blob: 1cf83d4c7b3cc126764836697ea86ea4bad7c2dd [file] [log] [blame]
James Kuszmaulf01da392023-12-14 11:22:14 -08001load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
James Kuszmaule3df1ed2023-02-20 16:21:17 -08002load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library")
3
4cc_library(
5 name = "utils",
6 srcs = ["utils.cc"],
7 hdrs = ["utils.h"],
8 visibility = ["//visibility:public"],
9 deps = [
10 "//aos/events:event_loop",
11 "//aos/network:message_bridge_server_fbs",
James Kuszmaul19612ab2024-02-17 20:45:58 -080012 "//frc971/control_loops:pose",
James Kuszmaule3df1ed2023-02-20 16:21:17 -080013 "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
James Kuszmaul19612ab2024-02-17 20:45:58 -080014 "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
15 "//frc971/control_loops/drivetrain:hybrid_ekf",
James Kuszmaulf6aa0382024-03-01 19:46:05 -080016 "//frc971/control_loops/drivetrain:rio_localizer_inputs_fbs",
James Kuszmaule3df1ed2023-02-20 16:21:17 -080017 "//frc971/input:joystick_state_fbs",
18 "//frc971/vision:calibration_fbs",
19 "@org_tuxfamily_eigen//:eigen",
20 ],
21)
22
23cc_library(
24 name = "puppet_localizer",
25 srcs = ["puppet_localizer.cc"],
26 hdrs = ["puppet_localizer.h"],
27 visibility = ["//visibility:public"],
28 deps = [
29 "//aos/events:event_loop",
30 "//aos/network:message_bridge_server_fbs",
31 "//frc971/control_loops/drivetrain:hybrid_ekf",
32 "//frc971/control_loops/drivetrain:localizer",
33 "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
34 ],
35)
36
37cc_test(
38 name = "puppet_localizer_test",
39 srcs = ["puppet_localizer_test.cc"],
40 data = ["//y2022/control_loops/drivetrain:simulation_config"],
41 target_compatible_with = ["@platforms//os:linux"],
42 deps = [
43 ":puppet_localizer",
44 "//aos/events:simulated_event_loop",
45 "//aos/events/logging:log_writer",
46 "//aos/network:team_number",
47 "//frc971/control_loops:control_loop_test",
48 "//frc971/control_loops:team_number_test_environment",
49 "//frc971/control_loops/drivetrain:drivetrain_lib",
50 "//frc971/control_loops/drivetrain:drivetrain_test_lib",
51 "//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
52 "//y2022/control_loops/drivetrain:drivetrain_base",
53 ],
54)
55
James Kuszmaulf01da392023-12-14 11:22:14 -080056static_flatbuffer(
James Kuszmaule3df1ed2023-02-20 16:21:17 -080057 name = "localizer_output_fbs",
58 srcs = [
59 "localizer_output.fbs",
60 ],
James Kuszmaule3df1ed2023-02-20 16:21:17 -080061 target_compatible_with = ["@platforms//os:linux"],
62 visibility = ["//visibility:public"],
63)
64
65flatbuffer_ts_library(
66 name = "localizer_output_ts_fbs",
67 srcs = ["localizer_output.fbs"],
68 visibility = ["//visibility:public"],
69)