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/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);