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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / f59b8ee6e97a48cb331a51cb93f1ec392a3d19c1 / . / y2016 / actors / BUILD
blob: cee67c0e2533884c2b6033babcf3d7b7052ccd94 [file] [log] [blame]
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]1package(default_visibility = ['//visibility:public'])
2
3load('/aos/build/queues', 'queue_library')
4
5filegroup(
6 name = 'binaries',
7 srcs = [
8 ':drivetrain_action',
Comran Morshed2f7b4672016-01-23 14:27:34 +0000[diff] [blame]9 ':superstructure_action',
Comran Morshede68e3732016-03-12 14:12:11 +0000[diff] [blame]10 ':autonomous_action',
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]11 ],
12)
13
14queue_library(
15 name = 'drivetrain_action_queue',
16 srcs = [
17 'drivetrain_action.q',
18 ],
19 deps = [
20 '//aos/common/actions:action_queue',
21 ],
22)
23
24cc_library(
25 name = 'drivetrain_action_lib',
26 srcs = [
27 'drivetrain_actor.cc',
28 ],
29 hdrs = [
30 'drivetrain_actor.h',
31 ],
32 deps = [
33 ':drivetrain_action_queue',
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]34 '//aos/common:time',
35 '//aos/common:math',
36 '//aos/common/util:phased_loop',
37 '//aos/common/logging',
38 '//aos/common/actions:action_lib',
39 '//aos/common/logging:queue_logging',
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]40 '//aos/common/util:trapezoid_profile',
41 '//frc971/control_loops/drivetrain:drivetrain_queue',
42 '//frc971/control_loops:state_feedback_loop',
Comran Morshed6c6a0a92016-01-17 12:45:16 +0000[diff] [blame]43 '//third_party/eigen',
44 '//y2016:constants',
Comran Morshed225f0b92016-02-10 20:34:27 +0000[diff] [blame]45 '//y2016/control_loops/drivetrain:polydrivetrain_plants',
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]46 ],
47)
48
49cc_binary(
50 name = 'drivetrain_action',
51 srcs = [
52 'drivetrain_actor_main.cc',
53 ],
54 deps = [
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]55 ':drivetrain_action_lib',
56 ':drivetrain_action_queue',
Comran Morshed6c6a0a92016-01-17 12:45:16 +0000[diff] [blame]57 '//aos/linux_code:init',
Comran Morshed9a9948c2016-01-16 15:58:04 +0000[diff] [blame]58 ],
59)
Comran Morshed2f7b4672016-01-23 14:27:34 +0000[diff] [blame]60
61queue_library(
62 name = 'superstructure_action_queue',
63 srcs = [
64 'superstructure_action.q',
65 ],
66 deps = [
67 '//aos/common/actions:action_queue',
68 ],
69)
70
71cc_library(
72 name = 'superstructure_action_lib',
73 srcs = [
74 'superstructure_actor.cc',
75 ],
76 hdrs = [
77 'superstructure_actor.h',
78 ],
79 deps = [
80 ':superstructure_action_queue',
81 '//aos/common/util:phased_loop',
82 '//aos/common/logging',
83 '//aos/common/actions:action_lib',
84 '//y2016/control_loops/superstructure:superstructure_queue',
85 ],
86)
87
88cc_binary(
89 name = 'superstructure_action',
90 srcs = [
91 'superstructure_actor_main.cc',
92 ],
93 deps = [
94 ':superstructure_action_lib',
95 ':superstructure_action_queue',
96 '//aos/linux_code:init',
97 ],
98)
Comran Morshede68e3732016-03-12 14:12:11 +0000[diff] [blame]99
100queue_library(
101 name = 'autonomous_action_queue',
102 srcs = [
103 'autonomous_action.q',
104 ],
105 deps = [
106 '//aos/common/actions:action_queue',
107 ],
108)
109
110cc_library(
111 name = 'autonomous_action_lib',
112 srcs = [
113 'autonomous_actor.cc',
114 ],
115 hdrs = [
116 'autonomous_actor.h',
117 ],
118 deps = [
119 ':autonomous_action_queue',
Austin Schuhf59b8ee2016-03-19 21:31:36 -0700[diff] [blame^]120 ':vision_align_action_lib',
Comran Morshede68e3732016-03-12 14:12:11 +0000[diff] [blame]121 '//aos/common/util:phased_loop',
122 '//aos/common/logging',
123 '//aos/common/actions:action_lib',
Austin Schuhba93d9e2016-03-18 22:38:57 -0700[diff] [blame]124 '//frc971/control_loops/drivetrain:drivetrain_queue',
125 '//y2016/control_loops/superstructure:superstructure_queue',
Austin Schuhf59b8ee2016-03-19 21:31:36 -0700[diff] [blame^]126 '//y2016/control_loops/shooter:shooter_queue',
Austin Schuhba93d9e2016-03-18 22:38:57 -0700[diff] [blame]127 '//y2016/control_loops/drivetrain:drivetrain_base',
128 '//y2016/queues:profile_params',
Austin Schuhf59b8ee2016-03-19 21:31:36 -0700[diff] [blame^]129 '//y2016/vision:vision_queue',
Comran Morshede68e3732016-03-12 14:12:11 +0000[diff] [blame]130 ],
131)
132
133cc_binary(
134 name = 'autonomous_action',
135 srcs = [
136 'autonomous_actor_main.cc',
137 ],
138 deps = [
139 ':autonomous_action_lib',
140 ':autonomous_action_queue',
141 '//aos/linux_code:init',
142 ],
143)
Austin Schuh18799112016-03-16 22:09:54 -0700[diff] [blame]144
145queue_library(
146 name = 'vision_align_action_queue',
147 srcs = [
148 'vision_align_action.q',
149 ],
150 deps = [
151 '//aos/common/actions:action_queue',
152 ],
153)
154
155cc_library(
156 name = 'vision_align_action_lib',
157 srcs = [
158 'vision_align_actor.cc',
159 ],
160 hdrs = [
161 'vision_align_actor.h',
162 ],
163 deps = [
164 ':vision_align_action_queue',
165 '//aos/common:time',
166 '//aos/common:math',
167 '//aos/common/util:phased_loop',
168 '//aos/common/logging',
169 '//aos/common/actions:action_lib',
170 '//aos/common/logging:queue_logging',
171 '//aos/common/util:trapezoid_profile',
172 '//frc971/control_loops/drivetrain:drivetrain_queue',
173 '//third_party/eigen',
174 '//y2016:constants',
175 '//y2016/control_loops/drivetrain:drivetrain_base',
176 '//y2016/vision:vision_queue',
177 ],
178)
179
180cc_binary(
181 name = 'vision_align_action',
182 srcs = [
183 'vision_align_actor_main.cc',
184 ],
185 deps = [
186 ':vision_align_action_lib',
187 ':vision_align_action_queue',
188 '//aos/linux_code:init',
189 ],
190)