cleaned up a bunch of build + formatting
diff --git a/aos/build/aos.gyp b/aos/build/aos.gyp
index 0c1506c..84a6271 100644
--- a/aos/build/aos.gyp
+++ b/aos/build/aos.gyp
@@ -8,7 +8,6 @@
'conditions': [
['OS=="crio"', {
'libaos_source_files': [
- '<!@(find <(AOS)/crio/controls <(AOS)/crio/messages <(AOS)/crio/motor_server -name *.c -or -name *.cpp -or -name *.cc)',
'<(AOS)/crio/Talon.cpp',
],
}, {
diff --git a/aos/build/create_aos_ctdt.sh b/aos/build/create_aos_ctdt.sh
index 63c927c..6bf0a62 100755
--- a/aos/build/create_aos_ctdt.sh
+++ b/aos/build/create_aos_ctdt.sh
@@ -9,4 +9,3 @@
echo 'void aos_call_init_functions() {'
echo -e $calls
echo '}'
-
diff --git a/aos/common/messages/QueueHolder.h b/aos/common/messages/QueueHolder.h
index 2b7c0d7..23ddc95 100644
--- a/aos/common/messages/QueueHolder.h
+++ b/aos/common/messages/QueueHolder.h
@@ -6,11 +6,14 @@
#include <algorithm>
-#include "aos/aos_core.h"
#include "aos/common/control_loop/Timing.h"
#include "aos/common/byteorder.h"
#include "aos/common/time.h"
#include "aos/common/type_traits.h"
+#include "aos/common/logging/logging.h"
+#ifndef __VXWORKS__
+#include "aos/atom_code/ipc_lib/queue.h"
+#endif
namespace aos {
diff --git a/aos/common/messages/messages.gyp b/aos/common/messages/messages.gyp
index 94508c4..e7669c7 100644
--- a/aos/common/messages/messages.gyp
+++ b/aos/common/messages/messages.gyp
@@ -1,6 +1,33 @@
{
'targets': [
{
+ 'target_name': 'QueueHolder',
+ 'type': 'static_library',
+ 'sources': [
+ # 'QueueHolder.h'
+ ],
+ 'dependencies': [
+ '<(AOS)/common/common.gyp:timing',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/common.gyp:timing',
+ '<(AOS)/common/common.gyp:time',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ 'conditions': [
+ ['OS!="crio"', {
+ 'dependencies': [
+ '<(AOS)/atom_code/ipc_lib/ipc_lib.gyp:ipc_lib',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/atom_code/ipc_lib/ipc_lib.gyp:ipc_lib',
+ ],
+ }],
+ ],
+ },
+ {
'target_name': 'aos_queues',
'type': 'static_library',
'sources': [
diff --git a/aos/crio/controls/ControlsManager.cpp b/aos/crio/controls/ControlsManager.cpp
index c1f11cd..cfc429b 100644
--- a/aos/crio/controls/ControlsManager.cpp
+++ b/aos/crio/controls/ControlsManager.cpp
@@ -1,10 +1,11 @@
+#include "aos/crio/controls/ControlsManager.h"
+
#include <stdio.h>
#include <stdlib.h>
#include "WPILib/Compressor.h"
#include "aos/crio/logging/crio_logging.h"
-#include "aos/crio/controls/ControlsManager.h"
#include "aos/common/Configuration.h"
#include "aos/crio/aos_ctdt.h"
#include "aos/crio/motor_server/CRIOControlLoopRunner.h"
@@ -50,4 +51,4 @@
}
} // namespace crio
-} // namespace aos
+} // namespace aos
diff --git a/aos/crio/controls/controls.gyp b/aos/crio/controls/controls.gyp
new file mode 100644
index 0000000..2dd7098
--- /dev/null
+++ b/aos/crio/controls/controls.gyp
@@ -0,0 +1,22 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'ControlsManager',
+ 'type': 'static_library',
+ 'sources': [
+ 'ControlsManager.cpp',
+ 'JoyStickRead.cpp',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/build/aos.gyp:logging',
+ '<(AOS)/common/common.gyp:common',
+ '<(AOS)/crio/motor_server/motor_server.gyp:CRIOControlLoopRunner',
+ '<(AOS)/crio/motor_server/motor_server.gyp:MotorServer',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ ],
+ },
+ ],
+}
diff --git a/aos/crio/motor_server/CRIOControlLoopRunner.cpp b/aos/crio/motor_server/CRIOControlLoopRunner.cc
similarity index 96%
rename from aos/crio/motor_server/CRIOControlLoopRunner.cpp
rename to aos/crio/motor_server/CRIOControlLoopRunner.cc
index 1971dc1..a4cf3ce 100644
--- a/aos/crio/motor_server/CRIOControlLoopRunner.cpp
+++ b/aos/crio/motor_server/CRIOControlLoopRunner.cc
@@ -1,6 +1,6 @@
#include "CRIOControlLoopRunner.h"
-#include "aos/aos_core.h"
+#include "aos/common/logging/logging.h"
#include "aos/crio/shared_libs/interrupt_bridge.h"
#include "aos/crio/motor_server/MotorOutput.h"
#include "aos/crio/motor_server/MotorServer.h"
diff --git a/aos/crio/motor_server/MotorControllerOutput.cpp b/aos/crio/motor_server/MotorControllerOutput.cc
similarity index 98%
rename from aos/crio/motor_server/MotorControllerOutput.cpp
rename to aos/crio/motor_server/MotorControllerOutput.cc
index a0897b4..7b24892 100644
--- a/aos/crio/motor_server/MotorControllerOutput.cpp
+++ b/aos/crio/motor_server/MotorControllerOutput.cc
@@ -1,6 +1,5 @@
#include "aos/crio/motor_server/MotorControllerOutput.h"
-#include "aos/aos_core.h"
#include "aos/common/byteorder.h"
#include "aos/common/commonmath.h"
diff --git a/aos/crio/motor_server/MotorOutput.cpp b/aos/crio/motor_server/MotorOutput.cc
similarity index 100%
rename from aos/crio/motor_server/MotorOutput.cpp
rename to aos/crio/motor_server/MotorOutput.cc
diff --git a/aos/crio/motor_server/MotorServer.cpp b/aos/crio/motor_server/MotorServer.cc
similarity index 99%
rename from aos/crio/motor_server/MotorServer.cpp
rename to aos/crio/motor_server/MotorServer.cc
index 77a0579..ebb69fd 100644
--- a/aos/crio/motor_server/MotorServer.cpp
+++ b/aos/crio/motor_server/MotorServer.cc
@@ -3,12 +3,11 @@
#include <stdio.h>
#include <stdlib.h>
#include "usrLib.h"
-#include "aos/common/inttypes.h"
#include "WPILib/Timer.h"
#include "WPILib/Task.h"
-#include "aos/aos_core.h"
+#include "aos/common/inttypes.h"
#include "aos/crio/motor_server/MotorControllerOutput.h"
#include "aos/crio/motor_server/SolenoidOutput.h"
#include "aos/common/Configuration.h"
diff --git a/aos/crio/motor_server/OutputDevice.h b/aos/crio/motor_server/OutputDevice.h
index 0789a68..7cd4983 100644
--- a/aos/crio/motor_server/OutputDevice.h
+++ b/aos/crio/motor_server/OutputDevice.h
@@ -1,5 +1,5 @@
-#ifndef __CRIO_MOTOR_SERVER_OUTPUT_DEVICE_H_
-#define __CRIO_MOTOR_SERVER_OUTPUT_DEVICE_H_
+#ifndef AOS_CRIO_MOTOR_SERVER_OUTPUT_DEVICE_H_
+#define AOS_CRIO_MOTOR_SERVER_OUTPUT_DEVICE_H_
#include <stdint.h>
#include "aos/crio/shared_libs/ByteBuffer.h"
@@ -20,7 +20,6 @@
virtual void NoValue() = 0;
};
-} // namespace aos
+} // namespace aos
-#endif
-
+#endif // AOS_CRIO_MOTOR_SERVER_OUTPUT_DEVICE_H_
diff --git a/aos/crio/motor_server/SensorOutput.cpp b/aos/crio/motor_server/SensorOutput.cc
similarity index 100%
rename from aos/crio/motor_server/SensorOutput.cpp
rename to aos/crio/motor_server/SensorOutput.cc
diff --git a/aos/crio/motor_server/SensorSender-tmpl.h b/aos/crio/motor_server/SensorSender-tmpl.h
index 93fe73d..0ec303c 100644
--- a/aos/crio/motor_server/SensorSender-tmpl.h
+++ b/aos/crio/motor_server/SensorSender-tmpl.h
@@ -1,5 +1,6 @@
#include "WPILib/Task.h"
#include "WPILib/Timer.h"
+
#include "aos/crio/motor_server/SensorOutput.h"
#include "aos/common/network/SendSocket.h"
#include "aos/common/Configuration.h"
diff --git a/aos/crio/motor_server/SensorSender.h b/aos/crio/motor_server/SensorSender.h
index 135e1fa..c42fbfb 100644
--- a/aos/crio/motor_server/SensorSender.h
+++ b/aos/crio/motor_server/SensorSender.h
@@ -1,5 +1,5 @@
-#ifndef __CRIO_SENSOR_SENDER_H_
-#define __CRIO_SENSOR_SENDER_H_
+#ifndef AOS_CRIO_MOTOR_SERVER_SENSOR_SENDER_H_
+#define AOS_CRIO_MOTOR_SERVER_SENSOR_SENDER_H_
namespace aos {
@@ -15,9 +15,8 @@
void Run();
};
-} // namespace aos
+} // namespace aos
#include "SensorSender-tmpl.h"
-#endif
-
+#endif // AOS_CRIO_MOTOR_SERVER_SENSOR_SENDER_H_
diff --git a/aos/crio/motor_server/motor_server.gyp b/aos/crio/motor_server/motor_server.gyp
new file mode 100644
index 0000000..01f5353
--- /dev/null
+++ b/aos/crio/motor_server/motor_server.gyp
@@ -0,0 +1,73 @@
+{
+ 'targets': [
+ {
+ 'target_name': 'CRIOControlLoopRunner',
+ 'type': 'static_library',
+ 'sources': [
+ # 'ControlLoopGoals.h'
+ 'CRIOControlLoopRunner.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/common.gyp:mutex',
+ '<(AOS)/common/common.gyp:controls',
+ '<(AOS)/crio/shared_libs/shared_libs.gyp:interrupt_notifier',
+ 'output',
+ '<(AOS)/build/aos.gyp:logging',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/common.gyp:mutex',
+ '<(AOS)/common/common.gyp:controls',
+ ],
+ },
+ {
+ 'target_name': 'output',
+ 'type': 'static_library',
+ 'sources': [
+ # 'OutputDevice.h',
+ # 'SensorSender-tmpl.h',
+ 'SensorOutput.cc',
+ # 'SolenoidOutput.h'
+ 'MotorControllerOutput.cc',
+ 'MotorOutput.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/network/network.gyp:socket',
+ '<(AOS)/common/common.gyp:common',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/network/network.gyp:socket',
+ '<(AOS)/common/common.gyp:common',
+ ],
+ },
+ {
+ 'target_name': 'MotorServer',
+ 'type': 'static_library',
+ 'sources': [
+ 'MotorServer.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/common.gyp:controls',
+ '<(AOS)/common/common.gyp:mutex',
+ '<(AOS)/common/messages/messages.gyp:QueueHolder',
+ '<(AOS)/common/network/network.gyp:socket',
+ 'CRIOControlLoopRunner',
+ '<(AOS)/crio/shared_libs/shared_libs.gyp:ByteBuffer',
+ 'output',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ '<(AOS)/common/common.gyp:controls',
+ '<(AOS)/common/common.gyp:mutex',
+ '<(AOS)/common/messages/messages.gyp:QueueHolder',
+ '<(AOS)/common/network/network.gyp:socket',
+ 'CRIOControlLoopRunner',
+ '<(AOS)/crio/shared_libs/shared_libs.gyp:ByteBuffer',
+ ],
+ },
+ ],
+}
diff --git a/aos/crio/shared_libs/ByteBuffer.h b/aos/crio/shared_libs/ByteBuffer.h
index b5c4902..f1cf60a 100644
--- a/aos/crio/shared_libs/ByteBuffer.h
+++ b/aos/crio/shared_libs/ByteBuffer.h
@@ -1,8 +1,9 @@
-#ifndef __CRIO_SHARED_LIBS_BYTE_BUFFER_H_
-#define __CRIO_SHARED_LIBS_BYTE_BUFFER_H_
+#ifndef AOS_CRIO_SHARED_LIBS_BYTE_BUFFER_H_
+#define AOS_CRIO_SHARED_LIBS_BYTE_BUFFER_H_
+
+#include <algorithm>
#include "aos/common/network/ReceiveSocket.h"
-#include <algorithm>
namespace aos {
@@ -85,7 +86,6 @@
}
};
-} // namespace aos
+} // namespace aos
-#endif
-
+#endif // AOS_CRIO_SHARED_LIBS_BYTE_BUFFER_H_
diff --git a/aos/crio/shared_libs/shared_libs.gyp b/aos/crio/shared_libs/shared_libs.gyp
index 90b3cf0..78287c1 100644
--- a/aos/crio/shared_libs/shared_libs.gyp
+++ b/aos/crio/shared_libs/shared_libs.gyp
@@ -1,13 +1,40 @@
{
'targets': [
{
-# This one includes interrupt_bridge.h too.
+ 'target_name': 'limit_encoder_reader',
+ 'type': 'static_library',
+ 'sources': [
+ 'limit_encoder_reader.cc',
+ ],
+ 'dependencies': [
+ '<(EXTERNALS):WPILib',
+ 'interrupt_notifier',
+ ],
+ 'export_dependent_settings': [
+ '<(EXTERNALS):WPILib',
+ ],
+ },
+ {
+ 'target_name': 'ByteBuffer',
+ 'type': 'static_library',
+ 'sources': [
+ # 'ByteBuffer.h',
+ ],
+ 'dependencies': [
+ '<(AOS)/common/network/network.gyp:socket',
+ ],
+ 'export_dependent_settings': [
+ '<(AOS)/common/network/network.gyp:socket',
+ ],
+ },
+ {
'target_name': 'interrupt_notifier',
'type': 'static_library',
'sources': [
'interrupt_bridge.cc',
'interrupt_bridge_c.c',
'interrupt_bridge_demo.cc',
+ # 'interrupt_notifier-tmpl.h',
],
'dependencies': [
'<(AOS)/common/common.gyp:time',
diff --git a/frc971/crio/crio.gyp b/frc971/crio/crio.gyp
index b91b32d..330a6fa 100644
--- a/frc971/crio/crio.gyp
+++ b/frc971/crio/crio.gyp
@@ -29,6 +29,8 @@
'WPILib_changes',
'<(EXTERNALS):WPILib',
'<(AOS)/common/messages/messages.gyp:aos_queues',
+ '<(AOS)/crio/controls/controls.gyp:ControlsManager',
+ '<(AOS)/crio/motor_server/motor_server.gyp:CRIOControlLoopRunner',
],
},
{
@@ -42,7 +44,6 @@
'target_name': 'FRC_UserProgram_WithTests',
'type': 'shared_library',
'dependencies': [
- 'user_program',
# For testing.
'<(AOS)/build/aos_all.gyp:Crio',
],
diff --git a/frc971/input/input.gyp b/frc971/input/input.gyp
index c62365b..2abeac8 100644
--- a/frc971/input/input.gyp
+++ b/frc971/input/input.gyp
@@ -59,6 +59,7 @@
'<(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/queues/queues.gyp b/frc971/queues/queues.gyp
index 70ed873..6219db2 100644
--- a/frc971/queues/queues.gyp
+++ b/frc971/queues/queues.gyp
@@ -3,6 +3,7 @@
'queue_files': [
'GyroAngle.q',
'Piston.q',
+ 'Temp.q',
]
},
'targets': [