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/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index 4e2c9aa..7d1eb3f 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -7,18 +7,16 @@
#include "aos/actions/actions.h"
#include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
#include "aos/time/time.h"
#include "aos/util/phased_loop.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014/actors/shoot_actor.h"
#include "y2014/constants.h"
-#include "y2014/control_loops/claw/claw.q.h"
+#include "y2014/control_loops/claw/claw_goal_generated.h"
+#include "y2014/control_loops/claw/claw_status_generated.h"
#include "y2014/control_loops/drivetrain/drivetrain_base.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/queues/auto_mode.q.h"
-#include "y2014/queues/hot_goal.q.h"
+#include "y2014/control_loops/shooter/shooter_goal_generated.h"
+#include "y2014/queues/auto_mode_generated.h"
+#include "y2014/queues/hot_goal_generated.h"
namespace y2014 {
namespace actors {
@@ -26,49 +24,50 @@
namespace chrono = ::std::chrono;
namespace this_thread = ::std::this_thread;
using ::aos::monotonic_clock;
-using ::frc971::ProfileParameters;
+using ::frc971::ProfileParametersT;
AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
: frc971::autonomous::BaseAutonomousActor(
event_loop, control_loops::GetDrivetrainConfig()),
- auto_mode_fetcher_(event_loop->MakeFetcher<::y2014::sensors::AutoMode>(
- ".y2014.sensors.auto_mode")),
- hot_goal_fetcher_(
- event_loop->MakeFetcher<::y2014::HotGoal>(".y2014.hot_goal")),
+ auto_mode_fetcher_(
+ event_loop->MakeFetcher<::y2014::sensors::AutoMode>("/aos")),
+ hot_goal_fetcher_(event_loop->MakeFetcher<::y2014::HotGoal>("/")),
claw_goal_sender_(
- event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
- ".y2014.control_loops.claw_queue.goal")),
+ event_loop->MakeSender<::y2014::control_loops::claw::Goal>("/claw")),
claw_goal_fetcher_(
- event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Goal>(
- ".y2014.control_loops.claw_queue.goal")),
+ event_loop->MakeFetcher<::y2014::control_loops::claw::Goal>("/claw")),
claw_status_fetcher_(
- event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
- ".y2014.control_loops.claw_queue.status")),
+ event_loop->MakeFetcher<::y2014::control_loops::claw::Status>(
+ "/claw")),
shooter_goal_sender_(
- event_loop->MakeSender<::y2014::control_loops::ShooterQueue::Goal>(
- ".y2014.control_loops.shooter_queue.goal")),
+ event_loop->MakeSender<::y2014::control_loops::shooter::Goal>(
+ "/shooter")),
shoot_action_factory_(actors::ShootActor::MakeFactory(event_loop)) {}
void AutonomousActor::PositionClawVertically(double intake_power,
double centering_power) {
- auto goal_message = claw_goal_sender_.MakeMessage();
- goal_message->bottom_angle = 0.0;
- goal_message->separation_angle = 0.0;
- goal_message->intake = intake_power;
- goal_message->centering = centering_power;
+ auto builder = claw_goal_sender_.MakeBuilder();
+ control_loops::claw::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::claw::Goal>();
+ goal_builder.add_bottom_angle(0.0);
+ goal_builder.add_separation_angle(0.0);
+ goal_builder.add_intake(intake_power);
+ goal_builder.add_centering(centering_power);
- if (!goal_message.Send()) {
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::PositionClawBackIntake() {
- auto goal_message = claw_goal_sender_.MakeMessage();
- goal_message->bottom_angle = -2.273474;
- goal_message->separation_angle = 0.0;
- goal_message->intake = 12.0;
- goal_message->centering = 12.0;
- if (!goal_message.Send()) {
+ auto builder = claw_goal_sender_.MakeBuilder();
+ control_loops::claw::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::claw::Goal>();
+ goal_builder.add_bottom_angle(-2.273474);
+ goal_builder.add_separation_angle(0.0);
+ goal_builder.add_intake(12.0);
+ goal_builder.add_centering(12.0);
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -76,48 +75,63 @@
void AutonomousActor::PositionClawUpClosed() {
// Move the claw to where we're going to shoot from but keep it closed until
// it gets there.
- auto goal_message = claw_goal_sender_.MakeMessage();
- goal_message->bottom_angle = 0.86;
- goal_message->separation_angle = 0.0;
- goal_message->intake = 4.0;
- goal_message->centering = 1.0;
- if (!goal_message.Send()) {
+ auto builder = claw_goal_sender_.MakeBuilder();
+ control_loops::claw::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::claw::Goal>();
+ goal_builder.add_bottom_angle(0.86);
+ goal_builder.add_separation_angle(0.0);
+ goal_builder.add_intake(4.0);
+ goal_builder.add_centering(1.0);
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::PositionClawForShot() {
- auto goal_message = claw_goal_sender_.MakeMessage();
- goal_message->bottom_angle = 0.86;
- goal_message->separation_angle = 0.10;
- goal_message->intake = 4.0;
- goal_message->centering = 1.0;
- if (!goal_message.Send()) {
+ auto builder = claw_goal_sender_.MakeBuilder();
+ control_loops::claw::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::claw::Goal>();
+ goal_builder.add_bottom_angle(0.86);
+ goal_builder.add_separation_angle(0.10);
+ goal_builder.add_intake(4.0);
+ goal_builder.add_centering(1.0);
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::SetShotPower(double power) {
AOS_LOG(INFO, "Setting shot power to %f\n", power);
- auto goal_message = shooter_goal_sender_.MakeMessage();
- goal_message->shot_power = power;
- goal_message->shot_requested = false;
- goal_message->unload_requested = false;
- goal_message->load_requested = false;
- if (!goal_message.Send()) {
+ auto builder = shooter_goal_sender_.MakeBuilder();
+ control_loops::shooter::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::shooter::Goal>();
+ goal_builder.add_shot_power(power);
+ goal_builder.add_shot_requested(false);
+ goal_builder.add_unload_requested(false);
+ goal_builder.add_load_requested(false);
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending shooter goal failed\n");
}
}
-const ProfileParameters kFastDrive = {3.0, 2.5};
-const ProfileParameters kSlowDrive = {2.5, 2.5};
-const ProfileParameters kFastWithBallDrive = {3.0, 2.0};
-const ProfileParameters kSlowWithBallDrive = {2.5, 2.0};
-const ProfileParameters kFastTurn = {3.0, 10.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+ float max_acceleration) {
+ ProfileParametersT result;
+ result.max_velocity = max_velocity;
+ result.max_acceleration = max_acceleration;
+ return result;
+}
+
+const ProfileParametersT kFastDrive = MakeProfileParameters(3.0, 2.5);
+const ProfileParametersT kSlowDrive = MakeProfileParameters(2.5, 2.5);
+const ProfileParametersT kFastWithBallDrive = MakeProfileParameters(3.0, 2.0);
+const ProfileParametersT kSlowWithBallDrive = MakeProfileParameters(2.5, 2.0);
+const ProfileParametersT kFastTurn = MakeProfileParameters(3.0, 10.0);
void AutonomousActor::Shoot() {
// Shoot.
- auto shoot_action = shoot_action_factory_.Make(0.0);
+ aos::common::actions::DoubleParamT param;
+ auto shoot_action = shoot_action_factory_.Make(param);
shoot_action->Start();
WaitUntilDoneOrCanceled(::std::move(shoot_action));
}
@@ -138,12 +152,12 @@
claw_goal_fetcher_.get() == nullptr) {
continue;
}
- bool ans = claw_status_fetcher_->zeroed &&
- (::std::abs(claw_status_fetcher_->bottom_velocity) < 1.0) &&
- (::std::abs(claw_status_fetcher_->bottom -
- claw_goal_fetcher_->bottom_angle) < 0.10) &&
- (::std::abs(claw_status_fetcher_->separation -
- claw_goal_fetcher_->separation_angle) < 0.4);
+ bool ans = claw_status_fetcher_->zeroed() &&
+ (::std::abs(claw_status_fetcher_->bottom_velocity()) < 1.0) &&
+ (::std::abs(claw_status_fetcher_->bottom() -
+ claw_goal_fetcher_->bottom_angle()) < 0.10) &&
+ (::std::abs(claw_status_fetcher_->separation() -
+ claw_goal_fetcher_->separation_angle()) < 0.4);
if (ans) {
return true;
}
@@ -160,8 +174,7 @@
void ResetCounts() {
hot_goal_fetcher_->Fetch();
if (hot_goal_fetcher_->get()) {
- start_counts_ = *hot_goal_fetcher_->get();
- AOS_LOG_STRUCT(INFO, "counts reset to", start_counts_);
+ hot_goal_fetcher_->get()->UnPackTo(&start_counts_);
start_counts_valid_ = true;
} else {
AOS_LOG(WARNING, "no hot goal message. ignoring\n");
@@ -169,30 +182,26 @@
}
}
- void Update() {
- hot_goal_fetcher_->Fetch();
- if (hot_goal_fetcher_->get())
- AOS_LOG_STRUCT(INFO, "new counts", *hot_goal_fetcher_->get());
- }
+ void Update() { hot_goal_fetcher_->Fetch(); }
bool left_triggered() const {
if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
- return (hot_goal_fetcher_->get()->left_count - start_counts_.left_count) >
+ return (hot_goal_fetcher_->get()->left_count() - start_counts_.left_count) >
kThreshold;
}
bool right_triggered() const {
if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
- return (hot_goal_fetcher_->get()->right_count - start_counts_.right_count) >
- kThreshold;
+ return (hot_goal_fetcher_->get()->right_count() -
+ start_counts_.right_count) > kThreshold;
}
bool is_left() const {
if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
const uint64_t left_difference =
- hot_goal_fetcher_->get()->left_count - start_counts_.left_count;
+ hot_goal_fetcher_->get()->left_count() - start_counts_.left_count;
const uint64_t right_difference =
- hot_goal_fetcher_->get()->right_count - start_counts_.right_count;
+ hot_goal_fetcher_->get()->right_count() - start_counts_.right_count;
if (left_difference > kThreshold) {
if (right_difference > kThreshold) {
// We've seen a lot of both, so pick the one we've seen the most of.
@@ -210,9 +219,9 @@
bool is_right() const {
if (!start_counts_valid_ || !hot_goal_fetcher_->get()) return false;
const uint64_t left_difference =
- hot_goal_fetcher_->get()->left_count - start_counts_.left_count;
+ hot_goal_fetcher_->get()->left_count() - start_counts_.left_count;
const uint64_t right_difference =
- hot_goal_fetcher_->get()->right_count - start_counts_.right_count;
+ hot_goal_fetcher_->get()->right_count() - start_counts_.right_count;
if (right_difference > kThreshold) {
if (left_difference > kThreshold) {
// We've seen a lot of both, so pick the one we've seen the most of.
@@ -230,14 +239,14 @@
private:
static const uint64_t kThreshold = 5;
- ::y2014::HotGoal start_counts_;
+ ::y2014::HotGoalT start_counts_;
bool start_counts_valid_;
::aos::Fetcher<::y2014::HotGoal> *hot_goal_fetcher_;
};
bool AutonomousActor::RunAction(
- const ::frc971::autonomous::AutonomousActionParams & /*params*/) {
+ const ::frc971::autonomous::AutonomousActionParams * /*params*/) {
enum class AutoVersion : uint8_t {
kStraight,
kDoubleHot,
@@ -261,9 +270,9 @@
static const double kSelectorMin = 0.2, kSelectorMax = 4.4;
const double kSelectorStep = (kSelectorMax - kSelectorMin) / 3.0;
- if (auto_mode_fetcher_->voltage < kSelectorStep + kSelectorMin) {
+ if (auto_mode_fetcher_->voltage() < kSelectorStep + kSelectorMin) {
auto_version = AutoVersion::kSingleHot;
- } else if (auto_mode_fetcher_->voltage < 2 * kSelectorStep + kSelectorMin) {
+ } else if (auto_mode_fetcher_->voltage() < 2 * kSelectorStep + kSelectorMin) {
auto_version = AutoVersion::kStraight;
} else {
auto_version = AutoVersion::kDoubleHot;
@@ -272,9 +281,9 @@
AOS_LOG(INFO, "running auto %" PRIu8 "\n",
static_cast<uint8_t>(auto_version));
- const ProfileParameters &drive_params =
+ const ProfileParametersT drive_params =
(auto_version == AutoVersion::kStraight) ? kFastDrive : kSlowDrive;
- const ProfileParameters &drive_with_ball_params =
+ const ProfileParametersT drive_with_ball_params =
(auto_version == AutoVersion::kStraight) ? kFastWithBallDrive
: kSlowWithBallDrive;