Update WPILib, roborio compilers, and CTRE Phoenix libraries
This borrows heavily from work that Ravago did to initially get this
stuff working.
Tested rudimentary functionality on a test bench, ensured that we could:
* Enable the robot.
* Read joystick and button values.
* Switch between auto and teleop modes.
* Read sensor values (encoder, absolute encoder, potentiometer).
* Read PDP values.
* Drive PWM motors.
* Drive CANivore motors.
Non-WPILib changes are made to accommodate the upgrade roborio
compiler's improved pickiness.
Merge commit '125aac16d9bf03c833ffa18de2f113a33758a4b8' into HEAD
Change-Id: I8648956fb7517b2d784bf58e0a236742af7a306a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/aos/events/logging/BUILD b/aos/events/logging/BUILD
index 7201e70..7e8daf9 100644
--- a/aos/events/logging/BUILD
+++ b/aos/events/logging/BUILD
@@ -215,7 +215,10 @@
hdrs = [
"s3_fetcher.h",
],
- target_compatible_with = ["@platforms//os:linux"],
+ target_compatible_with = [
+ "@platforms//os:linux",
+ "@platforms//cpu:x86_64",
+ ],
visibility = ["//visibility:public"],
deps = [
":buffer_encoder",
diff --git a/aos/events/logging/log_cat.cc b/aos/events/logging/log_cat.cc
index a2441c8..b9e940c 100644
--- a/aos/events/logging/log_cat.cc
+++ b/aos/events/logging/log_cat.cc
@@ -83,7 +83,7 @@
aos::logger::SpanReader reader(argv[1]);
absl::Span<const uint8_t> raw_log_file_header_span = reader.ReadMessage();
- if (raw_log_file_header_span == absl::Span<const uint8_t>()) {
+ if (raw_log_file_header_span.empty()) {
LOG(WARNING) << "Empty log file on " << reader.filename();
return 0;
}
@@ -98,7 +98,7 @@
}
while (true) {
absl::Span<const uint8_t> maybe_header_data = reader.PeekMessage();
- if (maybe_header_data == absl::Span<const uint8_t>()) {
+ if (maybe_header_data.empty()) {
break;
}
@@ -153,7 +153,7 @@
while (true) {
const aos::SizePrefixedFlatbufferSpan<aos::logger::MessageHeader> message(
reader.ReadMessage());
- if (message.span() == absl::Span<const uint8_t>()) {
+ if (message.span().empty()) {
break;
}
CHECK(message.Verify());
diff --git a/aos/events/logging/log_edit.cc b/aos/events/logging/log_edit.cc
index 969d59c..e3cfc3a 100644
--- a/aos/events/logging/log_edit.cc
+++ b/aos/events/logging/log_edit.cc
@@ -55,7 +55,7 @@
while (true) {
absl::Span<const uint8_t> msg_data = span_reader.ReadMessage();
- if (msg_data == absl::Span<const uint8_t>()) {
+ if (msg_data.empty()) {
break;
}
diff --git a/aos/events/logging/logfile_utils.cc b/aos/events/logging/logfile_utils.cc
index 342cf8b..94337d3 100644
--- a/aos/events/logging/logfile_utils.cc
+++ b/aos/events/logging/logfile_utils.cc
@@ -85,8 +85,7 @@
if (!util::MkdirPIfSpace(filename, 0777)) {
ran_out_of_space_ = true;
} else {
- fd_ = open(filename_.c_str(),
- O_RDWR | O_CLOEXEC | O_CREAT | O_EXCL, 0774);
+ fd_ = open(filename_.c_str(), O_RDWR | O_CLOEXEC | O_CREAT | O_EXCL, 0774);
if (fd_ == -1 && errno == ENOSPC) {
ran_out_of_space_ = true;
} else {
@@ -441,7 +440,8 @@
// want to control and understand it here. Changing the order can increase
// the amount of padding bytes in the middle.
//
- // It is also easier to follow... And doesn't actually make things much bigger.
+ // It is also easier to follow... And doesn't actually make things much
+ // bigger.
switch (log_type) {
case LogType::kLogRemoteMessage:
message_header_builder.add_queue_index(context.remote_queue_index);
@@ -575,8 +575,7 @@
LOG(FATAL);
}
-flatbuffers::uoffset_t PackMessageSize(LogType log_type,
- size_t data_size) {
+flatbuffers::uoffset_t PackMessageSize(LogType log_type, size_t data_size) {
static_assert(sizeof(flatbuffers::uoffset_t) == 4u,
"Update size logic please.");
const flatbuffers::uoffset_t aligned_data_length =
@@ -934,7 +933,7 @@
absl::Span<const uint8_t> SpanReader::ReadMessage() {
absl::Span<const uint8_t> result = PeekMessage();
- if (result != absl::Span<const uint8_t>()) {
+ if (!result.empty()) {
ConsumeMessage();
} else {
is_finished_ = true;
@@ -977,7 +976,7 @@
absl::Span<const uint8_t> config_data = span_reader->ReadMessage();
// Make sure something was read.
- if (config_data == absl::Span<const uint8_t>()) {
+ if (config_data.empty()) {
return std::nullopt;
}
@@ -996,7 +995,7 @@
if (FLAGS_workaround_double_headers && !result.message().has_logger_sha1()) {
while (true) {
absl::Span<const uint8_t> maybe_header_data = span_reader->PeekMessage();
- if (maybe_header_data == absl::Span<const uint8_t>()) {
+ if (maybe_header_data.empty()) {
break;
}
@@ -1035,7 +1034,7 @@
data_span = span_reader.ReadMessage();
// Make sure something was read.
- if (data_span == absl::Span<const uint8_t>()) {
+ if (data_span.empty()) {
return std::nullopt;
}
}
@@ -1079,7 +1078,7 @@
std::shared_ptr<UnpackedMessageHeader> MessageReader::ReadMessage() {
absl::Span<const uint8_t> msg_data = span_reader_.ReadMessage();
- if (msg_data == absl::Span<const uint8_t>()) {
+ if (msg_data.empty()) {
if (is_corrupted()) {
LOG(ERROR) << "Total corrupted volumes: before = "
<< total_verified_before_
@@ -1116,7 +1115,7 @@
while (true) {
absl::Span<const uint8_t> msg_data = span_reader_.ReadMessage();
- if (msg_data == absl::Span<const uint8_t>()) {
+ if (msg_data.empty()) {
if (!ignore_corrupt_messages_flag_) {
LOG(ERROR) << "Total corrupted volumes: before = "
<< total_verified_before_
@@ -1212,20 +1211,17 @@
remote_queue_index = message.remote_queue_index();
}
- new (unpacked_message) UnpackedMessageHeader{
- .channel_index = message.channel_index(),
- .monotonic_sent_time = monotonic_clock::time_point(
+ new (unpacked_message) UnpackedMessageHeader(
+ message.channel_index(),
+ monotonic_clock::time_point(
chrono::nanoseconds(message.monotonic_sent_time())),
- .realtime_sent_time = realtime_clock::time_point(
+ realtime_clock::time_point(
chrono::nanoseconds(message.realtime_sent_time())),
- .queue_index = message.queue_index(),
- .monotonic_remote_time = monotonic_remote_time,
- .realtime_remote_time = realtime_remote_time,
- .remote_queue_index = remote_queue_index,
- .monotonic_timestamp_time = monotonic_clock::time_point(
+ message.queue_index(), monotonic_remote_time, realtime_remote_time,
+ remote_queue_index,
+ monotonic_clock::time_point(
std::chrono::nanoseconds(message.monotonic_timestamp_time())),
- .has_monotonic_timestamp_time = message.has_monotonic_timestamp_time(),
- .span = span};
+ message.has_monotonic_timestamp_time(), span);
if (data_size > 0) {
memcpy(span.data(), message.data()->data(), data_size);
diff --git a/aos/events/logging/logfile_utils.h b/aos/events/logging/logfile_utils.h
index e034bfe..7105b0c 100644
--- a/aos/events/logging/logfile_utils.h
+++ b/aos/events/logging/logfile_utils.h
@@ -438,6 +438,24 @@
// Stores MessageHeader as a flat header and inline, aligned block of data.
class UnpackedMessageHeader {
public:
+ UnpackedMessageHeader(
+ uint32_t channel_index, monotonic_clock::time_point monotonic_sent_time,
+ realtime_clock::time_point realtime_sent_time, uint32_t queue_index,
+ std::optional<monotonic_clock::time_point> monotonic_remote_time,
+ std::optional<realtime_clock::time_point> realtime_remote_time,
+ std::optional<uint32_t> remote_queue_index,
+ monotonic_clock::time_point monotonic_timestamp_time,
+ bool has_monotonic_timestamp_time, absl::Span<const uint8_t> span)
+ : channel_index(channel_index),
+ monotonic_sent_time(monotonic_sent_time),
+ realtime_sent_time(realtime_sent_time),
+ queue_index(queue_index),
+ monotonic_remote_time(monotonic_remote_time),
+ realtime_remote_time(realtime_remote_time),
+ remote_queue_index(remote_queue_index),
+ monotonic_timestamp_time(monotonic_timestamp_time),
+ has_monotonic_timestamp_time(has_monotonic_timestamp_time),
+ span(span) {}
UnpackedMessageHeader(const UnpackedMessageHeader &) = delete;
UnpackedMessageHeader &operator=(const UnpackedMessageHeader &) = delete;