| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 1 | package(default_visibility = ["//visibility:public"]) |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 2 | |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 3 | load("//aos/build:queues.bzl", "queue_library") |
| 4 | load("//tools:environments.bzl", "mcu_cpus") |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 5 | |
| 6 | cc_library( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 7 | name = "replay_control_loop", |
| 8 | hdrs = [ |
| 9 | "replay_control_loop.h", |
| 10 | ], |
| 11 | deps = [ |
| 12 | ":control_loop", |
| 13 | "//aos/common:queues", |
| 14 | "//aos/common:time", |
| 15 | "//aos/common/logging:queue_logging", |
| 16 | "//aos/common/logging:replay", |
| 17 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 18 | ) |
| 19 | |
| 20 | cc_library( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 21 | name = "control_loop_test", |
| 22 | testonly = True, |
| 23 | srcs = [ |
| 24 | "control_loop_test.cc", |
| 25 | ], |
| 26 | hdrs = [ |
| 27 | "control_loop_test.h", |
| 28 | ], |
| 29 | deps = [ |
| 30 | "//aos/common:time", |
| 31 | "//aos/common/logging:queue_logging", |
| 32 | "//aos/common/messages:robot_state", |
| 33 | "//aos/testing:googletest", |
| 34 | "//aos/testing:test_shm", |
| 35 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 36 | ) |
| 37 | |
| 38 | cc_library( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 39 | name = "polytope_uc", |
| 40 | hdrs = [ |
| 41 | "polytope.h", |
| 42 | ], |
| 43 | restricted_to = mcu_cpus, |
| 44 | deps = [ |
| 45 | "//third_party/eigen", |
| 46 | ], |
| 47 | ) |
| 48 | |
| 49 | cc_library( |
| 50 | name = "polytope", |
| 51 | hdrs = [ |
| 52 | "polytope.h", |
| 53 | ], |
| 54 | deps = [ |
| 55 | "//aos/common/logging", |
| 56 | "//aos/common/logging:matrix_logging", |
| 57 | "//third_party/cddlib", |
| 58 | "//third_party/eigen", |
| 59 | ], |
| Brian Silverman | aba7bf6 | 2016-01-31 18:03:59 -0500 | [diff] [blame] | 60 | ) |
| 61 | |
| 62 | cc_test( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 63 | name = "polytope_test", |
| 64 | srcs = [ |
| 65 | "polytope_test.cc", |
| 66 | ], |
| 67 | deps = [ |
| 68 | ":polytope", |
| 69 | "//aos/testing:googletest", |
| 70 | "//aos/testing:test_logging", |
| 71 | "//third_party/eigen", |
| 72 | "//third_party/googletest:googlemock", |
| 73 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 74 | ) |
| 75 | |
| 76 | queue_library( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 77 | name = "control_loop_queues", |
| 78 | srcs = [ |
| 79 | "control_loops.q", |
| 80 | ], |
| Brian Silverman | 7a7c24d | 2018-09-01 17:49:09 -0700 | [diff] [blame^] | 81 | compatible_with = [ |
| 82 | "//tools:armhf-debian", |
| 83 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 84 | ) |
| 85 | |
| 86 | cc_library( |
| Austin Schuh | bcce26a | 2018-03-26 23:41:24 -0700 | [diff] [blame] | 87 | name = "control_loop", |
| 88 | srcs = [ |
| 89 | "control_loop.cc", |
| 90 | "control_loop-tmpl.h", |
| 91 | ], |
| 92 | hdrs = [ |
| 93 | "control_loop.h", |
| 94 | ], |
| 95 | deps = [ |
| 96 | ":control_loop_queues", |
| 97 | "//aos/common:queues", |
| 98 | "//aos/common:time", |
| 99 | "//aos/common/logging", |
| 100 | "//aos/common/logging:queue_logging", |
| 101 | "//aos/common/messages:robot_state", |
| 102 | "//aos/common/util:log_interval", |
| 103 | ], |
| Brian Silverman | 100534c | 2015-09-07 15:51:23 -0400 | [diff] [blame] | 104 | ) |