Get 2016 robot running with flatbuffers
Change-Id: Ib3b49fd5f3eae7d0151cfa1ada7cb3746d5f296f
diff --git a/y2016/BUILD b/y2016/BUILD
index 520dd4b..a96ea5a 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -38,7 +38,7 @@
"//frc971/autonomous:auto_fbs",
"//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
"//frc971/control_loops/drivetrain:drivetrain_status_fbs",
- "//frc971/queues:gyro",
+ "//frc971/queues:gyro_fbs",
"//y2016/actors:autonomous_action_lib",
"//y2016/actors:superstructure_action_lib",
"//y2016/actors:vision_align_action_lib",
@@ -51,6 +51,9 @@
)
robot_downloader(
+ data = [
+ ":config.json",
+ ],
dirs = [
"//y2016/dashboard:www_files",
],
@@ -81,12 +84,17 @@
"//y2016/control_loops/superstructure:superstructure_position_fbs",
"//y2016/control_loops/superstructure:superstructure_status_fbs",
"//y2016/queues:ball_detector_fbs",
- "//y2017/vision:vision_fbs",
+ "//y2016/vision:vision_fbs",
+ "//y2019/control_loops/drivetrain:target_selector_fbs",
+ "//y2016/actors:vision_align_action_fbs",
+ "//y2016/actors:superstructure_action_fbs",
],
visibility = ["//visibility:public"],
deps = [
"//aos/robot_state:config",
+ "//frc971/autonomous:config",
"//frc971/control_loops/drivetrain:config",
+ "//frc971/wpilib:config",
],
)
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index a665c28..0b11bdd 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -64,7 +64,7 @@
actors::VisionAlignActor::MakeFactory(event_loop)),
vision_status_fetcher_(
event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
- "/superstructure")),
+ "/vision")),
ball_detector_fetcher_(
event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
"/superstructure")),
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index ae05c70..1761a72 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -24,7 +24,7 @@
event_loop, "/vision_align_action"),
vision_status_fetcher_(
event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
- "/superstructure")),
+ "/vision")),
drivetrain_goal_sender_(
event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
"/drivetrain")) {}
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 8aec0de..3361e96 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -53,13 +53,13 @@
: event_loop_(event_loop),
vision_status_fetcher_(
event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
- "/superstructure")),
+ "/vision")),
ball_detector_fetcher_(
event_loop->MakeFetcher<::y2016::sensors::BallDetector>(
"/superstructure")),
autonomous_mode_fetcher_(
event_loop->MakeFetcher<::frc971::autonomous::AutonomousMode>(
- "/aos")),
+ "/autonomous")),
superstructure_status_fetcher_(
event_loop
->MakeFetcher<::y2016::control_loops::superstructure::Status>(
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index e9a2e1d..93ec131 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -305,7 +305,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::aos::Sender<::y2016::vision::VisionStatus> vision_status_sender =
- event_loop.MakeSender<::y2016::vision::VisionStatus>("/superstructure");
+ event_loop.MakeSender<::y2016::vision::VisionStatus>("/vision");
StereoGeometry stereo(constants::GetValues().vision_name);
AOS_LOG(INFO, "calibration: %s\n",
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index dc828f3..5c2fcd6 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -153,7 +153,7 @@
"/superstructure")),
auto_mode_sender_(
event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
- "/aos")),
+ "/autonomous")),
shooter_position_sender_(
event_loop->MakeSender<shooter::Position>("/shooter")),
superstructure_position_sender_(
diff --git a/y2016/y2016.json b/y2016/y2016.json
index eb8ecd5..9ad4f20 100644
--- a/y2016/y2016.json
+++ b/y2016/y2016.json
@@ -45,10 +45,45 @@
"name": "/superstructure",
"type": "y2016.sensors.BallDetector",
"frequency": 200
+ },
+ {
+ "name": "/vision",
+ "type": "y2016.vision.VisionStatus",
+ "frequency": 200
+ },
+ {
+ "name": "/superstructure_action",
+ "type": "aos.common.actions.Status"
+ },
+ {
+ "name": "/vision_align_action",
+ "type": "aos.common.actions.Status"
+ },
+ {
+ "name": "/autonomous",
+ "type": "aos.common.actions.Status"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.Goal"
+ },
+ {
+ "name": "/drivetrain",
+ "type": "y2019.control_loops.drivetrain.TargetSelectorHint"
+ },
+ {
+ "name": "/vision_align_action",
+ "type": "y2016.actors.vision_align_action.Goal"
+ },
+ {
+ "name": "/superstructure_action",
+ "type": "y2016.actors.superstructure_action.Goal"
}
],
"imports": [
"../aos/robot_state/robot_state_config.json",
- "../frc971/control_loops/drivetrain/drivetrain_config.json"
+ "../frc971/control_loops/drivetrain/drivetrain_config.json",
+ "../frc971/autonomous/autonomous_config.json",
+ "../frc971/wpilib/wpilib_config.json"
]
}