diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 9a31a8044b7..8196059ee7b 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,18 +1,14 @@ repos: -- repo: https://github.com/pycqa/isort - rev: 5.10.1 +# info at https://black.readthedocs.io/en/stable/integrations/source_version_control.html +- repo: https://github.com/psf/black-pre-commit-mirror + rev: 24.8.0 hooks: - - id: isort - name: isort (python) - args: ["--profile","black"] -- repo: https://github.com/psf/black - rev: 22.3.0 - hooks: - - id: black + - id: black + language-version: python3.10 - repo: local hooks: - id: pretty-lines name: pretty-lines entry: make pretty-lines #root makefile pretty-lines language: system - types: [c++] \ No newline at end of file + types: [c++] diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index 12336dcb9a4..00000000000 --- a/.pylintrc +++ /dev/null @@ -1,591 +0,0 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code. -extension-pkg-whitelist= - -# Specify a score threshold to be exceeded before program exits with error. -fail-under=10 - -# Add files or directories to the blacklist. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to the blacklist. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the -# number of processors available to use. -jobs=1 - -# Control the amount of potential inferred values when inferring a single -# object. This can help the performance when dealing with large functions or -# complex, nested conditions. -limit-inference-results=100 - -# List of plugins (as comma separated values of python module names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages. -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED. -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once). You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use "--disable=all --enable=classes -# --disable=W". -disable=print-statement, - parameter-unpacking, - unpacking-in-except, - old-raise-syntax, - backtick, - long-suffix, - old-ne-operator, - old-octal-literal, - import-star-module-level, - non-ascii-bytes-literal, - raw-checker-failed, - bad-inline-option, - locally-disabled, - file-ignored, - suppressed-message, - useless-suppression, - deprecated-pragma, - use-symbolic-message-instead, - apply-builtin, - basestring-builtin, - buffer-builtin, - cmp-builtin, - coerce-builtin, - execfile-builtin, - file-builtin, - long-builtin, - raw_input-builtin, - reduce-builtin, - standarderror-builtin, - unicode-builtin, - xrange-builtin, - coerce-method, - delslice-method, - getslice-method, - setslice-method, - no-absolute-import, - old-division, - dict-iter-method, - dict-view-method, - next-method-called, - metaclass-assignment, - indexing-exception, - raising-string, - reload-builtin, - oct-method, - hex-method, - nonzero-method, - cmp-method, - input-builtin, - round-builtin, - intern-builtin, - unichr-builtin, - map-builtin-not-iterating, - zip-builtin-not-iterating, - range-builtin-not-iterating, - filter-builtin-not-iterating, - using-cmp-argument, - eq-without-hash, - div-method, - idiv-method, - rdiv-method, - exception-message-attribute, - invalid-str-codec, - sys-max-int, - bad-python3-import, - deprecated-string-function, - deprecated-str-translate-call, - deprecated-itertools-function, - deprecated-types-field, - next-method-defined, - dict-items-not-iterating, - dict-keys-not-iterating, - dict-values-not-iterating, - deprecated-operator-function, - deprecated-urllib-function, - xreadlines-attribute, - deprecated-sys-function, - exception-escape, - comprehension-escape, - bad-continuation, - bad-whitespace - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member - - -[REPORTS] - -# Python expression which should return a score less than or equal to 10. You -# have access to the variables 'error', 'warning', 'refactor', and 'convention' -# which contain the number of messages in each category, as well as 'statement' -# which is the total number of statements analyzed. This score is used by the -# global evaluation report (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details. -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio). You can also give a reporter class, e.g. -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages. -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=sys.exit - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module. -max-module-lines=1000 - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO - -# Regular expression of note tags to take in consideration. -#notes-rgx= - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid defining new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb - -# A regular expression matching the name of dummy variables (i.e. expected to -# not be used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore. -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members=stp.global_parameters.* - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# Tells whether to warn about missing members when the owner of the attribute -# is inferred to be None. -ignore-none=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis). It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules= - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - -# List of decorators that change the signature of a decorated function. -signature-mutators= - - -[LOGGING] - -# The type of string formatting that logging methods do. `old` means using % -# formatting, `new` is for `{}` formatting. -logging-format-style=old - -# Logging modules to check that the string format arguments are in logging -# function parameter format. -logging-modules=logging - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes. -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it work, -# install the python-enchant package. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains the private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to the private dictionary (see the -# --spelling-private-dict-file option) instead of raising a message. -spelling-store-unknown-words=no - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=yes - -# Ignore function signature when computing similarities. -ignore-signatures=yes - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[BASIC] - -# Naming style matching correct argument names. -argument-naming-style=snake_case - -# Regular expression matching correct argument names. Overrides argument- -# naming-style. -#argument-rgx= - -# Naming style matching correct attribute names. -attr-naming-style=snake_case - -# Regular expression matching correct attribute names. Overrides attr-naming- -# style. -#attr-rgx= - -# Bad variable names which should always be refused, separated by a comma. -bad-names=foo, - bar, - baz, - toto, - tutu, - tata - -# Bad variable names regexes, separated by a comma. If names match any regex, -# they will always be refused -bad-names-rgxs= - -# Naming style matching correct class attribute names. -class-attribute-naming-style=any - -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style. -#class-attribute-rgx= - -# Naming style matching correct class names. -class-naming-style=PascalCase - -# Regular expression matching correct class names. Overrides class-naming- -# style. -#class-rgx= - -# Naming style matching correct constant names. -const-naming-style=UPPER_CASE - -# Regular expression matching correct constant names. Overrides const-naming- -# style. -#const-rgx= - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming style matching correct function names. -function-naming-style=snake_case - -# Regular expression matching correct function names. Overrides function- -# naming-style. -#function-rgx= - -# Good variable names which should always be accepted, separated by a comma. -good-names=ex, - Run, - _ - -# Good variable names regexes, separated by a comma. If names match any regex, -# they will always be accepted -# Allow single-letter variable names because we use a lot of math. -good-names-rgxs=[a-z] - -# Include a hint for the correct naming format with invalid-name. -include-naming-hint=no - -# Naming style matching correct inline iteration names. -inlinevar-naming-style=any - -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style. -#inlinevar-rgx= - -# Naming style matching correct method names. -method-naming-style=snake_case - -# Regular expression matching correct method names. Overrides method-naming- -# style. -#method-rgx= - -# Naming style matching correct module names. -module-naming-style=snake_case - -# Regular expression matching correct module names. Overrides module-naming- -# style. -#module-rgx= - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -# These decorators are taken in consideration only for invalid-name. -property-classes=abc.abstractproperty - -# Naming style matching correct variable names. -variable-naming-style=snake_case - -# Regular expression matching correct variable names. Overrides variable- -# naming-style. -#variable-rgx= - - -[STRING] - -# This flag controls whether inconsistent-quotes generates a warning when the -# character used as a quote delimiter is used inconsistently within a module. -check-quote-consistency=no - -# This flag controls whether the implicit-str-concat should generate a warning -# on implicit string concatenation in sequences defined over several lines. -check-str-concat-over-line-jumps=no - - -[DESIGN] - -# Maximum number of arguments for function / method. -max-args=5 - -# Maximum number of attributes for a class (see R0902). -max-attributes=7 - -# Maximum number of boolean expressions in an if statement (see R0916). -max-bool-expr=5 - -# Maximum number of branch for function / method body. -max-branches=12 - -# Maximum number of locals for function / method body. -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body. -max-returns=6 - -# Maximum number of statements in function / method body. -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 - - -[IMPORTS] - -# List of modules that can be imported at any level, not just the top level -# one. -allow-any-import-level= - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma. -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled). -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled). -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled). -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - -# Couples of modules and preferred modules, separated by a comma. -preferred-modules= - - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp, - __post_init__ - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=cls - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "BaseException, Exception". -overgeneral-exceptions=BaseException, - Exception diff --git a/.style.yapf b/.style.yapf deleted file mode 120000 index 1f59cf3d5de..00000000000 --- a/.style.yapf +++ /dev/null @@ -1 +0,0 @@ -external/style-configs/.style.yapf \ No newline at end of file diff --git a/.stylize.yml b/.stylize.yml deleted file mode 100644 index 32b5a509b89..00000000000 --- a/.stylize.yml +++ /dev/null @@ -1,16 +0,0 @@ -formatters: - .py: yapf - .h: clang - .hpp: clang - .c: clang - .cc: clang - .cpp: clang -formatter_args: - clang: - - --style=file - yapf: - - --style=.style.yapf -exclude: - - build - - external - - old diff --git a/CMakeLists.txt b/CMakeLists.txt index d41a091bde7..7081070823c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -119,7 +119,6 @@ add_subdirectory(rj_geometry) add_subdirectory(rj_config) add_subdirectory(rj_common) -add_subdirectory(rj_gameplay) add_subdirectory(rj_vision_receiver) add_subdirectory(soccer) diff --git a/Dockerfile b/Dockerfile.ci similarity index 100% rename from Dockerfile rename to Dockerfile.ci diff --git a/Dockerfile.comp b/Dockerfile.comp deleted file mode 100644 index 6b6a6789d45..00000000000 --- a/Dockerfile.comp +++ /dev/null @@ -1,24 +0,0 @@ -FROM robocupssl/ubuntu-vnc:latest - -USER root - -# setup apt tools and other goodies we want -RUN apt-get update --fix-missing && \ - apt-get -y install udev locales git ssh software-properties-common \ - sudo tzdata keyboard-configuration lsb-release ca-certificates apt-transport-https \ - && apt-get clean -RUN DEBIAN_FRONTEND=noninteractive apt-get install tzdata - -# Prevent bugging us later about timezones -RUN ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime && dpkg-reconfigure --frontend noninteractive tzdata - -# Use UTF-8 -RUN locale-gen en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 -ENV LANG en_US.UTF-8 - -COPY --chown=default . /robocup-software -WORKDIR /robocup-software - -RUN SUDO_USER=default ./util/ubuntu-setup --yes --no-submodules - -USER default diff --git a/README.md b/README.md index 012673b14bd..430a1483660 100644 --- a/README.md +++ b/README.md @@ -1,118 +1,7 @@ -# GT RoboJackets RoboCup SSL +# Georgia Tech Robojackets Software for the RoboCup Small-Sized League -## NEW DOCUMENTATION: https://rj-rc-software.rtfd.io - -## Everything below this line is extremely out of date. - -------------------------------------------------------- - -[![16.04 Build Status](https://circleci.com/gh/RoboJackets/robocup-software.svg?&style=shield)](https://circleci.com/gh/RoboJackets/robocup-software) [![Coverage Status](https://coveralls.io/repos/RoboJackets/robocup-software/badge.svg?branch=master&service=github)](https://coveralls.io/github/RoboJackets/robocup-software?branch=master) - -[![Riot](https://img.shields.io/badge/matrix-riot%20chat-blue.svg)](https://riot.im/app/#/room/%23robocup-software:matrix.org) [![Join the chat at https://gitter.im/RoboJackets/robocup-software](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/RoboJackets/robocup-software?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) - -The Georgia Tech RoboJackets team competes in the annual RoboCup Small Size League (SSL) competition. This repository contains all of the software that we run on the main field laptop and on our robots. - -More information on how our software works can be found on our [documentation -page](http://robojackets.github.io/robocup-software/), our -[wiki](http://wiki.robojackets.org/w/RoboCup_Software) or on our -[website](http://www.robojackets.org/). Also, check out our [2014 qualification -video](https://www.youtube.com/watch?v=H3F9HexPLT0) to see our robots in -action! - -Here is a screenshot of our 'soccer' program: -![Screenshot of the 'soccer' program](doc/images/soccer.png "Soccer") - -TODO: fix above^ - - -## The Competition - -The soccer game is played between two teams of six robots each on a field with overhead cameras. The field vision computer processes images from the cameras and sends out (x,y) coordinates of the ball and the robots. Each team has a laptop that accepts the data from the vision computer and uses it to strategize, then send commands to robots on the field. - -The official [RoboCup site](http://robocupssl.cpe.ku.ac.th/) has more information on the competition. - - -## Project Layout - -`robocup-software` is split into 3 parts, [software](https://github.com/RoboJackets/robocup-software), [firmware](https://github.com/RoboJackets/robocup-firmware), and a [common](https://github.com/RoboJackets/robocup-common) part, used by both software and firmware. This repository contains the software portion of our codebase, the part that runs on our laptops, running high level plays. - -### soccer/ - -The soccer folder contains the code to build the 'soccer' program, which is the main program in control when running our robots. - - -### common/ - -Code that's shared between the software and firmware sections of our codebase is stored here, as a [git submodule](https://git-scm.com/book/en/v2/Git-Tools-Submodules). See RoboJackets/robocup-common. - -### external/ - -External dependencies that our code relies on, stored as git submodules. To initialize these, please run `git submodule update --init --recursive`. - -### run/ - -Compiled programs and some configuration files are stored here. - - -## Setup - -### OUTDATED (since ROS2 rewrite) - -**Read the docs in `docs/src/getting_started/index.rst` instead.** - -Here's a quick guide to getting this RoboCup project setup on your computer. We recommend and only provide directions for installing on 20.04 Ubuntu Linux due to the limitations of ROS2. - -1) Clone the repository - -```sh -git clone git://github.com/RoboJackets/robocup-software -``` - - -2) Install the necessary software - -There are a few setup scripts in the util directory for installing required packages, setting up udev rules, etc. See `ubuntu-setup`, `arch-setup`, and `osx-setup` for more info. - -```sh -$ cd robocup-software -$ util/-setup -``` - -3) Build the project - -TODO(1521): Fix makefile scripts. -```sh -mkdir build && cd build -source /opt/ros/foxy/setup.sh -export CMAKE_PREFIX_PATH=/opt/ros/foxy -cmake -GNinja -DCMAKE_INSTALL_PREFIX=../install -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .. -ninja install -``` - -We use CMake as our build system ~~and have a simple `makefile` setup that invokes CMake~~. - -~~After running `make`, several programs will be placed in the **run** folder. See the [soccer docs](http://robojackets.github.io/robocup-software/md_soccer_doc__soccer.html) for instructions on running the soccer program.~~ - -To run simulation: -```sh -source /opt/ros/foxy/setup.sh -source install/setup.sh -ros2 launch rj_robocup sim.launch.py -``` - -## Documentation - -We use [Doxygen](www.doxygen.org) for documentation. This allows us to convert specially-formatted comments within code files into a nifty website that lets us easily see how things are laid out. Our compiled doxygen documentation for software can be found here: - -http://robojackets.github.io/robocup-software/ - -Note: The doxygen documentation site above is updated automacally using circle-ci. See our autoupdate-docs.sh file for more info. - -## Testing -We use [gtest](https://code.google.com/p/googletest/) for unit-testing our software, which can be run by running `make tests`. To add a test to be run with the rest of the bunch, add a new file in soccer/tests. - -The soccer tests can be run using `make test-soccer` or firmware tests with `make test-firmware`. -The TESTS name filter to run only certain tests. For example `make test-soccer TESTS=Point*` runs only the tests for the Point class. +For full documentation, please refer to: +[https://rj-rc-software.readthedocs.io/en/latest/](https://rj-rc-software.readthedocs.io/en/latest/) ## License diff --git a/changelog.txt b/changelog.txt deleted file mode 100644 index c251ec1316a..00000000000 --- a/changelog.txt +++ /dev/null @@ -1,49 +0,0 @@ -Important changes were made when upgrading the stack to ROS2 Humble. A list -of changes and the reasoning behind them is listed below: - -As of Nov 19, 2023: -1. The makefile was changed to work with the newer version of CMake - that installs by default on Ubuntu 22.04. In particular, the - cmake commands no longer need the --target flag. The CMAKE_PREFIX_PATH - variable at the beginning of the file has also been changed. - -############## This change is important ############### -2. install/setup.bash - This has not been changed, but it is important - to note that distutils is deprecated and slated for removal in - Python 3.12. There are no direct replacements for distutils, so - a ticket should be opened ASAP to fix this. However, there is no - immediate issue with leaving it as is because Ubuntu 22.04 comes with - Python 3.10 by default. Do note that this is also the case in - install/setup.zsh. - -3. source.bash - Source commands now reference humble and Ubuntu 22.04 - instead of foxy and Ubuntu 20.04. - -4. rj_common/testing/rj_common_convert_test.cpp - the rclcpp::Duration - class no longer accepts a single integer argument for milliseconds. - Updated a line referencing this outdated constructor to use - a std::chrono::milliseconds instead. - -5. rj_common/include/rj_common/time.hpp - Changed for similar reasons to (4) - -6. rj_utils/src/logging.cpp - RCLCPP_DEBUG and similar macros accept - C strings now; updated calls to these macros - -7. rj_config/CMakeLists.txt - added find_package(fmt), this change complements - change number 6. - -8. soccer/src/soccer/strategy/agent/agent_action_client.cpp and hpp - - Updated lines 211 to 219 to use lambda expressions instead of std::bind, - Changed a method to take in a different parameter type. - Previously took a future template holding a GoalHandleRobotMove::SharedPtr, - Now just takes in the GoalHandleRobotMove::SharedPtr. - -9. soccer/src/soccer/ui/field_view.cpp - Added a preprocessor directive - to include QPainterPath, which has been separated into its own namespace. - Qt5 likely has other changes as well - -10. soccer/src/soccer/ui/robot_status_widget.hpp - Added a preprocessor - directive to include the std::optional namespace. - -This changelog should be updated to reflect any further changes completed -before this upgrade is fully adopted. diff --git a/config.docif b/config.docif deleted file mode 100755 index 57b8356839b..00000000000 --- a/config.docif +++ /dev/null @@ -1,127 +0,0 @@ -#!/bin/bash -# -# A sample config file for DoCIF -# This is just a shell file that is sourced by DoCIF scripts. - -# @REQUIRED -# A docker baseimage repostiory. Create one on the docker hub -BASEIMAGE_REPO="robojackets/robocup-baseimage" - -# If true, ${BASEIMAGE_REPO}:master is pushed when on master. -# Defaults to false. -PUSH_BASEIMAGE="true" - -# @REQUIRED -# The github repository location, for sendings status updates to -# This is CASE SENSITIVE!! -GITHUB_REPO='RoboJackets/robocup-software' - -# The url to point to when a status check is pending. -# Will point to https://github.com/jgkamat/DoCIF if unset. -PENDING_URL="https://github.com/jgkamat/DoCIF" - -# A custom dockerfile, for advanced setup -# DO NOT SET THIS IF YOU ARE A FIRST TIME USER. -# See ./commands/Dockerfile for the default dockerfile -# This file is in relation to you'r project's root. -CUSTOM_DOCKERFILE="./util/docker/baseimage/Dockerfile" - -############################## Variable Names ################################## - -# These are the variables that will hold secrets and such. -# In this example, DOCKER_PASS needs to be set to the docker hub password -# This can be done through the CircleCi GUI or Travis CI secrets -DOCKER_PASSWORD_VAR="DOCKER_PASS" -DOCKER_EMAIL_VAR="DOCKER_EMAIL" -DOCKER_USER_VAR="DOCKER_USER" -# This would be insecure, but you can do it below. You should add these vars to -# circle protected environment variables if you are concerned about security -# DOCKER_EMAIL="help@gmail.com" - -# Status token is used for updating status -GH_STATUS_TOKEN_VAR="GH_STATUS_TOKEN" -# Variable holing the username of the Status Token -GH_USER_VAR="GIT_USERNAME" -# Variable holing the email of the Status Token -GH_EMAIL_VAR="GIT_EMAIL" - -# The project root INSIDE THE DOCKER CONTAINER -# Recommended to leave as default (not set) -# This will act as the 'current directory' within the project -# This will need to be changed in the dockerfile as well to take effect. (use a custom one!) -DOCKER_PROJECT_ROOT="/home/developer/project" - -# The home dir of the user running the docker commands (used for caching when using ~) -DOCKER_PROJECT_HOME="/home/developer" - -# The git clone root INSIDE THE DOCKER CONTAINER -GIT_CLONE_ROOT="${DOCKER_PROJECT_ROOT}" - -################################################################################ - -# Cache directories, not required. -# Directories to link to the docker container for each build and persist between builds. Add to circle.yml as well. -# for caching on their servers -# YOU MUST USE ~ IN YOUR PATH (NO $HOME), SO WE KNOW WHERE TO LINK TO INSIDE THE CONTAINER. -# This directory MUST BE ADDED TO circle.yml AS WELL IN ORDER FOR ACTUAL CACHING TO TAKE PLACE -CACHE_DIRECTORIES=() -CACHE_DIRECTORIES+=('~/.ccache') -CACHE_DIRECTORIES+=('~/.ssh') -CACHE_DIRECTORIES+=("${CIRCLE_ARTIFACTS}") - - -################################# COMMANDS ##################################### - -# The script to set up the environment, by default ubuntu. -# YOU WILL NEED TO USE SUDO TO GET ROOT PRIVLEGES HERE - -# We want the GOPATH variable to persist into this script, so we pass it in. -SETUP_COMMAND='sudo GOPATH=$GOPATH ./util/ubuntu-setup --yes && sudo ccache -M 1G' -# SETUP_COMMAND="./ubuntu-setup-script" - -# DOCIF can cache baseimages, if you give it files that will force a rebuild if changed. -# Include the setup script itself, as well as any dependency files -# Leaving this blank will turn off caching -SETUP_SHA_FILES=() - # This file should be included unless you leave this variable completely blank, forcing a rebuild when DoCIF is updated -SETUP_SHA_FILES+=("./.gitmodules") -SETUP_SHA_FILES+=("./circle.yml") -SETUP_SHA_FILES+=("./config.docif") -SETUP_SHA_FILES+=("./util/ubuntu-setup") -SETUP_SHA_FILES+=("./util/requirements2.txt") -SETUP_SHA_FILES+=("./util/requirements3.txt") -SETUP_SHA_FILES+=("./util/ubuntu-packages.txt") -SETUP_SHA_FILES+=("./util/docker/baseimage/Dockerfile") - -# @REQUIRED -# Commands to run when testing. Each index will have it's own status token -# Commands are in this format -# COMMAND; SHORT_NAME; DESCRIPTION -TEST_COMMANDS=() -TEST_COMMANDS+=( 'make;compile;Compile/sanity check.' ) -TEST_COMMANDS+=( 'make test-soccer;test-soccer;A check to see if soccer tests pass' ) -TEST_COMMANDS+=( 'git fetch origin && STYLIZE_DIFFBASE=origin/master make checkstyle;style;Style checks.' ) -TEST_COMMANDS+=( 'make test-python;test-python;Python tests.' ) -TEST_COMMANDS+=( 'make pylint;python-pylint;Python static code analysis.' ) -TEST_COMMANDS+=( 'make mypy;python-mypy;Python static type analysis.' ) -TEST_COMMANDS+=( 'make coverage;coverage;Coverage build task.' ) - -# @RECOMMENDED -# Clean command. Cleans the build files so there is no way the previous build can interfere. Add if you run -# into issues -CLEAN_COMMAND="make clean || true" -# Other options are `gradle clean`, `mvn clean`, or `rm -rf build` - -# Environmental variables to make available to the build environment -ENV_VARS=() -ENV_VARS+=("GH_TOKEN") # To be used by autoupdating script -ENV_VARS+=("COVERALLS_REPO_TOKEN") -ENV_VARS+=("CIRCLE_BUILD_NUM") -ENV_VARS+=("CIRCLE_BRANCH") -ENV_VARS+=("CIRCLE_SHA1") - -# Command to run when deploying. Leave blank for no deploy. -# Make sure any secrets these commands need are added to ENV_VARS -DEPLOY_COMMAND="./autoupdate-docs.sh" - -################################################################################ diff --git a/modeling/.gitignore b/modeling/.gitignore deleted file mode 100644 index 009c4ab53f3..00000000000 --- a/modeling/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*.mexw64 -*.mexmaci64 -*.mexa64 -slprj -*.autosave -*.asv diff --git a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu.slx b/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu.slx deleted file mode 100644 index 9ffc88da23a..00000000000 Binary files a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu.slx and /dev/null differ diff --git a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.exp b/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.exp deleted file mode 100644 index 52f161a393c..00000000000 --- a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.exp +++ /dev/null @@ -1,2 +0,0 @@ -../../../Aprox_PWM_Motor_Driver_Circu_msf.mexw64 -mexFunction mexFunction diff --git a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.lib b/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.lib deleted file mode 100644 index 9aeb1875e76..00000000000 Binary files a/modeling/BLDC/Aprox_PWM_Motor_Driver_Circu_msf.lib and /dev/null differ diff --git a/modeling/BLDC/BLDC.slx b/modeling/BLDC/BLDC.slx deleted file mode 100644 index e26d11613ca..00000000000 Binary files a/modeling/BLDC/BLDC.slx and /dev/null differ diff --git a/modeling/BLDC/BLDCTest.slx b/modeling/BLDC/BLDCTest.slx deleted file mode 100644 index 7388eba6fed..00000000000 Binary files a/modeling/BLDC/BLDCTest.slx and /dev/null differ diff --git a/modeling/BLDC/PWM_Generator.slx b/modeling/BLDC/PWM_Generator.slx deleted file mode 100644 index a02636efde6..00000000000 Binary files a/modeling/BLDC/PWM_Generator.slx and /dev/null differ diff --git a/modeling/BLDC/PWM_Motor_Driver_Circuit.slx b/modeling/BLDC/PWM_Motor_Driver_Circuit.slx deleted file mode 100644 index b23025c8b70..00000000000 Binary files a/modeling/BLDC/PWM_Motor_Driver_Circuit.slx and /dev/null differ diff --git a/modeling/BLDC/motorParams.m b/modeling/BLDC/motorParams.m deleted file mode 100644 index a2301ce980f..00000000000 --- a/modeling/BLDC/motorParams.m +++ /dev/null @@ -1,53 +0,0 @@ -%Params for 3 phase, Y-Connected, Trapezoidal Brushess DC Motor -%Model Built from this Doc: http://www.ijaestonline.com/admin/post_image/1387172494_State-Space_Based_Simulink_Modeling_of_BLDC_Motor_and_its_Speed_Control.pdf -%Motor Spec Sheet: http://www.maxonmotorusa.com/medias/sys_master/root/8813854326814/14-232-EN-Jun.pdf - - -poles = 16; %%number of motor poles (NOT pole pairs) -p = poles; -r = 1.03/2; %% phase resistance of stator winding -l = (0.572/2)/1000; %% phase inductance of stator winding -j = .000001; %% combined rotor and wheel moment of inirtia (Kg*m2) -b = 8.921e-6; %%Dynamic Frictional Torque Constant (Nm/rad/sec)(will need to determine w/ tests) -ke = 1/(285*2*pi/60); %% Motor Back-emf Constant (V/rad/sec) -c0 = .001; %%Static Frictional Torque of BLDC Motor -kt = 33.5e-3;%% Torque Constant Nm/A -Vcc = 24; %%Maximum Voltage of system -encoderResolution = 12; %%Measured in bits -encoderSampleTime = .001; %%Measured in seconds -pwmResolution = 8; %% number of bits of resolution for duty cycle -pwmClockPeriod = .00001; %%in seconds. How often the PWM counter updates -%%pwmFreq = 1/(2^pwmResolution*pwmClockPeriod); -pwmApprox = 1; %%Tells sim to use approx version of PWM, speeds up sim - - -%% X' = AX + BU -%% Y = CX - -%% Y = [ia, ib, ic, omega, theta]' -%% X = [ia, ib, omega, theta]' -%% U = [Vab - emfab, Vbc - emfbc, Te - Tl]' - -A = [-r/l,0,0,0; - 0,-r/l,0,0; - 0,0,-b/j,0; - 0,0,1,0]; - - B = [2/(3*l),1/(3*l),0; - -1/(3*l),1/(3*l),0; - 0,0,1/j; - 0,0,0]; - - C = [1,0,0,0; - 0,1,0,0; - -1,-1,0,0; - 0,0,1,0; - 0,0,0,1]; - - D = [0,0,0; - 0,0,0; - 0,0,0; - 0,0,0; - 0,0,0]; - - \ No newline at end of file diff --git a/modeling/BLDC/readme.md b/modeling/BLDC/readme.md deleted file mode 100644 index a361a0b3d31..00000000000 --- a/modeling/BLDC/readme.md +++ /dev/null @@ -1,3 +0,0 @@ -# BLDC Motor Modeling - -This directory contains MATLAB/Simulink files for modeling brushless DC (BLDC) motors. It is not a part of the simulation setup in the parent directory. diff --git a/modeling/BLDC/simplifiedPWMandHalfBridge.slx b/modeling/BLDC/simplifiedPWMandHalfBridge.slx deleted file mode 100644 index dc8b16c501c..00000000000 Binary files a/modeling/BLDC/simplifiedPWMandHalfBridge.slx and /dev/null differ diff --git a/modeling/Global2Body.m b/modeling/Global2Body.m deleted file mode 100644 index d57cd9cf6a7..00000000000 --- a/modeling/Global2Body.m +++ /dev/null @@ -1,35 +0,0 @@ -% A simple block that converts from global velocity to body velocity. -classdef Global2Body < matlab.System - - methods (Access = protected) - % Inputs = global velocity, phi (robot global angle) - function num = getNumInputsImpl(~) - num = 2; - end - - % output: body velocity - function num = getNumOutputsImpl(~) - num = 1; - end - - function [in1name, in2name] = getInputNamesImpl(~) - in1name = 'Global Velocity'; - in2name = 'Robot angle'; - end - - function [out1name] = getOutputNamesImpl(~) - out1name = 'Body Velocity'; - end - - function body = stepImpl(obj, globalVel, phi) - % rotation matrix that converts from body frame to globalVel frame - gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - % Inversion of the usual equation: Global = gbR*body - body = pinv(gbR)*globalVel; - end - end - -end diff --git a/modeling/Robot.m b/modeling/Robot.m deleted file mode 100644 index 08ca15940cd..00000000000 --- a/modeling/Robot.m +++ /dev/null @@ -1,177 +0,0 @@ - -% This class models the dynamics of a single RoboCup SSL Robot -% -% Robot Coordinate System -% +y -% ^ -% | -% | -% w_1/-----\w_0 -% / mouth \ -% | | ---> +x -% \ / -% w_2\-----/w_3 -% -% note: a good example of custom System blocks can be found at: -% http://www.mathworks.com/help/simulink/ug/system-design-in-simulink-using-system-objects.html -% We inherit from the Propagates mixin because the output depends on the -% current state, not the inputs directly. -classdef Robot < matlab.System & matlab.system.mixin.CustomIcon & matlab.system.mixin.Nondirect & matlab.system.mixin.Propagates - - % The state of the robot is its global location and its body velocity - properties (DiscreteState) - X_g; - X_b_dot; - end - - - methods (Access = protected) - - % indicate that the output doesn't depend on the input directly, - % only on the current state - function [flag1, flag2, flag3, flag4, flag5] = isInputDirectFeedthroughImpl(~, ~, ~, ~, ~, ~) - flag1 = false; - flag2 = false; - flag3 = false; - flag4 = false; - flag5 = false; - end - - - function resetImpl(obj) - obj.X_g = [0 0 0]'; - obj.X_b_dot = [0 0 0]'; - end - - % Specify the number of inputs to the step() method. - % inputs: u, dt - function num = getNumInputsImpl(~) - num = 5; - end - - % outputs: X_g, X_b_dot - function num = getNumOutputsImpl(~) - num = 2; - end - - - function [sz_X_g, sz_X_b_dot] = getOutputSizeImpl(~) - sz_X_g = [3 1]; - sz_X_b_dot = [3 1]; - end - - - function [flag1, flag2] = isOutputFixedSizeImpl(obj) - flag1 = true; - flag2 = true; - end - - - function [t1, t2] = getOutputDataTypeImpl(obj) - t1 = 'double'; - t2 = 'double'; - end - - - function [flag1, flag2] = isOutputComplexImpl(obj) - flag1 = false; - flag2 = false; - end - - - function [X_g, X_b_dot] = outputImpl(obj, ~, ~, ~, ~, ~) - X_g = obj.X_g; - X_b_dot = obj.X_b_dot; - end - - - function [sz, dt, cp] = getDiscreteStateSpecificationImpl(obj, name) - sz = [3 1]; - dt = 'double'; - cp = false; % not complex - end - - - function validateInputsImpl(~, u, dt, A_1, A_2, B) - sz = size(u); - if ~(sz(1) == 4 && sz(2) == 1) - error('Wrong dimensions for input, should be [4, 1]') - end - - if dt < 0 - error('dt must be positive') - end - end - - function updateImpl(obj, u, dt, A_1, A_2, B) - % Our plant equation is of the form X_dot = A*X + B*u (after - % linearization), so we have an equation for the system's - % derivative in terms of its current state and control inputs. - % To calculate future velocities and positions, we numerically - % integrate this derivative using one of MATLAB's builtin ODE - % solvers. This uses a function that we've provided - % (calculate_bot_accel) to provide the derivative at a given - % time, which it integrates to get the solution. - tspan = [0, dt]; - options = odeset; - [t, xa] = ode45(@calculate_bot_accel, tspan, [obj.X_g; obj.X_b_dot], options, obj, u, A_1, A_2, B); - - % The ODE solver will run for many micro timesteps to calculate - % the result at the end of the macro timestep provided. The - % results of all of the in-between calculations are stored in - % xa, so we take the last one to get the state of the system at - % the end of the macro timestep. - result = xa(end, :); - obj.X_g = result(1:3)'; - obj.X_b_dot = result(4:6)'; - end - end - - - - % input and output names - methods (Access = protected) - function [in1name, in2name, in3name, in4name, in5name] = getInputNamesImpl(~) - in1name = 'Motor Voltages'; - in2name = 'dt'; - in3name = 'A_1'; - in4name = 'A_2'; - in5name = 'B'; - end - - function [out1name, out2name] = getOutputNamesImpl(~) - out1name = 'Robot pose'; - out2name = 'Robot velocity'; - end - end - - - % Custom name for the block in SimuLink - methods (Access = protected) - function icon = getIconImpl(~) - icon = sprintf('RoboCup Robot\nDynamics'); - end - end - -end - - -% Calculate X_b_dot_dot, the acceleration in the body frame, -% and X_g_dot the velocity of the robot in the global frame. -function accel = calculate_bot_accel(t, y, obj, u, A_1, A_2, B) - X_g = y(1:3); - X_b_dot = y(4:6); - - % angle of the robot - phi = X_g(3); - - % rotation matrix that converts from body frame to global frame - gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - dPhiDt = X_b_dot(3); - - X_b_dot_dot = A_1*X_b_dot + A_2*X_b_dot*dPhiDt + B*u; - accel = [gbR*X_b_dot; X_b_dot_dot]; -end diff --git a/modeling/RobotLqr.m b/modeling/RobotLqr.m deleted file mode 100644 index a80b7e1808d..00000000000 --- a/modeling/RobotLqr.m +++ /dev/null @@ -1,132 +0,0 @@ - -% Linear Quadratic Tracking Regulator controller for the robot -classdef RobotLqr < matlab.System & matlab.system.mixin.Propagates - - % These values determine Q and R for the LQR controller - properties - % Translational velocity error weight - trans_vel_weight = 1; - - % Rotational velocity error weight - % Be careful not to set this too high or the system will become - % unstable and theta will oscillate ridiculously - rot_vel_weight = 0.1; - - % Control voltage weight - u_weight = 1; - end - - - properties (Dependent = true) - Q; - R; - end - - - methods - function Q = get.Q(obj) - Q = [obj.trans_vel_weight, 0, 0; - 0, obj.trans_vel_weight, 0; - 0 0, obj.rot_vel_weight]; - end - - function R = get.R(obj) - R = eye(4) * obj.u_weight; - end - end - - - methods (Access = protected) - - % input: command body velocity - function num = getNumInputsImpl(~) - num = 5; - end - - % output: voltages for motors - function num = getNumOutputsImpl(~) - num = 1; - end - - function sz = getOutputSizeImpl(~) - sz = [4 1]; - end - - function t1 = getOutputDataTypeImpl(~) - t1 = 'double'; - end - - function [in1name, in2name, in3name, in4name, in5name] = getInputNamesImpl(~) - in1name = 'Cmd Velocity'; - in2name = 'Curr. Velocity'; - in3name = 'A_1'; - in4name = 'A_2'; - in5name = 'B'; - end - - function name = getOutputNamesImpl(~) - name = 'u'; - end - - - function fixedout = isOutputFixedSizeImpl(~) - fixedout = true; - end - - - function flag1 = isOutputComplexImpl(~) - flag1 = false; - end - - - % TODO: implement parameter validator - - - function u = stepImpl(obj, cmdVel, currVel, A_1, A_2, B) - % Plant Equations: - % X = x_b_dot % state of the system is body velocity - % X_dot = A_1*x_b_dot + A_2*dPhiDt*x_b_dot + B*u - % y = x_b_dot = eye(3)*x_b_dot - - - % linearize by evaluating at current state - A = A_1 + A_2*currVel(3); % note: currVel(3) = dPhi/dt - - % y = Cx + Du - C = eye(3); - D = zeros(3, 4); % no feed-forward - - - % We use LQR to calculate K, the optimal gain matrix, given our - % plant model and weighting matrices Q and R - [K, S, E] = lqr(A, B, obj.Q, obj.R); - - % Standard LQR is used to bring the system to rest (X = 0, u = 0). - % However, in our case, we want to bring the robot to a - % particular command velocity (a 'reference' in controls - % speak). To do this, instead of setting u = -K*X, we take - % into account what control u would need to be applied when the - % system is settled at the desired cmdVel. When the system is - % settled, there is no acceleration, so: - % X_dot = A*cmdVel + B*u = 0 - % Solving for u, we get: - % u = -pinv(B)*A*cmdVel - % We add this value to -K*(currVel-cmdVel) to get our final - % control values. - u = -K*(currVel-cmdVel) - pinv(B)*A*cmdVel; - - % Go here and see the info on set-points: - % http://www.academia.edu/6945404/Undergraduate_Lecture_Notes_on_LQG_LQR_controller_design - - % Nonlinear LQT based on this paper: - % http://www.cs.berkeley.edu/~pabbeel/cs287-fa12/slides/LQR.pdf - - % Here's a good explanation of Lagrange multipliers: - % http://www.slimy.com/~steuard/teaching/tutorials/Lagrange.html - - % Good (but long) intro to controls and LQR/LQT: - % https://math.berkeley.edu/~evans/control.course.pdf - end - end - -end diff --git a/modeling/RobotParams.m b/modeling/RobotParams.m deleted file mode 100644 index 7342f7a4cde..00000000000 --- a/modeling/RobotParams.m +++ /dev/null @@ -1,124 +0,0 @@ -% Contains robot hardware parameters used in the model -classdef RobotParams < matlab.System - - % Note: The default values for the below properties are garbage - if - % you want to set them, double-click on the RobotParams block in the - % Simulink block-diagram model file. - properties - % Mass of bot (Kg) - M_bot = 1; - - % Moment of inertia of bot about the z (vertical) axis through the center of mass (Kg*m^2) - I_bot = 1; - - % Gear ratio of motor to wheel. w_motor * g = w_wheel - g = 2.0 / 7.0; - - % Radius of omni-wheels (meters) - r = 0.03; - - % Distance from the center of wheel to the center of the robot (meters) - L = 0.1; - - % Resistance of motor from terminal to terminal (ohms) - Rt = 1; - - % Back-emf constant of motor (V/(rad/s)) - % Maxon lists the "Speed Constant" in rpm/V as 380 - % invert this to get 1/380 V/rpm - % multiply by 60 to get 60/380 V/rps - % divide by 2pi to get 30/380pi V/(rad/s) - K_e = 30.0/(380*pi); - - % Torque constant of motor (N*m/A) - K_t = 1; - - % Viscous friction coefficient of wheel assembly (N*m/(rad/s)). Tau_friction = w_motor * K_f - K_f = 1; - - % Moment of inertia of wheel assembly. Tau_accel = I_asm*w_dot_motor - I_asm = 1; - - % Max voltage applied to the motor phases (Volts) - V = 1; - - % Angle of each wheel axis relative to the +x axis (radians) - wheel_angles = (pi/4 + (pi/2)*(0:3))'; - end - - - properties (Dependent = true) - % Inertial matrix - J; - - % Geometry matrix - maps wheel velocities to body velocity - G; - - % matrices for final nonlinear state equation - % x_b_dot_dot = A_1*x_b_dot + A_2*dphidt*x_b_dot + B*u - A_1; - A_2; - B; - end - - - methods - function J = get.J(obj) - J = [obj.M_bot, 0, 0; - 0, obj.M_bot, 0; - 0, 0, obj.I_bot]; - end - - function G = get.G(obj) - G = [-sin(obj.wheel_angles(1)), -sin(obj.wheel_angles(2)), -sin(obj.wheel_angles(3)), -sin(obj.wheel_angles(4)); - cos(obj.wheel_angles(1)), cos(obj.wheel_angles(2)), cos(obj.wheel_angles(3)), cos(obj.wheel_angles(4)); - 1/obj.L, 1/obj.L, 1/obj.L, 1/obj.L]; - end - - function A_1 = get.A_1(obj) - A_1 = - (obj.K_e*obj.K_t/obj.Rt + obj.K_f) / (obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm) * eye(3); - end - - function A_2 = get.A_2(obj) - A_2 = (obj.M_bot*obj.g^2*obj.r^2)/(obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm) * [0, 1, 0; -1, 0, 0; 0, 0, 0]; - end - - function B = get.B(obj) - B = obj.g*obj.r*obj.K_t*obj.G / obj.Rt / (obj.M_bot*obj.g^2*obj.r^2 + obj.I_asm); - end - end - - - methods (Access = protected) - function num = getNumOutputsImpl(~) - num = 3; - end - - function num = getNumInputsImpl(~) - num = 0; - end - - function [A_1, A_2, B] = stepImpl(obj) - A_1 = obj.A_1; - A_2 = obj.A_2; - B = obj.B; - end - - function [out1name, out2name, out3name] = getOutputNamesImpl(~) - out1name = 'A_1'; - out2name = 'A_2'; - out3name = 'B'; - end - - function [sz_A_1, sz_A_2, sz_B] = getOutputSizeImpl(~) - sz_A_1 = [3 3]; - sz_A_2 = [3 3]; - sz_B = [3 4]; - end - - function fixedout = isOutputFixedSizeImpl(~) - fixedout = true; - end - end - -end diff --git a/modeling/derive.m b/modeling/derive.m deleted file mode 100644 index 1436654ea0d..00000000000 --- a/modeling/derive.m +++ /dev/null @@ -1,55 +0,0 @@ -% This script defines the robot parameters as symbols, then derives the -% A_1, A_2, and B matrices in terms of them. This continues from the -% derivation I did on paper - I made it fairly far with that, but switched -% to MATLAB for the heavy symbol crunching. The matrices derived here got -% copied into RobotParams.m as derived outputs. Eventually, I'll put the -% full derivation in here for reference. -% note: this script will take a while to run... -% - Justin - - -syms theta0 theta1 theta2 theta3 -syms L R r g I_asm -syms phi -syms M_bot -syms I_bot -syms K_e K_t K_f - - -G = [-sin(theta0), -sin(theta1), -sin(theta2), -sin(theta3); - cos(theta0), cos(theta1), cos(theta2), cos(theta3); - 1/L, 1/L, 1/L, 1/L]; - -J = [M_bot, 0, 0; - 0, M_bot, 0; - 0, 0, I_bot]; - -gbR = [cos(phi), -sin(phi), 0; - sin(phi), cos(phi), 0; - 0, 0, 1]; - - -syms dPhiDt -gbR_dot = diff(gbR, 'phi') * dPhiDt; - - - - -M = 1/(g*r) * inv(J) * gbR * G; -M = simplify(M) - -N = M*I_asm*pinv(G) / (g*r) + gbR; -N = simplify(N) - - -A_1 = -pinv(N) * ( (M*pinv(G)*K_e*K_t / (g*r*R)) + (M*K_f*pinv(G) / (g*r)) ); -A_1 = simplify(A_1) - - -A_2 = -pinv(N)*gbR_dot; -A_2 = simplify(A_2) - - -B = pinv(N)*M*K_t / R; -B = simplify(B) - diff --git a/modeling/readme.md b/modeling/readme.md deleted file mode 100644 index a095066ed3f..00000000000 --- a/modeling/readme.md +++ /dev/null @@ -1,49 +0,0 @@ - -# MATLAB / Simulink Robot Control Modeling - -The files in this directory are for a robot dynamics and control simulation in MATLAB Simulink. Open the [robocup_model.mdl](robocup_model.mdl) file in Simulink to view the block diagram shown below. - -![Simulink Model Screenshot](../doc/images/modeling/simulink-block-diagram.png "Simulink") - - -## Running the simulation - -Open the Simulink block diagram and click the "Run" item under the "Simulation" menu or click the green run button in the toolbar. To see the robot's tracking performance, click on the "Tracking" scope block in the bottom left. - -## Robot Parameters - -There is a custom Simulink block called [RobotParams](RobotParams.m) that contains information such as the mass of the robot, moment of inertia, motor properties, etc. These can all be set for the robot you wish to simulate. - - -## Robot Dynamics Model - -The dynamics of the system are modeled by the "RoboCup Robot Dynamics" block in the diagram, which is implemented in the [Robot.m](Robot.m) file. It accepts the robot parameters and motor control voltages as inputs, then evolves the system over the given time step. It then outputs the new global position of the robot and the robot's body velocity. - - -## LQR Controller - -The robot in the simulation is controlled by a Linear Quadratic (LQR) controller which calculates the "optimal" control input to the motors based on a cost function. You control this cost function by providing weights for the state and control inputs. You can find more info on how this works on [wikipedia](http://en.wikipedia.org/wiki/Linear-quadratic_regulator). In our simulation, the values of Q and R can be tuned by double-clicking on the RobotLqr block in the diagram. - -The robot receives a command body velocity over radio from soccer, then feeds this into the LQR Controller to calculate motor voltages. The LQR Controller is implemented in the [RobotLqr.m](RobotLqr.m) MATLAB file. - -Below is a graph of the output control voltages over time, as calculated by the LQR Controller for an example path: - -![Control Voltages](../doc/images/modeling/motor-voltages-example-path.png) - - -## Paths - -There is a block in the model for setting the desired path for the robot. The block takes in dynamic constraints for the robot and the current time and returns a position (x, y, theta column vector). Double click on this block to view or modify the path. - -Below is an example path that the controller was tested against: - -![Example Path](../doc/images/modeling/example-path.png) - - -## Scopes - -Simulink has blocks called "scopes" that plot a signal over time. There are several scopes scattered throughout the diagram to view different parts of the simulation. Double click on a scope block to show the graph. Probably the most useful graph in the simulation is the one labeled "tracking", which plots the desired position vs the robot's actual position. - -Below is a graph of the robot's tracking performance over time. When running Simulink, clicking the settings button in the corner will tell you what value each colored line corresponds to since they're not labeled in the graph. The tracking performance int his example is very good, as can be seen by the fact that there are three pairs of lines that only deviate slightly at the points where acceleration changes. - -![Tracking Performance Graph](../doc/images/modeling/robot-tracking-simulation-graph.png) diff --git a/modeling/robocup_model.mdl b/modeling/robocup_model.mdl deleted file mode 100644 index f6d35eb6e6d..00000000000 --- a/modeling/robocup_model.mdl +++ /dev/null @@ -1,2440 +0,0 @@ -Model { - Name "robocup_model" - Version 8.5 - MdlSubVersion 0 - SavedCharacterEncoding "UTF-8" - GraphicalInterface { - NumRootInports 0 - NumRootOutports 0 - ParameterArgumentNames "" - ComputedModelVersion "1.110" - NumModelReferences 0 - NumTestPointedSignals 0 - } - ScopeRefreshTime 0.035000 - OverrideScopeRefreshTime off - DisableAllScopes off - DataTypeOverride "UseLocalSettings" - DataTypeOverrideAppliesTo "AllNumericTypes" - MinMaxOverflowLogging "UseLocalSettings" - MinMaxOverflowArchiveMode "Overwrite" - FPTRunName "Run 1" - MaxMDLFileLineLength 120 - Object { - $PropName "BdWindowsInfo" - $ObjectID 1 - $ClassName "Simulink.BDWindowsInfo" - Object { - $PropName "WindowsInfo" - $ObjectID 2 - $ClassName "Simulink.WindowInfo" - IsActive [1] - Location [2887.0, 12.0, 941.0, 521.0] - Object { - $PropName "ModelBrowserInfo" - $ObjectID 3 - $ClassName "Simulink.ModelBrowserInfo" - Visible [0] - DockPosition "Left" - Width [50] - Height [50] - Filter [9] - } - Object { - $PropName "ExplorerBarInfo" - $ObjectID 4 - $ClassName "Simulink.ExplorerBarInfo" - Visible [1] - } - Object { - $PropName "EditorsInfo" - $ObjectID 5 - $ClassName "Simulink.EditorInfo" - IsActive [1] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" - Extents [905.0, 385.0] - ZoomFactor [0.6] - Offset [355.681930921834, 226.38770712385093] - } - } - } - Created "Wed Mar 11 00:32:14 2015" - Creator "justbuchanan" - UpdateHistory "UpdateHistoryNever" - ModifiedByFormat "%" - LastModifiedBy "justbuchanan" - ModifiedDateFormat "%" - LastModifiedDate "Wed Jun 24 01:16:17 2015" - 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ZOrder 98 - BlockRotation 270 - BlockMirror on - NamePlacement "alternate" - Floating off - Location [1931, 39, 2872, 1065] - Open on - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData8" - } - Block { - BlockType Constant - Name "TransAccelLimit" - SID "90" - Position [555, 85, 585, 115] - ZOrder 70 - BlockRotation 270 - Value "2" - } - Block { - BlockType Constant - Name "TransVelLimit" - SID "89" - Position [325, 85, 355, 115] - ZOrder 69 - BlockRotation 270 - Value "3" - } - Block { - BlockType Scope - Name "Vel Scope" - SID "87" - Ports [1] - Position [1775, 369, 1805, 401] - ZOrder 67 - Floating off - Location [2546, 39, 3827, 340] - Open off - NumInputPorts "1" - ZoomMode "yonly" - List { - ListType AxesTitles - axes1 "%" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - } - Block { - BlockType Saturate - Name "Voltage Limit" - SID "119" - Ports [1, 1] - Position [1475, 260, 1505, 290] - ZOrder 99 - InputPortMap "u0" - UpperLimit "18" - LowerLimit "-18" - } - Block { - BlockType Scope - Name "Voltage Scope" - SID "111" - Ports [1] - Position [1529, 160, 1561, 190] - ZOrder 91 - BlockRotation 270 - Floating off - Location [442, 210, 1553, 797] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData3" - } - Block { - BlockType Constant - Name "Zero Pos Correction\nfor Open Loop" - SID "105" - Position [560, 365, 590, 395] - ZOrder 85 - BlockRotation 270 - Value "[0 0 0]'" - } - Block { - BlockType Scope - Name "Scope" - SID "73" - Ports [] - Position [185, 14, 215, 46] - ZOrder 57 - IOType "viewer" - Floating off - Location [376, 294, 700, 533] - Open off - NumInputPorts "1" - List { - ListType AxesTitles - axes1 "%" - } - List { - ListType ScopeGraphics - FigureColor "[0.5 0.5 0.5]" - AxesColor "[0 0 0]" - AxesTickColor "[1 1 1]" - LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]" - LineStyles "-|-|-|-|-|-" - LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]" - MarkerStyles "none|none|none|none|none|none" - } - SaveName "ScopeData1" - DataFormat "StructureWithTime" - SampleTime "0" - } - Line { - ZOrder 32 - SrcBlock "Derivative" - SrcPort 1 - Points [75, 0] - Branch { - ZOrder 538 - DstBlock "Add" - DstPort 1 - } - Branch { - ZOrder 537 - DstBlock "Path Vel Scope" - DstPort 1 - } - } - Line { - ZOrder 33 - SrcBlock "Path (sampled @ 60Hz)" - SrcPort 1 - Points [5, 0] - Branch { - ZOrder 470 - Points [60, 0] - Branch { - ZOrder 550 - DstBlock "Path Scope" - DstPort 1 - } - Branch { - ZOrder 549 - DstBlock "Derivative" - DstPort 1 - } - } - Branch { - ZOrder 128 - Points [0, 65] - Branch { - ZOrder 469 - DstBlock "Subtract" - DstPort 1 - } - Branch { - ZOrder 424 - DstBlock "Mux" - DstPort 1 - } - } - } - Line { - Name "Position Error" - ZOrder 40 - Labels [0, 0] - SrcBlock "Subtract" - SrcPort 1 - Points [30, 0] - Branch { - ZOrder 548 - DstBlock "PID Controller" - DstPort 1 - } - Branch { - ZOrder 257 - DstBlock "Pos Error" - DstPort 1 - } - } - Line { - Name "Command Global Vel" - ZOrder 68 - Labels [0, 0] - SrcBlock "Add" - SrcPort 1 - DstBlock "MATLAB System" - DstPort 1 - } - Line { - Name "dt" - ZOrder 263 - Labels [1, 1] - SrcBlock "Subtract1" - SrcPort 1 - Points [114, 0; 0, -215] - DstBlock "Dynamics" - DstPort 2 - } - Line { - ZOrder 72 - SrcBlock "Params" - SrcPort 1 - Points [0, -65] - Branch { - ZOrder 386 - Points [0, -80] - DstBlock "Controller" - DstPort 3 - } - Branch { - ZOrder 135 - DstBlock "Dynamics" - DstPort 3 - } - } - Line { - ZOrder 73 - SrcBlock "Params" - SrcPort 2 - Points [0, -40] - Branch { - ZOrder 385 - Points [0, -85] - DstBlock "Controller" - DstPort 4 - } - Branch { - ZOrder 136 - DstBlock "Dynamics" - DstPort 4 - } - } - Line { - ZOrder 74 - SrcBlock "Params" - SrcPort 3 - Points [0, -15] - Branch { - ZOrder 387 - Points [0, -90] - DstBlock "Controller" - DstPort 5 - } - Branch { - ZOrder 133 - DstBlock "Dynamics" - DstPort 5 - } - } - Line { - Name "Robot pose (from ssl-vision)" - ZOrder 93 - SrcBlock "Dynamics" - SrcPort 1 - Points [24, 0] - Branch { - ZOrder 541 - DstBlock "Pos Scope" - DstPort 1 - } - Branch { - ZOrder 146 - Labels [2, 1] - Points [0, 318; -1025, 0] - Branch { - ZOrder 615 - Points [0, -338] - DstBlock "Demux" - DstPort 1 - } - Branch { - ZOrder 614 - Points [-329, 0] - Branch { - ZOrder 485 - Points [-1, 0; 0, -353] - DstBlock "Subtract" - DstPort 2 - } - Branch { - ZOrder 422 - DstBlock "Mux" - DstPort 2 - } - } - } - } - Line { - ZOrder 94 - SrcBlock "Dynamics" - SrcPort 2 - Points [9, 0] - Branch { - ZOrder 540 - DstBlock "Vel Scope" - DstPort 1 - } - Branch { - ZOrder 312 - Points [0, 220; -708, 0; 0, -350] - DstBlock "Controller" - DstPort 2 - } - } - Line { - ZOrder 129 - SrcBlock "TransVelLimit" - SrcPort 1 - Points [0, -13; -160, 0] - DstBlock "Path (sampled @ 60Hz)" - DstPort 1 - } - Line { - ZOrder 130 - SrcBlock "RotVelLimit" - SrcPort 1 - Points [0, -31; -293, 0; 0, 141] - DstBlock "Path (sampled @ 60Hz)" - DstPort 2 - } - Line { - ZOrder 131 - SrcBlock "TransAccelLimit" - SrcPort 1 - Points [0, -48; -424, 0; 0, 178] - DstBlock "Path (sampled @ 60Hz)" - DstPort 3 - } - Line { - ZOrder 132 - SrcBlock "RotAccelLimit" - SrcPort 1 - Points [0, -64; -545, 0; 0, 214] - DstBlock "Path (sampled @ 60Hz)" - DstPort 4 - } - Line { - ZOrder 157 - SrcBlock "Controller" - SrcPort 1 - DstBlock "Signal Specification" - DstPort 1 - } - Line { - ZOrder 182 - SrcBlock "Clock" - SrcPort 1 - Points [71, 0] - Branch { - ZOrder 488 - Points [0, 300; 1025, 0] - Branch { - ZOrder 293 - Points [0, -29; 59, 0] - DstBlock "Subtract1" - DstPort 1 - } - Branch { - ZOrder 261 - DstBlock "Memory" - DstPort 1 - } - } - Branch { - ZOrder 487 - DstBlock "Path (sampled @ 60Hz)" - DstPort 5 - } - } - Line { - ZOrder 260 - SrcBlock "Memory" - SrcPort 1 - DstBlock "Subtract1" - DstPort 2 - } - Line { - ZOrder 308 - SrcBlock "Open Loop Switch" - SrcPort 1 - Points [9, 0; 0, -70] - DstBlock "Add" - DstPort 2 - } - Line { - ZOrder 309 - SrcBlock "PID Controller" - SrcPort 1 - DstBlock "Open Loop Switch" - DstPort 1 - } - Line { - ZOrder 310 - SrcBlock "Zero Pos Correction\nfor Open Loop" - SrcPort 1 - Points [0, -55] - DstBlock "Open Loop Switch" - DstPort 2 - } - Line { - ZOrder 158 - SrcBlock "Signal Specification" - SrcPort 1 - DstBlock "Voltage Limit" - DstPort 1 - } - Line { - ZOrder 539 - SrcBlock "Mux" - SrcPort 1 - DstBlock "Tracking" - DstPort 1 - } - Line { - ZOrder 542 - SrcBlock "Voltage Limit" - SrcPort 1 - Points [35, 0] - Branch { - ZOrder 547 - DstBlock "Voltage Scope" - DstPort 1 - } - Branch { - ZOrder 546 - DstBlock "Dynamics" - DstPort 1 - } - } - Line { - ZOrder 600 - SrcBlock "MATLAB System" - SrcPort 1 - Points [85, 0] - Branch { - ZOrder 611 - DstBlock "Controller" - DstPort 1 - } - Branch { - ZOrder 610 - DstBlock "Cmd Scope" - DstPort 1 - } - } - Line { - ZOrder 613 - SrcBlock "Demux" - SrcPort 3 - Points [23, 0; 0, -65] - DstBlock "MATLAB System" - DstPort 2 - } - } -} -#Finite State Machines -# -# Stateflow 80000005 -# -# -Stateflow { - machine { - id 1 - name "robocup_model" - created "11-Mar-2015 01:21:21" - isLibrary 0 - firstTarget 13 - sfVersion 80000005 - } - chart { - id 2 - name "Path (sampled @ 60Hz)" - windowPosition [422 539.941 189 413] - viewLimits [0 156.75 0 153.75] - screen [1 1 3600 1200 1.180555555555556] - treeNode [0 3 0 0] - firstTransition 11 - firstJunction 10 - viewObj 2 - machine 1 - ssIdHighWaterMark 10 - decomposition CLUSTER_CHART - type EML_CHART - firstData 4 - chartFileNumber 2 - disableImplicitCasting 1 - eml { - name "path" - } - } - state { - id 3 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 2 - treeNode [2 0 0 0] - superState SUBCHART - subviewer 2 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function pos = path(TransVelLimit, RotVelLimit, TransAccelLimit, RotAccelLimit, t)\n%#codegen\n\n" - "pos = [0 0 0]';\n\naccel = [0 1 0.9]';\n\n\nrampTime = TransVelLimit/TransAccelLimit;\nflatTime = 2;\n\n\n% ramp" - "-up\npos = pos + 0.5*accel*min(t,rampTime)^2;\n\n% const speed\nif t > rampTime\n vel = accel*rampTime;\n " - "pos = pos + min(t-rampTime, flatTime)*vel;\nend\n\n% ramp-down\nif t > rampTime + flatTime\n vi = accel*rampT" - "ime;\n rampDownT = min(t-rampTime-flatTime, rampTime);\n pos = pos + -0.5*accel*rampDownT^2 + vi*rampDownT" - ";\nend\n" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 4 - ssIdNumber 7 - name "TransVelLimit" - linkNode [2 0 5] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 5 - ssIdNumber 8 - name "RotVelLimit" - linkNode [2 4 6] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 6 - ssIdNumber 9 - name "TransAccelLimit" - linkNode [2 5 7] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 7 - ssIdNumber 10 - name "RotAccelLimit" - linkNode [2 6 8] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - data { - id 8 - ssIdNumber 5 - name "pos" - linkNode [2 7 9] - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - } - dataType "Inherit: Same as Simulink" - } - data { - id 9 - ssIdNumber 6 - name "t" - linkNode [2 8 0] - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - } - dataType "Inherit: Same as Simulink" - } - junction { - id 10 - position [23.5747 49.5747 7] - chart 2 - linkNode [2 0 0] - subviewer 2 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - } - transition { - id 11 - labelString "{eML_blk_kernel();}" - labelPosition [28.125 13.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 10 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 2 - linkNode [2 0 0] - dataLimits [21.175 25.975 14.625 42.575] - subviewer 2 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - } - instance { - id 12 - name "Path (sampled @ 60Hz)" - machine 1 - chart 2 - } - target { - id 13 - name "sfun" - description "Default Simulink S-Function Target." - machine 1 - linkNode [1 0 0] - } -} diff --git a/modeling/visualize.m b/modeling/visualize.m deleted file mode 100644 index 7617242050f..00000000000 --- a/modeling/visualize.m +++ /dev/null @@ -1,38 +0,0 @@ -% plots a robot's trajectory vs its desired trajectory over time in a cool animation -function visualize(target_pos, actual_pos) - -dt = 0.01; % amount of time between successive points - -figure(1) -pbaspect([6,9,1]) % square aspect ratio for display -title('Robot Trajectory-Tracking Animation') -xlabel('FieldPos.x (meters)') -ylabel('FieldPos.y (meters)') -hold on - -% draw black circle for robot -bot_radius = 0.09; -bot_loc = [1, 1]'; -rect = [bot_loc(1)-bot_radius, bot_loc(2)-bot_radius, bot_radius*2, bot_radius*2]; -robot = rectangle('Position', rect, 'Curvature', [1,1], 'FaceColor', 'k'); - -% draw desired trajectory -plot(target_pos(1,:), target_pos(2,:), 'Color', 'b') - -[m, n] = size(target_pos); -for i = 1:n - % update robot location - % TODO: include robot orientation - bot_loc = actual_pos(:,i); - rect = [bot_loc(1)-bot_radius, bot_loc(2)-bot_radius, bot_radius*2, bot_radius*2]; - set(robot, 'Position', rect); - - % draw robot position history - plot(actual_pos(1,1:i), actual_pos(2,1:i), 'Color', 'k') - - % Set to field dimensions - % we do this at each iteration because MATLAB tries to adjust them to fit the data - axis([-3 3 0 9]) - - pause(dt); -end diff --git a/modeling/visualize_test.m b/modeling/visualize_test.m deleted file mode 100644 index 953fecef2bc..00000000000 --- a/modeling/visualize_test.m +++ /dev/null @@ -1,6 +0,0 @@ - -% example trajectory -xx = [linspace(1, 3) linspace(3, 2)]; -yy = [linspace(4, 0) linspace(0, 5)]; -thth = [linspace(0,0) linspace(0,0)]; -visualize([xx; yy; thth], [xx; yy; thth]); diff --git a/mypy.ini b/mypy.ini deleted file mode 100644 index 4b0646cc47f..00000000000 --- a/mypy.ini +++ /dev/null @@ -1,12 +0,0 @@ - -[mypy] -mypy_path = ./soccer/src/soccer/gameplay - - -[mypy-robocup.*,PyQt5.*] -ignore_missing_imports = True - -# Mypy devs say don't follow dependencies -# https://github.com/python/mypy/issues/1339 -[mypy-watchdog.*,munkres.*,graphviz.*] -ignore_missing_imports = True diff --git a/old_docs/BuildSystems.md b/old_docs/BuildSystems.md deleted file mode 100644 index 3e0e9ae4dcd..00000000000 --- a/old_docs/BuildSystems.md +++ /dev/null @@ -1,25 +0,0 @@ - -# Build Systems - -A build system or tool is a program that is responsible for compiling code into the desired output programs and libraries, as well as automating certain tasks. Rather than executing the compiler directly, you tell the build system what files you'd like compiled and let it handle the compiling. - - -## CMake - -We use [CMake](http://www.cmake.org/) as our main build system. This is configured using CMakeLists.txt files spread throughout our project. CMake works by turning the CMakeLists.txt files into a set of makefiles, which are then executed by the `make` program. - -To build the project using CMake, you could do: - -1. `mkdir build` -2. `cd build` -3. `cmake ..` -4. `make` - -Assuming everything ran successfully, this would place `soccer`, `simulator`, and our other targets in the output folder `run`. - -Rather than executing these commands each time we want to rebuild the project, we've added a shortcut using a `makefile`. This makefile specifies the above set of commands under the default target, so you can now just run `make` in the root directory to build everything. This makefile also has targets for a few other things. Open it up in a text editor if you're curious. - - -## Scons - -[Scons](http://scons.org) is another build system that we use. It serves a similar purpose to CMake, but is based on the python programming language and rather than CMakeLists.txt files, Scons uses SConscript files to specify builds. We use Scons to build our robot and radio base station firmware. We could fairly easily port this to CMake too, but as of now it's still written with Scons. diff --git a/old_docs/Documentation.md b/old_docs/Documentation.md deleted file mode 100644 index 4c2cf0d6054..00000000000 --- a/old_docs/Documentation.md +++ /dev/null @@ -1,72 +0,0 @@ - -# Documentation - -It's important to keep software projects well-documented so that newcomers can quickly get up-to-speed and have a reference when questions arise. One common problem with software documentation is that it is easy for the documentation to get out-of-sync with the code, since the code is constantly updated and documenting it is often an afterthought. - -One way to help with this is to put the documentation inline with the code, which is what we do for this project. We use a program called [Doxygen](http://www.stack.nl/~dimitri/doxygen/) that parses specially-formatted comments in our code and turns them into a searchable [website](http://robojackets.github.io/robocup-software/) that can be easily viewed. Note that this is very similar to a program called [javadoc](http://en.wikipedia.org/wiki/Javadoc) that many GT students are probably familiar with using in class. - -Another way to improve documentation practices is by requiring code to be well-documented before merging GitHub [pull-requests](https://help.github.com/articles/using-pull-requests), which is something we're getting better at doing. - - -## Doxygen Comment Formats - -Doxygen has support for many different languages, but the comment syntax differs a bit. Below are a couple examples, but you should check out the [official Doxygen docs](http://www.stack.nl/~dimitri/doxygen/manual/docblocks.html) for more info. - - -### C++ - -\code -/** - * a normal member taking two arguments and returning an integer value. - * @param a an integer argument. - * @param s a constant character pointer. - * @see Test() - * @see ~Test() - * @see testMeToo() - * @see publicVar() - * @return The test results - */ - int testMe(int a,const char *s); -\endcode - - -### Python - -\code{.py} -## Documentation for a class. -# -# More details. -class PyClass: - - ## The constructor. - def __init__(self): - self._memVar = 0; - - ## Documentation for a method. - # @param self The object pointer. - def PyMethod(self): - pass - - ## A class variable. - classVar = 0; - - ## @var _memVar - # a member variable -\endcode - -## Additional Documentation - -In addition to turning inline code comments into documentation, Doxygen can also include docs in other formats. This page that you are viewing right now and several others are written in [Markdown](http://daringfireball.net/projects/markdown/syntax). See the files in `doc` for examples. - - -## Compiling the documentation - -To build the documentation website, run `doxygen` from the root of the robocup-software project. This will place a bunch of files in `api_docs/html`. Open the `index.html` file in a browser to view the site. - -Our documentation website automagically updates every time someone pushes the master branch of the repository. This is setup through [circle-ci](https://circleci.com) - see the `autoupdate-docs.sh` script to see how this is done. - - -## Further configuration - -Doxgen looks at the `Doxyfile` in the root of our project to configure things such as which files to include and how to display the output. - diff --git a/old_docs/Doxyfile b/old_docs/Doxyfile deleted file mode 100644 index ee5de723e96..00000000000 --- a/old_docs/Doxyfile +++ /dev/null @@ -1,2355 +0,0 @@ -# Doxyfile 1.8.6 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all text -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv -# for the list of possible encodings. -# The default value is: UTF-8. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by -# double-quotes, unless you are using Doxywizard) that should identify the -# project for which the documentation is generated. This name is used in the -# title of most generated pages and in a few other places. -# The default value is: My Project. - -PROJECT_NAME = "GT RoboCup SSL" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This -# could be handy for archiving the generated documentation or if some version -# control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer a -# quick idea about the purpose of the project. Keep the description short. - -PROJECT_BRIEF = "Soccer software, robot firmware" - -# With the PROJECT_LOGO tag one can specify an logo or icon that is included in -# the documentation. The maximum height of the logo should not exceed 55 pixels -# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo -# to the output directory. - -PROJECT_LOGO = doc/images/rj_logo.png - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path -# into which the generated documentation will be written. If a relative path is -# entered, it will be relative to the location where doxygen was started. If -# left blank the current directory will be used. - -OUTPUT_DIRECTORY = api_docs - -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this -# option can be useful when feeding doxygen a huge amount of source files, where -# putting all generated files in the same directory would otherwise causes -# performance problems for the file system. -# The default value is: NO. - -CREATE_SUBDIRS = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, -# Ukrainian and Vietnamese. -# The default value is: English. - -OUTPUT_LANGUAGE = English - -# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member -# descriptions after the members that are listed in the file and class -# documentation (similar to Javadoc). Set to NO to disable this. -# The default value is: YES. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief -# description of a member or function before the detailed description -# -# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. -# The default value is: YES. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator that is -# used to form the text in various listings. Each string in this list, if found -# as the leading text of the brief description, will be stripped from the text -# and the result, after processing the whole list, is used as the annotated -# text. Otherwise, the brief description is used as-is. If left blank, the -# following values are used ($name is automatically replaced with the name of -# the entity):The $name class, The $name widget, The $name file, is, provides, -# specifies, contains, represents, a, an and the. - -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# doxygen will generate a detailed section even if there is only a brief -# description. -# The default value is: NO. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment -# operators of the base classes will not be shown. -# The default value is: NO. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path -# before files name in the file list and in the header files. If set to NO the -# shortest path that makes the file name unique will be used -# The default value is: YES. - -FULL_PATH_NAMES = YES - -# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. -# Stripping is only done if one of the specified strings matches the left-hand -# part of the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the path to -# strip. -# -# Note that you can specify absolute paths here, but also relative paths, which -# will be relative from the directory where doxygen is started. -# This tag requires that the tag FULL_PATH_NAMES is set to YES. - -STRIP_FROM_PATH = - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the -# path mentioned in the documentation of a class, which tells the reader which -# header file to include in order to use a class. If left blank only the name of -# the header file containing the class definition is used. Otherwise one should -# specify the list of include paths that are normally passed to the compiler -# using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but -# less readable) file names. This can be useful is your file systems doesn't -# support long names like on DOS, Mac, or CD-ROM. -# The default value is: NO. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the -# first line (until the first dot) of a Javadoc-style comment as the brief -# description. If set to NO, the Javadoc-style will behave just like regular Qt- -# style comments (thus requiring an explicit @brief command for a brief -# description.) -# The default value is: NO. - -JAVADOC_AUTOBRIEF = YES - -# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first -# line (until the first dot) of a Qt-style comment as the brief description. If -# set to NO, the Qt-style will behave just like regular Qt-style comments (thus -# requiring an explicit \brief command for a brief description.) -# The default value is: NO. - -QT_AUTOBRIEF = NO - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a -# multi-line C++ special comment block (i.e. a block of //! or /// comments) as -# a brief description. This used to be the default behavior. The new default is -# to treat a multi-line C++ comment block as a detailed description. Set this -# tag to YES if you prefer the old behavior instead. -# -# Note that setting this tag to YES also means that rational rose comments are -# not recognized any more. -# The default value is: NO. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the -# documentation from any documented member that it re-implements. -# The default value is: YES. - -INHERIT_DOCS = YES - -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a -# new page for each member. If set to NO, the documentation of a member will be -# part of the file/class/namespace that contains it. -# The default value is: NO. - -SEPARATE_MEMBER_PAGES = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen -# uses this value to replace tabs by spaces in code fragments. -# Minimum value: 1, maximum value: 16, default value: 4. - -TAB_SIZE = 4 - -# This tag can be used to specify a number of aliases that act as commands in -# the documentation. An alias has the form: -# name=value -# For example adding -# "sideeffect=@par Side Effects:\n" -# will allow you to put the command \sideeffect (or @sideeffect) in the -# documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines. - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. - -TCL_SUBST = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. For -# instance, some of the names that are used will be different. The list of all -# members will be omitted, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or -# Python sources only. Doxygen will then generate output that is more tailored -# for that language. For instance, namespaces will be presented as packages, -# qualified scopes will look different, etc. -# The default value is: NO. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran -# sources. Doxygen will then generate output that is tailored for Fortran. -# The default value is: NO. - -OPTIMIZE_FOR_FORTRAN = NO - -# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL -# sources. Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL. For instance to make -# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C -# (default is Fortran), use: inc=Fortran f=C. -# -# Note For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by by putting a % sign in front of the word -# or globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = NO -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = YES - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = NO - -# This flag is only useful for Objective-C code. When set to YES local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO these classes will be included in the various overviews. This option has -# no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = NO - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the -# todo list. This list is created by putting \todo commands in the -# documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the -# test list. This list is created by putting \test commands in the -# documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES the list -# will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = doc/DoxygenLayout.xml - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. Do not use file names with spaces, bibtex cannot handle them. See -# also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO doxygen will only warn about wrong or incomplete parameter -# documentation, but not about the absence of documentation. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. -# Note: If this tag is empty the current directory is searched. - -INPUT = soccer \ - firmware/robot2015 \ - firmware/common2015 \ - common \ - doc \ - doc/training2016 - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: http://www.gnu.org/software/libiconv) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank the -# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, -# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, -# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, -# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, -# *.qsf, *.as and *.js. - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.f90 \ - *.f \ - *.for \ - *.vhd \ - *.vhdl \ - *.md - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = old - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = */readme.md */README.md - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = doc/images - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER ) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = doc/mainpage.md - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES, then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see http://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = doxygen.css - -# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user- -# defined cascading style sheet that is included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefor more robust against future updates. -# Doxygen will copy the style sheet file to the output directory. For an example -# see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = doc/firmware-sounds/0-startup.m4a \ - doc/firmware-sounds/1-failure.m4a \ - doc/firmware-sounds/2-overvoltage.m4a \ - doc/firmware-sounds/3-undervoltage.m4a \ - doc/firmware-sounds/4-fuse-blown.m4a \ - doc/firmware-sounds/5-victory.m4a \ - doc/firmware-sounds/6-still-alive.ogg - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the stylesheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to NO can help when comparing the output of multiple runs. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = YES - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: http://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler ( hhc.exe). If non-empty -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated ( -# YES) or that it should be included in the master .chm file ( NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated ( -# YES) or a normal table of contents ( NO) in the .chm file. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# http://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using prerendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from http://www.mathjax.org before deployment. -# The default value is: http://cdn.mathjax.org/mathjax/latest. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /