Convert y2014 to use explicit ids
This makes it harder to accidentally break compatability
Change-Id: Id0e5cdb56a1e442b7d39fd7c9f9424a192462462
diff --git a/build_tests/test.fbs b/build_tests/test.fbs
index 71db3e7..ca153ac 100644
--- a/build_tests/test.fbs
+++ b/build_tests/test.fbs
@@ -1,11 +1,11 @@
namespace aos.examples;
table Foo {
- value:int;
+ value:int32 (id: 0);
}
table Bar {
- value:int;
+ value:int32 (id: 0);
}
root_type Foo;
diff --git a/y2014/control_loops/claw/claw_goal.fbs b/y2014/control_loops/claw/claw_goal.fbs
index eb5860c..8db5e68 100644
--- a/y2014/control_loops/claw/claw_goal.fbs
+++ b/y2014/control_loops/claw/claw_goal.fbs
@@ -3,13 +3,13 @@
// All angles here are 0 vertical, positive "up" (aka backwards).
table Goal {
// The angle of the bottom claw.
- bottom_angle:double;
+ bottom_angle:double (id: 0);
// How much higher the top claw is.
- separation_angle:double;
+ separation_angle:double (id: 1);
// top claw intake roller
- intake:double;
+ intake:double (id: 2);
// bottom claw tusk centering
- centering:double;
+ centering:double (id: 3);
}
root_type Goal;
diff --git a/y2014/control_loops/claw/claw_output.fbs b/y2014/control_loops/claw/claw_output.fbs
index 8cb42e0..d0a6b58 100644
--- a/y2014/control_loops/claw/claw_output.fbs
+++ b/y2014/control_loops/claw/claw_output.fbs
@@ -2,10 +2,10 @@
// All angles here are 0 vertical, positive "up" (aka backwards).
table Output {
- intake_voltage:double;
- top_claw_voltage:double;
- bottom_claw_voltage:double;
- tusk_voltage:double;
+ intake_voltage:double (id: 0);
+ top_claw_voltage:double (id: 1);
+ bottom_claw_voltage:double (id: 2);
+ tusk_voltage:double (id: 3);
}
root_type Output;
diff --git a/y2014/control_loops/claw/claw_position.fbs b/y2014/control_loops/claw/claw_position.fbs
index 17d9f17..2a8eb8a 100644
--- a/y2014/control_loops/claw/claw_position.fbs
+++ b/y2014/control_loops/claw/claw_position.fbs
@@ -5,21 +5,21 @@
// All angles here are 0 vertical, positive "up" (aka backwards).
table HalfClawPosition {
// The current position of this half of the claw.
- position:double;
+ position:double (id: 0);
// The hall effect sensor at the front limit.
- front:frc971.HallEffectStruct;
+ front:frc971.HallEffectStruct (id: 1);
// The hall effect sensor in the middle to use for real calibration.
- calibration:frc971.HallEffectStruct;
+ calibration:frc971.HallEffectStruct (id: 2);
// The hall effect at the back limit.
- back:frc971.HallEffectStruct;
+ back:frc971.HallEffectStruct (id: 3);
}
table Position {
// All the top claw information.
- top:HalfClawPosition;
+ top:HalfClawPosition (id: 0);
// All the bottom claw information.
- bottom:HalfClawPosition;
+ bottom:HalfClawPosition (id: 1);
}
root_type Position;
diff --git a/y2014/control_loops/claw/claw_status.fbs b/y2014/control_loops/claw/claw_status.fbs
index eda9279..7d502cc 100644
--- a/y2014/control_loops/claw/claw_status.fbs
+++ b/y2014/control_loops/claw/claw_status.fbs
@@ -3,19 +3,19 @@
// All angles here are 0 vertical, positive "up" (aka backwards).
table Status {
// True if zeroed enough for the current period (autonomous or teleop).
- zeroed:bool;
+ zeroed:bool (id: 0);
// True if zeroed as much as we will force during autonomous.
- zeroed_for_auto:bool;
+ zeroed_for_auto:bool (id: 1);
// True if zeroed and within tolerance for separation and bottom angle.
- done:bool;
+ done:bool (id: 2);
// True if zeroed and within tolerance for separation and bottom angle.
// seperation allowance much wider as a ball may be included
- done_with_ball:bool;
+ done_with_ball:bool (id: 3);
// Dump the values of the state matrix.
- bottom:double;
- bottom_velocity:double;
- separation:double;
- separation_velocity:double;
+ bottom:double (id: 4);
+ bottom_velocity:double (id: 5);
+ separation:double (id: 6);
+ separation_velocity:double (id: 7);
}
root_type Status;
diff --git a/y2014/control_loops/shooter/shooter_goal.fbs b/y2014/control_loops/shooter/shooter_goal.fbs
index 3326562..5f009e7 100644
--- a/y2014/control_loops/shooter/shooter_goal.fbs
+++ b/y2014/control_loops/shooter/shooter_goal.fbs
@@ -2,11 +2,11 @@
table Goal {
// Shot power in joules.
- shot_power:double;
+ shot_power:double (id: 0);
// Shoots as soon as this is true.
- shot_requested:bool;
- unload_requested:bool;
- load_requested:bool;
+ shot_requested:bool (id: 1);
+ unload_requested:bool (id: 2);
+ load_requested:bool (id: 3);
}
root_type Goal;
diff --git a/y2014/control_loops/shooter/shooter_output.fbs b/y2014/control_loops/shooter/shooter_output.fbs
index e1900c4..eaf0713 100644
--- a/y2014/control_loops/shooter/shooter_output.fbs
+++ b/y2014/control_loops/shooter/shooter_output.fbs
@@ -1,11 +1,11 @@
namespace y2014.control_loops.shooter;
table Output {
- voltage:double;
+ voltage:double (id: 0);
// true: latch engaged, false: latch open
- latch_piston:bool;
+ latch_piston:bool (id: 1);
// true: brake engaged false: brake released
- brake_piston:bool;
+ brake_piston:bool (id: 2);
}
root_type Output;
diff --git a/y2014/control_loops/shooter/shooter_position.fbs b/y2014/control_loops/shooter/shooter_position.fbs
index 9c73a1a..50a6129 100644
--- a/y2014/control_loops/shooter/shooter_position.fbs
+++ b/y2014/control_loops/shooter/shooter_position.fbs
@@ -5,17 +5,17 @@
// Back is when the springs are all the way stretched.
table Position {
// In meters, out is positive.
- position:double;
+ position:double (id: 0);
// If the latch piston is fired and this hall effect has been triggered, the
// plunger is all the way back and latched.
- plunger:bool;
+ plunger:bool (id: 1);
// Gets triggered when the pusher is all the way back.
- pusher_distal:frc971.PosedgeOnlyCountedHallEffectStruct;
+ pusher_distal:frc971.PosedgeOnlyCountedHallEffectStruct (id: 2);
// Triggers just before pusher_distal.
- pusher_proximal:frc971.PosedgeOnlyCountedHallEffectStruct;
+ pusher_proximal:frc971.PosedgeOnlyCountedHallEffectStruct (id: 3);
// Triggers when the latch engages.
- latch:bool;
+ latch:bool (id: 4);
}
root_type Position;
diff --git a/y2014/control_loops/shooter/shooter_status.fbs b/y2014/control_loops/shooter/shooter_status.fbs
index 4e76e27..ba1969d 100644
--- a/y2014/control_loops/shooter/shooter_status.fbs
+++ b/y2014/control_loops/shooter/shooter_status.fbs
@@ -2,20 +2,20 @@
table Status {
// Whether it's ready to shoot right now.
- ready:bool;
+ ready:bool (id: 0);
// Whether the plunger is in and out of the way of grabbing a ball.
// TODO(ben): Populate these!
//cocked:bool;
// How many times we've shot.
- shots:int;
+ shots:int32 (id: 1);
//done:bool;
// What we think the current position of the hard stop on the shooter is, in
// shot power (Joules).
- hard_stop_power:double;
+ hard_stop_power:double (id: 2);
- absolute_position:double;
- absolute_velocity:double;
- state:uint;
+ absolute_position:double (id: 3);
+ absolute_velocity:double (id: 4);
+ state:uint32 (id: 5);
}
root_type Status;
diff --git a/y2014/queues/auto_mode.fbs b/y2014/queues/auto_mode.fbs
index bca34f8..c9e6a65 100644
--- a/y2014/queues/auto_mode.fbs
+++ b/y2014/queues/auto_mode.fbs
@@ -3,7 +3,7 @@
// Published on "/aos"
table AutoMode {
// Voltage of the analog auto selector knob.
- voltage:double;
+ voltage:double (id: 0);
}
root_type AutoMode;
diff --git a/y2014/queues/hot_goal.fbs b/y2014/queues/hot_goal.fbs
index 5c4bd0d..527567b 100644
--- a/y2014/queues/hot_goal.fbs
+++ b/y2014/queues/hot_goal.fbs
@@ -2,8 +2,8 @@
// Published on "/"
table HotGoal {
- left_count:ulong;
- right_count:ulong;
+ left_count:uint64 (id: 0);
+ right_count:uint64 (id: 1);
}
root_type HotGoal;
diff --git a/y2014_bot3/control_loops/rollers/rollers_goal.fbs b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
index 92ee589..3986d1f 100644
--- a/y2014_bot3/control_loops/rollers/rollers_goal.fbs
+++ b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
@@ -2,11 +2,11 @@
table Goal {
// -1 = back intake, 1 = front intake, all else = stationary.
- intake:int;
+ intake:int32 (id: 0);
// -1 = backwards, 1 = forwards, all else = stationary.
- low_spit:int;
+ low_spit:int (id: 1);
// Whether we want the human player load function.
- human_player:bool;
+ human_player:bool (id: 2);
}
root_type Goal;
diff --git a/y2014_bot3/control_loops/rollers/rollers_output.fbs b/y2014_bot3/control_loops/rollers/rollers_output.fbs
index daae09b..c1d023e 100644
--- a/y2014_bot3/control_loops/rollers/rollers_output.fbs
+++ b/y2014_bot3/control_loops/rollers/rollers_output.fbs
@@ -2,15 +2,15 @@
table Output {
// Positive voltage = intaking, Negative = spitting.
- front_intake_voltage:double;
- back_intake_voltage:double;
+ front_intake_voltage:double (id: 0);
+ back_intake_voltage:double (id: 1);
// Voltage for the low goal rollers.
// Positive voltage = ball towards back, Negative = ball towards front.
- low_goal_voltage:double;
+ low_goal_voltage:double (id: 2);
// Whether the front and back intake pistons are extended.
- front_extended:bool;
- back_extended:bool;
+ front_extended:bool (id: 3);
+ back_extended:bool (id: 4);
}
root_type Output;