Update y2022 configs to be multi-node
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ice778cba24dcf6911d23d5c69a63f50cc2fa8a6f
diff --git a/y2022/BUILD b/y2022/BUILD
index 9dcd85d..2173877 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -1,17 +1,26 @@
load("//frc971:downloader.bzl", "robot_downloader")
load("//aos:config.bzl", "aos_config")
+load("//tools/build_rules:template.bzl", "jinja2_template")
robot_downloader(
+ binaries = [
+ "//aos/network:web_proxy_main",
+ ],
data = [
":config",
],
start_binaries = [
+ "//aos/events/logging:logger_main",
+ "//aos/network:web_proxy_main",
":joystick_reader",
":wpilib_interface",
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//y2022/actors:binaries",
"//y2022/control_loops/drivetrain:drivetrain",
"//y2022/control_loops/superstructure:superstructure",
- "//y2022/actors:binaries",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
robot_downloader(
@@ -22,8 +31,6 @@
data = [
":config",
],
- dirs = [
- ],
start_binaries = [
"//aos/events/logging:logger_main",
"//aos/network:message_bridge_client",
@@ -35,6 +42,111 @@
target_type = "pi",
)
+aos_config(
+ name = "config",
+ src = "y2022.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//frc971/vision:vision_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ ":config_logger",
+ ":config_pi1",
+ ":config_pi2",
+ ":config_pi3",
+ ":config_pi4",
+ ":config_pi5",
+ ":config_roborio",
+ ],
+)
+
+[
+ aos_config(
+ name = "config_" + pi,
+ src = "y2022_" + pi + ".json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//frc971/vision:vision_fbs",
+ "//y2022/vision:target_estimate_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/control_loops/drivetrain:config",
+ "//frc971/input:config",
+ ],
+ )
+ for pi in [
+ "pi1",
+ "pi2",
+ "pi3",
+ "pi4",
+ "pi5",
+ ]
+]
+
+aos_config(
+ name = "config_logger",
+ src = "y2022_logger.json",
+ flatbuffers = [
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//aos/network:remote_message_fbs",
+ "//frc971/vision:vision_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/control_loops/drivetrain:config",
+ "//frc971/input:config",
+ ],
+)
+
+aos_config(
+ name = "config_roborio",
+ src = "y2022_roborio.json",
+ flatbuffers = [
+ "//aos/network:remote_message_fbs",
+ "//aos/network:message_bridge_client_fbs",
+ "//aos/network:message_bridge_server_fbs",
+ "//aos/network:timestamp_fbs",
+ "//y2019/control_loops/drivetrain:target_selector_fbs",
+ "//y2022/control_loops/superstructure:superstructure_goal_fbs",
+ "//y2022/control_loops/superstructure:superstructure_output_fbs",
+ "//y2022/control_loops/superstructure:superstructure_position_fbs",
+ "//y2022/control_loops/superstructure:superstructure_status_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/events:config",
+ "//frc971/autonomous:config",
+ "//frc971/control_loops/drivetrain:config",
+ "//frc971/input:config",
+ "//frc971/wpilib:config",
+ ],
+)
+
+[
+ jinja2_template(
+ name = "y2022_pi" + str(num) + ".json",
+ src = "y2022_pi_template.json",
+ parameters = {"NUM": str(num)},
+ target_compatible_with = ["@platforms//os:linux"],
+ )
+ for num in range(1, 6)
+]
+
cc_library(
name = "constants",
srcs = [
@@ -117,21 +229,3 @@
"//y2022/control_loops/superstructure:superstructure_status_fbs",
],
)
-
-aos_config(
- name = "config",
- src = "y2022.json",
- flatbuffers = [
- "//y2022/control_loops/superstructure:superstructure_goal_fbs",
- "//y2022/control_loops/superstructure:superstructure_output_fbs",
- "//y2022/control_loops/superstructure:superstructure_position_fbs",
- "//y2022/control_loops/superstructure:superstructure_status_fbs",
- ],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/autonomous:config",
- "//frc971/control_loops/drivetrain:config",
- "//frc971/input:config",
- "//frc971/wpilib:config",
- ],
-)
diff --git a/y2022/vision/target_estimate.fbs b/y2022/vision/target_estimate.fbs
index 075c9c4..e22654a 100644
--- a/y2022/vision/target_estimate.fbs
+++ b/y2022/vision/target_estimate.fbs
@@ -10,3 +10,5 @@
// TODO(milind): add confidence and blob stats
}
+
+root_type TargetEstimate;
diff --git a/y2022/y2022.json b/y2022/y2022.json
index 4abbd5e..010c675 100644
--- a/y2022/y2022.json
+++ b/y2022/y2022.json
@@ -1,39 +1,23 @@
{
- "channels":
- [
+ "channel_storage_duration": 2000000000,
+ "maps": [
{
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Goal",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Status",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Output",
- "frequency": 200
- },
- {
- "name": "/superstructure",
- "type": "y2022.control_loops.superstructure.Position",
- "frequency": 200
- }
- ],
- "applications": [
- {
- "name": "drivetrain"
- },
- {
- "name": "superstructure"
+ "match": {
+ "name": "/aos",
+ "type": "aos.RobotState"
+ },
+ "rename": {
+ "name": "/roborio/aos"
+ }
}
],
"imports": [
- "../frc971/input/robot_state_config.json",
- "../frc971/control_loops/drivetrain/drivetrain_config.json",
- "../frc971/autonomous/autonomous_config.json",
- "../frc971/wpilib/wpilib_config.json"
+ "y2022_roborio.json",
+ "y2022_pi1.json",
+ "y2022_pi2.json",
+ "y2022_pi3.json",
+ "y2022_pi4.json",
+ "y2022_pi5.json",
+ "y2022_logger.json"
]
}
diff --git a/y2022/y2022_pi_template.json b/y2022/y2022_pi_template.json
index e80d6c3..4994a36 100644
--- a/y2022/y2022_pi_template.json
+++ b/y2022/y2022_pi_template.json
@@ -104,7 +104,7 @@
"source_node": "pi{{ NUM }}",
"frequency": 25,
"num_senders": 2
- }
+ },
{
"name": "/logger/aos",
"type": "aos.starter.StarterRpc",