liblz4-1_1.9.3-2_amd64.deb": "79ac6e9ca19c483f2e8effcc3401d723dd9dbb3a4ae324714de802adb21a8117",
+ "liblzma5_5.2.5-2_amd64.deb": "eed58eb6b62208685dbe42a05582e78bd48c8d879d7ae0b61f114265d18824db",
+ "libncurses6_6.2+20201114-2_amd64.deb": "dfe45cb6ab048d1182175df55b007a4a188515c6d764a4dd5a44a0b47b6286a1",
+ "libncursesw6_6.2+20201114-2_amd64.deb": "ee3cd315dfa18865cf888ba6813a552077a4f3d1439dd225e4a0d0fee53aadc2",
+ "libnghttp2-14_1.43.0-1_amd64.deb": "a1a8aae24ced43025c94a9cb0c0eabfb3fc070785de9ee51c9a3a4fe86f0d11e",
+ "libpcre2-8-0_10.36-2_amd64.deb": "d31e4d6c04e847194b36b13ab59c578775aa12f04c48a840922796bd1f5eb32a",
+ "libpcre3_8.39-13_amd64.deb": "48efcf2348967c211cd9408539edf7ec3fa9d800b33041f6511ccaecc1ffa9d0",
+ "libperl5.32_5.32.1-4+deb11u2_amd64.deb": "224cafe65968deb83168113b74dff2d2f13b115a41d99eb209ed3b8f981df0b3",
+ "libprocps8_3.3.17-5_amd64.deb": "0a60017f0229cd4eec95b9f354c68312cc4ca4770ba8c01f545fd9c02b34e8a0",
+ "libpsl5_0.21.0-1.2_amd64.deb": "d716f5b4346ec85bb728f4530abeb1da4a79f696c72d7f774c59ba127c202fa7",
+ "librtmp1_2.4+20151223.gitfa8646d.1-2+b2_amd64.deb": "e1f69020dc2c466e421ec6a58406b643be8b5c382abf0f8989011c1d3df91c87",
+ "libselinux1_3.1-3_amd64.deb": "339f5ede10500c16dd7192d73169c31c4b27ab12130347275f23044ec8c7d897",
+ "libsqlite3-0_3.34.1-3_amd64.deb": "a0b8d3acf4a0483048637637d269be93af48d5c16f6f139f53edd13384ad4686",
+ "libssh2-1_1.9.0-2_amd64.deb": "f730fe45716a206003597819ececeeffe0fff754bdbbd0105425a177aa20a2de",
+ "libssl1.1_1.1.1k-1+deb11u1_amd64.deb": "82e6ded36e4fa4c28dcec00369b36ee242975f4c110f755a970a56d03d410ffb",
+ "libsystemd0_247.3-6_amd64.deb": "8c948d9d97178e6617f549822db2b89e23b1bfa1ee745ffbf0e41b6ee64f8737",
+ "libtinfo6_6.2+20201114-2_amd64.deb": "aeaf942c71ecc0ed081efdead1a1de304dcd513a9fc06791f26992e76986597b",
+ "libuuid1_2.36.1-8_amd64.deb": "94f13f58ac45ae850559e6bfe1a02be72566c66761e628a2599cc85066cb84d3",
+ "libxml2_2.9.10+dfsg-6.7_amd64.deb": "023296a15e1a28607609cb15c7ca0dd8a25160f3e89a0da58368319c7e17d4e0",
+ "libzstd1_1.4.8+dfsg-2.1_amd64.deb": "5dcadfbb743bfa1c1c773bff91c018f835e8e8c821d423d3836f3ab84773507b",
+ "mailcap_3.69_all.deb": "63fa5520f05d2aea5ca23eee95981a5e029608e1186ded4143470c8f84184158",
+ "media-types_4.0.0_all.deb": "f9835dcf3cdbaf163104d4e511c9c4e0f41a56822e147e57f28f749fcbf7d44c",
+ "mime-support_3.66_all.deb": "b964e671e6c47674879a3e54130b6737e8760fbd3da6afcc015faa174af98ba0",
+ "perl-base_5.32.1-4+deb11u2_amd64.deb": "018a3e48e58cbc478d3a4365090fb1daa151769f90f9b45984ec9d056ef96adc",
+ "perl-modules-5.32_5.32.1-4+deb11u2_all.deb": "6fa15be322c3c89ec4a07d704ad58d4a2d1aabf866135a859f6d8d58c59e9df4",
+ "perl_5.32.1-4+deb11u2_amd64.deb": "1cebc4516ed7c240b812c7bdd7e6ea0810f513152717ca17ce139ee0dfbc7b0d",
+ "procps_3.3.17-5_amd64.deb": "ac8edf0517abe09637c36651cb6a59e10948b2879f3af9003b9145b2128a7a08",
+ "tar_1.34+dfsg-1_amd64.deb": "bd8e963c6edcf1c806df97cd73560794c347aa94b9aaaf3b88eea585bb2d2f3c",
+ "zlib1g_1.2.11.dfsg-2_amd64.deb": "af36bf9249db4372a014a21ff2b84cc5a6808e3c878feda652c78e871d5964ad",
+}
diff --git a/debian/download_packages.py b/debian/download_packages.py
index e8caebd..be43120 100755
--- a/debian/download_packages.py
+++ b/debian/download_packages.py
@@ -92,6 +92,9 @@
if package == b'libblas.so.3':
yield b'libblas3'
continue
+ if package == b'debconf-2.0':
+ yield b'debconf'
+ continue
yield package
def download_deps(apt_args, packages, excludes, force_includes):
diff --git a/frc971/imu/ADIS16505.cc b/frc971/imu/ADIS16505.cc
index dfc09cb..4c31cab 100644
--- a/frc971/imu/ADIS16505.cc
+++ b/frc971/imu/ADIS16505.cc
@@ -175,13 +175,19 @@
static uint32_t data_collect_timestamp = 0;
+// if we need to reset the imu
+static bool reset_imu = false;
+// number of consectuive checksums that are mismatched or zero
+static uint suspicious_checksums = 0;
+
// useful debug counters
-static uint checksum_mismatch_count;
-static uint message_recieved_count;
-static uint message_sent_count;
+static uint imu_reset_count = 0;
+static uint checksum_mismatch_count = 0;
+static uint message_recieved_count = 0;
+static uint message_sent_count = 0;
// the number of times we had to defer sending new data because another
// transfer was still in progress
-static uint timing_overrun_count;
+static uint timing_overrun_count = 0;
// the time it takes from servicing DR_IMU to finishing the transfer to the pi
static int send_time = 0;
@@ -255,7 +261,7 @@
return crc;
}
-static bool check_checksum(uint16_t *buf) {
+static uint16_t check_checksum(uint16_t *buf) {
uint16_t sum = 0;
for (int i = 1; i < IMU_NUM_ITEMS - 1; i++) {
uint16_t low = buf[i] & 0xff;
@@ -264,8 +270,7 @@
sum += high + low;
}
- uint16_t checksum = buf[IMU_NUM_ITEMS - 1];
- return sum == checksum;
+ return sum;
}
static void zero_yaw(double yaw) {
@@ -348,9 +353,17 @@
// TODO: check status and if necessary set flag to reset in main loop
message_recieved_count++;
- bool checksum_passed = check_checksum(imu_data_buffer);
- if (!checksum_passed) {
+ uint16_t computed_checksum = check_checksum(imu_data_buffer);
+ uint16_t given_checksum = imu_data_buffer[IMU_NUM_ITEMS - 1];
+
+ if (computed_checksum != given_checksum) {
checksum_mismatch_count++;
+ for (size_t i = 0; i < IMU_NUM_ITEMS; i++) {
+ // make it clear that this data is bad
+ imu_data_buffer[i] = 0;
+ }
+ // and set an unused bit of DIAG_STAT
+ imu_data_buffer[1] = 1u << 0;
} else {
static const double dt = 0.0005; // seconds
int32_t z_gyro_out;
@@ -366,11 +379,24 @@
// 0 to 360
uint16_t heading_level = (int16_t)(fmod(yaw, 360) / 360.0 * PWM_TOP);
pwm_set_gpio_level(HEADING_PWM, heading_level);
-
- // fill out message and add it to the queue
- pack_pi_packet();
}
+ // if 5 or more consecutive checksums are zero, then something weird is going
+ // on with the imu
+ if (computed_checksum != given_checksum || computed_checksum == 0 ||
+ given_checksum == 0) {
+ suspicious_checksums++;
+ } else {
+ suspicious_checksums = 0;
+ }
+
+ if (suspicious_checksums >= 5) {
+ reset_imu = true;
+ }
+
+ // fill out message and add it to the queue
+ pack_pi_packet();
+
// TODO: this has a sleep in it
// stay in sync with the pi by resetting the spi fifos each transfer
spi_init(SPI_PI, 2000 * 1000);
@@ -396,7 +422,6 @@
return;
}
- gpio_put(DR_PI, 1);
memcpy(pi_sending_buffer, pi_staging_buffer, PI_NUM_ITEMS);
dma_channel_configure(pi_dma_tx, &pi_tx_config,
@@ -418,6 +443,7 @@
// start both at exactly the same time
dma_start_channel_mask((1u << pi_dma_tx) | (1u << pi_dma_rx));
+ gpio_put(DR_PI, 1);
}
void pi_transfer_finished() {
@@ -429,6 +455,74 @@
dma_hw->ints1 = 1u << pi_dma_rx;
}
+void setup_adis16505() {
+ gpio_set_irq_enabled(DR_IMU, GPIO_IRQ_EDGE_RISE, false);
+
+ while (true) {
+ adis16505_reset();
+ // See if SPI is working - interrogate the device for its product ID
+ // number, should be 0x4079
+ uint16_t id = read_register(PROD_ID);
+ if (id == EXPECTED_PROD_ID) {
+ printf("Product id: 0x%04x == expected 0x%04x\n", id, EXPECTED_PROD_ID);
+ break;
+ } else {
+ printf("Got 0x%04x for prod id, expected 0x%04x\ntrying again\n", id,
+ EXPECTED_PROD_ID);
+ }
+ }
+
+ uint16_t firmware_revision = read_register(FIRM_REV);
+ uint16_t firmware_day_month = read_register(FIRM_DM);
+ uint16_t firmware_year = read_register(FIRM_Y);
+ uint16_t serial_number = read_register(SERIAL_NUM);
+
+ printf(
+ "Firmware revision: 0x%04x, \nFirmware day month: 0x%04x, \nFirmware "
+ "year: "
+ "0x%04x, \nSerial number: 0x%04x, \n",
+ firmware_revision, firmware_day_month, firmware_year, serial_number);
+
+ // run self test
+ int num_failures = 0;
+ while (true) {
+ write_register(GLOB_CMD, 1u << 2);
+ sleep_ms(24);
+ uint16_t diag_stat = read_register(DIAG_STAT);
+
+ // check the sensor failure bit
+ bool sensor_failure = diag_stat & (1u << 5);
+ printf("Diag stat: 0b%016b, \n", diag_stat);
+
+ if (sensor_failure) {
+ num_failures++;
+ printf("%d failures, trying again\n", num_failures);
+ } else {
+ break;
+ }
+ }
+
+ write_register(FILT_CTRL, 0 /* no filtering */);
+ write_register(
+ MSC_CTRL,
+ (1u << 9) /* enable 32-bit mode for burst reads */ |
+ (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 */ |
+ (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 */);
+
+ sleep_us(200);
+
+ imu_reset_count++;
+
+ gpio_set_irq_enabled_with_callback(DR_IMU, GPIO_IRQ_EDGE_RISE, true,
+ &gpio_irq_handler);
+}
+
int main() {
stdio_init_all();
@@ -587,67 +681,7 @@
"%f, PWM TOP: %d\n",
clock_get_hz(clk_sys), PWM_FREQ_HZ, divisor, PWM_TOP);
- while (true) {
- adis16505_reset();
- // See if SPI is working - interrogate the device for its product ID
- // number, should be 0x4079
- uint16_t id = read_register(PROD_ID);
- if (id == EXPECTED_PROD_ID) {
- printf("Product id: 0x%04x == expected 0x%04x\n", id, EXPECTED_PROD_ID);
- break;
- } else {
- printf("Got 0x%04x for prod id, expected 0x%04x\ntrying again\n", id,
- EXPECTED_PROD_ID);
- }
- }
-
- uint16_t firmware_revision = read_register(FIRM_REV);
- uint16_t firmware_day_month = read_register(FIRM_DM);
- uint16_t firmware_year = read_register(FIRM_Y);
- uint16_t serial_number = read_register(SERIAL_NUM);
-
- printf(
- "Firmware revision: 0x%04x, \nFirmware day month: 0x%04x, \nFirmware "
- "year: "
- "0x%04x, \nSerial number: 0x%04x, \n",
- firmware_revision, firmware_day_month, firmware_year, serial_number);
-
- // run self test
- int num_failures = 0;
- while (true) {
- write_register(GLOB_CMD, 1u << 2);
- sleep_ms(24);
- uint16_t diag_stat = read_register(DIAG_STAT);
-
- // check the sensor failure bit
- bool sensor_failure = diag_stat & (1u << 5);
- printf("Diag stat: 0b%016b, \n", diag_stat);
-
- if (sensor_failure) {
- num_failures++;
- printf("%d failures, trying again\n", num_failures);
- } else {
- break;
- }
- }
-
- write_register(FILT_CTRL, 0 /* no filtering */);
- write_register(
- MSC_CTRL,
- (1u << 9) /* enable 32-bit mode for burst reads */ |
- (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 */ |
- (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 */);
-
- sleep_us(200);
-
- gpio_set_irq_enabled_with_callback(DR_IMU, GPIO_IRQ_EDGE_RISE, true,
- &gpio_irq_handler);
+ setup_adis16505();
while (!yaw_zeroed) {
dma_channel_wait_for_finish_blocking(imu_dma_rx);
@@ -663,16 +697,24 @@
// can get a good picture of what's going on without things moving around
sleep_us(100);
+ if (reset_imu) {
+ printf("Triggered IMU reset, resetting\n");
+ setup_adis16505();
+ reset_imu = false;
+ }
+
// debug
// one printf is faster than many printfs
printf(
"Z pos is %f encoder: %d %d\n"
"Num failed checksums: %d, Total messages recieved: %d,\n"
"Num messages to pi: %d, Timing overrun count: %d,\n"
- "Send time: %d us\n",
+ "Send time: %d us, suspicious checksum count: %u,\n"
+ "IMU reset count: %d, checksum: %u,\n",
yaw, encoder1_count, encoder2_count, checksum_mismatch_count,
message_recieved_count, message_sent_count, timing_overrun_count,
- send_time);
+ send_time, suspicious_checksums, imu_reset_count,
+ imu_data_buffer[IMU_NUM_ITEMS - 1]);
// allow the user to enter the bootloader without removing power or having
// to install a reset button
diff --git a/go.mod b/go.mod
index fa311ec..a05f6de 100644
--- a/go.mod
+++ b/go.mod
@@ -1,4 +1,4 @@
-module frc971.org/971-Robot-Code
+module github.com/frc971/971-Robot-Code
go 1.17
@@ -6,6 +6,7 @@
github.com/buildkite/go-buildkite v2.2.0+incompatible
github.com/golang/protobuf v1.5.2
github.com/google/flatbuffers v2.0.5+incompatible
+ github.com/mattn/go-sqlite3 v1.14.10
google.golang.org/grpc v1.43.0
)
diff --git a/go.sum b/go.sum
index 0db981f..c832e6c 100644
--- a/go.sum
+++ b/go.sum
@@ -53,6 +53,8 @@
github.com/google/go-querystring v1.1.0/go.mod h1:Kcdr2DB4koayq7X8pmAG4sNG59So17icRSOU623lUBU=
github.com/google/uuid v1.1.2/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
github.com/grpc-ecosystem/grpc-gateway v1.16.0/go.mod h1:BDjrQk3hbvj6Nolgz8mAMFbcEtjT1g+wF4CSlocrBnw=
+github.com/mattn/go-sqlite3 v1.14.10 h1:MLn+5bFRlWMGoSRmJour3CL1w/qL96mvipqpwQW/Sfk=
+github.com/mattn/go-sqlite3 v1.14.10/go.mod h1:NyWgC/yNuGj7Q9rpYnZvas74GogHl5/Z4A/KQRfk6bU=
github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
github.com/prometheus/client_model v0.0.0-20190812154241-14fe0d1b01d4/go.mod h1:xMI15A0UPsDsEKsMN9yxemIoYk6Tm2C1GtYGdfGttqA=
github.com/rogpeppe/fastuuid v1.2.0/go.mod h1:jVj6XXZzXRy/MSR5jhDC/2q6DgLz+nrA6LYCDYWNEvQ=
diff --git a/go_deps.bzl b/go_deps.bzl
index 5e215ef..30d0311 100644
--- a/go_deps.bzl
+++ b/go_deps.bzl
@@ -129,6 +129,12 @@
version = "v1.16.0",
)
maybe_override_go_dep(
+ name = "com_github_mattn_go_sqlite3",
+ importpath = "github.com/mattn/go-sqlite3",
+ sum = "h1:MLn+5bFRlWMGoSRmJour3CL1w/qL96mvipqpwQW/Sfk=",
+ version = "v1.14.10",
+ )
+ maybe_override_go_dep(
name = "com_github_pmezard_go_difflib",
importpath = "github.com/pmezard/go-difflib",
sum = "h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=",
diff --git a/motors/RspBuckBoostv3/RspPiPS.pcb b/motors/RspBuckBoostv3/RspPiPS.pcb
new file mode 100644
index 0000000..68e6f62
--- /dev/null
+++ b/motors/RspBuckBoostv3/RspPiPS.pcb
@@ -0,0 +1,2542 @@
+# release: pcb 4.2.0
+
+# To read pcb files, the pcb version (or the git source date) must be >= the file version
+FileVersion[20091103]
+
+PCB["RspPiPS" 10000.00mil 10000.00mil]
+
+Grid[1.00mil 0.0000 0.0000 0]
+PolyArea[3100.006200]
+Thermal[0.500000]
+DRC[10.00mil 5.00mil 10.00mil 8.00mil 15.00mil 8.00mil]
+Flags("showdrc,nameonpcb,swapstartdir,newfullpoly,snappin,liveroute")
+Groups("1,c:4:5:2,s:6:3")
+Styles["Signal,15.00mil,36.00mil,20.00mil,10.00mil:Power,100.00mil,60.00mil,35.00mil,15.00mil:Fat,100.00mil,60.00mil,35.00mil,10.00mil:Skinny,6.00mil,24.02mil,11.81mil,6.00mil"]
+Symbol[' ' 18.00mil]
+(
+)
+Symbol['!' 12.00mil]
+(
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+)
+Symbol['"' 12.00mil]
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+Layer(4 "ground" "copper")
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+)
+Layer(5 "power" "copper")
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+Layer(6 "outline" "copper")
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+)
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+ Text[2015.00mil 4315.00mil 0 100 "2022" "clearline"]
+)
+NetList()
+(
+ Net("+3.3V" "(unknown)")
+ (
+ Connect("C401-2")
+ Connect("C402-2")
+ Connect("C403-2")
+ Connect("C404-2")
+ Connect("U401-1")
+ Connect("U402-1")
+ Connect("U403-1")
+ Connect("U404-2")
+ Connect("U404-4")
+ )
+ Net("+5V" "(unknown)")
+ (
+ Connect("C203-2")
+ Connect("C204-1")
+ Connect("C405-2")
+ Connect("J200-2")
+ Connect("J200-4")
+ Connect("J401-2")
+ Connect("L200-2")
+ Connect("R201-2")
+ Connect("TP201-1")
+ Connect("U200-6")
+ Connect("U404-3")
+ )
+ Net("+VMID" "(unknown)")
+ (
+ Connect("C106-2")
+ Connect("C107-2")
+ Connect("C108-1")
+ Connect("C109-1")
+ Connect("C200-1")
+ Connect("C201-2")
+ Connect("D102-4")
+ Connect("D103-4")
+ Connect("R101-1")
+ Connect("R107-2")
+ Connect("R200-2")
+ Connect("TP101-1")
+ Connect("U200-2")
+ )
+ Net("COM" "(unknown)")
+ (
+ Connect("C100-2")
+ Connect("C101-1")
+ Connect("C102-1")
+ Connect("C103-1")
+ Connect("C105-1")
+ Connect("C106-1")
+ Connect("C107-1")
+ Connect("C108-2")
+ Connect("C109-2")
+ Connect("C110-1")
+ Connect("C200-2")
+ Connect("C201-1")
+ Connect("C203-1")
+ Connect("C204-2")
+ Connect("C401-1")
+ Connect("C402-1")
+ Connect("C403-1")
+ Connect("C404-1")
+ Connect("C405-1")
+ Connect("D100-1")
+ Connect("D101-1")
+ Connect("D104-2")
+ Connect("D201-1")
+ Connect("D201-3")
+ Connect("D202-2")
+ Connect("J1-2")
+ Connect("J200-6")
+ Connect("J200-9")
+ Connect("J200-14")
+ Connect("J200-20")
+ Connect("J200-25")
+ Connect("J200-34")
+ Connect("J200-39")
+ Connect("J401-8")
+ Connect("J401-9")
+ Connect("R102-1")
+ Connect("R103-1")
+ Connect("R104-1")
+ Connect("R105-1")
+ Connect("R106-1")
+ Connect("TP102-1")
+ Connect("TP202-1")
+ Connect("U100-6")
+ Connect("U200-4")
+ Connect("U200-8")
+ Connect("U401-4")
+ Connect("U402-4")
+ Connect("U403-4")
+ Connect("U404-1")
+ )
+ Net("CS" "(unknown)")
+ (
+ Connect("J200-24")
+ Connect("U403-3")
+ )
+ Net("DR" "(unknown)")
+ (
+ Connect("J200-32")
+ Connect("U401-2")
+ )
+ Net("MISO" "(unknown)")
+ (
+ Connect("J200-21")
+ Connect("U402-2")
+ )
+ Net("MOSI" "(unknown)")
+ (
+ Connect("J200-19")
+ Connect("U401-3")
+ )
+ Net("SCK" "(unknown)")
+ (
+ Connect("J200-23")
+ Connect("R202-2")
+ Connect("U402-3")
+ )
+ Net("unnamed_net1" "(unknown)")
+ (
+ Connect("R105-2")
+ Connect("U100-4")
+ )
+ Net("unnamed_net2" "(unknown)")
+ (
+ Connect("C104-1")
+ Connect("R103-2")
+ )
+ Net("unnamed_net3" "(unknown)")
+ (
+ Connect("C103-2")
+ Connect("C104-2")
+ Connect("U100-2")
+ )
+ Net("unnamed_net4" "(unknown)")
+ (
+ Connect("C102-2")
+ Connect("D101-2")
+ Connect("R100-1")
+ Connect("R102-2")
+ Connect("U100-1")
+ )
+ Net("unnamed_net5" "(unknown)")
+ (
+ Connect("D103-1")
+ Connect("D103-3")
+ Connect("L100-2")
+ Connect("Q100-5")
+ Connect("Q100-6")
+ Connect("Q100-7")
+ Connect("Q100-8")
+ )
+ Net("unnamed_net6" "(unknown)")
+ (
+ Connect("Q100-1")
+ Connect("Q100-2")
+ Connect("Q100-3")
+ Connect("R106-2")
+ Connect("U100-10")
+ )
+ Net("unnamed_net7" "(unknown)")
+ (
+ Connect("Q100-4")
+ Connect("U100-7")
+ )
+ Net("unnamed_net8" "(unknown)")
+ (
+ Connect("R101-2")
+ Connect("R104-2")
+ Connect("U100-3")
+ )
+ Net("unnamed_net9" "(unknown)")
+ (
+ Connect("C105-2")
+ Connect("U100-5")
+ Connect("U100-8")
+ )
+ Net("unnamed_net10" "(unknown)")
+ (
+ Connect("D104-1")
+ Connect("R107-1")
+ )
+ Net("unnamed_net11" "(unknown)")
+ (
+ Connect("C202-1")
+ Connect("D201-4")
+ Connect("L200-1")
+ Connect("U200-1")
+ )
+ Net("unnamed_net12" "(unknown)")
+ (
+ Connect("C202-2")
+ Connect("U200-3")
+ )
+ Net("unnamed_net13" "(unknown)")
+ (
+ Connect("R200-1")
+ Connect("U200-7")
+ )
+ Net("unnamed_net14" "(unknown)")
+ (
+ Connect("J200-33")
+ Connect("R202-1")
+ )
+ Net("unnamed_net15" "(unknown)")
+ (
+ Connect("D202-1")
+ Connect("R201-1")
+ )
+ Net("unnamed_net16" "(unknown)")
+ (
+ Connect("J401-3")
+ Connect("R401-2")
+ Connect("U401-8")
+ )
+ Net("unnamed_net17" "(unknown)")
+ (
+ Connect("J401-10")
+ Connect("R401-1")
+ Connect("U401-7")
+ )
+ Net("unnamed_net18" "(unknown)")
+ (
+ Connect("J401-5")
+ Connect("R402-2")
+ Connect("U402-8")
+ )
+ Net("unnamed_net19" "(unknown)")
+ (
+ Connect("J401-12")
+ Connect("R402-1")
+ Connect("U402-7")
+ )
+ Net("unnamed_net20" "(unknown)")
+ (
+ Connect("J401-11")
+ Connect("U401-6")
+ )
+ Net("unnamed_net21" "(unknown)")
+ (
+ Connect("J401-4")
+ Connect("U401-5")
+ )
+ Net("unnamed_net22" "(unknown)")
+ (
+ Connect("J401-13")
+ Connect("U402-6")
+ )
+ Net("unnamed_net23" "(unknown)")
+ (
+ Connect("J401-14")
+ Connect("U403-6")
+ )
+ Net("unnamed_net24" "(unknown)")
+ (
+ Connect("J401-6")
+ Connect("U402-5")
+ )
+ Net("unnamed_net25" "(unknown)")
+ (
+ Connect("J401-7")
+ Connect("U403-5")
+ )
+ Net("V_IN" "(unknown)")
+ (
+ Connect("C100-1")
+ Connect("C101-2")
+ Connect("C110-2")
+ Connect("D100-2")
+ Connect("D102-1")
+ Connect("D102-3")
+ Connect("J1-1")
+ Connect("J401-1")
+ Connect("L100-1")
+ Connect("R100-2")
+ Connect("TP100-1")
+ Connect("U100-9")
+ )
+)
diff --git a/motors/RspBuckBoostv3/RspPiPs.gsch2pcb b/motors/RspBuckBoostv3/RspPiPs.gsch2pcb
new file mode 100644
index 0000000..541dd65
--- /dev/null
+++ b/motors/RspBuckBoostv3/RspPiPs.gsch2pcb
@@ -0,0 +1,3 @@
+schematics rspBoost.sch rspBuck-2.sch rspIMU.sch
+output-name RspPiPS
+use-files
diff --git a/motors/RspBuckBoostv3/rspBoost.sch b/motors/RspBuckBoostv3/rspBoost.sch
new file mode 100644
index 0000000..d06553a
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspBoost.sch
@@ -0,0 +1,686 @@
+v 20200319 2
+C 40000 40000 0 0 0 title-B.sym
+C 47300 42500 1 90 0 resistor-1.sym
+{
+T 46900 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 47100 42600 5 10 1 1 90 0 1
+refdes=R105
+T 47100 43000 5 10 0 1 90 0 1
+footprint=0805
+T 47500 42500 5 10 1 1 90 0 1
+value=80.6k 1%
+T 47300 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0780K6L
+T 47300 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 47200 43400 47200 43500 4
+N 47200 43500 47500 43500 4
+N 46300 44100 47500 44100 4
+C 45600 42500 1 90 0 resistor-1.sym
+{
+T 45200 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 45400 42600 5 10 1 1 90 0 1
+refdes=R103
+T 45400 43000 5 10 0 1 90 0 1
+footprint=0805
+T 45800 42600 5 10 1 1 90 0 1
+value=22.0k 1%
+T 45600 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0722KL
+T 45600 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+C 45700 43400 1 90 0 capacitor-1.sym
+{
+T 45000 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45900 43700 5 10 1 1 90 0 1
+refdes=C104
+T 44800 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 45700 43400 5 10 0 0 0 0 1
+footprint=0805
+T 45300 43400 5 10 1 1 90 0 1
+value=6.8nF 10%
+T 45700 43400 5 10 0 0 0 0 1
+pn=C0805C682K5RACTU
+T 45700 43400 5 10 0 0 0 0 1
+mfg=Kemet
+}
+N 45500 44300 45500 44400 4
+N 44800 44400 47500 44400 4
+C 45000 42900 1 90 0 capacitor-1.sym
+{
+T 44300 43100 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45000 43500 5 10 1 1 90 0 1
+refdes=C103
+T 44100 43100 5 10 0 0 90 0 1
+symversion=0.1
+T 45000 42900 5 10 0 0 0 0 1
+footprint=0805
+T 44600 42900 5 10 1 1 90 0 1
+value=22pF 5%
+T 45000 42900 5 10 0 0 0 0 1
+pn=C0805C220J5GACTU
+T 45000 42900 5 10 0 0 0 0 1
+mfg=Kemet
+}
+N 44800 43800 44800 44400 4
+N 44800 42500 44800 42900 4
+N 49800 43500 50000 43500 4
+N 50000 43500 50000 42500 4
+N 50500 42700 50500 42500 4
+N 49800 43800 50500 43800 4
+N 50500 43600 50500 44100 4
+C 44200 42500 1 90 0 resistor-1.sym
+{
+T 43800 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 44000 43000 5 10 0 1 90 0 1
+footprint=0805
+T 44000 42600 5 10 1 1 90 0 1
+refdes=R102
+T 44400 42600 5 10 1 1 90 0 1
+value=10.0k 1%
+T 44200 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0710KL
+T 44200 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 44100 43400 44100 44800 4
+C 44200 44800 1 90 0 resistor-1.sym
+{
+T 43800 45100 5 10 0 0 90 0 1
+device=RESISTOR
+T 44000 45300 5 10 0 1 90 0 1
+footprint=0805
+T 44000 44900 5 10 1 1 90 0 1
+refdes=R100
+T 44400 44900 5 10 1 1 90 0 1
+value=26.1k 1%
+T 44200 44800 5 10 0 0 0 0 1
+pn=RC0805FR-0726K1L
+T 44200 44800 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 44100 44700 47500 44700 4
+C 42400 43400 1 90 0 capacitor-1.sym
+{
+T 41700 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 42200 44100 5 10 1 1 90 0 1
+refdes=C101
+T 41500 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 42400 43400 5 10 0 0 0 0 1
+footprint=0805
+T 42000 43400 5 10 1 1 90 0 1
+value=4.7uF 10%
+T 42400 43400 5 10 0 0 0 0 1
+pn=GRM219R6YA475KA73D
+T 42400 43400 5 10 0 0 0 0 1
+mfg=Murata
+}
+N 42200 42500 42200 43400 4
+N 42200 44300 42200 46200 4
+N 40500 46200 49400 46200 4
+N 47500 45000 47200 45000 4
+N 47200 45000 47200 46200 4
+N 44100 45700 44100 46200 4
+C 40600 44300 1 270 0 capacitor-2.sym
+{
+T 41300 44100 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 40800 44100 5 10 1 1 90 0 1
+refdes=C100
+T 41500 44100 5 10 0 0 270 0 1
+symversion=0.1
+T 40600 43400 5 10 1 1 90 0 1
+value=68uF 25V
+T 40600 44300 5 10 0 0 0 0 1
+footprint=CAP8
+T 40600 44300 5 10 0 0 0 0 1
+pn=870025574003
+T 40600 44300 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+N 40800 44300 40800 46200 4
+N 40800 43400 40800 42500 4
+C 41000 42500 1 180 0 generic-power.sym
+{
+T 40800 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 49900 44000 1 0 0 Si4842DY-1.sym
+{
+T 52000 45200 5 10 0 0 0 0 1
+device=N-MOSFET
+T 51700 45000 5 10 1 1 0 0 1
+refdes=Q100
+T 50900 45050 5 6 1 1 0 0 1
+pinlabel=4
+T 51595 45195 5 10 1 1 0 0 1
+value=Si4842BDY
+T 50700 44600 5 10 0 0 0 0 1
+footprint=SO8
+T 49900 44000 5 10 0 0 0 0 1
+pn=Si4842BDY
+T 49900 44000 5 10 0 0 0 0 1
+mfg=Vishay Siliconix
+}
+N 49800 45000 50800 45000 4
+N 51300 44300 51300 44500 4
+N 51400 44500 51400 44300 4
+N 51300 44300 51500 44300 4
+N 51500 44300 51500 44500 4
+N 51200 45700 51200 45500 4
+N 51200 45700 51500 45700 4
+N 51300 45700 51300 45500 4
+N 51400 45700 51400 45500 4
+N 51500 45500 51500 46200 4
+C 51500 42900 1 90 0 resistor-1.sym
+{
+T 51100 43200 5 10 0 0 90 0 1
+device=RESISTOR
+T 51300 43000 5 10 1 1 90 0 1
+refdes=R106
+T 51300 43400 5 10 0 1 90 0 1
+footprint=1206
+T 51600 43000 5 10 1 1 90 0 1
+value=10 mOhm
+T 51500 42900 5 10 0 0 0 0 1
+pn=WSL1206R0100FEA
+T 51500 42900 5 10 0 0 0 0 1
+mfg=Vishay-Dale
+}
+N 51400 43800 51400 44300 4
+N 51400 44000 50900 44000 4
+N 50900 44000 50900 44400 4
+N 49800 44100 50500 44100 4
+N 49800 44400 50900 44400 4
+C 49400 46100 1 0 0 inductor-1.sym
+{
+T 49600 46600 5 10 0 0 0 0 1
+device=INDUCTOR
+T 49600 46400 5 10 1 1 0 0 1
+refdes=L100
+T 49600 46800 5 10 0 0 0 0 1
+symversion=0.1
+T 49400 46100 5 10 0 0 0 0 1
+footprint=SPM12565XT
+T 49600 46000 5 10 1 1 0 0 1
+value=2.8uH
+T 49400 46100 5 10 0 0 0 0 1
+pn=SPM12565XT-2R8M150
+T 49400 46100 5 10 0 0 0 0 1
+mfg=TDK
+}
+N 50300 46200 51900 46200 4
+N 51400 42500 51400 42900 4
+N 51900 46000 51900 46200 4
+C 53900 44100 1 90 0 capacitor-1.sym
+{
+T 53200 44300 5 10 0 0 90 0 1
+device=CAPACITOR
+T 53600 45200 5 10 1 1 180 0 1
+refdes=C106
+T 53000 44300 5 10 0 0 90 0 1
+symversion=0.1
+T 53900 44100 5 10 0 0 0 0 1
+footprint=0805
+T 53500 44100 5 10 1 1 90 0 1
+value=0.1uF 10%
+T 53900 44100 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 53900 44100 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+}
+N 51400 42700 55500 42700 4
+N 55500 42400 55500 44100 4
+N 54900 44100 54900 42700 4
+N 54900 42700 54300 42700 4
+N 54300 44100 54300 42700 4
+N 53700 44100 53700 42700 4
+N 53700 45000 53700 46200 4
+N 52800 46200 56200 46200 4
+N 54300 45000 54300 46200 4
+N 54900 45000 54900 46200 4
+N 55500 45000 55500 46200 4
+N 46300 46700 53200 46700 4
+N 53200 46700 53200 46200 4
+C 49600 47300 1 0 0 MBRB4030G-1.sym
+{
+T 50800 48400 5 10 0 0 0 0 1
+device=V35PW60-M3/I
+T 49900 47900 5 10 1 1 0 0 1
+refdes=D102
+T 50095 47850 5 10 0 1 0 0 1
+footprint=TO252AE
+T 49595 47150 5 10 1 1 0 0 1
+value=V35PW60-M3/I
+T 49600 47300 5 10 0 0 0 0 1
+pn=V35PW60-M3/I
+T 49600 47300 5 10 0 0 0 0 1
+mfg=Vishay
+}
+N 49600 47600 45800 47600 4
+N 45800 47600 45800 46200 4
+N 49600 47400 49600 47600 4
+N 50500 47600 54600 47600 4
+N 54600 47600 54600 46200 4
+N 56200 46200 56200 46700 4
+C 56000 46700 1 0 0 generic-power.sym
+{
+T 56200 46950 5 10 1 1 0 3 1
+net=+VMID:1
+}
+T 50500 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Boost Converter
+T 54000 40100 9 10 1 0 0 0 1
+Scott Berman
+T 41900 40700 9 10 1 0 0 0 4
+Boost converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 10V.
+2A. Input range 4.5V to 20V. Boost active
+4.5V to 10V.
+T 41900 40200 9 10 1 0 0 0 1
+Switching frequency: 300 kHz
+C 43800 42500 1 90 0 capacitor-1.sym
+{
+T 43100 42700 5 10 0 0 90 0 1
+device=CAPACITOR
+T 43800 43100 5 10 1 1 90 0 1
+refdes=C102
+T 42900 42700 5 10 0 0 90 0 1
+symversion=0.1
+T 43800 42500 5 10 0 0 0 0 1
+footprint=0805
+T 43400 42600 5 10 1 1 90 0 1
+value=10nF 10%
+T 43800 42500 5 10 0 0 0 0 1
+pn=C0805C103K3RACTU
+T 43800 42500 5 10 0 0 0 0 1
+mfg=Kemet
+}
+C 43000 42500 1 90 0 zener-1.sym
+{
+T 42400 42900 5 10 0 0 90 0 1
+device=ZENER_DIODE
+T 42500 42800 5 10 1 1 90 0 1
+refdes=D101
+T 43200 42800 5 10 1 1 90 0 1
+value=5.6V
+T 43000 42500 5 10 0 0 0 0 1
+footprint=DO214AC
+T 43000 42500 5 10 0 0 0 0 1
+pn=3SMAJ5919B-TP
+T 43000 42500 5 10 0 0 0 0 1
+mfg=Micro Commercial
+}
+N 42800 43400 42800 44400 4
+N 42800 44400 44100 44400 4
+N 44100 44400 43600 44400 4
+N 43600 43400 43600 44400 4
+C 40300 46200 1 0 0 generic-power.sym
+{
+T 40500 46450 5 10 1 1 0 3 1
+net=V_IN:1
+}
+C 46200 45900 1 270 0 resistor-1.sym
+{
+T 46600 45600 5 10 0 0 270 0 1
+device=RESISTOR
+T 46200 45300 5 10 1 1 90 0 1
+refdes=R101
+T 46400 45400 5 10 0 1 270 0 1
+footprint=0805
+T 46600 45100 5 10 1 1 90 0 1
+value=71.5k 1%
+T 46200 45900 5 10 0 0 0 0 1
+pn=RC0805FR-0771K5L
+T 46200 45900 5 10 0 0 0 0 1
+mfg=Yageo
+}
+N 46300 43400 46300 45000 4
+N 46300 45900 46300 46700 4
+C 54700 45000 1 270 0 capacitor-2.sym
+{
+T 55400 44800 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 54900 44800 5 10 1 1 90 0 1
+refdes=C108
+T 55600 44800 5 10 0 0 270 0 1
+symversion=0.1
+T 54700 44100 5 10 1 1 90 0 1
+value=68uF 25V
+T 54700 45000 5 10 0 0 0 0 1
+footprint=CAP8
+T 54700 45000 5 10 0 0 0 0 1
+pn=870025574003
+T 54700 45000 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 55300 45000 1 270 0 capacitor-2.sym
+{
+T 56000 44800 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 55500 44800 5 10 1 1 90 0 1
+refdes=C109
+T 56200 44800 5 10 0 0 270 0 1
+symversion=0.1
+T 55300 44100 5 10 1 1 90 0 1
+value=68uF 25V
+T 55300 45000 5 10 0 0 0 0 1
+footprint=CAP8
+T 55300 45000 5 10 0 0 0 0 1
+pn=870025574003
+T 55300 45000 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 54500 44100 1 90 0 capacitor-1.sym
+{
+T 53800 44300 5 10 0 0 90 0 1
+device=CAPACITOR
+T 54300 44800 5 10 1 1 90 0 1
+refdes=C107
+T 53600 44300 5 10 0 0 90 0 1
+symversion=0.1
+T 54500 44100 5 10 0 0 0 0 1
+footprint=0805
+T 54100 44100 5 10 1 1 90 0 1
+value=4.7uF 10%
+T 54500 44100 5 10 0 0 0 0 1
+pn=GRM219R6YA475KA73D
+T 54500 44100 5 10 0 0 0 0 1
+mfg=Murata
+}
+C 50700 42700 1 90 0 capacitor-1.sym
+{
+T 50000 42900 5 10 0 0 90 0 1
+device=CAPACITOR
+T 50700 43300 5 10 1 1 90 0 1
+refdes=C105
+T 49800 42900 5 10 0 0 90 0 1
+symversion=0.1
+T 50700 42700 5 10 0 0 0 0 1
+footprint=0805
+T 50300 42700 5 10 1 1 90 0 1
+value=4.7uF 10%
+T 50700 42700 5 10 0 0 0 0 1
+pn=GRM219R6YA475KA73D
+T 50700 42700 5 10 0 0 0 0 1
+mfg=Murata
+}
+C 51900 45900 1 0 0 MBRB4030G-1.sym
+{
+T 53100 47000 5 10 0 0 0 0 1
+device=V35PW60-M3/I
+T 52200 46500 5 10 1 1 0 0 1
+refdes=D103
+T 52395 46450 5 10 0 1 0 0 1
+footprint=TO252AE
+T 51895 45750 5 10 1 1 0 0 1
+value=V35PW60-M3/I
+T 51900 45900 5 10 0 0 0 0 1
+pn=V35PW60-M3/I
+T 51900 45900 5 10 0 0 0 0 1
+mfg=Vishay
+}
+C 46400 42500 1 90 0 resistor-1.sym
+{
+T 46000 42800 5 10 0 0 90 0 1
+device=RESISTOR
+T 46200 43000 5 10 0 1 90 0 1
+footprint=0805
+T 46200 42600 5 10 1 1 90 0 1
+refdes=R104
+T 46600 42600 5 10 1 1 90 0 1
+value=10.0k 1%
+T 46400 42500 5 10 0 0 0 0 1
+pn=RC0805FR-0710KL
+T 46400 42500 5 10 0 0 0 0 1
+mfg=Yageo
+}
+C 46500 43000 1 0 0 LTC1871EMS.sym
+{
+T 48100 45400 5 10 1 1 0 0 1
+device=LTC1871EMS
+T 49200 43000 5 10 1 1 0 0 1
+refdes=U100
+T 45000 43000 5 10 0 1 0 0 1
+footprint=MSOP10
+T 46500 43000 5 10 0 0 0 0 1
+pn=LTC1871EMS
+}
+C 48100 50500 1 0 0 generic-power.sym
+{
+T 48300 50750 5 10 1 1 0 3 1
+net=V_IN:1
+}
+C 48500 49600 1 180 0 generic-power.sym
+{
+T 48300 49350 5 10 1 1 180 3 1
+net=COM:1
+}
+C 48500 49600 1 90 0 zener-1.sym
+{
+T 47900 50000 5 10 0 0 90 0 1
+device=ZENER_DIODE
+T 48000 49900 5 10 1 1 90 0 1
+refdes=D100
+T 48700 49900 5 10 1 1 90 0 1
+value=16V
+T 48500 49600 5 10 0 0 0 0 1
+footprint=DO214AB
+T 48500 49600 5 10 0 0 0 0 1
+pn=SMDJ16A
+T 48500 49600 5 10 0 0 0 0 1
+mfg=Littelfuse
+}
+N 42700 50100 47300 50100 4
+N 47300 50100 47300 50500 4
+N 47300 50500 48300 50500 4
+N 48300 49600 47300 49600 4
+N 47300 49600 47300 49800 4
+N 42700 49800 47300 49800 4
+C 42400 42500 1 180 0 generic-power.sym
+{
+T 42200 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 43000 42500 1 180 0 generic-power.sym
+{
+T 42800 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 43800 42500 1 180 0 generic-power.sym
+{
+T 43600 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 44300 42500 1 180 0 generic-power.sym
+{
+T 44100 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 45000 42500 1 180 0 generic-power.sym
+{
+T 44800 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 45700 42500 1 180 0 generic-power.sym
+{
+T 45500 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46500 42500 1 180 0 generic-power.sym
+{
+T 46300 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 47400 42500 1 180 0 generic-power.sym
+{
+T 47200 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 50200 42500 1 180 0 generic-power.sym
+{
+T 50000 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 50700 42500 1 180 0 generic-power.sym
+{
+T 50500 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 51600 42500 1 180 0 generic-power.sym
+{
+T 51400 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+C 55700 42400 1 180 0 generic-power.sym
+{
+T 55500 42150 5 10 1 1 180 3 1
+net=COM:1
+}
+C 41700 43400 1 90 0 capacitor-1.sym
+{
+T 41000 43600 5 10 0 0 90 0 1
+device=CAPACITOR
+T 41500 44100 5 10 1 1 90 0 1
+refdes=C101
+T 40800 43600 5 10 0 0 90 0 1
+symversion=0.1
+T 41700 43400 5 10 0 0 0 0 1
+footprint=0805
+T 41300 43400 5 10 1 1 90 0 1
+value=4.7uF 10%
+T 41700 43400 5 10 0 0 0 0 1
+pn=GRM219R6YA475KA73D
+T 41700 43400 5 10 0 0 0 0 1
+mfg=Murata
+}
+C 41700 42500 1 180 0 generic-power.sym
+{
+T 41500 42250 5 10 1 1 180 3 1
+net=COM:1
+}
+N 41500 43400 41500 42500 4
+N 41500 44300 41500 46200 4
+C 41900 46400 1 0 0 connector1-2.sym
+{
+T 42600 47300 5 10 1 1 0 6 1
+refdes=TP100
+T 42200 47250 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 42200 47450 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+C 53800 47800 1 0 0 connector1-2.sym
+{
+T 54500 48700 5 10 1 1 0 6 1
+refdes=TP101
+T 54100 48650 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 54100 48850 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+N 41900 46800 41700 46800 4
+N 41700 46800 41700 46200 4
+N 53800 48200 53400 48200 4
+N 53400 48200 53400 47600 4
+C 43200 48100 1 90 0 capacitor-1.sym
+{
+T 42500 48300 5 10 0 0 90 0 1
+device=CAPACITOR
+T 43400 48400 5 10 1 1 90 0 1
+refdes=C110
+T 42300 48300 5 10 0 0 90 0 1
+symversion=0.1
+T 43200 48100 5 10 0 0 0 0 1
+footprint=0805
+T 42800 48100 5 10 1 1 90 0 1
+value=6.8nF 10%
+T 43200 48100 5 10 0 0 0 0 1
+pn=C0805C682K5RACTU
+T 43200 48100 5 10 0 0 0 0 1
+mfg=Kemet
+}
+C 43200 48100 1 180 0 generic-power.sym
+{
+T 43000 47850 5 10 1 1 180 3 1
+net=COM:1
+}
+N 43000 49000 43000 50100 4
+C 51800 49700 1 0 0 connector1-2.sym
+{
+T 52500 50600 5 10 1 1 0 6 1
+refdes=TP102
+T 52100 50550 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 52100 50750 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+C 51600 48700 1 180 0 generic-power.sym
+{
+T 51400 48450 5 10 1 1 180 3 1
+net=COM:1
+}
+N 51400 48700 51400 50100 4
+N 51400 50100 51800 50100 4
+C 55500 49800 1 270 0 led-2.sym
+{
+T 56100 49700 5 10 0 0 270 0 1
+device=LED
+T 55500 49800 5 10 0 0 0 0 1
+footprint=0805
+T 55500 49800 5 10 0 0 0 0 1
+pn=LG R971-KN-1
+T 55500 49800 5 10 0 0 0 0 1
+mfg=OSRAM
+T 55700 49500 5 10 1 1 0 0 1
+refdes=D104
+}
+C 55300 50200 1 180 0 resistor-1.sym
+{
+T 55000 49800 5 10 0 0 180 0 1
+device=RESISTOR
+T 54800 50000 5 10 0 1 180 0 1
+footprint=0805
+T 55300 50200 5 10 0 0 90 0 1
+pn=RC0805FR-072KL
+T 55300 50200 5 10 0 0 90 0 1
+mfg=Yageo
+T 55200 50000 5 10 1 1 180 0 1
+refdes=R107
+T 55200 50400 5 10 1 1 180 0 1
+value=2.00k 1%
+}
+C 55800 48900 1 180 0 generic-power.sym
+{
+T 55600 48650 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55300 50100 55600 50100 4
+N 55600 50100 55600 49800 4
+C 53700 50100 1 0 0 generic-power.sym
+{
+T 53900 50350 5 10 1 1 0 3 1
+net=+VMID:1
+}
+N 53900 50100 54400 50100 4
+C 41000 49600 1 0 0 connector2-1.sym
+{
+T 41200 50600 5 10 0 0 0 0 1
+device=CONNECTOR_2
+T 41000 50400 5 10 1 1 0 0 1
+refdes=J1
+T 41000 49600 5 10 0 0 0 0 1
+footprint=1824420000
+T 41000 49600 5 10 0 0 0 0 1
+pn=1824420000
+}
diff --git a/motors/RspBuckBoostv3/rspBuck-2.sch b/motors/RspBuckBoostv3/rspBuck-2.sch
new file mode 100644
index 0000000..e8da9fe
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspBuck-2.sch
@@ -0,0 +1,385 @@
+v 20200319 2
+C 40000 40000 0 0 0 title-B.sym
+C 44700 46400 1 0 0 LM2678S-5.0.sym
+{
+T 37000 51000 5 10 0 1 0 0 1
+footprint=TO263-7
+T 45400 47600 5 10 1 1 0 0 1
+device=LM2678S
+T 46200 47800 5 10 1 1 0 0 1
+refdes=U200
+T 44700 46400 5 10 0 0 0 0 1
+pn=LM2678S-5.0
+T 44700 46400 5 10 0 0 0 0 1
+mfg=Texas Instruments
+}
+C 41900 46700 1 270 0 capacitor-2.sym
+{
+T 42600 46500 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 42000 46800 5 10 1 1 180 0 1
+refdes=C200
+T 42800 46500 5 10 0 0 270 0 1
+symversion=0.1
+T 41900 45800 5 10 1 1 90 0 1
+value=68uF 25V
+T 41900 46700 5 10 0 0 0 0 1
+footprint=CAP8
+T 41900 46700 5 10 0 0 0 0 1
+pn=870025574003
+T 41900 46700 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 50000 46600 1 270 0 capacitor-2.sym
+{
+T 50700 46400 5 10 0 0 270 0 1
+device=POLARIZED_CAPACITOR
+T 50900 46200 5 10 1 1 180 0 1
+refdes=C204
+T 50900 46400 5 10 0 0 270 0 1
+symversion=0.1
+T 50000 45700 5 10 1 1 90 0 1
+value=330uF 16V
+T 50000 46600 5 10 0 0 0 0 1
+footprint=CAP8
+T 50000 46600 5 10 0 0 0 0 1
+pn=RL81C331MDN1KX
+T 50000 46600 5 10 0 0 0 0 1
+mfg=Nichicon
+}
+C 48200 46800 1 0 0 inductor-1.sym
+{
+T 48400 47300 5 10 0 0 0 0 1
+device=INDUCTOR
+T 48600 47100 5 10 1 1 0 0 1
+refdes=L200
+T 48400 47500 5 10 0 0 0 0 1
+symversion=0.1
+T 48200 46800 5 10 0 0 0 0 1
+footprint=SPM12565XT
+T 48400 46700 5 10 1 1 0 0 1
+value=13uH
+T 48200 46800 5 10 0 0 0 0 1
+pn=7443551131
+T 48200 46800 5 10 0 0 0 0 1
+mfg=Wurth Electronik
+}
+C 43300 45800 1 90 0 capacitor-1.sym
+{
+T 42600 46000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 43600 46100 5 10 1 1 180 0 1
+refdes=C201
+T 42400 46000 5 10 0 0 90 0 1
+symversion=0.1
+T 43300 45800 5 10 0 0 0 0 1
+footprint=0805
+T 42900 45800 5 10 1 1 90 0 1
+value=0.1uF 10%
+T 43300 45800 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 43300 45800 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+}
+C 48000 47400 1 180 0 capacitor-1.sym
+{
+T 47800 46700 5 10 0 0 180 0 1
+device=CAPACITOR
+T 47400 47400 5 10 1 1 180 0 1
+refdes=C202
+T 47800 46500 5 10 0 0 180 0 1
+symversion=0.1
+T 48000 47400 5 10 0 0 90 0 1
+footprint=0805
+T 48500 47400 5 10 1 1 180 0 1
+value=10nF 10%
+T 48000 47400 5 10 0 0 90 0 1
+pn=C0805C103K3RACTU
+T 48000 47400 5 10 0 0 90 0 1
+mfg=Kemet
+}
+C 40800 47700 1 0 0 generic-power.sym
+{
+T 41000 47950 5 10 1 1 0 3 1
+net=+VMID:1
+}
+C 42300 45800 1 180 0 generic-power.sym
+{
+T 42100 45550 5 10 1 1 180 3 1
+net=COM:1
+}
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+N 41000 47400 41000 47700 4
+N 42100 46700 42100 47400 4
+N 43100 46700 43100 47400 4
+C 44300 47000 1 180 0 resistor-1.sym
+{
+T 44000 46600 5 10 0 0 180 0 1
+device=RESISTOR
+T 43800 46800 5 10 0 1 180 0 1
+footprint=0805
+T 44200 46800 5 10 1 1 180 0 1
+refdes=R200
+T 44200 47200 5 10 1 1 180 0 1
+value=10.0k 1%
+T 44300 47000 5 10 0 0 90 0 1
+pn=RC0805FR-0710KL
+T 44300 47000 5 10 0 0 90 0 1
+mfg=Yageo
+}
+N 43400 46900 43100 46900 4
+N 44300 46900 44700 46900 4
+C 49500 45700 1 90 0 capacitor-1.sym
+{
+T 48800 45900 5 10 0 0 90 0 1
+device=CAPACITOR
+T 49300 45800 5 10 1 1 0 0 1
+refdes=C203
+T 48600 45900 5 10 0 0 90 0 1
+symversion=0.1
+T 49500 45700 5 10 0 0 0 0 1
+footprint=0805
+T 49100 45700 5 10 1 1 90 0 1
+value=0.1uF 10%
+T 49500 45700 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 49500 45700 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+}
+N 49300 46600 49300 46900 4
+C 51300 46900 1 0 0 generic-power.sym
+{
+T 51500 47150 5 10 1 1 0 3 1
+net=+5V:1
+}
+T 50400 40700 9 10 1 0 0 0 1
+Raspberry PI 4B Buck Converter
+T 53900 40100 9 10 1 0 0 0 1
+Scott Berman
+T 45800 40900 9 10 1 0 0 0 3
+Buck converter for supplying power to
+Raspberry PI 4B. Output Voltage set to 5V.
+4A. Input range 9V to 20V.
+T 46500 40300 9 10 1 0 0 0 1
+Switching frequency: 260 kHz
+C 53400 42200 1 0 0 header40-2.sym
+{
+T 53650 50700 5 10 0 1 0 0 1
+device=HEADER40
+T 54000 50300 5 10 1 1 0 0 1
+refdes=J200
+T 53400 42200 5 10 0 0 0 0 1
+footprint=HEADER40_2
+T 53400 42000 5 10 0 0 0 0 1
+pn=ESQ-120-44-T-D
+}
+C 55000 50100 1 0 0 generic-power.sym
+{
+T 55200 50350 5 10 1 1 0 3 1
+net=+5V:1
+}
+N 55200 49600 55200 50100 4
+N 55200 50000 54800 50000 4
+N 55200 49600 54800 49600 4
+C 55600 42200 1 180 0 generic-power.sym
+{
+T 55400 41950 5 10 1 1 180 3 1
+net=COM:1
+}
+C 53000 42200 1 180 0 generic-power.sym
+{
+T 52800 41950 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55400 42200 55400 49200 4
+N 55400 43600 54800 43600 4
+N 54800 46400 55400 46400 4
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+N 54800 49200 55400 49200 4
+N 53400 42400 52800 42400 4
+N 52800 42200 52800 48400 4
+N 53400 45200 52800 45200 4
+N 53400 48400 52800 48400 4
+C 43300 45800 1 180 0 generic-power.sym
+{
+T 43100 45550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46000 45800 1 180 0 generic-power.sym
+{
+T 45800 45550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 49500 45700 1 180 0 generic-power.sym
+{
+T 49300 45450 5 10 1 1 180 3 1
+net=COM:1
+}
+C 50400 45700 1 180 0 generic-power.sym
+{
+T 50200 45450 5 10 1 1 180 3 1
+net=COM:1
+}
+C 56400 44100 1 180 0 input-1.sym
+{
+T 56400 43800 5 10 0 0 180 0 1
+device=INPUT
+T 55900 43900 5 10 1 1 0 0 1
+net=DR:1
+}
+C 47600 45800 1 90 0 MBRB4030G-1.sym
+{
+T 46500 47000 5 10 0 0 90 0 1
+device=V35PW60-M3/I
+T 47000 46100 5 10 1 1 90 0 1
+refdes=D201
+T 47050 46295 5 10 0 1 90 0 1
+footprint=TO252AE
+T 47750 45595 5 10 1 1 90 0 1
+value=V35PW60-M3/I
+T 47600 45800 5 10 0 0 90 0 1
+pn=V35PW60-M3/I
+T 47600 45800 5 10 0 0 90 0 1
+mfg=Vishay
+}
+C 47500 45800 1 180 0 generic-power.sym
+{
+T 47300 45550 5 10 1 1 180 3 1
+net=COM:1
+}
+N 47300 46700 47300 46900 4
+N 47500 45800 47300 45800 4
+C 51000 47700 1 0 0 connector1-2.sym
+{
+T 51700 48600 5 10 1 1 0 6 1
+refdes=TP201
+T 51300 48550 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 51300 48750 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+C 51200 44500 1 180 0 generic-power.sym
+{
+T 51000 44250 5 10 1 1 180 3 1
+net=COM:1
+}
+N 51000 48100 50700 48100 4
+N 50700 48100 50700 46900 4
+C 51200 44200 1 0 0 connector1-2.sym
+{
+T 51900 45100 5 10 1 1 0 6 1
+refdes=TP202
+T 51500 45050 5 10 0 0 0 0 1
+device=CONNECTOR_1
+T 51500 45250 5 10 0 0 0 0 1
+footprint=Pad80d40
+}
+N 51000 44500 51000 44600 4
+N 51000 44600 51200 44600 4
+C 48800 43700 1 270 0 led-2.sym
+{
+T 49000 43400 5 10 1 1 0 0 1
+refdes=D202
+T 49400 43600 5 10 0 0 270 0 1
+device=LED
+T 48800 43700 5 10 0 0 0 0 1
+footprint=0805
+T 48800 43700 5 10 0 0 0 0 1
+pn=LG R971-KN-1
+T 48800 43700 5 10 0 0 0 0 1
+mfg=OSRAM
+}
+C 48600 44100 1 180 0 resistor-1.sym
+{
+T 48300 43700 5 10 0 0 180 0 1
+device=RESISTOR
+T 48100 43900 5 10 0 1 180 0 1
+footprint=0805
+T 48500 43900 5 10 1 1 180 0 1
+refdes=R201
+T 48500 44300 5 10 1 1 180 0 1
+value=499R 1%
+T 48600 44100 5 10 0 0 90 0 1
+pn=RC0805FR-07499RL
+T 48600 44100 5 10 0 0 90 0 1
+mfg=Yageo
+}
+C 49100 42800 1 180 0 generic-power.sym
+{
+T 48900 42550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 47000 44100 1 0 0 generic-power.sym
+{
+T 47200 44350 5 10 1 1 0 3 1
+net=+5V:1
+}
+N 47200 44100 47200 44000 4
+N 47200 44000 47700 44000 4
+N 48600 44000 48900 44000 4
+N 48900 44000 48900 43700 4
+C 52200 45700 1 180 0 output-1.sym
+{
+T 52100 45400 5 10 0 0 180 0 1
+device=OUTPUT
+T 52000 45700 5 10 1 1 180 0 1
+net=SCK:1
+}
+C 52600 46500 1 180 0 output-1.sym
+{
+T 52500 46200 5 10 0 0 180 0 1
+device=OUTPUT
+T 52400 46500 5 10 1 1 180 0 1
+net=MOSI:1
+}
+C 51800 45900 1 0 0 input-1.sym
+{
+T 51800 46200 5 10 0 0 0 0 1
+device=INPUT
+T 52300 46100 5 10 1 1 180 0 1
+net=MISO:1
+}
+N 55600 45600 54800 45600 4
+{
+T 55600 45600 5 10 1 0 0 0 1
+net=CS
+}
+N 55600 44000 54800 44000 4
+N 52200 45600 53400 45600 4
+N 52600 46400 53400 46400 4
+N 52600 46000 53400 46000 4
+C 56400 45700 1 180 0 input-1.sym
+{
+T 56400 45400 5 10 0 0 180 0 1
+device=INPUT
+T 55900 45500 5 10 1 1 0 0 1
+net=CS:1
+}
+N 52400 44100 52400 43600 4
+N 52400 43600 53400 43600 4
+N 52400 45000 52400 45600 4
+C 52500 44100 1 90 0 resistor-1.sym
+{
+T 52100 44400 5 10 0 0 90 0 1
+device=RESISTOR
+T 52300 44600 5 10 0 1 90 0 1
+footprint=0805
+T 52300 44200 5 10 1 1 90 0 1
+refdes=R202
+T 52700 44200 5 10 1 1 90 0 1
+value=499R 1%
+T 52500 44100 5 10 0 0 0 0 1
+pn=RC0805FR-07499RL
+T 52500 44100 5 10 0 0 0 0 1
+mfg=Yageo
+}
diff --git a/motors/RspBuckBoostv3/rspIMU.sch b/motors/RspBuckBoostv3/rspIMU.sch
new file mode 100644
index 0000000..af6c555
--- /dev/null
+++ b/motors/RspBuckBoostv3/rspIMU.sch
@@ -0,0 +1,347 @@
+v 20130925 2
+C 40000 40000 0 0 0 title-B.sym
+C 49900 49100 1 90 0 resistor-1.sym
+{
+T 49500 49400 5 10 0 0 90 0 1
+device=RESISTOR
+T 49600 49300 5 10 1 1 90 0 1
+refdes=R401
+T 49900 49200 5 10 1 1 0 0 1
+value=120R
+T 49800 48900 5 10 0 0 0 0 1
+footprint=0805
+T 50400 49200 5 10 0 0 0 0 1
+pn=ESR10EZPF1200
+}
+C 49900 46600 1 90 0 resistor-1.sym
+{
+T 49500 46900 5 10 0 0 90 0 1
+device=RESISTOR
+T 49600 46800 5 10 1 1 90 0 1
+refdes=R402
+T 49900 46700 5 10 1 1 0 0 1
+value=120R
+T 49700 46300 5 10 0 0 0 0 1
+footprint=0805
+T 49700 46400 5 10 0 0 0 0 1
+pn=ESR10EZPF1200
+}
+C 55000 44600 1 0 0 microfit-rt-2x7.sym
+{
+T 55700 47200 5 10 0 0 0 0 1
+device=CONNECTOR_15
+T 53909 43100 5 10 0 1 0 0 1
+footprint=0430451400
+T 56200 48900 5 10 1 1 0 0 1
+refdes=J401
+T 54900 44400 5 10 0 0 0 0 1
+pn=0430451400
+}
+N 55000 44700 51800 44700 4
+N 51800 43400 51800 44700 4
+N 51800 43400 48200 43400 4
+N 55000 45000 51500 45000 4
+N 51500 45000 51500 43700 4
+N 51500 43700 48200 43700 4
+N 55000 45300 51500 45300 4
+N 51500 45300 51500 45900 4
+N 51500 45900 48200 45900 4
+N 55000 45600 51800 45600 4
+N 51800 45600 51800 46200 4
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+N 53000 48400 48200 48400 4
+N 55000 46800 53300 46800 4
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+N 53700 47100 53700 49100 4
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+N 54000 47400 55000 47400 4
+N 54000 47400 54000 50000 4
+N 49300 50000 54000 50000 4
+N 49300 50000 49300 49400 4
+N 49300 49400 48200 49400 4
+C 54500 47900 1 180 0 generic-power.sym
+{
+T 54300 47650 5 10 1 1 180 3 1
+net=COM:1
+}
+N 55000 48300 54300 48300 4
+N 54300 48300 54300 47900 4
+N 55000 47700 54600 47700 4
+N 54600 47700 54600 48300 4
+N 55000 48600 54300 48600 4
+N 54300 48600 54300 48800 4
+N 55000 48000 54800 48000 4
+C 46000 47800 1 90 0 capacitor-1.sym
+{
+T 45300 48000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 48000 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 47800 5 10 0 0 0 0 1
+footprint=0805
+T 46000 47800 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 47800 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 48600 5 10 1 1 180 0 1
+refdes=C401
+T 45600 47800 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 42800 1 90 0 capacitor-1.sym
+{
+T 45300 43000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 43000 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 42800 5 10 0 0 0 0 1
+footprint=0805
+T 46000 42800 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 42800 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 43600 5 10 1 1 180 0 1
+refdes=C403
+T 45600 42800 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 45300 1 90 0 capacitor-1.sym
+{
+T 45300 45500 5 10 0 0 90 0 1
+device=CAPACITOR
+T 45100 45500 5 10 0 0 90 0 1
+symversion=0.1
+T 46000 45300 5 10 0 0 0 0 1
+footprint=0805
+T 46000 45300 5 10 0 0 0 0 1
+pn=GMK212BJ104KGHT
+T 46000 45300 5 10 0 0 0 0 1
+mfg=Taiyo Yuden
+T 46300 46100 5 10 1 1 180 0 1
+refdes=C402
+T 45600 45300 5 10 1 1 90 0 1
+value=0.1uF 10%
+}
+C 46000 45300 1 180 0 generic-power.sym
+{
+T 45800 45050 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46000 42800 1 180 0 generic-power.sym
+{
+T 45800 42550 5 10 1 1 180 3 1
+net=COM:1
+}
+C 46000 47800 1 180 0 generic-power.sym
+{
+T 45800 47550 5 10 1 1 180 3 1
+net=COM:1
+}
+N 46600 45900 46300 45900 4
+N 46300 45900 46300 45300 4
+N 46300 45300 45800 45300 4
+N 46600 43400 46300 43400 4
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+N 46300 42800 45800 42800 4
+N 46600 48400 46300 48400 4
+N 46300 48400 46300 47800 4
+N 46300 47800 45800 47800 4
+C 41500 42000 1 0 0 AZ1117IH-3-3TRG1.sym
+{
+T 41500 42000 5 10 1 1 0 0 1
+refdes=U404
+T 41600 43000 5 10 1 1 0 0 1
+value=AZ1117IH-3.3TRG1
+T 42400 42000 5 10 0 1 0 0 1
+footprint=SOT223
+T 41500 41900 5 10 0 0 0 0 1
+pn=AZ1117IH-3.3TRG1
+}
+C 40900 41800 1 90 0 capacitor-1.sym
+{
+T 40200 42000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 40000 42000 5 10 0 0 90 0 1
+symversion=0.1
+T 40400 42000 5 10 1 1 90 0 1
+refdes=C405
+T 40900 41800 5 10 1 1 0 0 1
+value=22uF
+T 40900 41800 5 10 0 0 0 0 1
+footprint=1206
+T 40900 41800 5 10 0 0 0 0 1
+pn=CC1206MKX5R7BB226
+}
+C 44100 41800 1 90 0 capacitor-1.sym
+{
+T 43400 42000 5 10 0 0 90 0 1
+device=CAPACITOR
+T 43200 42000 5 10 0 0 90 0 1
+symversion=0.1
+T 43600 41900 5 10 1 1 90 0 1
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+value=22uF
+T 44100 41800 5 10 0 0 0 0 1
+footprint=1206
+T 44100 41600 5 10 0 0 0 0 1
+pn=CC1206MKX5R7BB226
+}
+T 55500 47400 9 10 1 0 0 0 1
+DR_H
+T 55500 47100 9 10 1 0 0 0 1
+DR_L
+T 55300 46800 9 10 1 0 0 0 1
+MOSI_H
+T 55300 46500 9 10 1 0 0 0 1
+MOSI_L
+T 55300 46200 9 10 1 0 0 0 1
+MISO_H
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+T 55400 45600 9 10 1 0 0 0 1
+SCK_H
+T 55400 45300 9 10 1 0 0 0 1
+SCK_L
+T 55500 45000 9 10 1 0 0 0 1
+CS_H
+T 55500 44700 9 10 1 0 0 0 1
+CS_L
+T 55700 48600 9 10 1 0 0 0 1
++5V
+T 55600 48300 9 10 1 0 0 0 1
+GND
+T 55600 47700 9 10 1 0 0 0 1
+GND
+N 40700 42700 41500 42700 4
+C 40500 42700 1 0 0 generic-power.sym
+{
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+net=+5V:1
+}
+C 40900 41800 1 180 0 generic-power.sym
+{
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+net=COM:1
+}
+C 44100 41800 1 180 0 generic-power.sym
+{
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+net=COM:1
+}
+C 42600 42000 1 180 0 generic-power.sym
+{
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+net=COM:1
+}
+N 43300 42400 43600 42400 4
+N 43600 42400 43600 42700 4
+C 44900 48700 1 0 0 3.3V-plus-1.sym
+C 43700 42800 1 0 0 3.3V-plus-1.sym
+C 44900 43700 1 0 0 3.3V-plus-1.sym
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr
new file mode 100644
index 0000000..f4dc95b
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottom.gbr
@@ -0,0 +1,7502 @@
+G04 start of page 3 for group 3 idx 1 *
+G04 Title: RspPiPS, bottom *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr
new file mode 100644
index 0000000..dd9adaa
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottommask.gbr
@@ -0,0 +1,265 @@
+G04 start of page 9 for group -4062 idx -4062 *
+G04 Title: RspPiPS, soldermask *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
+%FSLAX25Y25*%
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+%ADD101C,0.0846*%
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr
new file mode 100644
index 0000000..48c0098
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottompaste.gbr
@@ -0,0 +1,169 @@
+G04 start of page 13 for group -4014 idx -4014 *
+G04 Title: RspPiPS, bottompaste *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr
new file mode 100644
index 0000000..64cb574
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.bottomsilk.gbr
@@ -0,0 +1,367 @@
+G04 start of page 11 for group -4078 idx -4078 *
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+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr
new file mode 100644
index 0000000..f086c68
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.fab.gbr
@@ -0,0 +1,2133 @@
+G04 start of page 14 for group -3984 idx -3984 *
+G04 Title: RspPiPS, fab *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr
new file mode 100644
index 0000000..1988ed1
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.group5.gbr
@@ -0,0 +1,517 @@
+G04 start of page 5 for group 5 idx 2 *
+G04 Title: RspPiPS, mechanical *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr
new file mode 100644
index 0000000..1012960
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.outline.gbr
@@ -0,0 +1,21 @@
+G04 start of page 4 for group 4 idx 5 *
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+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc
new file mode 100644
index 0000000..472e119
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.plated-drill.cnc
@@ -0,0 +1,160 @@
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr
new file mode 100644
index 0000000..8708888
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.top.gbr
@@ -0,0 +1,2039 @@
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr
new file mode 100644
index 0000000..292a5b0
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topmask.gbr
@@ -0,0 +1,751 @@
+G04 start of page 8 for group -4063 idx -4063 *
+G04 Title: RspPiPS, componentmask *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
+%FSLAX25Y25*%
+%LNTOPMASK*%
+%ADD94C,0.0660*%
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr
new file mode 100644
index 0000000..dfa2722
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.toppaste.gbr
@@ -0,0 +1,655 @@
+G04 start of page 12 for group -4015 idx -4015 *
+G04 Title: RspPiPS, toppaste *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr
new file mode 100644
index 0000000..fda9bd1
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.topsilk.gbr
@@ -0,0 +1,1755 @@
+G04 start of page 10 for group -4079 idx -4079 *
+G04 Title: RspPiPS, topsilk *
+G04 Creator: pcb 4.2.0 *
+G04 CreationDate: Sun Jan 23 00:25:27 2022 UTC *
+G04 For: debian *
+G04 Format: Gerber/RS-274X *
+G04 PCB-Dimensions (mil): 10000.00 10000.00 *
+G04 PCB-Coordinate-Origin: lower left *
+%MOIN*%
+%FSLAX25Y25*%
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diff --git a/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc
new file mode 100644
index 0000000..7667995
--- /dev/null
+++ b/motors/RspBuckBoostv3/shipped_files_rev3/RspPiPSv3.unplated-drill.cnc
@@ -0,0 +1,8 @@
+M48
+INCH
+T86C0.118
+%
+T86
+X045847Y074172
+X045847Y068778
+M30
diff --git a/scouting/BUILD b/scouting/BUILD
new file mode 100644
index 0000000..8188a20
--- /dev/null
+++ b/scouting/BUILD
@@ -0,0 +1,17 @@
+load("@io_bazel_rules_go//go:def.bzl", "go_binary", "go_library")
+
+go_binary(
+ name = "sql_demo",
+ embed = [":scouting_lib"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:public"],
+)
+
+go_library(
+ name = "scouting_lib",
+ srcs = ["sql_demo.go"],
+ importpath = "github.com/frc971/971-Robot-Code/scouting",
+ target_compatible_with = ["@platforms//cpu:x86_64"],
+ visibility = ["//visibility:private"],
+ deps = ["@com_github_mattn_go_sqlite3//:go_default_library"],
+)
diff --git a/scouting/sql_demo.go b/scouting/sql_demo.go
new file mode 100644
index 0000000..561571a
--- /dev/null
+++ b/scouting/sql_demo.go
@@ -0,0 +1,36 @@
+package main
+
+import (
+ "database/sql"
+ "fmt"
+ "strconv"
+
+ _ "github.com/mattn/go-sqlite3"
+)
+
+func main() {
+ var alliancecolour string
+ var teamnumber int
+ var id int
+
+ database, _ := sql.Open("sqlite3", "./bogo.db")
+ statement, _ := database.Prepare("DROP TABLE IF EXISTS robots")
+ statement.Exec()
+ statement, _ = database.Prepare("CREATE TABLE robots (id INTEGER PRIMARY KEY, alliancecolour TEXT, teamnumber TEXT)")
+ statement.Exec()
+ for i := 0; i < 6; i++ {
+ if i < 3 {
+ alliancecolour = "red" + strconv.Itoa(i+1)
+ } else if i >= 3 {
+ alliancecolour = "blue" + strconv.Itoa(i-2)
+ }
+ statement, _ = database.Prepare("INSERT INTO robots (alliancecolour, teamnumber) VALUES (?, ?)")
+ statement.Exec(alliancecolour, "971")
+ }
+ rows, _ := database.Query("SELECT id, alliancecolour, teamnumber FROM robots")
+
+ for rows.Next() {
+ rows.Scan(&id, &alliancecolour, &teamnumber)
+ fmt.Println(alliancecolour + ": " + strconv.Itoa(teamnumber))
+ }
+}
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 8e49eda..8de828f 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
@@ -201,6 +201,15 @@
with_features = [with_feature_set(features = ["opt"])],
),
flag_set(
+ actions = all_compile_actions,
+ flag_groups = ([
+ flag_group(
+ flags = ctx.attr.fastbuild_compile_flags,
+ ),
+ ] if ctx.attr.fastbuild_compile_flags else []),
+ with_features = [with_feature_set(features = ["fastbuild"])],
+ ),
+ flag_set(
actions = [ACTION_NAMES.c_compile],
flag_groups = ([
flag_group(
@@ -255,6 +264,8 @@
opt_feature = feature(name = "opt")
+ fastbuild_feature = feature(name = "fastbuild")
+
sysroot_feature = feature(
name = "sysroot",
enabled = True,
@@ -1218,6 +1229,7 @@
supports_dynamic_linker_feature,
dbg_feature,
opt_feature,
+ fastbuild_feature,
user_compile_flags_feature,
sysroot_feature,
unfiltered_compile_flags_feature,
@@ -1238,6 +1250,7 @@
supports_dynamic_linker_feature,
dbg_feature,
opt_feature,
+ fastbuild_feature,
user_compile_flags_feature,
sysroot_feature,
unfiltered_compile_flags_feature,
@@ -1276,6 +1289,7 @@
"compile_flags": attr.string_list(),
"dbg_compile_flags": attr.string_list(),
"opt_compile_flags": attr.string_list(),
+ "fastbuild_compile_flags": attr.string_list(),
"cxx_flags": attr.string_list(),
"c_flags": attr.string_list(),
"compile_not_cxx_flags": attr.string_list(),
diff --git a/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl b/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
index ccadb7c..e429c40 100644
--- a/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
+++ b/third_party/bazel-toolchain/toolchain/cc_toolchain_config.bzl
@@ -46,6 +46,7 @@
copts,
opt_copts,
dbg_copts,
+ fastbuild_copts,
linkopts,
host_tools_info = {}):
host_os_arch_key = _os_arch_pair(host_os, host_arch)
@@ -157,6 +158,9 @@
"-fdata-sections",
]
+ fastbuild_compile_flags = [
+ ]
+
link_flags = [
"--target=" + target_system_name,
"-lm",
@@ -396,6 +400,7 @@
compile_flags.extend(copts)
dbg_compile_flags.extend(dbg_copts)
opt_compile_flags.extend(opt_copts)
+ fastbuild_compile_flags.extend(fastbuild_copts)
link_flags.extend(linkopts)
# Source: https://cs.opensource.google/bazel/bazel/+/master:tools/cpp/unix_cc_toolchain_config.bzl
@@ -414,6 +419,7 @@
compile_flags = compile_flags,
dbg_compile_flags = dbg_compile_flags,
opt_compile_flags = opt_compile_flags,
+ fastbuild_compile_flags = fastbuild_compile_flags,
cxx_flags = cxx_flags,
c_flags = conlyopts,
compile_not_cxx_flags = compile_not_cxx_flags,
diff --git a/third_party/bazel-toolchain/toolchain/internal/configure.bzl b/third_party/bazel-toolchain/toolchain/internal/configure.bzl
index 6a183fc..2d8124d 100644
--- a/third_party/bazel-toolchain/toolchain/internal/configure.bzl
+++ b/third_party/bazel-toolchain/toolchain/internal/configure.bzl
@@ -131,6 +131,7 @@
copts_dict = rctx.attr.copts,
opt_copts_dict = rctx.attr.opt_copts,
dbg_copts_dict = rctx.attr.dbg_copts,
+ fastbuild_copts_dict = rctx.attr.fastbuild_copts,
linkopts_dict = rctx.attr.linkopts,
)
host_tools_info = dict([
@@ -282,6 +283,7 @@
copts = toolchain_info.copts_dict.get(key, [])
opt_copts = toolchain_info.opt_copts_dict.get(key, [])
dbg_copts = toolchain_info.dbg_copts_dict.get(key, [])
+ fastbuild_copts = toolchain_info.fastbuild_copts_dict.get(key, [])
linkopts = toolchain_info.linkopts_dict.get(key, [])
target_toolchain_root = toolchain_info.toolchain_root
if key in toolchain_info.target_toolchain_roots_dict:
@@ -319,6 +321,7 @@
copts = {copts},
opt_copts = {opt_copts},
dbg_copts = {dbg_copts},
+ fastbuild_copts = {fastbuild_copts},
linkopts = {linkopts},
)
@@ -437,5 +440,6 @@
copts = copts,
opt_copts = opt_copts,
dbg_copts = dbg_copts,
+ fastbuild_copts = fastbuild_copts,
linkopts = linkopts,
)
diff --git a/third_party/bazel-toolchain/toolchain/rules.bzl b/third_party/bazel-toolchain/toolchain/rules.bzl
index f27e387..aad2d37 100644
--- a/third_party/bazel-toolchain/toolchain/rules.bzl
+++ b/third_party/bazel-toolchain/toolchain/rules.bzl
@@ -175,6 +175,13 @@
"({}), ".format(", ".join(_supported_os_arch_keys())) +
"used only with -c dbg."),
),
+ "fastbuild_copts": attr.string_list_dict(
+ mandatory = False,
+ doc = ("Extra flags for compiling C, C++, and assembly files, " +
+ "for each target OS and arch pair you want to support " +
+ "({}), ".format(", ".join(_supported_os_arch_keys())) +
+ "used only with -c fastbuild."),
+ ),
"linkopts": attr.string_list_dict(
mandatory = False,
doc = ("Extra flags to pass to the linker, " +
diff --git a/tools/build_rules/BUILD b/tools/build_rules/BUILD
index cf27ca0..aeb8517 100644
--- a/tools/build_rules/BUILD
+++ b/tools/build_rules/BUILD
@@ -12,3 +12,15 @@
visibility = ["//visibility:public"],
deps = ["@python_jinja2"],
)
+
+py_binary(
+ name = "apache_runner",
+ srcs = ["apache_runner.py"],
+ data = [
+ "apache_template.conf",
+ "@apache2//:all_files",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = ["@python_jinja2"],
+)
diff --git a/tools/build_rules/apache.bzl b/tools/build_rules/apache.bzl
new file mode 100644
index 0000000..9fb2ef5
--- /dev/null
+++ b/tools/build_rules/apache.bzl
@@ -0,0 +1,82 @@
+def _apache_binary_impl(ctx):
+ binary_path = ctx.attr.binary.files_to_run.executable.short_path
+
+ out = ctx.actions.declare_file(ctx.label.name)
+ ctx.actions.write(out, """\
+#!/bin/bash
+
+exec ./tools/build_rules/apache_runner --binary "{}" "$@"
+""".format(binary_path), is_executable = True)
+
+ # Collect files and runfiles for the tools that we're wrapping.
+ files = depset(transitive = [
+ ctx.attr._apache_runner.files,
+ ctx.attr.binary.files,
+ ])
+
+ runfiles = ctx.attr._apache_runner.default_runfiles
+ runfiles = runfiles.merge(ctx.attr.binary.default_runfiles)
+
+ return [
+ DefaultInfo(
+ executable = out,
+ files = files,
+ runfiles = runfiles,
+ ),
+ ]
+
+apache_wrapper = rule(
+ implementation = _apache_binary_impl,
+ attrs = {
+ "binary": attr.label(
+ mandatory = True,
+ executable = True,
+ cfg = "target",
+ doc = "The binary that we're wrapping with LDAP+HTTPS.",
+ ),
+ "_apache_runner": attr.label(
+ default = "@//tools/build_rules:apache_runner",
+ executable = True,
+ cfg = "target",
+ ),
+ },
+ doc = """\
+This rule wraps another web server and provides LDAP and HTTPS support.
+
+It's not intended to be used in production. It's intended to provide team
+members with a way to test their code in a production-like environment. E.g. to
+test whether your server makes use of LDAP credentials correctly.
+
+Write this as a wrapper around another binary like so:
+
+ apache_wrapper(
+ name = "wrapped_server",
+ binary = "//path/to:server_binary",
+ )
+
+Then you can run Apache and the wrapped binary like so:
+
+ $ bazel run :wrapped_server
+
+The wrapped binary can find the port that Apache is wrapping via the
+APACHE_WRAPPED_PORT environment variable.
+
+This rule assumes that you have a file at the root of the workspace called
+"ldap.json". You can customize this path with the `--ldap_info` argument. The
+JSON file has to have these three entries in it:
+
+ {
+ "ldap_bind_dn": "...",
+ "ldap_url": "...",
+ "ldap_password": "..."
+ }
+
+where the "..." values are replaced with the information to connect to an LDAP
+server. If you want to connect to our FRC971 LDAP server, please contact a
+Software mentor. Or ask on the `#coding` Slack channel.
+
+If the default ports of 7000 and 7500 are already taken, you can change them via
+the `--https_port` and `--wrapped_port` arguments.
+""",
+ executable = True,
+)
diff --git a/tools/build_rules/apache_runner.py b/tools/build_rules/apache_runner.py
new file mode 100644
index 0000000..3364216
--- /dev/null
+++ b/tools/build_rules/apache_runner.py
@@ -0,0 +1,121 @@
+"""Starts up Apache to provide HTTPS + LDAP for another web server.
+
+This script is used by the apache_wrapper() rule as the main entrypoint for its
+"executable". This script sets up a minimal Apache environment in a directory
+in /tmp.
+
+Both Apache and the wrapped server binary are started by this script. The
+wrapped server should bind to the port specified by the APACHE_WRAPPED_PORT
+environment variable.
+
+See the documentation for apache_wrapper() for more information.
+"""
+
+import argparse
+import json
+import os
+from pathlib import Path
+import signal
+import subprocess
+import sys
+import tempfile
+
+import jinja2
+
+DUMMY_CERT_ANSWERS = """\
+US
+California
+Mountain View
+FRC971
+Software
+frc971.org
+dummy@frc971.org
+"""
+
+def main(argv):
+ parser = argparse.ArgumentParser()
+ parser.add_argument("--binary", type=str, required=True)
+ parser.add_argument("--https_port", type=int, default=7000)
+ parser.add_argument("--wrapped_port", type=int, default=7500)
+ parser.add_argument(
+ "--ldap_info",
+ type=str,
+ help="JSON file containing 'ldap_bind_dn', 'ldap_url', and 'ldap_password' entries.",
+ default="",
+ )
+ args = parser.parse_args(argv[1:])
+
+ if not args.ldap_info:
+ args.ldap_info = os.path.join(os.environ["BUILD_WORKSPACE_DIRECTORY"], "ldap.json")
+
+ with open("tools/build_rules/apache_template.conf", "r") as file:
+ template = jinja2.Template(file.read())
+
+ with open(args.ldap_info, "r") as file:
+ substitutions = json.load(file)
+
+ for key in ("ldap_bind_dn", "ldap_url", "ldap_password"):
+ if key not in substitutions:
+ raise KeyError(f"The ldap_info JSON file must contain key '{key}'.")
+
+ substitutions.update({
+ "https_port": args.https_port,
+ "wrapped_port": args.wrapped_port,
+ })
+
+ config_text = template.render(substitutions)
+
+ with tempfile.TemporaryDirectory() as temp_dir:
+ temp_dir = Path(temp_dir)
+ with open(temp_dir / "apache2.conf", "w") as file:
+ file.write(config_text)
+
+ # Create a directory for error logs and such.
+ logs_dir = temp_dir / "logs"
+ os.mkdir(logs_dir)
+
+ print("-" * 60)
+ print(f"Logs are in {logs_dir}/")
+ print("-" * 60)
+
+ # Make modules available.
+ modules_path = Path("external/apache2/usr/lib/apache2/modules")
+ os.symlink(modules_path.resolve(), temp_dir / "modules")
+
+ # Generate a testing cert.
+ subprocess.run([
+ "openssl",
+ "req",
+ "-x509",
+ "-nodes",
+ "-days=365",
+ "-newkey=rsa:2048",
+ "-keyout=" + str(temp_dir / "apache-selfsigned.key"),
+ "-out=" + str(temp_dir / "apache-selfsigned.crt"),
+ ],
+ check=True,
+ input=DUMMY_CERT_ANSWERS,
+ text=True,
+ )
+
+ # Start the wrapped binary in the background.
+ # Tell it via the environment what port to listen on.
+ env = os.environ.copy()
+ env["APACHE_WRAPPED_PORT"] = str(args.wrapped_port)
+ wrapped_binary = subprocess.Popen([args.binary], env=env)
+
+ # Start the apache server.
+ env = os.environ.copy()
+ env["LD_LIBRARY_PATH"] = "external/apache2/usr/lib/x86_64-linux-gnu"
+ try:
+ subprocess.run(
+ ["external/apache2/usr/sbin/apache2", "-X", "-d", str(temp_dir)],
+ check=True,
+ env=env,
+ )
+ finally:
+ wrapped_binary.send_signal(signal.SIGINT)
+ wrapped_binary.wait()
+
+if __name__ == "__main__":
+ sys.exit(main(sys.argv))
diff --git a/tools/build_rules/apache_template.conf b/tools/build_rules/apache_template.conf
new file mode 100644
index 0000000..91a8338
--- /dev/null
+++ b/tools/build_rules/apache_template.conf
@@ -0,0 +1,57 @@
+PidFile logs/httpd.pid
+
+ServerTokens Prod
+UseCanonicalName On
+TraceEnable Off
+
+Listen 127.0.0.1:{{ https_port }}
+
+LoadModule mpm_event_module modules/mod_mpm_event.so
+LoadModule authn_core_module modules/mod_authn_core.so
+LoadModule authz_core_module modules/mod_authz_core.so
+LoadModule authz_user_module modules/mod_authz_user.so
+LoadModule auth_basic_module modules/mod_auth_basic.so
+LoadModule authnz_ldap_module modules/mod_authnz_ldap.so
+LoadModule ldap_module modules/mod_ldap.so
+LoadModule proxy_module modules/mod_proxy.so
+LoadModule proxy_http_module modules/mod_proxy_http.so
+LoadModule ssl_module modules/mod_ssl.so
+
+{% raw %}
+ErrorLogFormat "[%{cu}t] [%-m:%-l] %-a %-L %M"
+LogFormat "%h %l %u [%{%Y-%m-%d %H:%M:%S}t.%{usec_frac}t] \"%r\" %>s %b \
+\"%{Referer}i\" \"%{User-Agent}i\"" combined
+{% endraw %}
+
+LogLevel debug
+ErrorLog logs/error.log
+CustomLog logs/access.log combined
+
+LDAPCacheEntries 1024
+LDAPCacheTTL 600
+LDAPTrustedGlobalCert CA_BASE64 "apache-selfsigned.crt"
+LDAPTrustedMode STARTTLS
+LDAPLibraryDebug 7
+LDAPVerifyServerCert OFF
+
+<VirtualHost *:{{ https_port }}>
+ ServerName localhost
+ ServerAdmin root@localhost
+
+ SSLEngine on
+ SSLProxyEngine On
+ SSLCertificateFile apache-selfsigned.crt
+ SSLCertificateKeyFile apache-selfsigned.key
+
+ ProxyPass "/" http://localhost:{{ wrapped_port }}/
+
+ <Location />
+ AuthName "Enter your Robotics 971 credentials"
+ AuthType Basic
+ AuthBasicProvider ldap
+ AuthLDAPBindDN "{{ ldap_bind_dn }}"
+ AuthLDAPBindPassword {{ ldap_password }}
+ AuthLDAPURL "{{ ldap_url }}"
+ Require valid-user
+ </Location>
+</VirtualHost>
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index 17f218e..6ff661a 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -76,6 +76,7 @@
srcs = [
":flags_compiler_inputs",
"//tools/cpp/arm-frc-linux-gnueabi:as",
+ "//tools/cpp/arm-frc-linux-gnueabi:libs",
"//tools/cpp/arm-frc-linux-gnueabi:tool-wrappers",
"@arm_frc_linux_gnueabi_repo//:compiler_pieces",
],
diff --git a/tools/dependency_rewrite b/tools/dependency_rewrite
index 3cafe9b..cc1de8c 100644
--- a/tools/dependency_rewrite
+++ b/tools/dependency_rewrite
@@ -5,6 +5,7 @@
rewrite dl.google.com/(.*) software.frc971.org/Build-Dependencies/dl.google.com/$1
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
allow golang.org
allow software.frc971.org
diff --git a/tools/go/go_mirrors.bzl b/tools/go/go_mirrors.bzl
index 9addcef..0e8f394 100644
--- a/tools/go/go_mirrors.bzl
+++ b/tools/go/go_mirrors.bzl
@@ -315,4 +315,11 @@
"strip_prefix": "golang.org/x/xerrors@v0.0.0-20200804184101-5ec99f83aff1",
"version": "v0.0.0-20200804184101-5ec99f83aff1",
},
+ "com_github_mattn_go_sqlite3": {
+ "filename": "com_github_mattn_go_sqlite3__v1.14.10.zip",
+ "importpath": "github.com/mattn/go-sqlite3",
+ "sha256": "3c1e6497b023fc4741bf1bbfb39ae657b99cf44cfb33f5cbf1e88b315d25a306",
+ "strip_prefix": "github.com/mattn/go-sqlite3@v1.14.10",
+ "version": "v1.14.10",
+ },
}
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index bb53ee1..d6a63c7 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -6,6 +6,7 @@
"@platforms//os:linux",
"@platforms//cpu:x86_64",
"//tools/platforms/go:has_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -16,6 +17,7 @@
"@platforms//cpu:armv7",
"//tools/platforms/hardware:raspberry_pi",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -25,6 +27,7 @@
"@platforms//os:linux",
"@platforms//cpu:arm64",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -35,6 +38,7 @@
"@platforms//cpu:armv7",
"//tools/platforms/hardware:roborio",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:has_support",
],
)
@@ -44,6 +48,7 @@
"@platforms//os:none",
"//tools/platforms/hardware:cortex_m4f",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:lacks_support",
],
)
@@ -53,6 +58,7 @@
"@platforms//os:none",
"//tools/platforms/hardware:cortex_m0plus",
"//tools/platforms/go:lacks_support",
+ "//tools/platforms/rust:lacks_support",
],
)
diff --git a/tools/platforms/rust/BUILD b/tools/platforms/rust/BUILD
new file mode 100644
index 0000000..5b4745f
--- /dev/null
+++ b/tools/platforms/rust/BUILD
@@ -0,0 +1,13 @@
+package(default_visibility = ["//visibility:public"])
+
+constraint_setting(name = "rust_support")
+
+constraint_value(
+ name = "has_support",
+ constraint_setting = ":rust_support",
+)
+
+constraint_value(
+ name = "lacks_support",
+ constraint_setting = ":rust_support",
+)
diff --git a/tools/rehost.sh b/tools/rehost.sh
index 86ca488..3031aba 100755
--- a/tools/rehost.sh
+++ b/tools/rehost.sh
@@ -7,6 +7,11 @@
readonly LOCALPATH="$(basename "${1}")"
+if echo "${1}" | grep --quiet http; then
+ echo "Argument must not include the scheme (remove the https://)" >&2
+ exit 1
+fi
+
set -e
curl -L "https://${1}" -o "${LOCALPATH}"
diff --git a/tools/rust/BUILD b/tools/rust/BUILD
new file mode 100644
index 0000000..a652530
--- /dev/null
+++ b/tools/rust/BUILD
@@ -0,0 +1,73 @@
+load("@rules_rust//rust:toolchain.bzl", "rust_stdlib_filegroup", "rust_toolchain")
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+
+# Similar to the one automatically generated by @rust, but with the correct
+# hardware platform configured.
+toolchain(
+ name = "rust-toolchain-roborio",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
+ target_compatible_with = [
+ "@platforms//os:linux",
+ "//tools/platforms/hardware:roborio",
+ ],
+ toolchain = "@rust//:toolchain_for_arm-unknown-linux-gnueabi_impl",
+ toolchain_type = "@rules_rust//rust:toolchain",
+)
+
+# The remainder of this file exists to create a NOOP toolchain for Rust on
+# platforms that don't support Rust. We can probably get rid of this once
+# https://github.com/bazelbuild/bazel/issues/12897 is fixed.
+
+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 Rust toolchain should never be executed. Something went wrong.' >&2",
+ "echo 'Check that your target has `target_compatible_with` set to a platform that supports Rust.' >&2",
+ "exit 1",
+ ],
+ is_executable = True,
+)
+
+rust_stdlib_filegroup(
+ name = "empty_stdlib",
+ srcs = [":noop_error_exit"],
+)
+
+rust_toolchain(
+ name = "noop_rust_toolchain_impl",
+ binary_ext = "",
+ cargo = ":noop_error_exit",
+ clippy_driver = ":noop_error_exit",
+ default_edition = "2021",
+ dylib_ext = ".so",
+ exec_triple = "none",
+ os = "none",
+ rust_doc = ":noop_error_exit",
+ rust_lib = ":empty_stdlib",
+ rustc = ":noop_error_exit",
+ rustc_lib = ":noop_error_exit",
+ rustc_srcs = None,
+ rustfmt = ":noop_error_exit",
+ staticlib_ext = ".a",
+ stdlib_linkflags = [],
+ tags = ["manual"],
+ target_triple = "none",
+)
+
+toolchain(
+ name = "noop_rust_toolchain",
+ exec_compatible_with = [
+ "@platforms//os:linux",
+ ],
+ target_compatible_with = [
+ "//tools/platforms/rust:lacks_support",
+ ],
+ toolchain = ":noop_rust_toolchain_impl",
+ toolchain_type = "@rules_rust//rust:toolchain",
+)
diff --git a/y2020/BUILD b/y2020/BUILD
index 82a7848..ee4e628 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -33,6 +33,7 @@
robot_downloader(
name = "pi_download",
binaries = [
+ "//y2020/vision:calibration",
"//y2020/vision:viewer",
],
data = [
diff --git a/y2020/vision/calibration.cc b/y2020/vision/calibration.cc
index 80f1491..0b05d10 100644
--- a/y2020/vision/calibration.cc
+++ b/y2020/vision/calibration.cc
@@ -1,22 +1,21 @@
-#include "Eigen/Dense"
-#include "Eigen/Geometry"
-
+#include <cmath>
#include <opencv2/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
+#include "Eigen/Dense"
+#include "Eigen/Geometry"
#include "absl/strings/str_format.h"
-#include "y2020/vision/charuco_lib.h"
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/network/team_number.h"
#include "aos/time/time.h"
#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, "y2020/vision/tools/python_code/calib_files",
- "Folder to place calibration files.");
+DEFINE_string(calibration_folder, ".", "Folder to place calibration files.");
DEFINE_bool(display_undistorted, false,
"If true, display the undistorted image.");
@@ -29,9 +28,12 @@
: event_loop_(event_loop),
pi_(pi),
pi_number_(aos::network::ParsePiNumber(pi)),
+ prev_rvec_(Eigen::Vector3d::Zero()),
+ prev_tvec_(Eigen::Vector3d::Zero()),
charuco_extractor_(
event_loop, pi,
- [this](cv::Mat rgb_image, const aos::monotonic_clock::time_point eof,
+ [this](cv::Mat rgb_image,
+ const aos::monotonic_clock::time_point eof,
std::vector<int> charuco_ids,
std::vector<cv::Point2f> charuco_corners, bool valid,
Eigen::Vector3d rvec_eigen, Eigen::Vector3d tvec_eigen) {
@@ -46,8 +48,10 @@
const aos::monotonic_clock::time_point /*eof*/,
std::vector<int> charuco_ids,
std::vector<cv::Point2f> charuco_corners, bool valid,
- Eigen::Vector3d /*rvec_eigen*/,
- Eigen::Vector3d /*tvec_eigen*/) {
+ Eigen::Vector3d rvec_eigen, Eigen::Vector3d tvec_eigen) {
+ // Reduce resolution displayed on remote viewer to prevent lag
+ cv::resize(rgb_image, rgb_image,
+ cv::Size(rgb_image.cols / 2, rgb_image.rows / 2));
cv::imshow("Display", rgb_image);
if (FLAGS_display_undistorted) {
@@ -60,12 +64,42 @@
cv::imshow("Display undist", undistorted_rgb_image);
}
+ // 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::AngleAxisd delta_r = Eigen::AngleAxisd(r_aff * prev_r_aff.inverse());
+
+ Eigen::Vector3d delta_t = tvec_eigen - prev_tvec_;
+
+ double r_norm = std::abs(delta_r.angle());
+ double t_norm = delta_t.norm();
+
int keystroke = cv::waitKey(1);
- if ((keystroke & 0xFF) == static_cast<int>('c')) {
+ if (r_norm > kDeltaRThreshold || t_norm > kDeltaTThreshold) {
if (valid) {
+ prev_rvec_ = rvec_eigen;
+ prev_tvec_ = tvec_eigen;
+
all_charuco_ids_.emplace_back(std::move(charuco_ids));
all_charuco_corners_.emplace_back(std::move(charuco_corners));
- LOG(INFO) << "Image " << all_charuco_corners_.size();
+
+ if (r_norm > kDeltaRThreshold) {
+ LOG(INFO) << "Triggered by rotation delta = " << r_norm << " > "
+ << kDeltaRThreshold;
+ }
+ if (t_norm > kDeltaTThreshold) {
+ LOG(INFO) << "Trigerred by translation delta = " << t_norm << " > "
+ << kDeltaTThreshold;
+ }
+
+ LOG(INFO) << "Image count " << all_charuco_corners_.size();
}
if (all_charuco_ids_.size() >= 50) {
@@ -150,6 +184,9 @@
}
private:
+ static constexpr double kDeltaRThreshold = M_PI / 6.0;
+ static constexpr double kDeltaTThreshold = 0.3;
+
aos::ShmEventLoop *event_loop_;
std::string pi_;
const std::optional<uint16_t> pi_number_;
@@ -157,6 +194,9 @@
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_;
+
CharucoExtractor charuco_extractor_;
};
diff --git a/y2020/vision/tools/python_code/target_definition.py b/y2020/vision/tools/python_code/target_definition.py
index 8d1c601..0266997 100644
--- a/y2020/vision/tools/python_code/target_definition.py
+++ b/y2020/vision/tools/python_code/target_definition.py
@@ -136,8 +136,7 @@
"target_definitions/ideal_power_port_red.json",
"target_definitions/ideal_power_port_blue.json")
training_target_list = TargetData.from_jsons(
- "target_definitions/cc_power_port_red_base_2021-10-29_15-08-50.json",
- "target_definitions/cc_power_port_blue_base_2021-10-29_15-14-21.json")
+ "target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json")
return ideal_target_list, training_target_list
diff --git a/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json b/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json
deleted file mode 100644
index 303838a..0000000
--- a/y2020/vision/tools/python_code/target_definitions/ideal_power_port_taped_night.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image_filename": "test_images/partial_971_power_port_red_nighttime.png", "polygon_list": [[[217, 425], [215, 187], [78, 189], [212, 80], [344, 74], [347, 180], [370, 421]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[282.0, 132.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json
new file mode 100644
index 0000000..d951e13
--- /dev/null
+++ b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base.json
@@ -0,0 +1 @@
+{"image_filename": "test_images/partial_971_power_port_red_daytime.png", "polygon_list": [[[198, 473], [203, 154], [23, 156], [204, 19], [374, 16], [381, 152], [397, 467]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[290.0, 87.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json
new file mode 100644
index 0000000..82fdd9b
--- /dev/null
+++ b/y2020/vision/tools/python_code/target_definitions/mvhs_power_port_red_base_2021-11-06_14-18-22.json
@@ -0,0 +1 @@
+{"image_filename": "test_images/mvhs_power_port_red-2021-11-06.png", "polygon_list": [[[196, 435], [197, 178], [43, 178], [200, 74], [331, 68], [338, 173], [353, 428]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[265.0, 123.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json b/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json
deleted file mode 100644
index 303838a..0000000
--- a/y2020/vision/tools/python_code/target_definitions/training_target_power_port_taped_night.json
+++ /dev/null
@@ -1 +0,0 @@
-{"image_filename": "test_images/partial_971_power_port_red_nighttime.png", "polygon_list": [[[217, 425], [215, 187], [78, 189], [212, 80], [344, 74], [347, 180], [370, 421]]], "polygon_list_3d": [[[-7.9915, 1.089, 0.0], [-7.9915, 1.089, 2.0193], [-7.9915, -0.11749999999999994, 2.0193], [-7.9915, 1.089, 3.0225999999999997], [-7.9915, 2.3082, 3.0225999999999997], [-7.9915, 2.3082, 2.0193], [-7.9915, 2.3082, 0.0]]], "target_rotation": [[-1.0, -0.0, -0.0], [-0.0, -1.0, -0.0], [-0.0, -0.0, -1.0]], "target_position": [-7.9915, 1.6985999999999999, 2.464], "target_point_2d": [[[282.0, 132.0]]], "target_radius": 12.0}
\ No newline at end of file
diff --git a/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png b/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png
new file mode 100644
index 0000000..918c9cf
--- /dev/null
+++ b/y2020/vision/tools/python_code/test_images/mvhs_power_port_red-2021-11-06.png
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
deleted file mode 100644
index ec402c0..0000000
--- a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png b/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
deleted file mode 100644
index 6f4a54c..0000000
--- a/y2020/vision/tools/python_code/test_images/partial_971_power_port_red_nighttime.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_VR_sample1.png b/y2020/vision/tools/python_code/test_images/test_VR_sample1.png
deleted file mode 100644
index 86495b2..0000000
--- a/y2020/vision/tools/python_code/test_images/test_VR_sample1.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg b/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg
deleted file mode 100644
index 376149c..0000000
--- a/y2020/vision/tools/python_code/test_images/test_raspi3_sample.jpg
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png b/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png
deleted file mode 100644
index fb4952e..0000000
--- a/y2020/vision/tools/python_code/test_images/test_taped_dusk-2021-04-03-19-30-00.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png b/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png
deleted file mode 100644
index be67176..0000000
--- a/y2020/vision/tools/python_code/test_images/train_cafeteria-2020-02-13-16-27-25.png
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf b/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf
deleted file mode 100644
index 6bc62f5..0000000
--- a/y2020/vision/tools/python_code/test_images/train_loading_bay.xcf
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf b/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf
deleted file mode 100644
index ad6bed1..0000000
--- a/y2020/vision/tools/python_code/test_images/train_power_port_red.xcf
+++ /dev/null
Binary files differ
diff --git a/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png b/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png
deleted file mode 100644
index b635a12..0000000
--- a/y2020/vision/tools/python_code/test_images/train_power_port_taped-2020-08-20-13-27-50.png
+++ /dev/null
Binary files differ
diff --git a/y2022/BUILD b/y2022/BUILD
index 2173877..812cac1 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -51,6 +51,7 @@
"//aos/network:timestamp_fbs",
"//frc971/input:robot_state_fbs",
"//frc971/vision:vision_fbs",
+ "//y2022/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
@@ -75,6 +76,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//frc971/vision:vision_fbs",
+ "//y2022/vision:calibration_fbs",
"//y2022/vision:target_estimate_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
@@ -103,6 +105,7 @@
"//aos/network:timestamp_fbs",
"//aos/network:remote_message_fbs",
"//frc971/vision:vision_fbs",
+ "//y2022/vision:calibration_fbs",
],
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
diff --git a/y2022/constants.h b/y2022/constants.h
index 418645b..0170f50 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -20,7 +20,9 @@
static constexpr double kDrivetrainEncoderCountsPerRevolution() {
return kDrivetrainCyclesPerRevolution() * 4;
}
- static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
+ static constexpr double kDrivetrainEncoderRatio() {
+ return (14.0 / 54.0) * (22.0 / 56.0);
+ }
static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
control_loops::drivetrain::kHighOutputRatio /
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index e893e54..676a4b9 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -1,16 +1,81 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_py_library")
-cc_binary(
- name = "camera_reader",
- srcs = [
- "camera_reader_main.cc",
- ],
+flatbuffer_cc_library(
+ name = "calibration_fbs",
+ srcs = ["calibration.fbs"],
+ gen_reflections = 1,
target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2022:__subpackages__"],
+)
+
+flatbuffer_py_library(
+ name = "calibration_fbs_python",
+ srcs = [
+ "calibration.fbs",
+ ],
+ namespace = "frc971.vision.calibration",
+ tables = [
+ "CalibrationData",
+ "CameraCalibration",
+ "TransformationMatrix",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+)
+
+py_library(
+ name = "camera_definition",
+ srcs = [
+ "camera_definition.py",
+ ],
deps = [
- ":camera_reader_lib",
- "//aos:init",
- "//aos/events:shm_event_loop",
+ "//external:python-glog",
+ ],
+)
+
+py_binary(
+ name = "create_calib_file",
+ srcs = [
+ "create_calib_file.py",
+ ],
+ args = [
+ "calibration_data.h",
+ ],
+ data = glob(["calib_files/*.json"]),
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ ":camera_definition",
+ "//external:python-glog",
+ "//y2022/vision:calibration_fbs_python",
+ "@bazel_tools//tools/python/runfiles",
+ "@opencv_contrib_nonfree_amd64//:python_opencv",
+ ],
+)
+
+genrule(
+ name = "run_calibration_data",
+ outs = [
+ "calibration_data.h",
+ ],
+ cmd = " ".join([
+ "$(location :create_calib_file)",
+ "$(location calibration_data.h)",
+ ]),
+ target_compatible_with = ["@platforms//os:linux"],
+ tools = [
+ ":create_calib_file",
+ ],
+)
+
+cc_library(
+ name = "calibration_data",
+ hdrs = [
+ "calibration_data.h",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "@com_google_absl//absl/types:span",
],
)
@@ -29,16 +94,31 @@
visibility = ["//y2022:__subpackages__"],
deps = [
":blob_detector_lib",
+ ":calibration_data",
+ ":calibration_fbs",
+ ":target_estimate_fbs",
":target_estimator_lib",
"//aos:flatbuffer_merge",
"//aos/events:event_loop",
+ "//aos/events:shm_event_loop",
"//aos/network:team_number",
"//frc971/vision:v4l2_reader",
"//frc971/vision:vision_fbs",
"//third_party:opencv",
- "//y2020/vision/sift:sift_fbs",
- "//y2020/vision/sift:sift_training_fbs",
- "//y2020/vision/tools/python_code:sift_training_data",
+ ],
+)
+
+cc_binary(
+ name = "camera_reader",
+ srcs = [
+ "camera_reader_main.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":camera_reader_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
],
)
@@ -54,6 +134,7 @@
visibility = ["//y2022:__subpackages__"],
deps = [
"//aos/network:team_number",
+ "//aos/time",
"//third_party:opencv",
],
)
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index b76ffc5..aba3550 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -1,9 +1,11 @@
#include "y2022/vision/blob_detector.h"
#include <cmath>
+#include <optional>
#include <string>
#include "aos/network/team_number.h"
+#include "aos/time/time.h"
#include "opencv2/features2d.hpp"
#include "opencv2/imgproc.hpp"
@@ -63,18 +65,102 @@
const double aspect_ratio =
static_cast<double>(blob_size.width) / blob_size.height;
const double area = moments.m00;
- const size_t points = blob.size();
+ const size_t num_points = blob.size();
- blob_stats.emplace_back(BlobStats{centroid, aspect_ratio, area, points});
+ blob_stats.emplace_back(
+ BlobStats{centroid, aspect_ratio, area, num_points});
}
return blob_stats;
}
-// Filter blobs to get rid of noise, too large items, etc.
-std::vector<std::vector<cv::Point>> BlobDetector::FilterBlobs(
- std::vector<std::vector<cv::Point>> blobs,
- std::vector<BlobDetector::BlobStats> blob_stats) {
+namespace {
+
+// Linear equation in the form ax + by = c
+struct Line {
+ public:
+ double a, b, c;
+
+ std::optional<cv::Point2d> Intersection(const Line &l) const {
+ // Use Cramer's rule to solve for the intersection
+ const double denominator = Determinant(a, b, l.a, l.b);
+ const double numerator_x = Determinant(c, b, l.c, l.b);
+ const double numerator_y = Determinant(a, c, l.a, l.c);
+
+ std::optional<cv::Point2d> intersection = std::nullopt;
+ // Return nullopt if the denominator is 0, meaning the same slopes
+ if (denominator != 0) {
+ intersection =
+ cv::Point2d(numerator_x / denominator, numerator_y / denominator);
+ }
+
+ return intersection;
+ }
+
+ private: // Determinant of [[a, b], [c, d]]
+ static double Determinant(double a, double b, double c, double d) {
+ return (a * d) - (b * c);
+ }
+};
+
+struct Circle {
+ public:
+ cv::Point2d center;
+ double radius;
+
+ static std::optional<Circle> Fit(std::vector<cv::Point2d> centroids) {
+ CHECK_EQ(centroids.size(), 3ul);
+ // For the 3 points, we have 3 equations in the form
+ // (x - h)^2 + (y - k)^2 = r^2
+ // Manipulate them to solve for the center and radius
+ // (x1 - h)^2 + (y1 - k)^2 = r^2 ->
+ // x1^2 + h^2 - 2x1h + y1^2 + k^2 - 2y1k = r^2
+ // Also, (x2 - h)^2 + (y2 - k)^2 = r^2
+ // Subtracting these two, we get
+ // x1^2 - x2^2 - 2h(x1 - x2) + y1^2 - y2^2 - 2k(y1 - y2) = 0 ->
+ // h(x1 - x2) + k(y1 - y2) = (-x1^2 + x2^2 - y1^2 + y2^2) / -2
+ // Doing the same with equations 1 and 3, we get the second linear equation
+ // h(x1 - x3) + k(y1 - y3) = (-x1^2 + x3^2 - y1^2 + y3^2) / -2
+ // Now, we can solve for their intersection and find the center
+ const auto l =
+ Line{centroids[0].x - centroids[1].x, centroids[0].y - centroids[1].y,
+ (-std::pow(centroids[0].x, 2) + std::pow(centroids[1].x, 2) -
+ std::pow(centroids[0].y, 2) + std::pow(centroids[1].y, 2)) /
+ -2.0};
+ const auto m =
+ Line{centroids[0].x - centroids[2].x, centroids[0].y - centroids[2].y,
+ (-std::pow(centroids[0].x, 2) + std::pow(centroids[2].x, 2) -
+ std::pow(centroids[0].y, 2) + std::pow(centroids[2].y, 2)) /
+ -2.0};
+ const auto center = l.Intersection(m);
+
+ std::optional<Circle> circle = std::nullopt;
+ if (center) {
+ // Now find the radius
+ const double radius = cv::norm(centroids[0] - *center);
+ circle = Circle{*center, radius};
+ }
+ return circle;
+ }
+
+ 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);
+ // 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; }
+};
+
+} // namespace
+
+std::pair<std::vector<std::vector<cv::Point>>, cv::Point>
+BlobDetector::FilterBlobs(std::vector<std::vector<cv::Point>> blobs,
+ std::vector<BlobDetector::BlobStats> blob_stats) {
std::vector<std::vector<cv::Point>> filtered_blobs;
+ std::vector<BlobStats> filtered_stats;
auto blob_it = blobs.begin();
auto stats_it = blob_stats.begin();
@@ -100,21 +186,93 @@
if ((stats_it->centroid.y <= kMaxY) &&
(std::abs(kTapeAspectRatio - stats_it->aspect_ratio) <
kAspectRatioThreshold) &&
- (stats_it->area >= kMinArea) && (stats_it->points >= kMinPoints)) {
+ (stats_it->area >= kMinArea) && (stats_it->num_points >= kMinPoints)) {
filtered_blobs.push_back(*blob_it);
+ filtered_stats.push_back(*stats_it);
}
blob_it++;
stats_it++;
}
- return filtered_blobs;
+ // Threshold for mean distance from a blob centroid to a circle.
+ constexpr double kCircleDistanceThreshold = 5.0;
+ std::vector<std::vector<cv::Point>> blob_circle;
+ std::vector<cv::Point2d> centroids;
+
+ // If we see more than this number of blobs after filtering based on
+ // color/size, the circle fit may detect noise so just return no blobs.
+ constexpr size_t kMinFilteredBlobs = 3;
+ constexpr size_t kMaxFilteredBlobs = 50;
+ if (filtered_blobs.size() >= kMinFilteredBlobs &&
+ filtered_blobs.size() <= kMaxFilteredBlobs) {
+ constexpr size_t kRansacIterations = 15;
+ for (size_t i = 0; i < kRansacIterations; i++) {
+ // Pick 3 random blobs and see how many fit on their circle
+ const size_t j = std::rand() % filtered_blobs.size();
+ const size_t k = std::rand() % filtered_blobs.size();
+ const size_t l = std::rand() % filtered_blobs.size();
+
+ // Restart if the random indices clash
+ if ((j == k) || (j == l) || (k == l)) {
+ i--;
+ continue;
+ }
+
+ std::vector<std::vector<cv::Point>> current_blobs{
+ filtered_blobs[j], filtered_blobs[k], filtered_blobs[l]};
+ std::vector<cv::Point2d> current_centroids{filtered_stats[j].centroid,
+ filtered_stats[k].centroid,
+ filtered_stats[l].centroid};
+ const std::optional<Circle> circle = Circle::Fit(current_centroids);
+
+ // Make sure that a circle could be created from the points
+ if (!circle) {
+ 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])) {
+ 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->DistanceTo(filtered_stats[m].centroid) <
+ kCircleDistanceThreshold)) {
+ current_blobs.emplace_back(filtered_blobs[m]);
+ current_centroids.emplace_back(filtered_stats[m].centroid);
+ }
+ }
+
+ if (current_blobs.size() > blob_circle.size()) {
+ blob_circle = current_blobs;
+ centroids = current_centroids;
+ }
+ }
+ }
+ }
+
+ cv::Point avg_centroid(-1, -1);
+ if (centroids.size() > 0) {
+ for (auto centroid : centroids) {
+ avg_centroid.x += centroid.x;
+ avg_centroid.y += centroid.y;
+ }
+ avg_centroid.x /= centroids.size();
+ avg_centroid.y /= centroids.size();
+ }
+
+ return {blob_circle, avg_centroid};
}
void BlobDetector::DrawBlobs(
cv::Mat view_image,
const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
const std::vector<std::vector<cv::Point>> &filtered_blobs,
- const std::vector<BlobStats> &blob_stats) {
+ const std::vector<BlobStats> &blob_stats, cv::Point centroid) {
CHECK_GT(view_image.cols, 0);
if (unfiltered_blobs.size() > 0) {
// Draw blobs unfilled, with red color border
@@ -130,18 +288,27 @@
cv::circle(view_image, stats.centroid, 2, cv::Scalar(255, 0, 0),
cv::FILLED);
}
+
+ // Draw average centroid
+ cv::circle(view_image, centroid, 3, cv::Scalar(255, 255, 0), cv::FILLED);
}
void BlobDetector::ExtractBlobs(
- cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ cv::Mat rgb_image, cv::Mat &binarized_image,
std::vector<std::vector<cv::Point>> &filtered_blobs,
std::vector<std::vector<cv::Point>> &unfiltered_blobs,
- std::vector<BlobStats> &blob_stats) {
+ std::vector<BlobStats> &blob_stats, cv::Point ¢roid) {
+ auto start = aos::monotonic_clock::now();
binarized_image = ThresholdImage(rgb_image);
unfiltered_blobs = FindBlobs(binarized_image);
blob_stats = ComputeStats(unfiltered_blobs);
- filtered_blobs = FilterBlobs(unfiltered_blobs, blob_stats);
- DrawBlobs(blob_image, unfiltered_blobs, filtered_blobs, blob_stats);
+ auto filtered_pair = FilterBlobs(unfiltered_blobs, blob_stats);
+ filtered_blobs = filtered_pair.first;
+ 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";
}
} // namespace vision
diff --git a/y2022/vision/blob_detector.h b/y2022/vision/blob_detector.h
index 84e504d..f8a4ab4 100644
--- a/y2022/vision/blob_detector.h
+++ b/y2022/vision/blob_detector.h
@@ -13,7 +13,7 @@
cv::Point centroid;
double aspect_ratio;
double area;
- size_t points;
+ size_t num_points;
};
BlobDetector() {}
@@ -29,8 +29,10 @@
static std::vector<BlobStats> ComputeStats(
std::vector<std::vector<cv::Point>> blobs);
- // Filter blobs to get rid of noise, too large items, etc.
- static std::vector<std::vector<cv::Point>> FilterBlobs(
+ // Filter blobs to get rid of noise, too small/large items, and blobs that
+ // aren't in a circle. Returns a pair of filtered blobs and the average
+ // of their centroids.
+ static std::pair<std::vector<std::vector<cv::Point>>, cv::Point> FilterBlobs(
std::vector<std::vector<cv::Point>> blobs,
std::vector<BlobStats> blob_stats);
@@ -40,13 +42,13 @@
cv::Mat view_image,
const std::vector<std::vector<cv::Point>> &filtered_blobs,
const std::vector<std::vector<cv::Point>> &unfiltered_blobs,
- const std::vector<BlobStats> &blob_stats);
+ const std::vector<BlobStats> &blob_stats, cv::Point centroid);
static void ExtractBlobs(
- cv::Mat rgb_image, cv::Mat binarized_image, cv::Mat blob_image,
+ cv::Mat rgb_image, cv::Mat &binarized_image,
std::vector<std::vector<cv::Point>> &filtered_blobs,
std::vector<std::vector<cv::Point>> &unfiltered_blobs,
- std::vector<BlobStats> &blob_stats);
+ std::vector<BlobStats> &blob_stats, cv::Point ¢roid);
};
} // namespace vision
} // namespace y2022
diff --git a/y2022/vision/calib_files/calibration_pi-971-1_2021-09-11_17-49-00.000000000.json b/y2022/vision/calib_files/calibration_pi-971-1_2021-09-11_17-49-00.000000000.json
new file mode 100644
index 0000000..39c7911
--- /dev/null
+++ b/y2022/vision/calib_files/calibration_pi-971-1_2021-09-11_17-49-00.000000000.json
@@ -0,0 +1,23 @@
+{
+ "node_name": "pi1",
+ "team_number": 971,
+ "intrinsics": [
+ 392.276093,
+ 0.0,
+ 293.934753,
+ 0.0,
+ 392.30838,
+ 212.287537,
+ 0.0,
+ 0.0,
+ 1.0
+ ],
+ "dist_coeffs": [
+ 0.149561,
+ -0.261432,
+ -0.000182,
+ -0.000697,
+ 0.099255
+ ],
+ "calibration_timestamp": 1597994992500905688
+}
diff --git a/y2022/vision/calibration.fbs b/y2022/vision/calibration.fbs
new file mode 100644
index 0000000..f5e30a6
--- /dev/null
+++ b/y2022/vision/calibration.fbs
@@ -0,0 +1,55 @@
+namespace frc971.vision.calibration;
+
+table TransformationMatrix {
+ // The matrix data for a row-major 4x4 homogeneous transformation matrix.
+ // This implies the bottom row is (0, 0, 0, 1).
+ data:[float] (id: 0);
+}
+
+// Calibration information for a given camera on a given robot.
+table CameraCalibration {
+ // The name of the camera node which this calibration data applies to.
+ node_name:string (id: 0);
+ // The team number of the robot which this calibration data applies to.
+ team_number:int (id: 1);
+
+ // Intrinsics for the camera.
+ //
+ // This is the standard OpenCV intrinsics matrix in row major order (3x3).
+ intrinsics:[float] (id: 2);
+
+ // Fixed extrinsics for the camera. This transforms from camera coordinates to
+ // robot coordinates. For example: multiplying (0, 0, 0, 1) by this results in
+ // the position of the camera aperture in robot coordinates.
+ fixed_extrinsics:TransformationMatrix (id: 3);
+
+ // Extrinsics for a camera on a turret. This will only be filled out for
+ // applicable cameras. For turret-mounted cameras, fixed_extrinsics defines
+ // a position for the center of rotation of the turret, and this field defines
+ // a position for the camera on the turret.
+ //
+ // The combination of the two transformations is underdefined, so nothing can
+ // distinguish between the two parts of the final extrinsics for a given
+ // turret position.
+ //
+ // To get the final extrinsics for a camera using this transformation,
+ // multiply (in order):
+ // fixed_extrinsics
+ // rotation around the Z axis by the turret angle
+ // turret_extrinsics
+ turret_extrinsics:TransformationMatrix (id: 4);
+
+ // This is the standard OpenCV 5 parameter distortion coefficients
+ dist_coeffs:[float] (id: 5);
+
+ // Timestamp for when the calibration was taken on the realtime clock.
+ calibration_timestamp:int64 (id: 6);
+}
+
+// Calibration information for all the cameras we know about.
+table CalibrationData {
+ camera_calibrations:[CameraCalibration] (id: 0);
+}
+
+
+root_type CalibrationData;
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
new file mode 100644
index 0000000..a45c704
--- /dev/null
+++ b/y2022/vision/camera_definition.py
@@ -0,0 +1,165 @@
+import copy
+import glog
+import json
+import math
+import numpy as np
+import os
+
+glog.setLevel("INFO")
+
+
+# Quick fix to naming games that happen with bazel
+def bazel_name_fix(filename):
+ ret_name = filename
+ try:
+ from bazel_tools.tools.python.runfiles import runfiles
+ r = runfiles.Create()
+ ret_name = r.Rlocation('org_frc971/y2022/vision/' + filename)
+ #print("Trying directory: ", ret_name)
+ except:
+ print("Failed bazel_name_fix")
+ pass
+
+ ### TODO<Jim>: Need to figure out why this isn't working
+ ### Hardcoding for now
+ if ret_name == None:
+ ret_name = '/home/jim/code/FRC/971-Robot-Code/y2022/vision/calib_files'
+ return ret_name
+
+
+class CameraIntrinsics:
+ def __init__(self):
+ self.camera_matrix = []
+ self.dist_coeffs = []
+
+ pass
+
+
+class CameraExtrinsics:
+ def __init__(self):
+ self.R = []
+ self.T = []
+
+
+class CameraParameters:
+ def __init__(self):
+ self.camera_int = CameraIntrinsics()
+ self.camera_ext = CameraExtrinsics()
+ self.turret_ext = None
+ self.node_name = ""
+ self.team_number = -1
+ self.timestamp = 0
+
+
+def compute_extrinsic(camera_pitch, camera_yaw, T_camera, is_turret):
+ # Compute the extrinsic calibration based on pitch and translation
+ # Includes camera rotation from robot x,y,z to opencv (z, -x, -y)
+
+ # Also, handle extrinsics for the turret
+ # The basic camera pose is relative to the center, base of the turret
+ # TODO<Jim>: Maybe store these to .json files, like with intrinsics?
+ base_cam_ext = CameraExtrinsics()
+ turret_cam_ext = CameraExtrinsics()
+
+ camera_pitch_matrix = np.array(
+ [[np.cos(camera_pitch), 0.0,
+ np.sin(camera_pitch)], [0.0, 1.0, 0.0],
+ [-np.sin(camera_pitch), 0.0,
+ np.cos(camera_pitch)]])
+
+ camera_yaw_matrix = np.array(
+ [[np.cos(camera_yaw), -np.sin(camera_yaw), 0.0],
+ [np.sin(camera_yaw), np.cos(camera_yaw), 0.0], [0.0, 0.0, 1.0]])
+
+ robot_to_camera_rotation = np.array([[0., 0., 1.], [-1, 0, 0], [0, -1.,
+ 0]])
+
+ if is_turret:
+ # Turret camera has default heading 180 deg away from the robot x
+ base_cam_ext.R = np.array([[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0],
+ [0.0, 0.0, 1.0]])
+ base_cam_ext.T = np.array([0.0, 0.0, 0.0])
+ turret_cam_ext.R = camera_yaw_matrix @ camera_pitch_matrix @ robot_to_camera_rotation
+ turret_cam_ext.T = T_camera
+ else:
+ base_cam_ext.R = camera_yaw_matrix @ camera_pitch_matrix @ robot_to_camera_rotation
+ base_cam_ext.T = T_camera
+ turret_cam_ext = None
+
+ return base_cam_ext, turret_cam_ext
+
+
+def compute_extrinsic_by_pi(pi_number):
+ # Defaults for non-turret camera
+ camera_pitch = -20.0 * np.pi / 180.0
+ camera_yaw = 0.0
+ is_turret = False
+ # Default camera location to robot origin
+ T = np.array([0.0, 0.0, 0.0])
+
+ if pi_number == "pi1":
+ # This is the turret camera
+ camera_pitch = -10.0 * np.pi / 180.0
+ is_turret = True
+ T = np.array([7.5 * 0.0254, -5.5 * 0.0254, 41.0 * 0.0254])
+ elif pi_number == "pi2":
+ T = np.array([4.5 * 0.0254, 3.75 * 0.0254, 26.0 * 0.0254])
+ elif pi_number == "pi3":
+ camera_yaw = 90.0 * np.pi / 180.0
+ T = np.array([-2.75 * 0.0254, 5.25 * 0.0254, 25.25 * 0.0254])
+ elif pi_number == "pi4":
+ camera_yaw = -90.0 * np.pi / 180.0
+ T = np.array([-2.75 * 0.0254, -6 * 0.0254, 26 * 0.0254])
+ elif pi_number == "pi5":
+ camera_yaw = 180.0 * np.pi / 180.0
+ T = np.array([-7.25 * 0.0254, -4.24 * 0.0254, 16.5 * 0.0254])
+
+ return compute_extrinsic(camera_pitch, camera_yaw, T, is_turret)
+
+
+def load_camera_definitions():
+ ### CAMERA DEFINITIONS
+ # We only load in cameras that have a calibration file
+ # These are stored in y2022/vision/calib_files
+ #
+ # Or better yet, use //y2020/vision:calibration to calibrate the camera
+ # using a Charuco target board
+
+ camera_list = []
+
+ dir_name = bazel_name_fix('calib_files')
+ if dir_name is not None:
+ glog.debug("Searching for calibration files in " + dir_name)
+ else:
+ glog.fatal("Failed to find calib_files directory")
+
+ for filename in sorted(os.listdir(dir_name)):
+ glog.debug("Inspecting %s", filename)
+ if ("cam-calib-int" in filename
+ or 'calibration' in filename) and filename.endswith(".json"):
+
+ # Extract intrinsics from file
+ calib_file = open(dir_name + "/" + filename, 'r')
+ calib_dict = json.loads(calib_file.read())
+
+ team_number = calib_dict["team_number"]
+ node_name = calib_dict["node_name"]
+ camera_matrix = np.asarray(calib_dict["intrinsics"]).reshape(
+ (3, 3))
+ dist_coeffs = np.asarray(calib_dict["dist_coeffs"]).reshape((1, 5))
+
+ glog.debug("Found calib for " + node_name + ", team #" +
+ str(team_number))
+
+ camera_params = CameraParameters()
+ # TODO: Need to add reading in extrinsic camera parameters from json
+ camera_params.camera_ext, camera_params.turret_ext = compute_extrinsic_by_pi(
+ node_name)
+
+ camera_params.node_name = node_name
+ camera_params.team_number = team_number
+ 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)
+
+ return camera_list
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index f466c8b..69514f9 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -5,26 +5,28 @@
#include <opencv2/imgproc.hpp>
#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
#include "frc971/vision/v4l2_reader.h"
#include "frc971/vision/vision_generated.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/tools/python_code/sift_training_data.h"
#include "y2022/vision/blob_detector.h"
+#include "y2022/vision/calibration_generated.h"
#include "y2022/vision/target_estimator.h"
+DEFINE_string(image_png, "", "A set of PNG images");
+
namespace y2022 {
namespace vision {
using namespace frc971::vision;
-const sift::CameraCalibration *CameraReader::FindCameraCalibration() const {
+const calibration::CameraCalibration *CameraReader::FindCameraCalibration()
+ const {
const std::string_view node_name = event_loop_->node()->name()->string_view();
const int team_number = aos::network::GetTeamNumber();
- for (const sift::CameraCalibration *candidate :
- *training_data_->camera_calibrations()) {
+ for (const calibration::CameraCalibration *candidate :
+ *calibration_data_->camera_calibrations()) {
if (candidate->node_name()->string_view() != node_name) {
continue;
}
@@ -37,45 +39,114 @@
<< " on " << team_number;
}
-void CameraReader::ProcessImage(const CameraImage &image) {
+namespace {
+// Converts a vector of cv::Point to PointT for the flatbuffer
+flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Blob>>>
+CvBlobsToFbs(const std::vector<std::vector<cv::Point>> &blobs,
+ aos::Sender<TargetEstimate>::Builder &builder) {
+ std::vector<flatbuffers::Offset<Blob>> blobs_fbs;
+ for (auto &blob : blobs) {
+ std::vector<Point> points_fbs;
+ for (auto p : blob) {
+ points_fbs.push_back(Point{p.x, p.y});
+ }
+ auto points_offset = builder.fbb()->CreateVectorOfStructs(points_fbs);
+ auto blob_builder = builder.MakeBuilder<Blob>();
+ blob_builder.add_points(points_offset);
+ blobs_fbs.emplace_back(blob_builder.Finish());
+ }
+ return builder.fbb()->CreateVector(blobs_fbs.data(), blobs_fbs.size());
+}
+
+flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<BlobStatsFbs>>>
+BlobStatsToFbs(const std::vector<BlobDetector::BlobStats> blob_stats,
+ aos::Sender<TargetEstimate>::Builder &builder) {
+ std::vector<flatbuffers::Offset<BlobStatsFbs>> stats_fbs;
+ for (auto &stats : blob_stats) {
+ // Make BlobStatsFbs builder then fill each field using the BlobStats
+ // struct, then you finish it and add it to stats_fbs.
+ auto stats_builder = builder.MakeBuilder<BlobStatsFbs>();
+ Point centroid_fbs = Point{stats.centroid.x, stats.centroid.y};
+ stats_builder.add_centroid(¢roid_fbs);
+ stats_builder.add_aspect_ratio(stats.aspect_ratio);
+ stats_builder.add_area(stats.area);
+ stats_builder.add_num_points(stats.num_points);
+
+ auto current_stats = stats_builder.Finish();
+ stats_fbs.emplace_back(current_stats);
+ }
+ return builder.fbb()->CreateVector(stats_fbs.data(), stats_fbs.size());
+}
+} // namespace
+
+void CameraReader::ProcessImage(cv::Mat image_mat) {
// Remember, we're getting YUYV images, so we start by converting to RGB
- // TOOD: Need to code this up for blob detection
- cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
- CHECK(image_mat.isContinuous());
- const int number_pixels = image.rows() * image.cols();
- for (int i = 0; i < number_pixels; ++i) {
- reinterpret_cast<uint8_t *>(image_mat.data)[i] =
- image.data()->data()[i * 2];
- }
-
- // Now, send our two messages-- one large, with details for remote
- // debugging(features), and one smaller
- // TODO: Send debugging message as well
- std::vector<std::vector<cv::Point> > filtered_blobs, unfiltered_blobs;
+ std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
std::vector<BlobDetector::BlobStats> blob_stats;
cv::Mat binarized_image =
cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC1);
- cv::Mat ret_image =
- cv::Mat::zeros(cv::Size(image_mat.cols, image_mat.rows), CV_8UC3);
- BlobDetector::ExtractBlobs(image_mat, binarized_image, ret_image,
- filtered_blobs, unfiltered_blobs, blob_stats);
- // TODO(milind): use actual centroid
- TargetEstimateT target = TargetEstimator::EstimateTargetLocation(
- blob_stats[0].centroid, CameraIntrinsics(), CameraExtrinsics());
-
+ cv::Point centroid;
+ BlobDetector::ExtractBlobs(image_mat, binarized_image, filtered_blobs,
+ unfiltered_blobs, blob_stats, centroid);
auto builder = target_estimate_sender_.MakeBuilder();
- builder.CheckOk(builder.Send(TargetEstimate::Pack(*builder.fbb(), &target)));
+ flatbuffers::Offset<BlobResult> blob_result_offset;
+ {
+ const auto filtered_blobs_offset = CvBlobsToFbs(filtered_blobs, builder);
+ const auto unfiltered_blobs_offset =
+ CvBlobsToFbs(unfiltered_blobs, builder);
+ const auto blob_stats_offset = BlobStatsToFbs(blob_stats, builder);
+ const Point centroid_fbs = Point{centroid.x, centroid.y};
+
+ auto blob_result_builder = builder.MakeBuilder<BlobResult>();
+ blob_result_builder.add_filtered_blobs(filtered_blobs_offset);
+ blob_result_builder.add_unfiltered_blobs(unfiltered_blobs_offset);
+ blob_result_builder.add_blob_stats(blob_stats_offset);
+ blob_result_builder.add_centroid(¢roid_fbs);
+ blob_result_offset = blob_result_builder.Finish();
+ }
+
+ auto target_estimate_builder = builder.MakeBuilder<TargetEstimate>();
+ TargetEstimator::EstimateTargetLocation(centroid, CameraIntrinsics(),
+ CameraExtrinsics(),
+ &target_estimate_builder);
+ target_estimate_builder.add_blob_result(blob_result_offset);
+
+ builder.CheckOk(builder.Send(target_estimate_builder.Finish()));
}
void CameraReader::ReadImage() {
+ // Path is for reading from the Disk.
+ if (FLAGS_image_png != "") {
+ std::vector<cv::String> file_list;
+ cv::glob(FLAGS_image_png + "/*.png", file_list, false);
+
+ for (auto file : file_list) {
+ LOG(INFO) << "Reading file " << file;
+ cv::Mat rgb_image = cv::imread(file.c_str());
+ ProcessImage(rgb_image);
+ }
+ event_loop_->Exit();
+ return;
+ }
+ // If we are not reading from the disk, we read the live camera stream.
if (!reader_->ReadLatestImage()) {
read_image_timer_->Setup(event_loop_->monotonic_now() +
std::chrono::milliseconds(10));
return;
}
- ProcessImage(reader_->LatestImage());
+ const CameraImage &image = reader_->LatestImage();
+ cv::Mat image_mat(image.rows(), image.cols(), CV_8U);
+ CHECK(image_mat.isContinuous());
+
+ const int number_pixels = image.rows() * image.cols();
+ for (int i = 0; i < number_pixels; ++i) {
+ reinterpret_cast<uint8_t *>(image_mat.data)[i] =
+ image.data()->data()[i * 2];
+ }
+
+ ProcessImage(image_mat);
reader_->SendLatestImage();
read_image_timer_->Setup(event_loop_->monotonic_now());
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 6880248..330dcbc 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -5,16 +5,16 @@
#include <opencv2/calib3d.hpp>
#include <opencv2/features2d.hpp>
+#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
-#include "aos/events/event_loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/flatbuffer_merge.h"
#include "aos/network/team_number.h"
#include "frc971/vision/v4l2_reader.h"
#include "frc971/vision/vision_generated.h"
-#include "y2020/vision/sift/sift_generated.h"
-#include "y2020/vision/sift/sift_training_generated.h"
-#include "y2020/vision/tools/python_code/sift_training_data.h"
+#include "y2022/vision/calibration_data.h"
+#include "y2022/vision/calibration_generated.h"
#include "y2022/vision/target_estimate_generated.h"
namespace y2022 {
@@ -26,10 +26,11 @@
class CameraReader {
public:
- CameraReader(aos::EventLoop *event_loop,
- const sift::TrainingData *training_data, V4L2Reader *reader)
+ CameraReader(aos::ShmEventLoop *event_loop,
+ const calibration::CalibrationData *calibration_data,
+ V4L2Reader *reader)
: event_loop_(event_loop),
- training_data_(training_data),
+ calibration_data_(calibration_data),
camera_calibration_(FindCameraCalibration()),
reader_(reader),
image_sender_(event_loop->MakeSender<CameraImage>("/camera")),
@@ -41,10 +42,10 @@
}
private:
- const sift::CameraCalibration *FindCameraCalibration() const;
+ const calibration::CameraCalibration *FindCameraCalibration() const;
// Processes an image (including sending the results).
- void ProcessImage(const CameraImage &image);
+ void ProcessImage(cv::Mat image);
// Reads an image, and then performs all of our processing on it.
void ReadImage();
@@ -75,9 +76,9 @@
return result;
}
- aos::EventLoop *const event_loop_;
- const sift::TrainingData *const training_data_;
- const sift::CameraCalibration *const camera_calibration_;
+ aos::ShmEventLoop *const event_loop_;
+ const calibration::CalibrationData *const calibration_data_;
+ const calibration::CameraCalibration *const camera_calibration_;
V4L2Reader *const reader_;
aos::Sender<CameraImage> image_sender_;
aos::Sender<TargetEstimate> target_estimate_sender_;
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index 6f65a6d..f1c5fdf 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -18,24 +18,24 @@
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig(FLAGS_config);
- const aos::FlatbufferSpan<sift::TrainingData> training_data(
- SiftTrainingData());
- CHECK(training_data.Verify());
+ const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
+ CalibrationData());
+ CHECK(calibration_data.Verify());
aos::ShmEventLoop event_loop(&config.message());
// First, log the data for future reference.
{
- aos::Sender<sift::TrainingData> training_data_sender =
- event_loop.MakeSender<sift::TrainingData>("/camera");
- CHECK_EQ(training_data_sender.Send(training_data),
+ aos::Sender<calibration::CalibrationData> calibration_data_sender =
+ event_loop.MakeSender<calibration::CalibrationData>("/camera");
+ CHECK_EQ(calibration_data_sender.Send(calibration_data),
aos::RawSender::Error::kOk);
}
V4L2Reader v4l2_reader(&event_loop, "/dev/video0");
v4l2_reader.SetExposure(FLAGS_exposure);
- CameraReader camera_reader(&event_loop, &training_data.message(),
+ CameraReader camera_reader(&event_loop, &calibration_data.message(),
&v4l2_reader);
event_loop.Run();
diff --git a/y2022/vision/create_calib_file.py b/y2022/vision/create_calib_file.py
new file mode 100644
index 0000000..de9f65d
--- /dev/null
+++ b/y2022/vision/create_calib_file.py
@@ -0,0 +1,156 @@
+#!/usr/bin/python3
+
+import camera_definition
+import cv2
+import flatbuffers
+import glog
+import numpy as np
+import sys
+
+import frc971.vision.calibration.CalibrationData as CalibrationData
+import frc971.vision.calibration.CameraCalibration as CameraCalibration
+import frc971.vision.calibration.TransformationMatrix as TransformationMatrix
+
+import gflags
+import glog
+
+FLAGS = gflags.FLAGS
+
+
+# Takes a 3x3 rotation matrix and 3x1 translation vector, and outputs 12
+# element list, suitable for outputing to flatbuffer
+def rot_and_trans_to_list(R, T):
+ output_list = []
+ for row in range(3):
+ for col in range(3):
+ output_list.append(R[row][col])
+ output_list.append(T[row])
+
+ output_list = output_list + [0., 0., 0., 1.]
+ return output_list
+
+
+def list_to_transformation_matrix(values, fbb):
+ """Puts a list of values into an FBB TransformationMatrix."""
+
+ TransformationMatrix.TransformationMatrixStartDataVector(fbb, len(values))
+ for n in reversed(values):
+ fbb.PrependFloat32(n)
+ list_offset = fbb.EndVector(len(values))
+
+ TransformationMatrix.TransformationMatrixStart(fbb)
+ TransformationMatrix.TransformationMatrixAddData(fbb, list_offset)
+ return TransformationMatrix.TransformationMatrixEnd(fbb)
+
+
+def main():
+
+ camera_calib_list = None
+
+ output_path = sys.argv[1]
+
+ camera_calib_list = camera_definition.load_camera_definitions()
+
+ glog.debug("Writing file to %s", output_path)
+
+ fbb = flatbuffers.Builder(0)
+
+ images_vector = []
+
+ # Create camera calibration data
+ camera_calibration_vector = []
+ for camera_calib in camera_calib_list:
+ fixed_extrinsics_list = rot_and_trans_to_list(
+ camera_calib.camera_ext.R, camera_calib.camera_ext.T)
+ fixed_extrinsics_vector = list_to_transformation_matrix(
+ fixed_extrinsics_list, fbb)
+
+ turret_extrinsics_vector = None
+ if camera_calib.turret_ext is not None:
+ turret_extrinsics_list = rot_and_trans_to_list(
+ camera_calib.turret_ext.R, camera_calib.turret_ext.T)
+ turret_extrinsics_vector = list_to_transformation_matrix(
+ turret_extrinsics_list, fbb)
+
+ camera_int_list = camera_calib.camera_int.camera_matrix.ravel().tolist(
+ )
+ CameraCalibration.CameraCalibrationStartIntrinsicsVector(
+ fbb, len(camera_int_list))
+ for n in reversed(camera_int_list):
+ fbb.PrependFloat32(n)
+ intrinsics_vector = fbb.EndVector(len(camera_int_list))
+
+ dist_coeffs_list = camera_calib.camera_int.dist_coeffs.ravel().tolist()
+ CameraCalibration.CameraCalibrationStartDistCoeffsVector(
+ fbb, len(dist_coeffs_list))
+ for n in reversed(dist_coeffs_list):
+ fbb.PrependFloat32(n)
+ dist_coeffs_vector = fbb.EndVector(len(dist_coeffs_list))
+
+ node_name_offset = fbb.CreateString(camera_calib.node_name)
+ CameraCalibration.CameraCalibrationStart(fbb)
+ CameraCalibration.CameraCalibrationAddNodeName(fbb, node_name_offset)
+ CameraCalibration.CameraCalibrationAddTeamNumber(
+ fbb, camera_calib.team_number)
+ CameraCalibration.CameraCalibrationAddIntrinsics(
+ fbb, intrinsics_vector)
+ CameraCalibration.CameraCalibrationAddDistCoeffs(
+ fbb, dist_coeffs_vector)
+ CameraCalibration.CameraCalibrationAddFixedExtrinsics(
+ fbb, fixed_extrinsics_vector)
+ if turret_extrinsics_vector is not None:
+ CameraCalibration.CameraCalibrationAddTurretExtrinsics(
+ fbb, turret_extrinsics_vector)
+ camera_calibration_vector.append(
+ CameraCalibration.CameraCalibrationEnd(fbb))
+
+ CalibrationData.CalibrationDataStartCameraCalibrationsVector(
+ fbb, len(camera_calibration_vector))
+ for camera_calibration in reversed(camera_calibration_vector):
+ fbb.PrependUOffsetTRelative(camera_calibration)
+ camera_calibration_vector_table = fbb.EndVector(
+ len(camera_calibration_vector))
+
+ # Fill out TrainingData
+ CalibrationData.CalibrationDataStart(fbb)
+ CalibrationData.CalibrationDataAddCameraCalibrations(
+ fbb, camera_calibration_vector_table)
+ fbb.Finish(CalibrationData.CalibrationDataEnd(fbb))
+
+ bfbs = fbb.Output()
+
+ output_prefix = [
+ b'#ifndef Y2022_VISION_CALIBRATION_DATA_H_',
+ b'#define Y2022_VISION_CALIBRATION_DATA_H_',
+ b'#include <stdint.h>',
+ b'#include "absl/types/span.h"',
+ b'namespace frc971 {',
+ b'namespace vision {',
+ b'inline absl::Span<const uint8_t> CalibrationData() {',
+ ]
+ output_suffix = [
+ b' return absl::Span<const uint8_t>(reinterpret_cast<const uint8_t *>(kData), sizeof(kData));',
+ b'}',
+ b'} // namespace vision',
+ b'} // namespace frc971',
+ b'#endif // Y2022_VISION_CALIBRATION_DATA_H_',
+ ]
+
+ # Write out the header file
+ with open(output_path, 'wb') as output:
+ for line in output_prefix:
+ output.write(line)
+ output.write(b'\n')
+ output.write(b'alignas(64) static constexpr char kData[] = "')
+ for byte in fbb.Output():
+ output.write(b'\\x' + (b'%x' % byte).zfill(2))
+ output.write(b'";\n')
+ for line in output_suffix:
+ output.write(line)
+ output.write(b'\n')
+
+
+if __name__ == '__main__':
+ argv = FLAGS(sys.argv)
+ glog.init()
+ main()
diff --git a/y2022/vision/target_estimate.fbs b/y2022/vision/target_estimate.fbs
index e22654a..207a37a 100644
--- a/y2022/vision/target_estimate.fbs
+++ b/y2022/vision/target_estimate.fbs
@@ -1,5 +1,34 @@
namespace y2022.vision;
+struct Point {
+ x:int (id: 0);
+ y:int (id: 1);
+}
+
+table Blob {
+ points:[Point] (id: 0);
+}
+
+// Statistics for each blob used for filtering
+table BlobStatsFbs {
+ centroid:Point (id: 0);
+ aspect_ratio:double (id: 1);
+ area:double (id: 2);
+ num_points:uint64 (id: 3);
+}
+
+// Information for debugging blob detection
+table BlobResult {
+ // Blobs that passed the filtering step
+ filtered_blobs:[Blob] (id: 0);
+ // All detected blobs
+ unfiltered_blobs:[Blob] (id: 1);
+ // Stats on the blobs
+ blob_stats:[BlobStatsFbs] (id: 2);
+ // Average centroid of the filtered blobs
+ centroid:Point (id: 3);
+}
+
// Contains the information the EKF wants from blobs from a single image.
table TargetEstimate {
// Horizontal distance from the camera to the center of the upper hub
@@ -8,7 +37,9 @@
// Positive means right of center, negative means left.
angle_to_target:double (id: 1);
- // TODO(milind): add confidence and blob stats
+ blob_result:BlobResult (id: 2);
+
+ // TODO(milind): add confidence
}
root_type TargetEstimate;
diff --git a/y2022/vision/target_estimator.cc b/y2022/vision/target_estimator.cc
index c51eb08..1ac3d55 100644
--- a/y2022/vision/target_estimator.cc
+++ b/y2022/vision/target_estimator.cc
@@ -2,9 +2,10 @@
namespace y2022::vision {
-TargetEstimateT TargetEstimator::EstimateTargetLocation(
- cv::Point2i blob_point, const cv::Mat &intrinsics,
- const cv::Mat &extrinsics) {
+void TargetEstimator::EstimateTargetLocation(cv::Point2i centroid,
+ const cv::Mat &intrinsics,
+ const cv::Mat &extrinsics,
+ TargetEstimate::Builder *builder) {
const cv::Point2d focal_length(intrinsics.at<double>(0, 0),
intrinsics.at<double>(1, 1));
const cv::Point2d offset(intrinsics.at<double>(0, 2),
@@ -12,20 +13,19 @@
// Blob pitch in camera reference frame
const double blob_pitch =
- std::atan(static_cast<double>(-(blob_point.y - offset.y)) /
+ std::atan(static_cast<double>(-(centroid.y - offset.y)) /
static_cast<double>(focal_length.y));
const double camera_height = extrinsics.at<double>(2, 3);
// Depth from camera to blob
const double depth = (kTapeHeight - camera_height) / std::tan(blob_pitch);
- TargetEstimateT target;
- target.angle_to_target =
- std::atan2(static_cast<double>(blob_point.x - offset.x),
+ double angle_to_target =
+ std::atan2(static_cast<double>(centroid.x - offset.x),
static_cast<double>(focal_length.x));
- target.distance =
- (depth / std::cos(target.angle_to_target)) + kUpperHubRadius;
+ double distance = (depth / std::cos(angle_to_target)) + kUpperHubRadius;
- return target;
+ builder->add_angle_to_target(angle_to_target);
+ builder->add_distance(distance);
}
} // namespace y2022::vision
diff --git a/y2022/vision/target_estimator.h b/y2022/vision/target_estimator.h
index 4988c3c..9db4121 100644
--- a/y2022/vision/target_estimator.h
+++ b/y2022/vision/target_estimator.h
@@ -10,9 +10,11 @@
public:
// Computes the location of the target.
// blob_point is the mean (x, y) of blob pixels.
- static TargetEstimateT EstimateTargetLocation(cv::Point2i blob_point,
- const cv::Mat &intrinsics,
- const cv::Mat &extrinsics);
+ // Adds angle_to_target and distance to the given builder.
+ static void EstimateTargetLocation(cv::Point2i centroid,
+ const cv::Mat &intrinsics,
+ const cv::Mat &extrinsics,
+ TargetEstimate::Builder *builder);
private:
// Height of the center of the tape (m)
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 8ecb36d..7c13d1b 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -10,12 +10,13 @@
#include "aos/time/time.h"
#include "frc971/vision/vision_generated.h"
#include "y2022/vision/blob_detector.h"
+#include "y2022/vision/target_estimate_generated.h"
DEFINE_string(capture, "",
"If set, capture a single image and save it to this filename.");
DEFINE_string(channel, "/camera", "Channel name for the image.");
DEFINE_string(config, "config.json", "Path to the config file to use.");
-DEFINE_string(png_dir, "LED_Ring_exp", "Path to a set of images to display.");
+DEFINE_string(png_dir, "", "Path to a set of images to display.");
DEFINE_bool(show_features, true, "Show the blobs.");
namespace y2022 {
@@ -23,13 +24,40 @@
namespace {
aos::Fetcher<frc971::vision::CameraImage> image_fetcher;
+aos::Fetcher<y2022::vision::TargetEstimate> target_estimate_fetcher;
+
+std::vector<std::vector<cv::Point>> FbsToCvBlobs(
+ const flatbuffers::Vector<flatbuffers::Offset<Blob>> &blobs_fbs) {
+ std::vector<std::vector<cv::Point>> blobs;
+ for (const auto blob : blobs_fbs) {
+ std::vector<cv::Point> points;
+ for (const Point *point : *blob->points()) {
+ points.emplace_back(cv::Point{point->x(), point->y()});
+ }
+ blobs.emplace_back(points);
+ }
+ return blobs;
+}
+
+std::vector<BlobDetector::BlobStats> FbsToBlobStats(
+ const flatbuffers::Vector<flatbuffers::Offset<BlobStatsFbs>>
+ &blob_stats_fbs) {
+ std::vector<BlobDetector::BlobStats> blob_stats;
+ for (const auto stats_fbs : blob_stats_fbs) {
+ cv::Point centroid{stats_fbs->centroid()->x(), stats_fbs->centroid()->y()};
+ blob_stats.emplace_back(BlobDetector::BlobStats{
+ centroid, stats_fbs->aspect_ratio(), stats_fbs->area(),
+ static_cast<size_t>(stats_fbs->num_points())});
+ }
+ return blob_stats;
+}
bool DisplayLoop() {
int64_t image_timestamp = 0;
const frc971::vision::CameraImage *image;
// Read next image
- if (!image_fetcher.FetchNext()) {
- VLOG(2) << "Couldn't fetch next image";
+ if (!image_fetcher.Fetch()) {
+ LOG(INFO) << "Couldn't fetch image";
return true;
}
@@ -38,6 +66,11 @@
image_timestamp = image->monotonic_timestamp_ns();
VLOG(2) << "Got image at timestamp: " << image_timestamp;
+ // TODO(Milind) Store the target estimates and match them by timestamp to make
+ // sure we're getting the right one.
+ CHECK(target_estimate_fetcher.FetchNext());
+ const TargetEstimate *target = target_estimate_fetcher.get();
+
// Create color image:
cv::Mat image_color_mat(cv::Size(image->cols(), image->rows()), CV_8UC2,
(void *)image->data()->data());
@@ -49,19 +82,16 @@
return false;
}
- cv::Mat binarized_image, ret_image;
- std::vector<std::vector<cv::Point>> unfiltered_blobs, filtered_blobs;
- std::vector<BlobDetector::BlobStats> blob_stats;
- BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
- filtered_blobs, unfiltered_blobs, blob_stats);
-
LOG(INFO) << image->monotonic_timestamp_ns()
- << ": # blobs: " << filtered_blobs.size();
+ << ": # blobs: " << target->blob_result()->filtered_blobs()->size();
- // Downsize for viewing
- cv::resize(rgb_image, rgb_image,
- cv::Size(rgb_image.cols / 2, rgb_image.rows / 2),
- cv::INTER_LINEAR);
+ cv::Mat ret_image;
+ BlobDetector::DrawBlobs(
+ ret_image, FbsToCvBlobs(*target->blob_result()->filtered_blobs()),
+ FbsToCvBlobs(*target->blob_result()->unfiltered_blobs()),
+ FbsToBlobStats(*target->blob_result()->blob_stats()),
+ cv::Point{target->blob_result()->centroid()->x(),
+ target->blob_result()->centroid()->y()});
cv::imshow("image", rgb_image);
cv::imshow("blobs", ret_image);
@@ -103,33 +133,6 @@
image_fetcher = aos::Fetcher<frc971::vision::CameraImage>();
}
-
-void ViewerLocal() {
- std::vector<cv::String> file_list;
- cv::glob(FLAGS_png_dir + "/*.png", file_list, false);
- for (auto file : file_list) {
- LOG(INFO) << "Reading file " << file;
- cv::Mat rgb_image = cv::imread(file.c_str());
- std::vector<std::vector<cv::Point>> filtered_blobs, unfiltered_blobs;
- std::vector<BlobDetector::BlobStats> blob_stats;
- cv::Mat binarized_image =
- cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC1);
- cv::Mat ret_image =
- cv::Mat::zeros(cv::Size(rgb_image.cols, rgb_image.rows), CV_8UC3);
- BlobDetector::ExtractBlobs(rgb_image, binarized_image, ret_image,
- filtered_blobs, unfiltered_blobs, blob_stats);
-
- LOG(INFO) << ": # blobs: " << filtered_blobs.size() << " (# removed: "
- << unfiltered_blobs.size() - filtered_blobs.size() << ")";
- cv::imshow("image", rgb_image);
- cv::imshow("blobs", ret_image);
-
- int keystroke = cv::waitKey(0);
- if ((keystroke & 0xFF) == static_cast<int>('q')) {
- return;
- }
- }
-}
} // namespace
} // namespace vision
} // namespace y2022
@@ -137,8 +140,5 @@
// Quick and lightweight viewer for images
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
- if (FLAGS_png_dir != "")
- y2022::vision::ViewerLocal();
- else
- y2022::vision::ViewerMain();
+ y2022::vision::ViewerMain();
}
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index f4cbac8..0ee1e92 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -68,18 +68,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Use ::std::max instead once we have C++14 so that can be
-// constexpr.
-template <typename T>
-constexpr T max(T a, T b) {
- return (a > b) ? a : b;
-}
-
-template <typename T, typename... Rest>
-constexpr T max(T a, T b, T c, Rest... rest) {
- return max(max(a, b), c, rest...);
-}
-
double drivetrain_translate(int32_t in) {
return ((static_cast<double>(in) /
Values::kDrivetrainEncoderCountsPerRevolution()) *
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index 4994a36..823a7f5 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -100,6 +100,13 @@
},
{
"name": "/pi{{ NUM }}/camera",
+ "type": "frc971.vision.calibration.CalibrationData",
+ "source_node": "pi{{ NUM }}",
+ "frequency": 2,
+ "max_size": 100000
+ },
+ {
+ "name": "/pi{{ NUM }}/camera",
"type": "y2022.vision.TargetEstimate",
"source_node": "pi{{ NUM }}",
"frequency": 25,
