Switch to c++11 enums for flatbuffers
Change-Id: I99171464bf54efbb7eb322c556760dee86648f5e
diff --git a/y2019/actors/auto_splines.cc b/y2019/actors/auto_splines.cc
index 6166ca8..397229c 100644
--- a/y2019/actors/auto_splines.cc
+++ b/y2019/actors/auto_splines.cc
@@ -33,7 +33,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(2.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -42,7 +42,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(2.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -51,7 +51,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -60,7 +60,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(4.0);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -108,7 +108,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(3.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -117,7 +117,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(2.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -126,7 +126,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -135,7 +135,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(4.5);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -181,7 +181,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(3.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -190,7 +190,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(3.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -199,7 +199,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -208,7 +208,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(4.0);
velocity_constraint_builder.add_start_distance(7.0);
velocity_constraint_builder.add_end_distance(15.0);
@@ -280,7 +280,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(2.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -289,7 +289,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(10.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -298,7 +298,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(1.6);
velocity_constraint_builder.add_start_distance(4.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -345,7 +345,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -354,7 +354,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(4.0);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -401,7 +401,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(10.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -410,7 +410,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(3.5);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -421,7 +421,7 @@
frc971::Constraint::Builder velocity_constraint2_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint2_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint2_builder.add_value(2.0);
velocity_constraint2_builder.add_start_distance(6.0);
velocity_constraint2_builder.add_end_distance(10.0);
@@ -465,7 +465,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(0.5);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(10.0);
@@ -511,7 +511,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(2.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -520,7 +520,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(2.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -529,7 +529,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -538,7 +538,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(1.7);
velocity_constraint_builder.add_start_distance(0.0);
velocity_constraint_builder.add_end_distance(0.8);
@@ -584,7 +584,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(1.5);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -593,7 +593,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(1.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -602,7 +602,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -611,7 +611,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(0.5);
velocity_constraint_builder.add_start_distance(9.5);
velocity_constraint_builder.add_end_distance(10.0);
@@ -652,7 +652,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(1.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -661,7 +661,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(1.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -670,7 +670,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(11.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
@@ -679,7 +679,7 @@
frc971::Constraint::Builder velocity_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
velocity_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VELOCITY);
+ frc971::ConstraintType::VELOCITY);
velocity_constraint_builder.add_value(0.5);
velocity_constraint_builder.add_start_distance(2.7);
velocity_constraint_builder.add_end_distance(10.0);
@@ -719,7 +719,7 @@
frc971::Constraint::Builder longitudinal_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
longitudinal_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
longitudinal_constraint_builder.add_value(1.0);
longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
}
@@ -728,7 +728,7 @@
frc971::Constraint::Builder lateral_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
lateral_constraint_builder.add_constraint_type(
- frc971::ConstraintType_LATERAL_ACCELERATION);
+ frc971::ConstraintType::LATERAL_ACCELERATION);
lateral_constraint_builder.add_value(1.0);
lateral_constraint_offset = lateral_constraint_builder.Finish();
}
@@ -737,7 +737,7 @@
frc971::Constraint::Builder voltage_constraint_builder =
builder->MakeBuilder<frc971::Constraint>();
voltage_constraint_builder.add_constraint_type(
- frc971::ConstraintType_VOLTAGE);
+ frc971::ConstraintType::VOLTAGE);
voltage_constraint_builder.add_value(6.0);
voltage_constraint_offset = voltage_constraint_builder.Finish();
}
diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index fbde0be..aa2c808 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -198,14 +198,14 @@
if (!spline1.WaitForSplineDistanceRemaining(0.2)) return true;
LineFollowAtVelocity(1.3,
- control_loops::drivetrain::SelectionHint_FAR_ROCKET);
+ control_loops::drivetrain::SelectionHint::FAR_ROCKET);
if (!WaitForMilliseconds(::std::chrono::milliseconds(1200))) return true;
set_suction_goal(false, 1);
SendSuperstructureGoal();
if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
LineFollowAtVelocity(-1.0,
- control_loops::drivetrain::SelectionHint_FAR_ROCKET);
+ control_loops::drivetrain::SelectionHint::FAR_ROCKET);
SplineHandle spline2 =
PlanSpline(BindIsLeft(AutonomousSplines::FarRocketToHP, is_left),
SplineDirection::kBackward);
@@ -240,7 +240,7 @@
SendSuperstructureGoal();
if (!WaitForDriveXGreater(7.1)) return true;
LineFollowAtVelocity(-1.5,
- control_loops::drivetrain::SelectionHint_FAR_ROCKET);
+ control_loops::drivetrain::SelectionHint::FAR_ROCKET);
if (!WaitForMilliseconds(::std::chrono::milliseconds(1000))) return true;
set_elevator_wrist_goal(kPanelBackwardUpperPos);
SendSuperstructureGoal();
@@ -249,7 +249,7 @@
SendSuperstructureGoal();
if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
LineFollowAtVelocity(1.0,
- control_loops::drivetrain::SelectionHint_FAR_ROCKET);
+ control_loops::drivetrain::SelectionHint::FAR_ROCKET);
SendSuperstructureGoal();
if (!WaitForMilliseconds(::std::chrono::milliseconds(200))) return true;
} else if (mode == Mode::kCargoship) {
@@ -282,7 +282,7 @@
if (!spline1.WaitForSplineDistanceRemaining(0.8)) return true;
// Line follow in to the first disc.
LineFollowAtVelocity(-0.9,
- control_loops::drivetrain::SelectionHint_MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
if (!WaitForDriveYCloseToZero(1.2)) return true;
set_suction_goal(false, 1);
@@ -294,7 +294,7 @@
if (!WaitForMilliseconds(::std::chrono::milliseconds(300))) return true;
LineFollowAtVelocity(0.9,
- control_loops::drivetrain::SelectionHint_MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
SplineHandle spline2 = PlanSpline(
BindIsLeft(AutonomousSplines::SecondCargoShipBayToHP, is_left),
SplineDirection::kForward);
@@ -331,7 +331,7 @@
if (!spline3.WaitForSplineDistanceRemaining(0.7)) return true;
// Line follow in to the second disc.
LineFollowAtVelocity(-0.7,
- control_loops::drivetrain::SelectionHint_FAR_SHIP);
+ control_loops::drivetrain::SelectionHint::FAR_SHIP);
AOS_LOG(INFO, "Drawing in disc 2 %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
if (!WaitForDriveYCloseToZero(1.2)) return true;
@@ -346,7 +346,7 @@
AOS_LOG(INFO, "Backing up %f\n",
::aos::time::DurationInSeconds(monotonic_now() - start_time));
LineFollowAtVelocity(0.9,
- control_loops::drivetrain::SelectionHint_FAR_SHIP);
+ control_loops::drivetrain::SelectionHint::FAR_SHIP);
if (!WaitForMilliseconds(::std::chrono::milliseconds(400))) return true;
} else {
// Grab the disk, wait until we have vacuum, then jump
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 3a6bec7..24dd6c2 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -212,7 +212,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -233,7 +233,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -253,7 +253,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -275,7 +275,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -304,7 +304,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -340,7 +340,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_MOTION_PROFILE);
+ frc971::control_loops::drivetrain::ControllerType::MOTION_PROFILE);
drivetrain_builder.add_left_goal(-1.0);
drivetrain_builder.add_right_goal(1.0);
@@ -368,7 +368,7 @@
Goal::Builder drivetrain_builder = builder.MakeBuilder<Goal>();
drivetrain_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_LINE_FOLLOWER);
+ frc971::control_loops::drivetrain::ControllerType::LINE_FOLLOWER);
drivetrain_builder.add_throttle(0.5);
EXPECT_TRUE(builder.Send(drivetrain_builder.Finish()));
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index fbce275..319065e 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -178,7 +178,7 @@
goal_builder.add_spline(spline_offset);
goal_builder.add_controller_type(
- frc971::control_loops::drivetrain::ControllerType_SPLINE_FOLLOWER);
+ frc971::control_loops::drivetrain::ControllerType::SPLINE_FOLLOWER);
goal_builder.add_spline_handle(1);
fbb.Finish(goal_builder.Finish());
@@ -211,7 +211,7 @@
status(fbb.Release());
if (status.message().trajectory_logging()->planning_state() ==
- ::frc971::control_loops::drivetrain::PlanningState_PLANNED) {
+ ::frc971::control_loops::drivetrain::PlanningState::PLANNED) {
break;
}
}
diff --git a/y2019/control_loops/drivetrain/target_selector.cc b/y2019/control_loops/drivetrain/target_selector.cc
index 7f2259d..87115ae 100644
--- a/y2019/control_loops/drivetrain/target_selector.cc
+++ b/y2019/control_loops/drivetrain/target_selector.cc
@@ -28,9 +28,8 @@
if (hint_fetcher_.Fetch()) {
VLOG(1) << "selector_hint: " << aos::FlatbufferToJson(hint_fetcher_.get());
// suggested_target is unsigned so we don't check for >= 0.
- if (hint_fetcher_->suggested_target() < 4) {
- target_hint_ =
- static_cast<SelectionHint>(hint_fetcher_->suggested_target());
+ if (hint_fetcher_->suggested_target() < drivetrain::SelectionHint::MAX) {
+ target_hint_ = hint_fetcher_->suggested_target();
} else {
AOS_LOG(ERROR, "Got invalid suggested target.\n");
}
@@ -64,30 +63,30 @@
continue;
}
switch (target_hint_) {
- case SelectionHint::kNearShip:
+ case drivetrain::SelectionHint::NEAR_SHIP:
if (view.target->target_type() !=
Target::TargetType::kNearSideCargoBay) {
continue;
}
break;
- case SelectionHint::kMidShip:
+ case drivetrain::SelectionHint::MID_SHIP:
if (view.target->target_type() !=
Target::TargetType::kMidSideCargoBay) {
continue;
}
break;
- case SelectionHint::kFarShip:
+ case drivetrain::SelectionHint::FAR_SHIP:
if (view.target->target_type() !=
Target::TargetType::kFarSideCargoBay) {
continue;
}
break;
- case SelectionHint::kFarRocket:
+ case drivetrain::SelectionHint::FAR_ROCKET:
if (view.target->target_type() != Target::TargetType::kFarRocket) {
continue;
}
break;
- case SelectionHint::kNone:
+ case drivetrain::SelectionHint::NONE:
default:
break;
}
diff --git a/y2019/control_loops/drivetrain/target_selector.fbs b/y2019/control_loops/drivetrain/target_selector.fbs
index d264992..f7a3291 100644
--- a/y2019/control_loops/drivetrain/target_selector.fbs
+++ b/y2019/control_loops/drivetrain/target_selector.fbs
@@ -1,7 +1,7 @@
namespace y2019.control_loops.drivetrain;
// These should match the SelectionHint enum in target_selector.h.
-enum SelectionHint : byte {
+enum SelectionHint : ubyte {
// No selection, we should just default to whatever.
NONE,
// Near, middle, and far targets.
diff --git a/y2019/control_loops/drivetrain/target_selector.h b/y2019/control_loops/drivetrain/target_selector.h
index e75e122..4ab65ef 100644
--- a/y2019/control_loops/drivetrain/target_selector.h
+++ b/y2019/control_loops/drivetrain/target_selector.h
@@ -29,16 +29,6 @@
typedef TypedCamera<y2019::constants::Field::kNumTargets,
/*num_obstacles=*/0, double> FakeCamera;
- enum class SelectionHint {
- // No hint
- kNone = 0,
- // Cargo ship bays
- kNearShip = 1,
- kMidShip = 2,
- kFarShip = 3,
- kFarRocket = 4,
- };
-
TargetSelector(::aos::EventLoop *event_loop);
bool UpdateSelection(const ::Eigen::Matrix<double, 5, 1> &state,
@@ -72,7 +62,7 @@
// Whether we are currently in ball mode.
bool ball_mode_ = false;
- SelectionHint target_hint_ = SelectionHint::kNone;
+ drivetrain::SelectionHint target_hint_ = drivetrain::SelectionHint::NONE;
};
} // namespace control_loops
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 90ca830..43a0456 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -118,7 +118,7 @@
// targets:
TestParams{(State() << 0.0, 0.0, 0.0, 1.0, 1.0).finished(),
/*ball_mode=*/false,
- drivetrain::SelectionHint_NONE,
+ drivetrain::SelectionHint::NONE,
1.0,
false,
{},
@@ -127,43 +127,43 @@
// anything.
TestParams{(State() << 4.0, 2.0, M_PI, 0.05, 0.05).finished(),
/*ball_mode=*/false,
- drivetrain::SelectionHint_NONE,
+ drivetrain::SelectionHint::NONE,
0.05,
false,
{},
/*expected_radius=*/0.0},
TestParams{(State() << 4.0, 2.0, M_PI, -0.05, -0.05).finished(),
/*ball_mode=*/false,
- drivetrain::SelectionHint_NONE,
+ drivetrain::SelectionHint::NONE,
-0.05,
false,
{},
/*expected_radius=*/0.0},
TestParams{(State() << 4.0, 2.0, M_PI, 0.5, 0.5).finished(),
- /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+ /*ball_mode=*/false, drivetrain::SelectionHint::NONE, 1.0,
true, HPSlotLeft(), /*expected_radius=*/0.0},
// Put ourselves between the rocket and cargo ship; we should see the
// hatches driving one direction and the near cargo ship port the other.
// We also command a speed opposite the current direction of motion and
// confirm that that behaves as expected.
TestParams{(State() << 6.0, 2.0, -M_PI_2, -0.5, -0.5).finished(),
- /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+ /*ball_mode=*/false, drivetrain::SelectionHint::NONE, 1.0,
true, CargoNearLeft(), /*expected_radius=*/HatchRadius()},
TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
- /*ball_mode=*/false, drivetrain::SelectionHint_NONE, -1.0,
+ /*ball_mode=*/false, drivetrain::SelectionHint::NONE, -1.0,
true, CargoNearLeft(), /*expected_radius=*/HatchRadius()},
TestParams{(State() << 6.0, 2.0, -M_PI_2, 0.5, 0.5).finished(),
- /*ball_mode=*/false, drivetrain::SelectionHint_NONE, -1.0,
+ /*ball_mode=*/false, drivetrain::SelectionHint::NONE, -1.0,
true, RocketHatchFarLeft(),
/*expected_radius=*/HatchRadius()},
TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, -0.5).finished(),
- /*ball_mode=*/false, drivetrain::SelectionHint_NONE, 1.0,
+ /*ball_mode=*/false, drivetrain::SelectionHint::NONE, 1.0,
true, RocketHatchFarLeft(),
/*expected_radius=*/HatchRadius()},
// And we shouldn't see anything spinning in place:
TestParams{(State() << 6.0, 2.0, M_PI_2, -0.5, 0.5).finished(),
/*ball_mode=*/false,
- drivetrain::SelectionHint_NONE,
+ drivetrain::SelectionHint::NONE,
0.0,
false,
{},
@@ -171,7 +171,7 @@
// Drive backwards off the field--we should not see anything.
TestParams{(State() << -0.1, 0.0, 0.0, -0.5, -0.5).finished(),
/*ball_mode=*/false,
- drivetrain::SelectionHint_NONE,
+ drivetrain::SelectionHint::NONE,
-1.0,
false,
{},
@@ -179,12 +179,12 @@
// In ball mode, we should be able to see the portal, and get zero
// radius.
TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
- /*ball_mode=*/true, drivetrain::SelectionHint_NONE, 1.0,
+ /*ball_mode=*/true, drivetrain::SelectionHint::NONE, 1.0,
true, RocketPortal(),
/*expected_radius=*/0.0},
// Reversing direction should get cargo ship with zero radius.
TestParams{(State() << 6.0, 2.0, M_PI_2, 0.5, 0.5).finished(),
- /*ball_mode=*/true, drivetrain::SelectionHint_NONE, -1.0,
+ /*ball_mode=*/true, drivetrain::SelectionHint::NONE, -1.0,
true, CargoNearLeft(),
/*expected_radius=*/0.0}));
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 427fc6d..0f37112 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -258,28 +258,28 @@
.MakeBuilder<control_loops::drivetrain::TargetSelectorHint>();
if (data.IsPressed(kNearCargoHint)) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_NEAR_SHIP);
+ control_loops::drivetrain::SelectionHint::NEAR_SHIP);
} else if (data.IsPressed(kMidCargoHint)) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
} else if (data.IsPressed(kFarCargoHint)) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_FAR_SHIP);
+ control_loops::drivetrain::SelectionHint::FAR_SHIP);
} else {
const double cargo_joy_y = data.GetAxis(kCargoSelectorY);
const double cargo_joy_x = data.GetAxis(kCargoSelectorX);
if (cargo_joy_y > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_NEAR_SHIP);
+ control_loops::drivetrain::SelectionHint::NEAR_SHIP);
} else if (cargo_joy_y < -0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_FAR_SHIP);
+ control_loops::drivetrain::SelectionHint::FAR_SHIP);
} else if (::std::abs(cargo_joy_x) > 0.5) {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_MID_SHIP);
+ control_loops::drivetrain::SelectionHint::MID_SHIP);
} else {
target_selector_hint_builder.add_suggested_target(
- control_loops::drivetrain::SelectionHint_NONE);
+ control_loops::drivetrain::SelectionHint::NONE);
}
}
if (!builder.Send(target_selector_hint_builder.Finish())) {