y2016/actors/BUILD

package(default_visibility = ["//visibility:public"])

load("//aos/build:queues.bzl", "queue_library")

filegroup(
    name = "binaries",
    srcs = [
        ":autonomous_action",
        ":superstructure_action",
    ],
)

queue_library(
    name = "superstructure_action_queue",
    srcs = [
        "superstructure_action.q",
    ],
    deps = [
        "//aos/actions:action_queue",
    ],
)

cc_library(
    name = "superstructure_action_lib",
    srcs = [
        "superstructure_actor.cc",
    ],
    hdrs = [
        "superstructure_actor.h",
    ],
    deps = [
        ":superstructure_action_queue",
        "//aos/actions:action_lib",
        "//aos/events:event-loop",
        "//aos/logging",
        "//aos/util:phased_loop",
        "//y2016/control_loops/superstructure:superstructure_queue",
    ],
)

cc_binary(
    name = "superstructure_action",
    srcs = [
        "superstructure_actor_main.cc",
    ],
    deps = [
        ":superstructure_action_lib",
        ":superstructure_action_queue",
        "//aos:init",
        "//aos/events:shm-event-loop",
    ],
)

cc_library(
    name = "autonomous_action_lib",
    srcs = [
        "autonomous_actor.cc",
    ],
    hdrs = [
        "autonomous_actor.h",
    ],
    deps = [
        ":vision_align_action_lib",
        "//aos/actions:action_lib",
        "//aos/logging",
        "//aos/util:phased_loop",
        "//frc971/autonomous:base_autonomous_actor",
        "//frc971/control_loops/drivetrain:drivetrain_queue",
        "//y2016/control_loops/drivetrain:drivetrain_base",
        "//y2016/control_loops/shooter:shooter_queue",
        "//y2016/control_loops/superstructure:superstructure_queue",
        "//y2016/queues:ball_detector",
        "//y2016/queues:profile_params",
        "//y2016/vision:vision_queue",
    ],
)

cc_binary(
    name = "autonomous_action",
    srcs = [
        "autonomous_actor_main.cc",
    ],
    deps = [
        ":autonomous_action_lib",
        "//aos:init",
    ],
)

queue_library(
    name = "vision_align_action_queue",
    srcs = [
        "vision_align_action.q",
    ],
    deps = [
        "//aos/actions:action_queue",
    ],
)

cc_library(
    name = "vision_align_action_lib",
    srcs = [
        "vision_align_actor.cc",
    ],
    hdrs = [
        "vision_align_actor.h",
    ],
    deps = [
        ":vision_align_action_queue",
        "//aos:math",
        "//aos/actions:action_lib",
        "//aos/logging",
        "//aos/logging:queue_logging",
        "//aos/time",
        "//aos/util:phased_loop",
        "//aos/util:trapezoid_profile",
        "//frc971/control_loops/drivetrain:drivetrain_queue",
        "//third_party/eigen",
        "//y2016:constants",
        "//y2016/control_loops/drivetrain:drivetrain_base",
        "//y2016/vision:vision_queue",
    ],
)

cc_binary(
    name = "vision_align_action",
    srcs = [
        "vision_align_actor_main.cc",
    ],
    deps = [
        ":vision_align_action_lib",
        ":vision_align_action_queue",
        "//aos:init",
    ],
)