more cleanup up of build files + indentation
diff --git a/aos/atom_code/input/input.gyp b/aos/atom_code/input/input.gyp
index e77fc47..25ef4b9 100644
--- a/aos/atom_code/input/input.gyp
+++ b/aos/atom_code/input/input.gyp
@@ -8,6 +8,7 @@
],
'dependencies': [
'<(AOS)/common/messages/messages.gyp:aos_queues',
+ '<(AOS)/common/network/network.gyp:socket',
]
},
],
diff --git a/aos/atom_code/output/output.gyp b/aos/atom_code/output/output.gyp
index d41fe7d..9e264d5 100644
--- a/aos/atom_code/output/output.gyp
+++ b/aos/atom_code/output/output.gyp
@@ -27,10 +27,10 @@
'MotorOutput.cpp',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/network/network.gyp:socket',
],
'export_dependent_settings': [
- '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/common/network/network.gyp:socket',
],
},
],
diff --git a/aos/build/aos.gyp b/aos/build/aos.gyp
index 84a6271..7d570fd 100644
--- a/aos/build/aos.gyp
+++ b/aos/build/aos.gyp
@@ -32,6 +32,8 @@
],
'dependencies': [
'<(EXTERNALS):WPILib',
+ # TODO(brians): socket should only depend on the interface
+ #'<(AOS)/common/network/network.gyp:socket',
]
}, {
'sources': [
@@ -69,6 +71,32 @@
'includes': ['../build/swig.gypi'],
},
{
+ 'target_name': 'aos_core',
+ 'type': 'static_library',
+ 'sources': [
+ #'<(AOS)/aos_core.h'
+ ],
+ 'conditions': [
+ ['OS=="atom"', {
+ 'dependencies': [
+ '<(AOS)/atom_code/ipc_lib/ipc_lib.gyp:ipc_lib',
+ '<(AOS)/atom_code/atom_code.gyp:init',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/atom_code/ipc_lib/ipc_lib.gyp:ipc_lib',
+ '<(AOS)/atom_code/atom_code.gyp:init',
+ ],
+ }, {
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ ],
+ }]
+ ],
+ },
+ {
'target_name': 'libaos',
'type': 'static_library',
'sources': ['<@(libaos_source_files)'],
diff --git a/aos/common/input/SensorInput-tmpl.h b/aos/common/input/SensorInput-tmpl.h
index e92a923..667d2e8 100644
--- a/aos/common/input/SensorInput-tmpl.h
+++ b/aos/common/input/SensorInput-tmpl.h
@@ -1,8 +1,8 @@
-#include "aos/common/input/SensorInput.h"
#ifndef __VXWORKS__
#include "aos/common/network/ReceiveSocket.h"
#include "aos/common/Configuration.h"
#endif
+#include "aos/common/logging/logging.h"
namespace aos {
diff --git a/aos/common/input/SensorInput.h b/aos/common/input/SensorInput.h
index 7f8eaa7..fa99bab 100644
--- a/aos/common/input/SensorInput.h
+++ b/aos/common/input/SensorInput.h
@@ -1,7 +1,6 @@
#ifndef AOS_INPUT_SENSOR_INPUT_H_
#define AOS_INPUT_SENSOR_INPUT_H_
-#include "aos/aos_core.h"
#ifdef __VXWORKS__
#include <vector>
#include <semLib.h>
diff --git a/aos/common/input/input.gyp b/aos/common/input/input.gyp
new file mode 100644
index 0000000..0a77075
--- /dev/null
+++ b/aos/common/input/input.gyp
@@ -0,0 +1,19 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'sensor_input',
+ 'type': 'static_library',
+ 'sources': [
+ #'SensorInput-tmpl.h',
+ ],
+ 'dependencies': [
+ '<(AOS)/common/network/network.gyp:socket',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/network/network.gyp:socket',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ },
+ ],
+}
diff --git a/aos/common/logging/logging.gyp b/aos/common/logging/logging.gyp
index 52d2527..b6b339a 100644
--- a/aos/common/logging/logging.gyp
+++ b/aos/common/logging/logging.gyp
@@ -8,7 +8,7 @@
],
'dependencies': [
'<(EXTERNALS):gtest',
- '<(AOS)/build/aos.gyp:libaos',
+ '<(AOS)/build/aos.gyp:logging',
],
},
],
diff --git a/aos/common/network/ReceiveSocket.cpp b/aos/common/network/ReceiveSocket.cpp
index 671f966..c754f32 100644
--- a/aos/common/network/ReceiveSocket.cpp
+++ b/aos/common/network/ReceiveSocket.cpp
@@ -19,12 +19,12 @@
return ret;
}
- if (bind(socket_, &addr_.addr,
+ if (bind(socket_, &addr_.addr,
sizeof(addr_)) == -1) {
LOG(ERROR, "failed to bind to address '%s' because of %d: %s\n", localhost,
errno, strerror(errno));
return last_ret_ = -1;
- }
+ }
return last_ret_ = 0;
}
diff --git a/aos/common/network/ReceiveSocket.h b/aos/common/network/ReceiveSocket.h
index bd834c9..468cb22 100644
--- a/aos/common/network/ReceiveSocket.h
+++ b/aos/common/network/ReceiveSocket.h
@@ -7,11 +7,8 @@
class ReceiveSocket : public Socket {
public:
- inline ReceiveSocket(NetworkPort port) { Connect(port); }
+ inline ReceiveSocket(NetworkPort port) { Connect(port); }
int Connect(NetworkPort port);
-
- inline int Recv(void *buf, int length) { return Socket::Recv(buf, length); }
- inline int Recv(void *buf, int length, long usec) { return Socket::Recv(buf, length, usec); }
};
} // namespace aos
diff --git a/aos/common/network/SendSocket.cpp b/aos/common/network/SendSocket.cpp
index 89665dc..78aca79 100644
--- a/aos/common/network/SendSocket.cpp
+++ b/aos/common/network/SendSocket.cpp
@@ -18,24 +18,24 @@
return ret;
}
- if (connect(socket_, &addr_.addr,
+ if (connect(socket_, &addr_.addr,
sizeof(addr_)) < 0) {
LOG(ERROR, "couldn't connect to ip '%s' because of %d: %s\n", robot_ip,
errno, strerror(errno));
last_ret_ = 1;
}
- hold_msg_len_ = 0;
+ hold_msg_len_ = 0;
return last_ret_ = 0;
}
int SendSocket::SendHoldMsg() {
- if (hold_msg_len_ > 0) {
- int val = Send(hold_msg_, hold_msg_len_);
- hold_msg_len_ = 0;
- return val;
- }
- return -1;
+ if (hold_msg_len_ > 0) {
+ int val = Send(hold_msg_, hold_msg_len_);
+ hold_msg_len_ = 0;
+ return val;
+ }
+ return -1;
}
} // namespace aos
diff --git a/aos/common/network/SendSocket.h b/aos/common/network/SendSocket.h
index 6d3feb1..27021e0 100644
--- a/aos/common/network/SendSocket.h
+++ b/aos/common/network/SendSocket.h
@@ -7,19 +7,18 @@
class SendSocket : public Socket {
public:
- //inline int Send(const void *buf, int length) { return Socket::Send(buf, length); }
// Connect must be called before use.
SendSocket() {}
// Calls Connect automatically.
- SendSocket(NetworkPort port, const char *robot_ip) {
+ SendSocket(NetworkPort port, const char *robot_ip) {
Connect(port, robot_ip);
}
- int Connect(NetworkPort port, const char *robot_ip, int type = SOCK_DGRAM);
+ int Connect(NetworkPort port, const char *robot_ip, int type = SOCK_DGRAM);
static const size_t MAX_MSG = 4096;
- char hold_msg_[MAX_MSG];
- size_t hold_msg_len_;
- int SendHoldMsg();
+ char hold_msg_[MAX_MSG];
+ size_t hold_msg_len_;
+ int SendHoldMsg();
};
} // namespace aos
diff --git a/aos/common/network/Socket.cpp b/aos/common/network/Socket.cpp
index b01bcb8..1ffc775 100644
--- a/aos/common/network/Socket.cpp
+++ b/aos/common/network/Socket.cpp
@@ -3,37 +3,38 @@
#include <string.h>
#include <errno.h>
-#include "aos/aos_core.h"
+#include "aos/common/logging/logging.h"
#include "aos/common/network/SocketLibraries.h"
namespace aos {
int Socket::Connect(NetworkPort port, const char *address, int type) {
last_ret_ = 0;
- if ((socket_ = socket(AF_INET, type, 0)) < 0) {
- LOG(ERROR, "failed to create socket because of %d: %s\n", errno, strerror(errno));
+ if ((socket_ = socket(AF_INET, type, 0)) < 0) {
+ LOG(ERROR, "failed to create socket because of %d: %s\n",
+ errno, strerror(errno));
return last_ret_ = 1;
- }
+ }
- memset(&addr_, 0, sizeof(addr_));
- addr_.in.sin_family = AF_INET;
+ memset(&addr_, 0, sizeof(addr_));
+ addr_.in.sin_family = AF_INET;
addr_.in.sin_port = htons(static_cast<uint16_t>(port));
#ifndef __VXWORKS__
const int failure_return = 0;
#else
const int failure_return = -1;
#endif
- if (inet_aton(lame_unconst(address), &addr_.in.sin_addr) == failure_return) {
- LOG(ERROR, "Invalid IP address '%s' because of %d: %s\n", address,
+ if (inet_aton(lame_unconst(address), &addr_.in.sin_addr) == failure_return) {
+ LOG(ERROR, "Invalid IP address '%s' because of %d: %s\n", address,
errno, strerror(errno));
return last_ret_ = -1;
- }
+ }
return last_ret_ = 0;
}
Socket::Socket() : socket_(-1), last_ret_(2) {}
Socket::~Socket() {
- close(socket_);
+ close(socket_);
}
void Socket::Reset() {
@@ -45,7 +46,7 @@
}
int Socket::Recv(void *buf, int length) {
- const int ret = recv(socket_, static_cast<char *>(buf), length, 0);
+ const int ret = recv(socket_, static_cast<char *>(buf), length, 0);
last_ret_ = (ret == -1) ? -1 : 0;
return ret;
}
@@ -67,11 +68,10 @@
}
}
int Socket::Send(const void *buf, int length) {
- const int ret = write(socket_,
+ const int ret = write(socket_,
lame_unconst(static_cast<const char *>(buf)), length);
- //const int ret = length;
last_ret_ = (ret == -1) ? -1 : 0;
return ret;
}
-} // namespace aos
+} // namespace aos
diff --git a/aos/common/network/Socket.h b/aos/common/network/Socket.h
index ceee754..b6d2c70 100644
--- a/aos/common/network/Socket.h
+++ b/aos/common/network/Socket.h
@@ -1,5 +1,5 @@
-#ifndef AOS_NETWORK_SOCKET_H_
-#define AOS_NETWORK_SOCKET_H_
+#ifndef AOS_COMMON_NETWORK_SOCKET_H_
+#define AOS_COMMON_NETWORK_SOCKET_H_
#include <sys/socket.h>
#include <sys/types.h>
@@ -8,7 +8,9 @@
#include <stdlib.h>
#include <unistd.h>
#include <stdio.h>
+
#include "aos/common/Configuration.h"
+#include "aos/common/time.h"
namespace aos {
@@ -27,16 +29,15 @@
// Resets socket_ and last_ret_.
void Reset();
- union {
+ union {
sockaddr_in in;
sockaddr addr;
} addr_; // filled in by Connect
- int socket_;
+ int socket_;
int last_ret_;
};
-} // namespace aos
+} // namespace aos
-#endif
-
+#endif // AOS_COMMON_NETWORK_SOCKET_H_
diff --git a/aos/common/network/network.gyp b/aos/common/network/network.gyp
index ca3e653..a41509d 100644
--- a/aos/common/network/network.gyp
+++ b/aos/common/network/network.gyp
@@ -47,9 +47,11 @@
],
'dependencies': [
'<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:time',
],
'export_dependent_settings': [
'<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:time',
],
},
],
diff --git a/aos/crio/controls/controls.gyp b/aos/crio/controls/controls.gyp
index 2dd7098..626cb89 100644
--- a/aos/crio/controls/controls.gyp
+++ b/aos/crio/controls/controls.gyp
@@ -13,6 +13,7 @@
'<(AOS)/common/common.gyp:common',
'<(AOS)/crio/motor_server/motor_server.gyp:CRIOControlLoopRunner',
'<(AOS)/crio/motor_server/motor_server.gyp:MotorServer',
+ '<(AOS)/common/network/network.gyp:socket',
],
'export_dependent_settings': [
'<(EXTERNALS):WPILib',
diff --git a/aos/crio/motor_server/motor_server.gyp b/aos/crio/motor_server/motor_server.gyp
index 01f5353..557dccb 100644
--- a/aos/crio/motor_server/motor_server.gyp
+++ b/aos/crio/motor_server/motor_server.gyp
@@ -36,11 +36,13 @@
'<(EXTERNALS):WPILib',
'<(AOS)/common/network/network.gyp:socket',
'<(AOS)/common/common.gyp:common',
+ '<(AOS)/common/input/input.gyp:sensor_input',
],
'export_dependent_settings': [
'<(EXTERNALS):WPILib',
'<(AOS)/common/network/network.gyp:socket',
'<(AOS)/common/common.gyp:common',
+ '<(AOS)/common/input/input.gyp:sensor_input',
],
},
{
@@ -58,6 +60,7 @@
'CRIOControlLoopRunner',
'<(AOS)/crio/shared_libs/shared_libs.gyp:ByteBuffer',
'output',
+ '<(AOS)/common/network/network.gyp:socket',
],
'export_dependent_settings': [
'<(EXTERNALS):WPILib',
@@ -67,6 +70,7 @@
'<(AOS)/common/network/network.gyp:socket',
'CRIOControlLoopRunner',
'<(AOS)/crio/shared_libs/shared_libs.gyp:ByteBuffer',
+ '<(AOS)/common/network/network.gyp:socket',
],
},
],
diff --git a/frc971/input/SensorReader.cc b/frc971/input/SensorReader.cc
index fd14df4..aed0818 100644
--- a/frc971/input/SensorReader.cc
+++ b/frc971/input/SensorReader.cc
@@ -2,7 +2,6 @@
#include <arpa/inet.h>
-#include "aos/aos_core.h"
#include "aos/common/inttypes.h"
#include "aos/common/input/SensorInput.h"
diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index 2abeac8..99bbb3e 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -8,7 +8,6 @@
'header_path': 'frc971/input',
},
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'<(AOS)/common/common.gyp:controls',
],
'includes': ['../../aos/build/queues.gypi'],
@@ -20,9 +19,7 @@
'JoystickReader.cc',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'<(AOS)/atom_code/input/input.gyp:joystick',
- '<(AOS)/common/network/network.gyp:socket',
'actions',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'<(DEPTH)/frc971/queues/queues.gyp:queues',
@@ -36,10 +33,10 @@
'SensorReader.cc',
],
'dependencies': [
- '<(AOS)/build/aos.gyp:libaos',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'<(DEPTH)/frc971/queues/queues.gyp:queues',
- '<(AOS)/common/network/network.gyp:socket',
+ '<(AOS)/common/input/input.gyp:sensor_input',
+ '<(AOS)/build/aos.gyp:aos_core',
],
'conditions': [
['OS!="crio"', {
@@ -59,7 +56,6 @@
'<(AOS)/build/aos.gyp:libaos',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'<(AOS)/crio/shared_libs/shared_libs.gyp:interrupt_notifier',
- '<(AOS)/crio/shared_libs/shared_libs.gyp:limit_encoder_reader',
],
},
{
diff --git a/frc971/output/SensorSender.cc b/frc971/output/SensorSender.cc
index e2d2e51..105088d 100644
--- a/frc971/output/SensorSender.cc
+++ b/frc971/output/SensorSender.cc
@@ -1,5 +1,6 @@
#include "aos/crio/motor_server/SensorSender.h"
+#include "aos/aos_core.h"
+
#include "frc971/queues/sensor_values.h"
AOS_RUN_FORK(aos::SensorSender<frc971::sensor_values>, "971SS", 100)
-
diff --git a/frc971/output/output.gyp b/frc971/output/output.gyp
index 780eadf..42bfe94 100644
--- a/frc971/output/output.gyp
+++ b/frc971/output/output.gyp
@@ -32,6 +32,7 @@
'<(AOS)/atom_code/output/output.gyp:motor_output',
'<(AOS)/atom_code/messages/messages.gyp:messages',
'<(AOS)/atom_code/atom_code.gyp:init',
+ '<(AOS)/common/network/network.gyp:socket',
],
}, {
'sources': ['CRIOMotorWriter.cc'],
@@ -43,7 +44,6 @@
'<(AOS)/common/common.gyp:controls',
'<(DEPTH)/frc971/control_loops/control_loops.gyp:control_loops',
'<(DEPTH)/frc971/queues/queues.gyp:queues',
- '<(AOS)/common/network/network.gyp:socket',
],
},
{
@@ -54,7 +54,6 @@
],
'dependencies': [
'<(AOS)/build/aos.gyp:libaos',
- '<(AOS)/common/network/network.gyp:socket',
],
},
],
diff --git a/frc971/queues/queues.gyp b/frc971/queues/queues.gyp
index 6219db2..70ed873 100644
--- a/frc971/queues/queues.gyp
+++ b/frc971/queues/queues.gyp
@@ -3,7 +3,6 @@
'queue_files': [
'GyroAngle.q',
'Piston.q',
- 'Temp.q',
]
},
'targets': [