| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 1 | package(default_visibility = ['//visibility:public']) |
| 2 | |
| 3 | load('/aos/build/queues', 'queue_library') |
| 4 | |
| 5 | filegroup( |
| 6 | name = 'binaries', |
| 7 | srcs = [ |
| 8 | ':drivetrain_action', |
| Comran Morshed | 2f7b467 | 2016-01-23 14:27:34 +0000 | [diff] [blame] | 9 | ':superstructure_action', |
| Comran Morshed | e68e373 | 2016-03-12 14:12:11 +0000 | [diff] [blame] | 10 | ':autonomous_action', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 11 | ], |
| 12 | ) |
| 13 | |
| 14 | queue_library( |
| 15 | name = 'drivetrain_action_queue', |
| 16 | srcs = [ |
| 17 | 'drivetrain_action.q', |
| 18 | ], |
| 19 | deps = [ |
| 20 | '//aos/common/actions:action_queue', |
| 21 | ], |
| 22 | ) |
| 23 | |
| 24 | cc_library( |
| 25 | name = 'drivetrain_action_lib', |
| 26 | srcs = [ |
| 27 | 'drivetrain_actor.cc', |
| 28 | ], |
| 29 | hdrs = [ |
| 30 | 'drivetrain_actor.h', |
| 31 | ], |
| 32 | deps = [ |
| 33 | ':drivetrain_action_queue', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 34 | '//aos/common:time', |
| 35 | '//aos/common:math', |
| 36 | '//aos/common/util:phased_loop', |
| 37 | '//aos/common/logging', |
| 38 | '//aos/common/actions:action_lib', |
| 39 | '//aos/common/logging:queue_logging', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 40 | '//aos/common/util:trapezoid_profile', |
| 41 | '//frc971/control_loops/drivetrain:drivetrain_queue', |
| 42 | '//frc971/control_loops:state_feedback_loop', |
| Comran Morshed | 6c6a0a9 | 2016-01-17 12:45:16 +0000 | [diff] [blame] | 43 | '//third_party/eigen', |
| 44 | '//y2016:constants', |
| Comran Morshed | 225f0b9 | 2016-02-10 20:34:27 +0000 | [diff] [blame] | 45 | '//y2016/control_loops/drivetrain:polydrivetrain_plants', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 46 | ], |
| 47 | ) |
| 48 | |
| 49 | cc_binary( |
| 50 | name = 'drivetrain_action', |
| 51 | srcs = [ |
| 52 | 'drivetrain_actor_main.cc', |
| 53 | ], |
| 54 | deps = [ |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 55 | ':drivetrain_action_lib', |
| 56 | ':drivetrain_action_queue', |
| Comran Morshed | 6c6a0a9 | 2016-01-17 12:45:16 +0000 | [diff] [blame] | 57 | '//aos/linux_code:init', |
| Comran Morshed | 9a9948c | 2016-01-16 15:58:04 +0000 | [diff] [blame] | 58 | ], |
| 59 | ) |
| Comran Morshed | 2f7b467 | 2016-01-23 14:27:34 +0000 | [diff] [blame] | 60 | |
| 61 | queue_library( |
| 62 | name = 'superstructure_action_queue', |
| 63 | srcs = [ |
| 64 | 'superstructure_action.q', |
| 65 | ], |
| 66 | deps = [ |
| 67 | '//aos/common/actions:action_queue', |
| 68 | ], |
| 69 | ) |
| 70 | |
| 71 | cc_library( |
| 72 | name = 'superstructure_action_lib', |
| 73 | srcs = [ |
| 74 | 'superstructure_actor.cc', |
| 75 | ], |
| 76 | hdrs = [ |
| 77 | 'superstructure_actor.h', |
| 78 | ], |
| 79 | deps = [ |
| 80 | ':superstructure_action_queue', |
| 81 | '//aos/common/util:phased_loop', |
| 82 | '//aos/common/logging', |
| 83 | '//aos/common/actions:action_lib', |
| 84 | '//y2016/control_loops/superstructure:superstructure_queue', |
| 85 | ], |
| 86 | ) |
| 87 | |
| 88 | cc_binary( |
| 89 | name = 'superstructure_action', |
| 90 | srcs = [ |
| 91 | 'superstructure_actor_main.cc', |
| 92 | ], |
| 93 | deps = [ |
| 94 | ':superstructure_action_lib', |
| 95 | ':superstructure_action_queue', |
| 96 | '//aos/linux_code:init', |
| 97 | ], |
| 98 | ) |
| Comran Morshed | e68e373 | 2016-03-12 14:12:11 +0000 | [diff] [blame] | 99 | |
| 100 | queue_library( |
| 101 | name = 'autonomous_action_queue', |
| 102 | srcs = [ |
| 103 | 'autonomous_action.q', |
| 104 | ], |
| 105 | deps = [ |
| 106 | '//aos/common/actions:action_queue', |
| 107 | ], |
| 108 | ) |
| 109 | |
| 110 | cc_library( |
| 111 | name = 'autonomous_action_lib', |
| 112 | srcs = [ |
| 113 | 'autonomous_actor.cc', |
| 114 | ], |
| 115 | hdrs = [ |
| 116 | 'autonomous_actor.h', |
| 117 | ], |
| 118 | deps = [ |
| 119 | ':autonomous_action_queue', |
| 120 | '//aos/common/util:phased_loop', |
| 121 | '//aos/common/logging', |
| 122 | '//aos/common/actions:action_lib', |
| 123 | ], |
| 124 | ) |
| 125 | |
| 126 | cc_binary( |
| 127 | name = 'autonomous_action', |
| 128 | srcs = [ |
| 129 | 'autonomous_actor_main.cc', |
| 130 | ], |
| 131 | deps = [ |
| 132 | ':autonomous_action_lib', |
| 133 | ':autonomous_action_queue', |
| 134 | '//aos/linux_code:init', |
| 135 | ], |
| 136 | ) |