Validate flatbuffers before printing in aos_dump, log_cat, and simulated_event_loop
We had a corrupted flatbuffer being logged, and the error was very poor
when it was being printed. Let's try to catch this a lot earlier.
Fix 1: log_cat should validate before printing. That'll prevent us
from wasting time debugging why it is crashing and point the finger a
lot better.
Fix 2: aos_dump should do the same. That'll save us from nasty crashes
there too and focus attention a lot better.
Fix 3: SimulatedEventLoop sender Send should also validate in debug
mode. This will avoid too big a performance hit in the fast path, but
will catch corrupted flatbuffers in any simulations we do, or any log
replay that gets done with debug turned on.
This caught a couple of places where we were missing schemas, so add
those in too.
Change-Id: I1873ddd592d33fe4e64210a2e08aa9b937d61ab8
Signed-off-by: Austin Schuh <austin.schuh@bluerivertech.com>
diff --git a/frc971/control_loops/BUILD b/frc971/control_loops/BUILD
index 1945db9..11c93dc 100644
--- a/frc971/control_loops/BUILD
+++ b/frc971/control_loops/BUILD
@@ -1,5 +1,6 @@
package(default_visibility = ["//visibility:public"])
+load("//aos:config.bzl", "aos_config")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
cc_library(
@@ -417,10 +418,70 @@
)
flatbuffer_cc_library(
- name = "static_zeroing_single_dof_profiled_subsystem_test_fbs",
+ name = "static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs",
srcs = [
- "static_zeroing_single_dof_profiled_subsystem_test.fbs",
+ "static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal.fbs",
],
+ gen_reflections = 1,
+ includes = [
+ ":control_loops_fbs_includes",
+ ":profiled_subsystem_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+flatbuffer_cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_subsystem_output.fbs",
+ ],
+ gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+flatbuffer_cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ ":control_loops_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+flatbuffer_cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_absolute_position.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ ":control_loops_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+flatbuffer_cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ ":control_loops_fbs_includes",
+ ":profiled_subsystem_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+flatbuffer_cc_library(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs",
+ srcs = [
+ "static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status.fbs",
+ ],
+ gen_reflections = 1,
includes = [
":control_loops_fbs_includes",
":profiled_subsystem_fbs_includes",
@@ -433,14 +494,40 @@
srcs = [
"static_zeroing_single_dof_profiled_subsystem_test.cc",
],
+ data = [
+ ":static_zeroing_single_dof_profiled_subsystem_test_config",
+ ],
target_compatible_with = ["@platforms//os:linux"],
deps = [
":capped_test_plant",
":position_sensor_sim",
":static_zeroing_single_dof_profiled_subsystem",
- ":static_zeroing_single_dof_profiled_subsystem_test_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs",
":static_zeroing_single_dof_profiled_subsystem_test_plants",
+ ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs",
"//aos/controls:control_loop_test",
"//aos/testing:googletest",
],
)
+
+aos_config(
+ name = "static_zeroing_single_dof_profiled_subsystem_test_config",
+ src = "static_zeroing_single_dof_profiled_subsystem_test_config_source.json",
+ flatbuffers = [
+ "//frc971/input:joystick_state_fbs",
+ "//frc971/input:robot_state_fbs",
+ "//aos/logging:log_message_fbs",
+ "//aos/events:event_loop_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_output_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_absolute_encoder_status_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_subsystem_goal_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_absolute_position_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_encoder_status_fbs",
+ ":static_zeroing_single_dof_profiled_subsystem_test_pot_and_absolute_position_fbs",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)