commit cb7da4be1f74da8a3196f414a2e3db2d0c5590a3
author Alex Perry <alex.perry96@gmail.com> Wed Aug 28 19:35:56 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Dec 01 12:42:19 2019 -0800
tree a6b584c4157f19bacc37b6497f7f7f30dc492b93
parent 92b2b2539a5655620cd2aa4c67f85968819b313f

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

y2014/control_loops/shooter/shooter.h

diff --git a/y2014/control_loops/shooter/shooter.h b/y2014/control_loops/shooter/shooter.h
index e755b0f..1e7d4aa 100644
--- a/y2014/control_loops/shooter/shooter.h
+++ b/y2014/control_loops/shooter/shooter.h
@@ -8,11 +8,15 @@
 #include "aos/time/time.h"
 
 #include "y2014/constants.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
 #include "y2014/control_loops/shooter/shooter_motor_plant.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
+#include "y2014/control_loops/shooter/shooter_output_generated.h"
+#include "y2014/control_loops/shooter/shooter_position_generated.h"
+#include "y2014/control_loops/shooter/shooter_status_generated.h"
 
 namespace y2014 {
 namespace control_loops {
+namespace shooter {
 namespace testing {
 class ShooterTest_UnloadWindupPositive_Test;
 class ShooterTest_UnloadWindupNegative_Test;
@@ -127,19 +131,17 @@
     ::std::chrono::milliseconds(40);
 
 class ShooterMotor
-    : public aos::controls::ControlLoop<::y2014::control_loops::ShooterQueue> {
+    : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit ShooterMotor(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2014.control_loops.shooter_queue");
+  explicit ShooterMotor(::aos::EventLoop *event_loop,
+                        const ::std::string &name = "/shooter");
 
   // True if the goal was moved to avoid goal windup.
   bool capped_goal() const { return shooter_.capped_goal(); }
 
   double PowerToPosition(double power);
   double PositionToPower(double position);
-  void CheckCalibrations(
-      const ::y2014::control_loops::ShooterQueue::Position *position);
+  void CheckCalibrations(const Position *position);
 
   typedef enum {
     STATE_INITIALIZE = 0,
@@ -159,15 +161,14 @@
   State state() { return state_; }
 
  protected:
-  void RunIteration(
-      const ::y2014::control_loops::ShooterQueue::Goal *goal,
-      const ::y2014::control_loops::ShooterQueue::Position *position,
-      ::y2014::control_loops::ShooterQueue::Output *output,
-      ::y2014::control_loops::ShooterQueue::Status *status) override;
+  void RunIteration(const Goal *goal, const Position *position,
+                    aos::Sender<Output>::Builder *output,
+                    aos::Sender<Status>::Builder *status) override;
 
  private:
   // We have to override this to keep the pistons in the correct positions.
-  void Zero(::y2014::control_loops::ShooterQueue::Output *output) override;
+  flatbuffers::Offset<Output> Zero(
+      aos::Sender<Output>::Builder *output) override;
 
   // Friend the test classes for acces to the internal state.
   friend class testing::ShooterTest_UnloadWindupPositive_Test;
@@ -185,7 +186,9 @@
     load_timeout_ = monotonic_now + kLoadTimeout;
   }
 
-  ::y2014::control_loops::ShooterQueue::Position last_position_;
+  bool last_position_latch_ = false;
+  bool last_position_plunger_ = false;
+  double last_position_position_ = 0.0;
 
   ZeroedStateFeedbackLoop shooter_;
 
@@ -232,6 +235,7 @@
   DISALLOW_COPY_AND_ASSIGN(ShooterMotor);
 };
 
+}  // namespace shooter
 }  // namespace control_loops
 }  // namespace y2014