Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 4216e3b..8772af1 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -1,30 +1,38 @@
#include "frc971/wpilib/wpilib_interface.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/events/event_loop.h"
+#include "aos/logging/logging.h"
+#include "aos/robot_state/robot_state_generated.h"
#include "hal/HAL.h"
namespace frc971 {
namespace wpilib {
-void PopulateRobotState(::aos::RobotState *robot_state, int32_t my_pid) {
+flatbuffers::Offset<aos::RobotState> PopulateRobotState(
+ aos::Sender<::aos::RobotState>::Builder *builder, int32_t my_pid) {
int32_t status = 0;
- robot_state->reader_pid = my_pid;
- robot_state->outputs_enabled = HAL_GetSystemActive(&status);
- robot_state->browned_out = HAL_GetBrownedOut(&status);
+ aos::RobotState::Builder robot_state_builder =
+ builder->MakeBuilder<aos::RobotState>();
- robot_state->is_3v3_active = HAL_GetUserActive3V3(&status);
- robot_state->is_5v_active = HAL_GetUserActive5V(&status);
- robot_state->voltage_3v3 = HAL_GetUserVoltage3V3(&status);
- robot_state->voltage_5v = HAL_GetUserVoltage5V(&status);
+ robot_state_builder.add_reader_pid(my_pid);
+ robot_state_builder.add_outputs_enabled(HAL_GetSystemActive(&status));
+ robot_state_builder.add_browned_out(HAL_GetBrownedOut(&status));
- robot_state->voltage_roborio_in = HAL_GetVinVoltage(&status);
- robot_state->voltage_battery = HAL_GetVinVoltage(&status);
+ robot_state_builder.add_is_3v3_active(HAL_GetUserActive3V3(&status));
+ robot_state_builder.add_is_5v_active(HAL_GetUserActive5V(&status));
+ robot_state_builder.add_voltage_3v3(HAL_GetUserVoltage3V3(&status));
+ robot_state_builder.add_voltage_5v(HAL_GetUserVoltage5V(&status));
+
+ robot_state_builder.add_voltage_roborio_in(HAL_GetVinVoltage(&status));
+ robot_state_builder.add_voltage_battery(HAL_GetVinVoltage(&status));
if (status != 0) {
AOS_LOG(FATAL, "Failed to get robot state: %d\n", status);
}
+
+ return robot_state_builder.Finish();
}
} // namespace wpilib