Load spline jsons for autonomous
Change-Id: I70f495255210eb5c9cfe041332ee8723cfcf1e2f
diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index 96f055f..5ea1748 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -2,6 +2,7 @@
#define y2020_ACTORS_AUTO_SPLINES_H_
#include "aos/events/event_loop.h"
+#include "aos/flatbuffer_merge.h"
#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/control_loops_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
@@ -17,11 +18,24 @@
class AutonomousSplines {
public:
+ AutonomousSplines()
+ : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+ "splines/test_spline.json")) {}
+
static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
aos::Alliance alliance);
static flatbuffers::Offset<frc971::MultiSpline> StraightLine(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
+
+ flatbuffers::Offset<frc971::MultiSpline> TestSpline(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ return aos::CopyFlatBuffer<frc971::MultiSpline>(test_spline_,
+ builder->fbb());
+ }
+
+ private:
+ aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
};
} // namespace actors