From 50661c00390e25890179b71fbda25cf9aa8be4f2 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 27 May 2026 04:23:58 +0000 Subject: [PATCH 1/2] remove old main files Signed-off-by: Charlie Huang --- src/CMakeLists.txt | 6 ---- src/main_bot_main.cc | 80 ------------------------------------------ src/second_bot_main.cc | 78 ---------------------------------------- 3 files changed, 164 deletions(-) delete mode 100644 src/main_bot_main.cc delete mode 100644 src/second_bot_main.cc diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index 87697488..11e48861 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -22,12 +22,6 @@ add_subdirectory(yolo) add_subdirectory(test) add_subdirectory(pathing) -add_executable(main_bot_main main_bot_main.cc) -target_link_libraries(main_bot_main PRIVATE utils localization pathing camera) - -add_executable(second_bot_main second_bot_main.cc) -target_link_libraries(second_bot_main PRIVATE utils localization pathing camera) - add_executable(unambiguous_second unambiguous_second.cc) target_link_libraries(unambiguous_second PRIVATE utils localization pathing camera) diff --git a/src/main_bot_main.cc b/src/main_bot_main.cc deleted file mode 100644 index 37755516..00000000 --- a/src/main_bot_main.cc +++ /dev/null @@ -1,80 +0,0 @@ -#include "src/camera/camera_constants.h" -#include "src/camera/camera_source.h" -#include "src/camera/cv_camera.h" -#include "src/localization/gpu_apriltag_detector.h" -#include "src/localization/multi_tag_solver.h" -#include "src/localization/networktable_sender.h" -#include "src/localization/nvidia_apriltag_detector.h" -#include "src/localization/opencv_apriltag_detector.h" -#include "src/localization/run_localization.h" -#include "src/localization/square_solver.h" -#include "src/pathing/controller.h" -#include "src/utils/camera_utils.h" -#include "src/utils/nt_utils.h" -#include "src/utils/stop.h" - -using camera::camera_constants_t; -auto main() -> int { - stop::RegisterHandler(); - utils::StartNetworktables(9971); - // TODO configure vision bot camera paths - - std::string log_path = frc::DataLogManager::GetLogDir(); - camera_constants_t camera_constants = camera::GetCameraConstants(); - - LOG(INFO) << "Starting estimators"; - - std::jthread left_thread([&](const std::stop_token& stop_token) { - auto left_camera = std::make_unique( - "Left", - std::make_unique(camera_constants.at("main_bot_left"), - fmt::format("{}/left", log_path))); - cv::Mat left_camera_frame = left_camera->GetFrame(); - - std::vector> left_sender; - left_sender.emplace_back(std::make_unique( - camera_constants.at("main_bot_left").name)); - - localization::RunLocalization( - stop_token, std::move(left_camera), - std::make_unique( - left_camera_frame.cols, left_camera_frame.rows, - utils::ReadIntrinsics( - camera_constants.at("main_bot_left").intrinsics_path.value())), - std::make_unique( - camera_constants.at("main_bot_left")), - std::move(left_sender), 5802); - }); - - std::jthread right_thread([&](const std::stop_token& stop_token) { - auto right_camera = std::make_unique( - "Right", std::make_unique( - camera_constants.at("main_bot_right"), - fmt::format("{}/right", log_path))); - cv::Mat right_camera_frame = right_camera->GetFrame(); - - std::vector> right_sender; - right_sender.emplace_back( - std::make_unique( - camera_constants.at("main_bot_right").name)); - // const std::stop_token& stop_token - localization::RunLocalization( - stop_token, std::move(right_camera), - std::make_unique( - right_camera_frame.cols, right_camera_frame.rows, - utils::ReadIntrinsics( - camera_constants.at("main_bot_right").intrinsics_path.value())), - std::make_unique( - camera_constants.at("main_bot_right")), - std::move(right_sender), 5803); - }); - - LOG(INFO) << "Started estimators"; - - std::jthread pathing_thread(pathing::RunController, - "/bos/constants/navgrid.json", false); - - LOG(INFO) << "pathing started"; - - stop::WaitUntilStop(); -} diff --git a/src/second_bot_main.cc b/src/second_bot_main.cc deleted file mode 100644 index 9b0ae846..00000000 --- a/src/second_bot_main.cc +++ /dev/null @@ -1,78 +0,0 @@ -#include "src/camera/camera_constants.h" -#include "src/camera/camera_source.h" -#include "src/camera/cv_camera.h" -#include "src/localization/multi_tag_solver.h" -#include "src/localization/networktable_sender.h" -#include "src/localization/opencv_apriltag_detector.h" -#include "src/localization/run_localization.h" -#include "src/localization/square_solver.h" -#include "src/pathing/controller.h" -#include "src/pathing/pathfinding.h" -#include "src/utils/camera_utils.h" -#include "src/utils/nt_utils.h" -#include "src/utils/stop.h" - -#include - -using camera::camera_constants_t; -auto main() -> int { - stop::RegisterHandler(); - utils::StartNetworktables(971); - - std::string log_path = frc::DataLogManager::GetLogDir(); - camera_constants_t camera_constants = camera::GetCameraConstants(); - - LOG(INFO) << "Starting estimators"; - - std::jthread left_thread([&](const std::stop_token& stop_token) { - auto left_camera = std::make_unique( - "Left", std::make_unique( - camera_constants.at("second_bot_left"), - fmt::format("{}/left", log_path))); - cv::Mat left_camera_frame = left_camera->GetFrame(); - - std::vector> left_sender; - left_sender.emplace_back(std::make_unique( - camera_constants.at("second_bot_left").name)); - - localization::RunLocalization( - stop_token, std::move(left_camera), - std::make_unique( - left_camera_frame.cols, left_camera_frame.rows, - utils::ReadIntrinsics(camera_constants.at("second_bot_left") - .intrinsics_path.value())), - std::make_unique( - camera_constants.at("second_bot_left")), - std::move(left_sender)); - }); - - std::jthread right_thread([&](const std::stop_token& stop_token) { - auto right_camera = std::make_unique( - "Right", std::make_unique( - camera_constants.at("second_bot_right"), - fmt::format("{}/right", log_path))); - cv::Mat right_camera_frame = right_camera->GetFrame(); - - std::vector> right_sender; - right_sender.emplace_back( - std::make_unique( - camera_constants.at("second_bot_right").name)); - - localization::RunLocalization( - stop_token, std::move(right_camera), - std::make_unique( - right_camera_frame.cols, right_camera_frame.rows, - utils::ReadIntrinsics(camera_constants.at("second_bot_right") - .intrinsics_path.value())), - std::make_unique( - camera_constants.at("second_bot_right")), - std::move(right_sender)); - }); - - std::jthread pathing_thread(pathing::RunController, - "/bos/constants/navgrid.json", false); - - LOG(INFO) << "Started estimators"; - - stop::WaitUntilStop(); -} From c45ecd0d657373a8eb2d34ac6270690916339ac0 Mon Sep 17 00:00:00 2001 From: Charlie Huang Date: Wed, 27 May 2026 04:36:22 +0000 Subject: [PATCH 2/2] change name to be make more sense Signed-off-by: Charlie Huang --- src/unambiguous_dev_orin.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/unambiguous_dev_orin.cc b/src/unambiguous_dev_orin.cc index 52005c9e..2d1d0f0e 100644 --- a/src/unambiguous_dev_orin.cc +++ b/src/unambiguous_dev_orin.cc @@ -27,7 +27,8 @@ auto main() -> int { localization::RunJointLocalization( stop_token, detector_source, std::make_unique(cameras), - std::make_unique("Left", false)); + std::make_unique( + "UnambiguousEstimator", false)); }); LOG(INFO) << "Started localization";