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_bot3/BUILD b/y2014_bot3/BUILD
index 25a6445..6d1f3fd 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -13,12 +13,9 @@
"//aos/logging",
"//aos/time",
"//aos/util:log_interval",
- "//frc971/autonomous:auto_queue",
"//frc971/autonomous:base_autonomous_actor",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
- "//frc971/queues:gyro",
"//y2014_bot3/control_loops/drivetrain:drivetrain_base",
- "//y2014_bot3/control_loops/rollers:rollers_queue",
+ "//y2014_bot3/control_loops/rollers:rollers_goal_fbs",
],
)
@@ -43,21 +40,21 @@
"//aos:make_unique",
"//aos/controls:control_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:robot_state_fbs",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//frc971/control_loops:queues",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
"//frc971/wpilib:buffered_pcm",
"//frc971/wpilib:dma",
"//frc971/wpilib:drivetrain_writer",
"//frc971/wpilib:gyro_sender",
"//frc971/wpilib:joystick_sender",
- "//frc971/wpilib:logging_queue",
+ "//frc971/wpilib:logging_fbs",
"//frc971/wpilib:loop_output_handler",
"//frc971/wpilib:pdp_fetcher",
"//frc971/wpilib:sensor_reader",
diff --git a/y2014_bot3/actors/BUILD b/y2014_bot3/actors/BUILD
index ed6dfa1..ad60458 100644
--- a/y2014_bot3/actors/BUILD
+++ b/y2014_bot3/actors/BUILD
@@ -8,12 +8,11 @@
],
deps = [
"//aos/actions:action_lib",
- "//aos/events:event-loop",
+ "//aos/events:event_loop",
"//aos/logging",
"//aos/util:phased_loop",
"//frc971/autonomous:base_autonomous_actor",
"//frc971/control_loops/drivetrain:drivetrain_config",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2014_bot3/control_loops/drivetrain:drivetrain_base",
],
)
@@ -27,7 +26,6 @@
deps = [
":autonomous_action_lib",
"//aos:init",
- "//aos/events:shm-event-loop",
- "//frc971/autonomous:auto_queue",
+ "//aos/events:shm_event_loop",
],
)
diff --git a/y2014_bot3/actors/autonomous_actor.cc b/y2014_bot3/actors/autonomous_actor.cc
index ee67813..68064a5 100644
--- a/y2014_bot3/actors/autonomous_actor.cc
+++ b/y2014_bot3/actors/autonomous_actor.cc
@@ -4,23 +4,30 @@
#include <chrono>
#include <cmath>
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
#include "aos/logging/logging.h"
#include "aos/util/phased_loop.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
namespace y2014_bot3 {
namespace actors {
-using ::frc971::ProfileParameters;
+using ::frc971::ProfileParametersT;
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
namespace {
-const ProfileParameters kDrive = {5.0, 2.5};
-const ProfileParameters kTurn = {8.0, 3.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+ float max_acceleration) {
+ ProfileParametersT result;
+ result.max_velocity = max_velocity;
+ result.max_acceleration = max_acceleration;
+ return result;
+}
+
+const ProfileParametersT kDrive = MakeProfileParameters(5.0, 2.5);
+const ProfileParametersT kTurn = MakeProfileParameters(8.0, 3.0);
} // namespace
@@ -29,10 +36,10 @@
event_loop, control_loops::drivetrain::GetDrivetrainConfig()) {}
bool AutonomousActor::RunAction(
- const ::frc971::autonomous::AutonomousActionParams ¶ms) {
+ const ::frc971::autonomous::AutonomousActionParams *params) {
const monotonic_clock::time_point start_time = monotonic_now();
AOS_LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n",
- params.mode);
+ params->mode());
Reset();
StartDrive(1.0, 0.0, kDrive, kTurn);
diff --git a/y2014_bot3/actors/autonomous_actor.h b/y2014_bot3/actors/autonomous_actor.h
index d0e71da..e4dfe53 100644
--- a/y2014_bot3/actors/autonomous_actor.h
+++ b/y2014_bot3/actors/autonomous_actor.h
@@ -6,7 +6,7 @@
#include "aos/actions/actions.h"
#include "aos/actions/actor.h"
-#include "aos/events/event-loop.h"
+#include "aos/events/event_loop.h"
#include "frc971/autonomous/base_autonomous_actor.h"
namespace y2014_bot3 {
@@ -17,7 +17,7 @@
explicit AutonomousActor(::aos::EventLoop *event_loop);
bool RunAction(
- const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
+ const ::frc971::autonomous::AutonomousActionParams *params) override;
private:
void Reset() {
diff --git a/y2014_bot3/actors/autonomous_actor_main.cc b/y2014_bot3/actors/autonomous_actor_main.cc
index 235b84a..9dfc422 100644
--- a/y2014_bot3/actors/autonomous_actor_main.cc
+++ b/y2014_bot3/actors/autonomous_actor_main.cc
@@ -1,14 +1,16 @@
#include <stdio.h>
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-#include "frc971/autonomous/auto.q.h"
#include "y2014_bot3/actors/autonomous_actor.h"
int main(int /*argc*/, char * /*argv*/ []) {
::aos::Init(-1);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::y2014_bot3::actors::AutonomousActor autonomous(&event_loop);
event_loop.Run();
diff --git a/y2014_bot3/control_loops/drivetrain/BUILD b/y2014_bot3/control_loops/drivetrain/BUILD
index 18e0e90..7060ac1 100644
--- a/y2014_bot3/control_loops/drivetrain/BUILD
+++ b/y2014_bot3/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
-
genrule(
name = "genrule_drivetrain",
outs = [
@@ -77,7 +75,7 @@
deps = [
":drivetrain_base",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
],
)
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 48f09c5..05d09b3 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
#include "aos/init.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
@@ -9,7 +9,10 @@
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop,
::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
diff --git a/y2014_bot3/control_loops/rollers/BUILD b/y2014_bot3/control_loops/rollers/BUILD
index 9535489..e0d7dc6 100644
--- a/y2014_bot3/control_loops/rollers/BUILD
+++ b/y2014_bot3/control_loops/rollers/BUILD
@@ -1,16 +1,37 @@
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 = "rollers_queue",
+flatbuffer_cc_library(
+ name = "rollers_goal_fbs",
srcs = [
- "rollers.q",
+ "rollers_goal.fbs",
],
- deps = [
- "//aos/controls:control_loop_queues",
- "//frc971/control_loops:queues",
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+ name = "rollers_position_fbs",
+ srcs = [
+ "rollers_position.fbs",
],
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+ name = "rollers_output_fbs",
+ srcs = [
+ "rollers_output.fbs",
+ ],
+ gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+ name = "rollers_status_fbs",
+ srcs = [
+ "rollers_status.fbs",
+ ],
+ gen_reflections = 1,
)
cc_library(
@@ -22,7 +43,10 @@
"rollers.h",
],
deps = [
- ":rollers_queue",
+ ":rollers_goal_fbs",
+ ":rollers_output_fbs",
+ ":rollers_position_fbs",
+ ":rollers_status_fbs",
"//aos/controls:control_loop",
"//aos/logging",
],
@@ -36,6 +60,6 @@
deps = [
":rollers_lib",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
],
)
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
index d2b4da9..d62831a 100644
--- a/y2014_bot3/control_loops/rollers/rollers.cc
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -1,46 +1,51 @@
#include "y2014_bot3/control_loops/rollers/rollers.h"
#include "aos/logging/logging.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
namespace y2014_bot3 {
namespace control_loops {
+namespace rollers {
Rollers::Rollers(::aos::EventLoop *event_loop, const ::std::string &name)
- : aos::controls::ControlLoop<control_loops::RollersQueue>(event_loop,
- name) {}
+ : aos::controls::ControlLoop<Goal, Position, Status, Output>(event_loop,
+ name) {}
-void Rollers::RunIteration(
- const control_loops::RollersQueue::Goal *goal,
- const control_loops::RollersQueue::Position * /*position*/,
- control_loops::RollersQueue::Output *output,
- control_loops::RollersQueue::Status * /*status*/) {
+void Rollers::RunIteration(const Goal *goal, const Position * /*position*/,
+ aos::Sender<Output>::Builder *output,
+ aos::Sender<Status>::Builder *status) {
constexpr double k2014Bot3IntakeForwardVoltage = 12.0;
constexpr double k2014Bot3IntakeBackwardVoltage = -12.0;
constexpr double k2014Bot3LowGoalForwardVoltage = 6.0;
constexpr double k2014Bot3LowGoalBackwardVoltage = -6.0;
+ status->Send(status->MakeBuilder<Status>().Finish());
+
if (!output || !goal) {
return;
}
- const int intake = goal->intake;
- const int low_spit = goal->low_spit;
- const bool human_player = goal->human_player;
+ const int intake = goal->intake();
+ const int low_spit = goal->low_spit();
+ const bool human_player = goal->human_player();
- output->Zero();
+ OutputT output_struct;
switch (low_spit) {
case 1:
// Spit towards front
- output->low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
- output->front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
- output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+ output_struct.low_goal_voltage = k2014Bot3LowGoalBackwardVoltage;
+ output_struct.front_intake_voltage = k2014Bot3IntakeBackwardVoltage;
+ output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
break;
case -1:
// Spit towards back
- output->low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
- output->back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
- output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+ output_struct.low_goal_voltage = k2014Bot3LowGoalForwardVoltage;
+ output_struct.back_intake_voltage = -k2014Bot3IntakeBackwardVoltage;
+ output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
break;
default:
// Stationary
@@ -50,17 +55,17 @@
switch (intake) {
case 1:
// Front intake.
- output->front_extended = true;
- output->back_extended = false;
- output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
- output->back_intake_voltage = 0.0;
+ output_struct.front_extended = true;
+ output_struct.back_extended = false;
+ output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+ output_struct.back_intake_voltage = 0.0;
break;
case -1:
// Back intake.
- output->back_extended = true;
- output->front_extended = false;
- output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
- output->front_intake_voltage = 0.0;
+ output_struct.back_extended = true;
+ output_struct.front_extended = false;
+ output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+ output_struct.front_intake_voltage = 0.0;
break;
default:
// Stationary
@@ -69,12 +74,15 @@
if (human_player) {
// Intake for human player.
- output->front_extended = false;
- output->back_extended = false;
- output->front_intake_voltage = k2014Bot3IntakeForwardVoltage;
- output->back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
+ output_struct.front_extended = false;
+ output_struct.back_extended = false;
+ output_struct.front_intake_voltage = k2014Bot3IntakeForwardVoltage;
+ output_struct.back_intake_voltage = -k2014Bot3IntakeForwardVoltage;
}
+
+ output->Send(Output::Pack(*output->fbb(), &output_struct));
}
+} // namespace rollers
} // namespace control_loops
} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
index 9890871..8903cd2 100644
--- a/y2014_bot3/control_loops/rollers/rollers.h
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -3,27 +3,31 @@
#include "aos/controls/control_loop.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_status_generated.h"
namespace y2014_bot3 {
namespace control_loops {
+namespace rollers {
-class Rollers : public aos::controls::ControlLoop<control_loops::RollersQueue> {
+class Rollers
+ : public aos::controls::ControlLoop<Goal, Position, Status, Output> {
public:
// Constructs a control loops which can take a rollers or defaults to the
// rollers at ::2014_bot3::control_loops::rollers.
- explicit Rollers(
- ::aos::EventLoop *event_loop,
- const ::std::string &name = ".y2014_bot3.control_loops.rollers_queue");
+ explicit Rollers(::aos::EventLoop *event_loop,
+ const ::std::string &name = "/rollers");
protected:
// Executes one cycle of the control loop.
- void RunIteration(const control_loops::RollersQueue::Goal *goal,
- const control_loops::RollersQueue::Position *position,
- control_loops::RollersQueue::Output *output,
- control_loops::RollersQueue::Status *status) override;
+ void RunIteration(const Goal *goal, const Position *position,
+ aos::Sender<Output>::Builder *output,
+ aos::Sender<Status>::Builder *status) override;
};
+} // namespace rollers
} // namespace control_loops
} // namespace y2014_bot3
diff --git a/y2014_bot3/control_loops/rollers/rollers.q b/y2014_bot3/control_loops/rollers/rollers.q
deleted file mode 100644
index 1e40369..0000000
--- a/y2014_bot3/control_loops/rollers/rollers.q
+++ /dev/null
@@ -1,40 +0,0 @@
-package y2014_bot3.control_loops;
-
-import "aos/controls/control_loops.q";
-import "frc971/control_loops/control_loops.q";
-
-// on ".y2014_bot3.control_loops.rollers_queue"
-queue_group RollersQueue {
- implements aos.control_loops.ControlLoop;
-
- message Goal {
- // -1 = back intake, 1 = front intake, all else = stationary.
- int16_t intake;
- // -1 = backwards, 1 = forwards, all else = stationary.
- int16_t low_spit;
- // Whether we want the human player load function.
- bool human_player;
- };
-
- message Position {};
-
- message Output {
- // Positive voltage = intaking, Negative = spitting.
- double front_intake_voltage;
- double back_intake_voltage;
- // Voltage for the low goal rollers.
- // Positive voltage = ball towards back, Negative = ball towards front.
- double low_goal_voltage;
-
- // Whether the front and back intake pistons are extended.
- bool front_extended;
- bool back_extended;
- };
-
- message Status {};
-
- queue Goal goal;
- queue Position position;
- queue Output output;
- queue Status status;
-};
diff --git a/y2014_bot3/control_loops/rollers/rollers_goal.fbs b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
new file mode 100644
index 0000000..92ee589
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_goal.fbs
@@ -0,0 +1,12 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Goal {
+ // -1 = back intake, 1 = front intake, all else = stationary.
+ intake:int;
+ // -1 = backwards, 1 = forwards, all else = stationary.
+ low_spit:int;
+ // Whether we want the human player load function.
+ human_player:bool;
+}
+
+root_type Goal;
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index 1a0d82b..906c067 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -1,13 +1,16 @@
#include "y2014_bot3/control_loops/rollers/rollers.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
- ::y2014_bot3::control_loops::Rollers rollers(&event_loop);
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+ ::y2014_bot3::control_loops::rollers::Rollers rollers(&event_loop);
event_loop.Run();
diff --git a/y2014_bot3/control_loops/rollers/rollers_output.fbs b/y2014_bot3/control_loops/rollers/rollers_output.fbs
new file mode 100644
index 0000000..daae09b
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_output.fbs
@@ -0,0 +1,16 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Output {
+ // Positive voltage = intaking, Negative = spitting.
+ front_intake_voltage:double;
+ back_intake_voltage:double;
+ // Voltage for the low goal rollers.
+ // Positive voltage = ball towards back, Negative = ball towards front.
+ low_goal_voltage:double;
+
+ // Whether the front and back intake pistons are extended.
+ front_extended:bool;
+ back_extended:bool;
+}
+
+root_type Output;
diff --git a/y2014_bot3/control_loops/rollers/rollers_position.fbs b/y2014_bot3/control_loops/rollers/rollers_position.fbs
new file mode 100644
index 0000000..040502c
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_position.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Position {
+}
+
+root_type Position;
diff --git a/y2014_bot3/control_loops/rollers/rollers_status.fbs b/y2014_bot3/control_loops/rollers/rollers_status.fbs
new file mode 100644
index 0000000..2486bb7
--- /dev/null
+++ b/y2014_bot3/control_loops/rollers/rollers_status.fbs
@@ -0,0 +1,6 @@
+namespace y2014_bot3.control_loops.rollers;
+
+table Status {
+}
+
+root_type Status;
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index dc43f30..47546a7 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -11,12 +11,10 @@
#include "aos/time/time.h"
#include "aos/input/drivetrain_input.h"
-#include "frc971/autonomous/auto.q.h"
#include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "frc971/queues/gyro.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_goal_generated.h"
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::POVLocation;
@@ -47,9 +45,8 @@
Reader(::aos::EventLoop *event_loop)
: ::aos::input::JoystickInput(event_loop),
rollers_goal_sender_(
- event_loop
- ->MakeSender<::y2014_bot3::control_loops::RollersQueue::Goal>(
- ".y2014_bot3.control_loops.rollers_queue.goal")),
+ event_loop->MakeSender<::y2014_bot3::control_loops::rollers::Goal>(
+ "/rollers")),
autonomous_action_factory_(
::frc971::autonomous::BaseAutonomousActor::MakeFactory(
event_loop)) {
@@ -89,20 +86,21 @@
}
// Rollers.
- auto rollers_goal = rollers_goal_sender_.MakeMessage();
- rollers_goal->Zero();
+ auto builder = rollers_goal_sender_.MakeBuilder();
+ control_loops::rollers::GoalT rollers_goal;
if (data.IsPressed(kFrontRollersIn)) {
- rollers_goal->intake = 1;
+ rollers_goal.intake = 1;
} else if (data.IsPressed(kFrontRollersOut)) {
- rollers_goal->low_spit = 1;
+ rollers_goal.low_spit = 1;
} else if (data.IsPressed(kBackRollersIn)) {
- rollers_goal->intake = -1;
+ rollers_goal.intake = -1;
} else if (data.IsPressed(kBackRollersOut)) {
- rollers_goal->low_spit = -1;
+ rollers_goal.low_spit = -1;
} else if (data.IsPressed(kHumanPlayer)) {
- rollers_goal->human_player = true;
+ rollers_goal.human_player = true;
}
- if (!rollers_goal.Send()) {
+ if (!builder.Send(control_loops::rollers::Goal::Pack(*builder.fbb(),
+ &rollers_goal))) {
AOS_LOG(WARNING, "Sending rollers values failed.\n");
}
}
@@ -110,7 +108,7 @@
private:
void StartAuto() {
AOS_LOG(INFO, "Starting auto mode.\n");
- ::frc971::autonomous::AutonomousActionParams params;
+ ::frc971::autonomous::AutonomousActionParamsT params;
params.mode = 0;
action_queue_.EnqueueAction(autonomous_action_factory_.Make(params));
}
@@ -129,7 +127,7 @@
::aos::common::actions::ActionQueue action_queue_;
::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
- ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Goal>
+ ::aos::Sender<::y2014_bot3::control_loops::rollers::Goal>
rollers_goal_sender_;
::frc971::autonomous::BaseAutonomousActor::Factory autonomous_action_factory_;
@@ -142,7 +140,10 @@
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::y2014_bot3::input::joysticks::Reader reader(&event_loop);
event_loop.Run();
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 9b1d4e8..89b3ad1 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -18,31 +18,32 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
#include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/drivetrain_writer.h"
#include "frc971/wpilib/gyro_sender.h"
#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/sensor_reader.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
#include "y2014_bot3/control_loops/rollers/rollers.h"
-#include "y2014_bot3/control_loops/rollers/rollers.q.h"
+#include "y2014_bot3/control_loops/rollers/rollers_output_generated.h"
+#include "y2014_bot3/control_loops/rollers/rollers_position_generated.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
@@ -77,41 +78,45 @@
SensorReader(::aos::EventLoop *event_loop)
: ::frc971::wpilib::SensorReader(event_loop),
rollers_position_sender_(
- event_loop->MakeSender<
- ::y2014_bot3::control_loops::RollersQueue::Position>(
- ".y2014_bot3.control_loops.rollers_queue.position")),
+ event_loop
+ ->MakeSender<::y2014_bot3::control_loops::rollers::Position>(
+ "/rollers")),
drivetrain_position_sender_(
- event_loop->MakeSender<
- ::frc971::control_loops::DrivetrainQueue::Position>(
- ".frc971.control_loops.drivetrain_queue.position")) {}
+ event_loop
+ ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+ "/drivetrain")) {}
void RunIteration() {
// Drivetrain
{
- auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
- drivetrain_message->right_encoder =
- -drivetrain_translate(drivetrain_right_encoder_->GetRaw());
- drivetrain_message->left_encoder =
- drivetrain_translate(drivetrain_left_encoder_->GetRaw());
- drivetrain_message->left_speed =
- drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
- drivetrain_message->right_speed =
- drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+ auto builder = drivetrain_position_sender_.MakeBuilder();
- drivetrain_message.Send();
+ frc971::control_loops::drivetrain::Position::Builder position_builder =
+ builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+ position_builder.add_right_encoder(
+ -drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+ position_builder.add_left_encoder(
+ drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+ position_builder.add_left_speed(
+ drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+ position_builder.add_right_speed(drivetrain_velocity_translate(
+ drivetrain_right_encoder_->GetPeriod()));
+
+ builder.Send(position_builder.Finish());
}
// Rollers
{
- auto rollers_message = rollers_position_sender_.MakeMessage();
- rollers_message.Send();
+ auto builder = rollers_position_sender_.MakeBuilder();
+ builder.Send(
+ builder.MakeBuilder<control_loops::rollers::Position>().Finish());
}
}
private:
- ::aos::Sender<::y2014_bot3::control_loops::RollersQueue::Position>
+ ::aos::Sender<::y2014_bot3::control_loops::rollers::Position>
rollers_position_sender_;
- ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+ ::aos::Sender<::frc971::control_loops::drivetrain::Position>
drivetrain_position_sender_;
};
@@ -123,11 +128,14 @@
: pcm_(pcm),
drivetrain_(
event_loop
- ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
- ".frc971.control_loops.drivetrain_queue.output")),
- rollers_(event_loop->MakeFetcher<
- ::y2014_bot3::control_loops::RollersQueue::Output>(
- ".y2014_bot3.control_loops.rollers_queue.output")) {
+ ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+ "/drivetrain")),
+ rollers_(
+ event_loop
+ ->MakeFetcher<::y2014_bot3::control_loops::rollers::Output>(
+ "/rollers")),
+ pneumatics_to_log_sender_(
+ event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
event_loop->set_name("Solenoids");
event_loop->SetRuntimeRealtimePriority(27);
@@ -170,9 +178,8 @@
{
drivetrain_.Fetch();
if (drivetrain_.get()) {
- AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_);
- drivetrain_left_->Set(drivetrain_->left_high);
- drivetrain_right_->Set(drivetrain_->right_high);
+ drivetrain_left_->Set(drivetrain_->left_high());
+ drivetrain_right_->Set(drivetrain_->right_high());
}
}
@@ -180,19 +187,22 @@
{
rollers_.Fetch();
if (rollers_.get()) {
- AOS_LOG_STRUCT(DEBUG, "solenoids", *rollers_);
- rollers_front_->Set(rollers_->front_extended);
- rollers_back_->Set(rollers_->back_extended);
+ rollers_front_->Set(rollers_->front_extended());
+ rollers_back_->Set(rollers_->back_extended());
}
}
// Compressor
{
- ::frc971::wpilib::PneumaticsToLog to_log;
+ auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+ ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+ builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
+
{
// Refill if pneumatic pressure goes too low.
const bool compressor_on = !pressure_switch_->Get();
- to_log.compressor_on = compressor_on;
+ to_log_builder.add_compressor_on(compressor_on);
if (compressor_on) {
compressor_relay_->Set(::frc::Relay::kForward);
} else {
@@ -201,8 +211,8 @@
}
pcm_->Flush();
- to_log.read_solenoids = pcm_->GetAll();
- AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+ to_log_builder.add_read_solenoids(pcm_->GetAll());
+ builder.Send(to_log_builder.Finish());
}
}
@@ -215,18 +225,19 @@
::std::unique_ptr<::frc::DigitalInput> pressure_switch_;
::std::unique_ptr<::frc::Relay> compressor_relay_;
- ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output> drivetrain_;
- ::aos::Fetcher<::y2014_bot3::control_loops::RollersQueue::Output> rollers_;
+ ::aos::Fetcher<::frc971::control_loops::drivetrain::Output> drivetrain_;
+ ::aos::Fetcher<::y2014_bot3::control_loops::rollers::Output> rollers_;
+ aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
};
// Writes out rollers voltages.
class RollersWriter : public LoopOutputHandler<
- ::y2014_bot3::control_loops::RollersQueue::Output> {
+ ::y2014_bot3::control_loops::rollers::Output> {
public:
RollersWriter(::aos::EventLoop *event_loop)
: ::frc971::wpilib::LoopOutputHandler<
- ::y2014_bot3::control_loops::RollersQueue::Output>(
- event_loop, ".y2014_bot3.control_loops.rollers_queue.output") {}
+ ::y2014_bot3::control_loops::rollers::Output>(event_loop,
+ "/rollers") {}
void set_rollers_front_intake_talon(::std::unique_ptr<::frc::Talon> t_left,
::std::unique_ptr<::frc::Talon> t_right) {
@@ -245,18 +256,17 @@
}
private:
- virtual void Write(const ::y2014_bot3::control_loops::RollersQueue::Output
+ virtual void Write(const ::y2014_bot3::control_loops::rollers::Output
&output) override {
- AOS_LOG_STRUCT(DEBUG, "will output", output);
- rollers_front_left_intake_talon_->SetSpeed(output.front_intake_voltage /
+ rollers_front_left_intake_talon_->SetSpeed(output.front_intake_voltage() /
12.0);
rollers_front_right_intake_talon_->SetSpeed(
- -(output.front_intake_voltage / 12.0));
- rollers_back_left_intake_talon_->SetSpeed(output.back_intake_voltage /
+ -(output.front_intake_voltage() / 12.0));
+ rollers_back_left_intake_talon_->SetSpeed(output.back_intake_voltage() /
12.0);
rollers_back_right_intake_talon_->SetSpeed(
- -(output.back_intake_voltage / 12.0));
- rollers_low_goal_talon_->SetSpeed(output.low_goal_voltage / 12.0);
+ -(output.back_intake_voltage() / 12.0));
+ rollers_low_goal_talon_->SetSpeed(output.low_goal_voltage() / 12.0);
}
virtual void Stop() override {
@@ -280,33 +290,36 @@
::frc::Encoder::k4X);
}
void Run() override {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
// Thread 1.
- ::aos::ShmEventLoop joystick_sender_event_loop;
+ ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
::frc971::wpilib::JoystickSender joystick_sender(
&joystick_sender_event_loop);
AddLoop(&joystick_sender_event_loop);
// Thread 2.
- ::aos::ShmEventLoop pdp_fetcher_event_loop;
+ ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
AddLoop(&pdp_fetcher_event_loop);
// Thread 3.
// Sensors
- ::aos::ShmEventLoop sensor_reader_event_loop;
+ ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop);
sensor_reader.set_drivetrain_left_encoder(make_encoder(4));
sensor_reader.set_drivetrain_right_encoder(make_encoder(5));
AddLoop(&sensor_reader_event_loop);
// Thread 4.
- ::aos::ShmEventLoop gyro_event_loop;
+ ::aos::ShmEventLoop gyro_event_loop(&config.message());
GyroSender gyro_sender(&gyro_event_loop);
AddLoop(&gyro_event_loop);
// Thread 5.
// Outputs
- ::aos::ShmEventLoop output_event_loop;
+ ::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
::std::unique_ptr<::frc::Talon>(new ::frc::Talon(5)), true);
@@ -326,7 +339,7 @@
AddLoop(&output_event_loop);
// Thread 6.
- ::aos::ShmEventLoop solenoid_writer_event_loop;
+ ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
new ::frc971::wpilib::BufferedPcm());
SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);