James Kuszmaul | f01da39 | 2023-12-14 11:22:14 -0800 | [diff] [blame] | 1 | load("//aos/flatbuffers:generate.bzl", "static_flatbuffer") |
James Kuszmaul | e3df1ed | 2023-02-20 16:21:17 -0800 | [diff] [blame] | 2 | load("@com_github_google_flatbuffers//:typescript.bzl", "flatbuffer_ts_library") |
| 3 | |
| 4 | cc_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 Kuszmaul | 19612ab | 2024-02-17 20:45:58 -0800 | [diff] [blame] | 12 | "//frc971/control_loops:pose", |
James Kuszmaul | e3df1ed | 2023-02-20 16:21:17 -0800 | [diff] [blame] | 13 | "//frc971/control_loops/drivetrain:drivetrain_output_fbs", |
James Kuszmaul | 19612ab | 2024-02-17 20:45:58 -0800 | [diff] [blame] | 14 | "//frc971/control_loops/drivetrain:drivetrain_position_fbs", |
| 15 | "//frc971/control_loops/drivetrain:hybrid_ekf", |
James Kuszmaul | f6aa038 | 2024-03-01 19:46:05 -0800 | [diff] [blame] | 16 | "//frc971/control_loops/drivetrain:rio_localizer_inputs_fbs", |
James Kuszmaul | e3df1ed | 2023-02-20 16:21:17 -0800 | [diff] [blame] | 17 | "//frc971/input:joystick_state_fbs", |
| 18 | "//frc971/vision:calibration_fbs", |
| 19 | "@org_tuxfamily_eigen//:eigen", |
| 20 | ], |
| 21 | ) |
| 22 | |
| 23 | cc_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 | |
| 37 | cc_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 Kuszmaul | f01da39 | 2023-12-14 11:22:14 -0800 | [diff] [blame] | 56 | static_flatbuffer( |
James Kuszmaul | e3df1ed | 2023-02-20 16:21:17 -0800 | [diff] [blame] | 57 | name = "localizer_output_fbs", |
| 58 | srcs = [ |
| 59 | "localizer_output.fbs", |
| 60 | ], |
James Kuszmaul | e3df1ed | 2023-02-20 16:21:17 -0800 | [diff] [blame] | 61 | target_compatible_with = ["@platforms//os:linux"], |
| 62 | visibility = ["//visibility:public"], |
| 63 | ) |
| 64 | |
| 65 | flatbuffer_ts_library( |
| 66 | name = "localizer_output_ts_fbs", |
| 67 | srcs = ["localizer_output.fbs"], |
| 68 | visibility = ["//visibility:public"], |
| 69 | ) |