commit cb7da4be1f74da8a3196f414a2e3db2d0c5590a3
author Alex Perry <alex.perry96@gmail.com> Wed Aug 28 19:35:56 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Dec 01 12:42:19 2019 -0800
tree a6b584c4157f19bacc37b6497f7f7f30dc492b93
parent 92b2b2539a5655620cd2aa4c67f85968819b313f

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

frc971/control_loops/drivetrain/ssdrivetrain.h

diff --git a/frc971/control_loops/drivetrain/ssdrivetrain.h b/frc971/control_loops/drivetrain/ssdrivetrain.h
index 762cbc2..4d91807 100644
--- a/frc971/control_loops/drivetrain/ssdrivetrain.h
+++ b/frc971/control_loops/drivetrain/ssdrivetrain.h
@@ -4,14 +4,16 @@
 #include "aos/commonmath.h"
 #include "aos/controls/control_loop.h"
 #include "aos/controls/polytope.h"
-#include "aos/logging/matrix_logging.h"
 #include "aos/util/trapezoid_profile.h"
 
-#include "frc971/control_loops/state_feedback_loop.h"
 #include "frc971/control_loops/coerce_goal.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_config.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "frc971/control_loops/drivetrain/localizer.h"
+#include "frc971/control_loops/state_feedback_loop.h"
 
 namespace frc971 {
 namespace control_loops {
@@ -23,7 +25,7 @@
                      StateFeedbackLoop<7, 2, 4> *kf,
                      LocalizerInterface *localizer);
 
-  void SetGoal(const ::frc971::control_loops::DrivetrainQueue::Goal &goal);
+  void SetGoal(const ::frc971::control_loops::drivetrain::Goal *goal);
 
   // Computes the power to send out as part of the controller.  Should be called
   // when disabled (with enable_control_loop false) so the profiles get computed
@@ -34,10 +36,9 @@
 
   bool output_was_capped() const { return output_was_capped_; }
 
-  void SetOutput(
-      ::frc971::control_loops::DrivetrainQueue::Output *output) const;
+  void SetOutput(::frc971::control_loops::drivetrain::OutputT *output) const;
   void PopulateStatus(
-      ::frc971::control_loops::DrivetrainQueue::Status *status) const;
+      ::frc971::control_loops::drivetrain::StatusBuilder *builder) const;
 
  private:
   void PolyCapU(Eigen::Matrix<double, 2, 1> *U);