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/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