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/events/ping.cc b/aos/events/ping.cc
new file mode 100644
index 0000000..b904cb2
--- /dev/null
+++ b/aos/events/ping.cc
@@ -0,0 +1,88 @@
+#include <chrono>
+
+#include "aos/configuration.h"
+#include "aos/events/pingpong_generated.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+DEFINE_int32(sleep_ms, 10, "Time to sleep between pings");
+
+namespace aos {
+
+namespace chrono = std::chrono;
+
+class Ping {
+ public:
+ Ping(EventLoop *event_loop)
+ : event_loop_(event_loop),
+ sender_(event_loop_->MakeSender<examples::Ping>("/test")) {
+ timer_handle_ = event_loop_->AddTimer([this]() { SendPing(); });
+
+ event_loop_->MakeWatcher(
+ "/test", [this](const examples::Pong &pong) { HandlePong(pong); });
+
+ event_loop_->OnRun([this]() {
+ timer_handle_->Setup(event_loop_->monotonic_now(),
+ chrono::milliseconds(FLAGS_sleep_ms));
+ });
+
+ event_loop_->SetRuntimeRealtimePriority(5);
+ }
+
+ void SendPing() {
+ ++count_;
+ aos::Sender<examples::Ping>::Builder msg = sender_.MakeBuilder();
+ examples::Ping::Builder builder = msg.MakeBuilder<examples::Ping>();
+ builder.add_value(count_);
+ builder.add_send_time(
+ event_loop_->monotonic_now().time_since_epoch().count());
+ CHECK(msg.Send(builder.Finish()));
+ VLOG(2) << "Sending ping";
+ }
+
+ void HandlePong(const examples::Pong &pong) {
+ const aos::monotonic_clock::time_point monotonic_send_time(
+ chrono::nanoseconds(pong.initial_send_time()));
+ const aos::monotonic_clock::time_point monotonic_now =
+ event_loop_->monotonic_now();
+
+ const chrono::nanoseconds round_trip_time =
+ monotonic_now - monotonic_send_time;
+
+ if (pong.value() == count_) {
+ VLOG(1) << "Elapsed time " << round_trip_time.count() << " ns "
+ << FlatbufferToJson(&pong);
+ } else {
+ VLOG(1) << "Missmatched pong message";
+ }
+ }
+
+ private:
+ EventLoop *event_loop_;
+ aos::Sender<examples::Ping> sender_;
+ TimerHandler *timer_handle_;
+ int count_ = 0;
+};
+
+} // namespace aos
+
+int main(int argc, char **argv) {
+ FLAGS_logtostderr = true;
+ google::InitGoogleLogging(argv[0]);
+ ::gflags::ParseCommandLineFlags(&argc, &argv, true);
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("aos/events/config.fb.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+
+ aos::Ping ping(&event_loop);
+
+ event_loop.Run();
+
+ ::aos::Cleanup();
+ return 0;
+}