Finish converting GSL to absl::Span
One less dependency.
Change-Id: Iaac25a3c1312a21a8a2b77b8cfee2463bdb51196
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2019/jevois/cobs.h b/y2019/jevois/cobs.h
index b8a6e4b..979cc15 100644
--- a/y2019/jevois/cobs.h
+++ b/y2019/jevois/cobs.h
@@ -36,7 +36,7 @@
// output buffer is exhausted and return the result.
template <size_t max_decoded_size>
absl::Span<char> CobsDecode(absl::Span<const char> input,
- std::array<char, max_decoded_size> *output_buffer);
+ std::array<char, max_decoded_size> *output_buffer);
// Manages scanning a stream of bytes for 0s and exposing the resulting buffers.
//
@@ -134,7 +134,7 @@
template <size_t max_decoded_size>
absl::Span<char> CobsDecode(absl::Span<const char> input,
- std::array<char, max_decoded_size> *output_buffer) {
+ std::array<char, max_decoded_size> *output_buffer) {
static_assert(max_decoded_size > 0, "Empty buffers not supported");
if (static_cast<size_t>(input.size()) >
CobsMaxEncodedSize(max_decoded_size)) {
diff --git a/y2019/jevois/teensy.cc b/y2019/jevois/teensy.cc
index 541fabe..95fe186 100644
--- a/y2019/jevois/teensy.cc
+++ b/y2019/jevois/teensy.cc
@@ -2,6 +2,7 @@
#include <cstdio>
#include <optional>
+#include "absl/types/span.h"
#include "aos/time/time.h"
#include "motors/core/kinetis.h"
#include "motors/core/time.h"
@@ -10,7 +11,6 @@
#include "motors/peripheral/uart.h"
#include "motors/print/print.h"
#include "motors/util.h"
-#include "third_party/GSL/include/gsl/gsl"
#include "y2019/jevois/cobs.h"
#include "y2019/jevois/spi.h"
#include "y2019/jevois/uart.h"
@@ -152,8 +152,9 @@
all_done = to_receive_.empty();
} else {
std::array<char, 1> dummy_data;
- if (global_spi_instance->Read(dummy_data, &disable_interrupts).size() >=
- 1) {
+ if (global_spi_instance
+ ->Read(absl::Span<char>(dummy_data), &disable_interrupts)
+ .size() >= 1) {
received_dummy_ = true;
}
all_done = false;
@@ -453,40 +454,40 @@
while (true) {
{
std::array<char, 10> buffer;
- const auto data = uarts->cam0.Read(buffer);
- for (int i = 0; i < data.size(); ++i) {
+ const auto data = uarts->cam0.Read(absl::Span<char>(buffer));
+ for (size_t i = 0; i < data.size(); ++i) {
data[i] += 1;
}
uarts->cam0.Write(data);
}
{
std::array<char, 10> buffer;
- const auto data = uarts->cam1.Read(buffer);
- for (int i = 0; i < data.size(); ++i) {
+ const auto data = uarts->cam1.Read(absl::Span<char>(buffer));
+ for (size_t i = 0; i < data.size(); ++i) {
data[i] += 2;
}
uarts->cam1.Write(data);
}
{
std::array<char, 10> buffer;
- const auto data = uarts->cam2.Read(buffer);
- for (int i = 0; i < data.size(); ++i) {
+ const auto data = uarts->cam2.Read(absl::Span<char>(buffer));
+ for (size_t i = 0; i < data.size(); ++i) {
data[i] += 3;
}
uarts->cam2.Write(data);
}
{
std::array<char, 10> buffer;
- const auto data = uarts->cam3.Read(buffer);
- for (int i = 0; i < data.size(); ++i) {
+ const auto data = uarts->cam3.Read(absl::Span<char>(buffer));
+ for (size_t i = 0; i < data.size(); ++i) {
data[i] += 4;
}
uarts->cam3.Write(data);
}
{
std::array<char, 10> buffer;
- const auto data = uarts->cam4.Read(buffer);
- for (int i = 0; i < data.size(); ++i) {
+ const auto data = uarts->cam4.Read(absl::Span<char>(buffer));
+ for (size_t i = 0; i < data.size(); ++i) {
data[i] += 5;
}
uarts->cam4.Write(data);
@@ -673,11 +674,11 @@
{
std::array<char, 20> buffer;
- packetizers[0].ParseData(uarts->cam0.Read(buffer));
- packetizers[1].ParseData(uarts->cam1.Read(buffer));
- packetizers[2].ParseData(uarts->cam2.Read(buffer));
- packetizers[3].ParseData(uarts->cam3.Read(buffer));
- packetizers[4].ParseData(uarts->cam4.Read(buffer));
+ packetizers[0].ParseData(uarts->cam0.Read(absl::Span<char>(buffer)));
+ packetizers[1].ParseData(uarts->cam1.Read(absl::Span<char>(buffer)));
+ packetizers[2].ParseData(uarts->cam2.Read(absl::Span<char>(buffer)));
+ packetizers[3].ParseData(uarts->cam3.Read(absl::Span<char>(buffer)));
+ packetizers[4].ParseData(uarts->cam4.Read(absl::Span<char>(buffer)));
}
for (size_t i = 0; i < packetizers.size(); ++i) {
if (!packetizers[i].received_packet().empty()) {
diff --git a/y2019/jevois/uart.cc b/y2019/jevois/uart.cc
index 71c37e5..2857bd6 100644
--- a/y2019/jevois/uart.cc
+++ b/y2019/jevois/uart.cc
@@ -2,8 +2,8 @@
#include <array>
-#include "aos/util/bitpacking.h"
#include "absl/types/span.h"
+#include "aos/util/bitpacking.h"
#include "y2019/jevois/jevois_crc.h"
#ifdef __linux__
#include "aos/logging/logging.h"