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/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 870e655..b7fe837 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -1,11 +1,11 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-queue_library(
- name = "logging_queue",
+flatbuffer_cc_library(
+ name = "logging_fbs",
srcs = [
- "logging.q",
+ "logging.fbs",
],
)
@@ -107,10 +107,9 @@
deps = [
":gyro_interface",
"//aos:init",
- "//aos/events:event-loop",
+ "//aos/events:event_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:robot_state_fbs",
"//aos/time",
"//aos/util:phased_loop",
"//frc971/queues:gyro",
@@ -118,10 +117,10 @@
],
)
-queue_library(
- name = "loop_output_handler_test_queue",
+flatbuffer_cc_library(
+ name = "loop_output_handler_test_fbs",
srcs = [
- "loop_output_handler_test.q",
+ "loop_output_handler_test.fbs",
],
)
@@ -135,8 +134,8 @@
],
deps = [
"//aos:init",
- "//aos/events:event-loop",
- "//aos/robot_state",
+ "//aos/events:event_loop",
+ "//aos/robot_state:robot_state_fbs",
"//aos/scoped:scoped_fd",
"//aos/time",
"//aos/util:log_interval",
@@ -150,9 +149,8 @@
],
deps = [
":loop_output_handler",
- ":loop_output_handler_test_queue",
+ ":loop_output_handler_test_fbs",
"//aos/events:simulated_event_loop",
- "//aos/logging:queue_logging",
"//aos/testing:googletest",
"//aos/testing:test_logging",
],
@@ -169,10 +167,10 @@
restricted_to = ["//tools:roborio"],
deps = [
"//aos:init",
- "//aos/events:shm-event-loop",
- "//aos/logging:queue_logging",
+ "//aos/events:shm_event_loop",
+ "//aos/input:driver_station_data",
"//aos/network:team_number",
- "//aos/robot_state",
+ "//aos/robot_state:joystick_state_fbs",
"//third_party:wpilib",
],
)
@@ -187,16 +185,16 @@
],
restricted_to = ["//tools:roborio"],
deps = [
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/events:event_loop",
+ "//aos/robot_state:robot_state_fbs",
"//third_party:wpilib",
],
)
-queue_library(
+flatbuffer_cc_library(
name = "pdp_values",
srcs = [
- "pdp_values.q",
+ "pdp_values.fbs",
],
)
@@ -212,8 +210,7 @@
deps = [
":pdp_values",
"//aos:init",
- "//aos/events:event-loop",
- "//aos/logging:queue_logging",
+ "//aos/events:event_loop",
"//aos/util:phased_loop",
"//third_party:wpilib",
],
@@ -230,11 +227,12 @@
],
)
-queue_library(
- name = "imu_queue",
+flatbuffer_cc_library(
+ name = "imu_fbs",
srcs = [
- "imu.q",
+ "imu.fbs",
],
+ gen_reflections = 1,
)
cc_library(
@@ -247,13 +245,12 @@
],
restricted_to = ["//tools:roborio"],
deps = [
- ":imu_queue",
+ ":imu_fbs",
":spi_rx_clearer",
"//aos:init",
- "//aos/events:event-loop",
+ "//aos/events:event_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:robot_state_fbs",
"//aos/time",
"//frc971/zeroing:averager",
"//third_party:wpilib",
@@ -302,11 +299,11 @@
":encoder_and_potentiometer",
":wpilib_interface",
"//aos:init",
- "//aos/events:event-loop",
+ "//aos/events:event_loop",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:phased_loop",
- "//frc971/control_loops:queues",
+ "//frc971/control_loops:control_loops_fbs",
"//third_party:wpilib",
],
)
@@ -324,8 +321,7 @@
":loop_output_handler",
"//aos:math",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
"//third_party:wpilib",
],
)