Setup standalone replay for localizer
This is what I used for a bit of debugging during the season.
Further improvements to the replay would probably require more
substantial changes to the replay infrastructure overall.
Change-Id: Id0429af78bab58f55344cc05031f793ae1d6097f
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 845575f..2e16e1d 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -31,6 +31,39 @@
],
)
+cc_binary(
+ name = "replay_localizer",
+ srcs = [
+ "replay_localizer.cc",
+ ],
+ defines =
+ cpu_select({
+ "amd64": [
+ "SUPPORT_PLOT=1",
+ ],
+ "arm": [],
+ }),
+ linkstatic = True,
+ deps = [
+ "//frc971/control_loops/drivetrain:localizer_queue",
+ ":localizer",
+ ":event_loop_localizer",
+ ":drivetrain_base",
+ "@com_github_gflags_gflags//:gflags",
+ "//y2019:constants",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//aos:init",
+ "//aos/controls:replay_control_loop",
+ "//frc971/queues:gyro",
+ "//frc971/wpilib:imu_queue",
+ ] + cpu_select({
+ "amd64": [
+ "//third_party/matplotlib-cpp",
+ ],
+ "arm": [],
+ }),
+)
+
cc_library(
name = "polydrivetrain_plants",
srcs = [