Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/aos/configuration.cc b/aos/configuration.cc
index cd92f20..bcb67ba 100644
--- a/aos/configuration.cc
+++ b/aos/configuration.cc
@@ -22,11 +22,6 @@
// Define the compare and equal operators for Channel and Application so we can
// insert them in the btree below.
-//
-// These are not in headers because they are only comparing part of the
-// flatbuffer, and it seems weird to expose that as *the* compare operator. And
-// I can't put them in an anonymous namespace because they wouldn't be found
-// that way by the btree.
bool operator<(const FlatbufferDetachedBuffer<Channel> &lhs,
const FlatbufferDetachedBuffer<Channel> &rhs) {
int name_compare = lhs.message().name()->string_view().compare(
@@ -154,8 +149,12 @@
FlatbufferDetachedBuffer<Configuration> ReadConfig(
const absl::string_view path, absl::btree_set<std::string> *visited_paths) {
- FlatbufferDetachedBuffer<Configuration> config(JsonToFlatbuffer(
- util::ReadFileToStringOrDie(path), ConfigurationTypeTable()));
+ flatbuffers::DetachedBuffer buffer = JsonToFlatbuffer(
+ util::ReadFileToStringOrDie(path), ConfigurationTypeTable());
+
+ CHECK_GT(buffer.size(), 0u) << ": Failed to parse JSON file";
+
+ FlatbufferDetachedBuffer<Configuration> config(std::move(buffer));
// Depth first. Take the following example:
//
// config1.json:
@@ -222,7 +221,54 @@
return config;
}
-// Remove duplicate entries, and handle overrides.
+// Compares (c < p) a channel, and a name, type tuple.
+bool CompareChannels(const Channel *c,
+ ::std::pair<absl::string_view, absl::string_view> p) {
+ int name_compare = c->name()->string_view().compare(p.first);
+ if (name_compare == 0) {
+ return c->type()->string_view() < p.second;
+ } else if (name_compare < 0) {
+ return true;
+ } else {
+ return false;
+ }
+};
+
+// Compares for equality (c == p) a channel, and a name, type tuple.
+bool EqualsChannels(const Channel *c,
+ ::std::pair<absl::string_view, absl::string_view> p) {
+ return c->name()->string_view() == p.first &&
+ c->type()->string_view() == p.second;
+}
+
+// Compares (c < p) an application, and a name;
+bool CompareApplications(const Application *a, absl::string_view name) {
+ return a->name()->string_view() < name;
+};
+
+// Compares for equality (c == p) an application, and a name;
+bool EqualsApplications(const Application *a, absl::string_view name) {
+ return a->name()->string_view() == name;
+}
+
+// Maps name for the provided maps. Modifies name.
+void HandleMaps(const flatbuffers::Vector<flatbuffers::Offset<aos::Map>> *maps,
+ absl::string_view *name) {
+ // For the same reason we merge configs in reverse order, we want to process
+ // maps in reverse order. That lets the outer config overwrite channels from
+ // the inner configs.
+ for (auto i = maps->rbegin(); i != maps->rend(); ++i) {
+ if (i->has_match() && i->match()->has_name() && i->has_rename() &&
+ i->rename()->has_name() && i->match()->name()->string_view() == *name) {
+ VLOG(1) << "Renamed \"" << *name << "\" to \""
+ << i->rename()->name()->string_view() << "\"";
+ *name = i->rename()->name()->string_view();
+ }
+ }
+}
+
+} // namespace
+
FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
const Flatbuffer<Configuration> &config) {
// Store all the channels in a sorted set. This lets us track channels we
@@ -316,54 +362,6 @@
return fbb.Release();
}
-// Compares (c < p) a channel, and a name, type tuple.
-bool CompareChannels(const Channel *c,
- ::std::pair<absl::string_view, absl::string_view> p) {
- int name_compare = c->name()->string_view().compare(p.first);
- if (name_compare == 0) {
- return c->type()->string_view() < p.second;
- } else if (name_compare < 0) {
- return true;
- } else {
- return false;
- }
-};
-
-// Compares for equality (c == p) a channel, and a name, type tuple.
-bool EqualsChannels(const Channel *c,
- ::std::pair<absl::string_view, absl::string_view> p) {
- return c->name()->string_view() == p.first &&
- c->type()->string_view() == p.second;
-}
-
-// Compares (c < p) an application, and a name;
-bool CompareApplications(const Application *a, absl::string_view name) {
- return a->name()->string_view() < name;
-};
-
-// Compares for equality (c == p) an application, and a name;
-bool EqualsApplications(const Application *a, absl::string_view name) {
- return a->name()->string_view() == name;
-}
-
-// Maps name for the provided maps. Modifies name.
-void HandleMaps(const flatbuffers::Vector<flatbuffers::Offset<aos::Map>> *maps,
- absl::string_view *name) {
- // For the same reason we merge configs in reverse order, we want to process
- // maps in reverse order. That lets the outer config overwrite channels from
- // the inner configs.
- for (auto i = maps->rbegin(); i != maps->rend(); ++i) {
- if (i->has_match() && i->match()->has_name() && i->has_rename() &&
- i->rename()->has_name() && i->match()->name()->string_view() == *name) {
- VLOG(1) << "Renamed \"" << *name << "\" to \""
- << i->rename()->name()->string_view() << "\"";
- *name = i->rename()->name()->string_view();
- }
- }
-}
-
-} // namespace
-
const char *GetRootDirectory() {
static char* root_dir;// return value
static absl::once_flag once_;
@@ -417,6 +415,9 @@
HandleMaps(config->maps(), &name);
}
+ VLOG(1) << "Acutally looking up { \"name\": \"" << name << "\", \"type\": \""
+ << type << "\" }";
+
// Then look for the channel.
auto channel_iterator =
std::lower_bound(config->channels()->cbegin(),
@@ -435,5 +436,96 @@
}
}
+FlatbufferDetachedBuffer<Configuration> MergeConfiguration(
+ const Flatbuffer<Configuration> &config,
+ const std::vector<aos::FlatbufferString<reflection::Schema>> &schemas) {
+ flatbuffers::FlatBufferBuilder fbb;
+ fbb.ForceDefaults(1);
+
+ flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Channel>>>
+ channels_offset;
+ if (config.message().has_channels()) {
+ std::vector<flatbuffers::Offset<Channel>> channel_offsets;
+ for (const Channel *c : *config.message().channels()) {
+ flatbuffers::FlatBufferBuilder channel_fbb;
+ channel_fbb.ForceDefaults(1);
+
+ // Search for a schema with a matching type.
+ const aos::FlatbufferString<reflection::Schema> *found_schema = nullptr;
+ for (const aos::FlatbufferString<reflection::Schema> &schema: schemas) {
+ if (schema.message().root_table() != nullptr) {
+ if (schema.message().root_table()->name()->string_view() ==
+ c->type()->string_view()) {
+ found_schema = &schema;
+ }
+ }
+ }
+
+ CHECK(found_schema != nullptr)
+ << ": Failed to find schema for " << FlatbufferToJson(c);
+
+ // The following is wasteful, but works.
+ //
+ // Copy it into a Channel object by creating an object with only the
+ // schema populated and merge that into the current channel.
+ flatbuffers::Offset<reflection::Schema> schema_offset =
+ CopyFlatBuffer<reflection::Schema>(&found_schema->message(),
+ &channel_fbb);
+ Channel::Builder channel_builder(channel_fbb);
+ channel_builder.add_schema(schema_offset);
+ channel_fbb.Finish(channel_builder.Finish());
+ FlatbufferDetachedBuffer<Channel> channel_schema_flatbuffer(
+ channel_fbb.Release());
+
+ FlatbufferDetachedBuffer<Channel> merged_channel(
+ MergeFlatBuffers(channel_schema_flatbuffer, CopyFlatBuffer(c)));
+
+ channel_offsets.emplace_back(
+ CopyFlatBuffer<Channel>(&merged_channel.message(), &fbb));
+ }
+ channels_offset = fbb.CreateVector(channel_offsets);
+ }
+
+ // Copy the applications and maps unmodified.
+ flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Application>>>
+ applications_offset;
+ {
+ ::std::vector<flatbuffers::Offset<Application>> applications_offsets;
+ if (config.message().has_applications()) {
+ for (const Application *a : *config.message().applications()) {
+ applications_offsets.emplace_back(CopyFlatBuffer<Application>(a, &fbb));
+ }
+ }
+ applications_offset = fbb.CreateVector(applications_offsets);
+ }
+
+ flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<Map>>>
+ maps_offset;
+ {
+ ::std::vector<flatbuffers::Offset<Map>> map_offsets;
+ if (config.message().has_maps()) {
+ for (const Map *m : *config.message().maps()) {
+ map_offsets.emplace_back(CopyFlatBuffer<Map>(m, &fbb));
+ }
+ maps_offset = fbb.CreateVector(map_offsets);
+ }
+ }
+
+ // Now insert eerything else in unmodified.
+ ConfigurationBuilder configuration_builder(fbb);
+ if (config.message().has_channels()) {
+ configuration_builder.add_channels(channels_offset);
+ }
+ if (config.message().has_maps()) {
+ configuration_builder.add_maps(maps_offset);
+ }
+ if (config.message().has_applications()) {
+ configuration_builder.add_applications(applications_offset);
+ }
+
+ fbb.Finish(configuration_builder.Finish());
+ return fbb.Release();
+}
+
} // namespace configuration
} // namespace aos