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

y2014_bot3/actors/BUILD

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",
     ],
 )

y2014_bot3/actors/autonomous_actor.cc

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 &params) {
+    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);

y2014_bot3/actors/autonomous_actor.h

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 &params) override;
+      const ::frc971::autonomous::AutonomousActionParams *params) override;
 
  private:
   void Reset() {

y2014_bot3/actors/autonomous_actor_main.cc

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();