y2020/actors/BUILD

load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")

filegroup(
    name = "binaries.stripped",
    srcs = [
        ":autonomous_action.stripped",
    ],
    visibility = ["//visibility:public"],
)

filegroup(
    name = "binaries",
    srcs = [
        ":autonomous_action",
    ],
    visibility = ["//visibility:public"],
)

filegroup(
    name = "spline_jsons",
    srcs = glob([
        "splines/*.json"
        ]),
    visibility = ["//visibility:public"],
)

aos_downloader_dir(
    name = "splines",
    srcs = [
        ":spline_jsons",
    ],
    dir = "splines",
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
)

cc_library(
    name = "autonomous_action_lib",
    srcs = [
        "auto_splines.cc",
        "autonomous_actor.cc",
    ],
    hdrs = [
        "auto_splines.h",
        "autonomous_actor.h",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    deps = [
        "//aos/events:event_loop",
        "//aos/logging",
        "//aos/robot_state:joystick_state_fbs",
        "//aos/util:math",
        "//aos/util:phased_loop",
        "//frc971/autonomous:base_autonomous_actor",
        "//frc971/control_loops:control_loops_fbs",
        "//frc971/control_loops:profiled_subsystem_fbs",
        "//frc971/control_loops/drivetrain:drivetrain_config",
        "//frc971/control_loops/drivetrain:localizer_fbs",
        "//y2020/control_loops/drivetrain:drivetrain_base",
        "//y2020/control_loops/superstructure:superstructure_goal_fbs",
        "//y2020/control_loops/superstructure:superstructure_status_fbs",
    ],
)

cc_binary(
    name = "autonomous_action",
    srcs = [
        "autonomous_actor_main.cc",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    deps = [
        ":autonomous_action_lib",
        "//aos:init",
        "//aos/events:shm_event_loop",
        "//frc971/autonomous:auto_fbs",
    ],
)