blob: 91fca1d8e2a1abb319f037bab95ce0b58a082ba4 [file] [log] [blame]
load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
load("//tools/build_rules:js.bzl", "ts_project")
package(default_visibility = ["//visibility:public"])
static_flatbuffer(
name = "superstructure_goal_fbs",
srcs = [
"superstructure_goal.fbs",
],
deps = [
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
],
)
static_flatbuffer(
name = "superstructure_output_fbs",
srcs = [
"superstructure_output.fbs",
],
)
static_flatbuffer(
name = "superstructure_status_fbs",
srcs = [
"superstructure_status.fbs",
],
deps = [
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
"//y2023/vision:game_pieces_fbs",
],
)
flatbuffer_ts_library(
name = "superstructure_status_ts_fbs",
srcs = [
"superstructure_status.fbs",
],
deps = [
"//frc971/control_loops:control_loops_ts_fbs",
"//frc971/control_loops:profiled_subsystem_ts_fbs",
"//y2023/vision:game_pieces_ts_fbs",
],
)
static_flatbuffer(
name = "superstructure_position_fbs",
srcs = [
"superstructure_position.fbs",
],
deps = [
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//frc971/vision:calibration_fbs",
],
)
cc_library(
name = "end_effector",
srcs = [
"end_effector.cc",
],
hdrs = [
"end_effector.h",
],
deps = [
":superstructure_goal_fbs",
":superstructure_status_fbs",
"//aos/events:event_loop",
"//aos/time",
"//frc971/control_loops:control_loop",
"//y2023:constants",
"//y2023/vision:game_pieces_fbs",
],
)
cc_library(
name = "superstructure_lib",
srcs = [
"superstructure.cc",
],
hdrs = [
"superstructure.h",
],
data = [
"//y2023/control_loops/superstructure/arm:arm_trajectories_generated.bfbs",
],
deps = [
":end_effector",
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
":superstructure_status_fbs",
"//aos:flatbuffer_merge",
"//aos/events:event_loop",
"//frc971/constants:constants_sender_lib",
"//frc971/control_loops:control_loop",
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/shooter_interpolation:interpolation",
"//frc971/zeroing:absolute_encoder",
"//frc971/zeroing:pot_and_absolute_encoder",
"//y2023:constants",
"//y2023/constants:constants_fbs",
"//y2023/constants:simulated_constants_sender",
"//y2023/control_loops/superstructure/arm",
"//y2023/control_loops/superstructure/arm:arm_trajectories_fbs",
],
)
cc_binary(
name = "superstructure",
srcs = [
"superstructure_main.cc",
],
deps = [
":superstructure_lib",
"//aos:init",
"//aos/events:shm_event_loop",
],
)
cc_test(
name = "superstructure_lib_test",
srcs = [
"superstructure_lib_test.cc",
],
data = [
"//y2023:aos_config",
],
deps = [
":superstructure_goal_fbs",
":superstructure_lib",
":superstructure_output_fbs",
":superstructure_position_fbs",
":superstructure_status_fbs",
"//aos:json_to_flatbuffer",
"//aos:math",
"//aos/events/logging:log_writer",
"//aos/testing:googletest",
"//aos/time",
"//frc971/control_loops:capped_test_plant",
"//frc971/control_loops:control_loop_test",
"//frc971/control_loops:position_sensor_sim",
"//frc971/control_loops:subsystem_simulator",
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2023/control_loops/superstructure/roll:roll_plants",
"//y2023/vision:game_pieces_fbs",
],
)
cc_library(
name = "led_indicator_lib",
srcs = ["led_indicator.cc"],
hdrs = ["led_indicator.h"],
data = [
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
],
target_compatible_with = ["//tools/platforms/hardware:roborio"],
deps = [
":superstructure_goal_fbs",
":superstructure_output_fbs",
":superstructure_position_fbs",
":superstructure_status_fbs",
"//aos/events:event_loop",
"//aos/network:message_bridge_client_fbs",
"//aos/network:message_bridge_server_fbs",
"//frc971/control_loops:control_loop",
"//frc971/control_loops:control_loops_fbs",
"//frc971/control_loops:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_output_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
"//frc971/queues:gyro_fbs",
"//third_party:phoenix",
"//third_party:wpilib",
"//y2023/vision:game_pieces_fbs",
],
)
cc_binary(
name = "superstructure_replay",
srcs = ["superstructure_replay.cc"],
deps = [
":superstructure_lib",
"//aos:configuration",
"//aos:init",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_reader",
"//aos/network:team_number",
],
)
ts_project(
name = "superstructure_plotter",
srcs = ["superstructure_plotter.ts"],
target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/network/www:aos_plotter",
"//aos/network/www:colors",
"//aos/network/www:proxy",
],
)