y2023/control_loops/drivetrain/BUILD

load("//aos/flatbuffers:generate.bzl", "static_flatbuffer")
load("//aos:config.bzl", "aos_config")

genrule(
    name = "genrule_drivetrain",
    outs = [
        "drivetrain_dog_motor_plant.h",
        "drivetrain_dog_motor_plant.cc",
        "drivetrain_dog_motor_plant.json",
        "kalman_drivetrain_motor_plant.h",
        "kalman_drivetrain_motor_plant.cc",
        "kalman_drivetrain_motor_plant.json",
    ],
    cmd = "$(location //y2023/control_loops/python:drivetrain) $(OUTS)",
    target_compatible_with = ["@platforms//os:linux"],
    tools = [
        "//y2023/control_loops/python:drivetrain",
    ],
)

genrule(
    name = "genrule_polydrivetrain",
    outs = [
        "polydrivetrain_dog_motor_plant.h",
        "polydrivetrain_dog_motor_plant.cc",
        "polydrivetrain_dog_motor_plant.json",
        "polydrivetrain_cim_plant.h",
        "polydrivetrain_cim_plant.cc",
        "polydrivetrain_cim_plant.json",
        "hybrid_velocity_drivetrain.h",
        "hybrid_velocity_drivetrain.cc",
        "hybrid_velocity_drivetrain.json",
    ],
    cmd = "$(location //y2023/control_loops/python:polydrivetrain) $(OUTS)",
    target_compatible_with = ["@platforms//os:linux"],
    tools = [
        "//y2023/control_loops/python:polydrivetrain",
    ],
)

cc_library(
    name = "polydrivetrain_plants",
    srcs = [
        "drivetrain_dog_motor_plant.cc",
        "hybrid_velocity_drivetrain.cc",
        "kalman_drivetrain_motor_plant.cc",
        "polydrivetrain_dog_motor_plant.cc",
    ],
    hdrs = [
        "drivetrain_dog_motor_plant.h",
        "hybrid_velocity_drivetrain.h",
        "kalman_drivetrain_motor_plant.h",
        "polydrivetrain_dog_motor_plant.h",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
    deps = [
        "//frc971/control_loops:hybrid_state_feedback_loop",
        "//frc971/control_loops:state_feedback_loop",
    ],
)

cc_library(
    name = "drivetrain_base",
    srcs = [
        "drivetrain_base.cc",
    ],
    hdrs = [
        "drivetrain_base.h",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
    deps = [
        ":polydrivetrain_plants",
        "//frc971:shifter_hall_effect",
        "//frc971/control_loops/drivetrain:drivetrain_config",
    ],
)

cc_binary(
    name = "drivetrain",
    srcs = [
        "drivetrain_main.cc",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
    deps = [
        ":drivetrain_base",
        ":target_selector",
        "//aos:init",
        "//aos/events:shm_event_loop",
        "//frc971/control_loops/drivetrain:drivetrain_lib",
        "//frc971/control_loops/drivetrain/localization:puppet_localizer",
    ],
)

aos_config(
    name = "simulation_config",
    src = "drivetrain_simulation_config.json",
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
    deps = [
        "//frc971/control_loops/drivetrain:simulation_channels",
        "//y2023:aos_config",
    ],
)

cc_binary(
    name = "trajectory_generator",
    srcs = [
        "trajectory_generator_main.cc",
    ],
    target_compatible_with = ["@platforms//os:linux"],
    visibility = ["//visibility:public"],
    deps = [
        ":drivetrain_base",
        "//aos:init",
        "//aos/events:shm_event_loop",
        "//frc971/control_loops/drivetrain:trajectory_generator",
    ],
)

static_flatbuffer(
    name = "target_selector_status_fbs",
    srcs = [
        ":target_selector_status.fbs",
    ],
    visibility = ["//visibility:public"],
)

static_flatbuffer(
    name = "target_selector_hint_fbs",
    srcs = [
        ":target_selector_hint.fbs",
    ],
    visibility = ["//visibility:public"],
    deps = [
        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
    ],
)

cc_library(
    name = "target_selector",
    srcs = ["target_selector.cc"],
    hdrs = ["target_selector.h"],
    deps = [
        ":target_selector_hint_fbs",
        ":target_selector_status_fbs",
        "//aos/containers:sized_array",
        "//aos/events:event_loop",
        "//frc971/constants:constants_sender_lib",
        "//frc971/control_loops:pose",
        "//frc971/control_loops/drivetrain:localizer",
        "//frc971/input:joystick_state_fbs",
        "//frc971/shooter_interpolation:interpolation",
        "//y2023/constants:constants_fbs",
        "//y2023/control_loops/superstructure:superstructure_position_fbs",
        "//y2023/control_loops/superstructure:superstructure_status_fbs",
        "//y2023/vision:game_pieces_fbs",
    ],
)

cc_test(
    name = "target_selector_test",
    srcs = ["target_selector_test.cc"],
    data = ["//y2023:aos_config"],
    deps = [
        ":target_selector",
        "//aos/events:simulated_event_loop",
        "//aos/testing:googletest",
        "//frc971/input:joystick_state_fbs",
        "//y2023/constants:simulated_constants_sender",
    ],
)