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/controls/BUILD b/aos/controls/BUILD
index a612ecb..c45a345 100644
--- a/aos/controls/BUILD
+++ b/aos/controls/BUILD
@@ -1,23 +1,9 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
load("//tools:environments.bzl", "mcu_cpus")
cc_library(
- name = "replay_control_loop",
- hdrs = [
- "replay_control_loop.h",
- ],
- deps = [
- ":control_loop",
- "//aos:queues",
- "//aos/logging:queue_logging",
- "//aos/logging:replay",
- "//aos/time",
- ],
-)
-
-cc_library(
name = "control_loop_test",
testonly = True,
srcs = [
@@ -27,11 +13,13 @@
"control_loop_test.h",
],
deps = [
+ "//aos:flatbuffers",
+ "//aos:json_to_flatbuffer",
"//aos/events:simulated_event_loop",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:joystick_state_fbs",
+ "//aos/robot_state:robot_state_fbs",
"//aos/testing:googletest",
- "//aos/testing:test_shm",
+ "//aos/testing:test_logging",
"//aos/time",
],
)
@@ -43,7 +31,7 @@
],
restricted_to = mcu_cpus,
deps = [
- "//third_party/eigen",
+ "@org_tuxfamily_eigen//:eigen",
],
)
@@ -54,9 +42,9 @@
],
deps = [
"//aos/logging",
- "//aos/logging:matrix_logging",
"//third_party/cddlib",
- "//third_party/eigen",
+ "@com_github_google_glog//:glog",
+ "@org_tuxfamily_eigen//:eigen",
],
)
@@ -69,14 +57,14 @@
":polytope",
"//aos/testing:googletest",
"//aos/testing:test_logging",
- "//third_party/eigen",
+ "@org_tuxfamily_eigen//:eigen",
],
)
-queue_library(
- name = "control_loop_queues",
+flatbuffer_cc_library(
+ name = "control_loop_fbs",
srcs = [
- "control_loops.q",
+ "control_loops.fbs",
],
)
@@ -90,13 +78,11 @@
"control_loop.h",
],
deps = [
- ":control_loop_queues",
- "//aos:queues",
- "//aos/events:event-loop",
- "//aos/events:shm-event-loop",
+ "//aos/events:event_loop",
+ "//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:joystick_state_fbs",
+ "//aos/robot_state:robot_state_fbs",
"//aos/time",
"//aos/util:log_interval",
],