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/control_loops/claw/BUILD b/y2014/control_loops/claw/BUILD
index 6c162e6..670dd76 100644
--- a/y2014/control_loops/claw/BUILD
+++ b/y2014/control_loops/claw/BUILD
@@ -1,16 +1,40 @@
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 = "claw_queue",
+flatbuffer_cc_library(
+ name = "claw_goal_fbs",
srcs = [
- "claw.q",
+ "claw_goal.fbs",
],
- deps = [
- "//aos/controls:control_loop_queues",
- "//frc971/control_loops:queues",
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+ name = "claw_position_fbs",
+ srcs = [
+ "claw_position.fbs",
],
+ gen_reflections = 1,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "claw_output_fbs",
+ srcs = [
+ "claw_output.fbs",
+ ],
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+ name = "claw_status_fbs",
+ srcs = [
+ "claw_status.fbs",
+ ],
+ gen_reflections = 1,
)
genrule(
@@ -40,12 +64,13 @@
"-lm",
],
deps = [
- ":claw_queue",
+ ":claw_goal_fbs",
+ ":claw_output_fbs",
+ ":claw_position_fbs",
+ ":claw_status_fbs",
"//aos:math",
"//aos/controls:control_loop",
"//aos/controls:polytope",
- "//aos/logging:matrix_logging",
- "//aos/logging:queue_logging",
"//frc971/control_loops:coerce_goal",
"//frc971/control_loops:hall_effect_tracker",
"//frc971/control_loops:state_feedback_loop",
@@ -58,9 +83,13 @@
srcs = [
"claw_lib_test.cc",
],
+ data = ["//y2014:config.json"],
deps = [
+ ":claw_goal_fbs",
":claw_lib",
- ":claw_queue",
+ ":claw_output_fbs",
+ ":claw_position_fbs",
+ ":claw_status_fbs",
"//aos/controls:control_loop_test",
"//aos/testing:googletest",
"//frc971/control_loops:state_feedback_loop",
@@ -76,6 +105,6 @@
deps = [
":claw_lib",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
],
)