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

y2016/control_loops/superstructure/superstructure.h

diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index 610db8e..2219c95 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -8,9 +8,12 @@
 #include "frc971/control_loops/state_feedback_loop.h"
 
 #include "frc971/zeroing/zeroing.h"
-#include "y2016/control_loops/superstructure/superstructure.q.h"
 #include "y2016/control_loops/superstructure/superstructure_controls.h"
-#include "y2016/queues/ball_detector.q.h"
+#include "y2016/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2016/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2016/queues/ball_detector_generated.h"
 
 namespace y2016 {
 namespace control_loops {
@@ -105,11 +108,10 @@
 };
 
 class Superstructure
-    : public ::aos::controls::ControlLoop<control_loops::SuperstructureQueue> {
+    : public ::aos::controls::ControlLoop<Goal, Position, Status, Output> {
  public:
-  explicit Superstructure(
-      ::aos::EventLoop *event_loop,
-      const ::std::string &name = ".y2016.control_loops.superstructure_queue");
+  explicit Superstructure(::aos::EventLoop *event_loop,
+                          const ::std::string &name = "/superstructure");
 
   static constexpr double kZeroingVoltage = 6.0;
   static constexpr double kShooterHangingVoltage = 6.0;
@@ -209,11 +211,9 @@
   bool collided() const { return collision_avoidance_.collided(); }
 
  protected:
-  virtual void RunIteration(
-      const control_loops::SuperstructureQueue::Goal *unsafe_goal,
-      const control_loops::SuperstructureQueue::Position *position,
-      control_loops::SuperstructureQueue::Output *output,
-      control_loops::SuperstructureQueue::Status *status) override;
+  virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
+                            aos::Sender<Output>::Builder *output,
+                            aos::Sender<Status>::Builder *status) override;
 
  private:
   friend class testing::SuperstructureTest_DisabledGoalTest_Test;