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

y2017/BUILD

diff --git a/y2017/BUILD b/y2017/BUILD
index 404683b..8bf2ff8 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -1,4 +1,5 @@
 load("//frc971:downloader.bzl", "robot_downloader")
+load("//aos:config.bzl", "aos_config")
 
 cc_library(
     name = "constants",
@@ -39,11 +40,27 @@
         "//aos/logging",
         "//aos/time",
         "//aos/util:log_interval",
-        "//frc971/autonomous:auto_queue",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
         "//y2017/actors:autonomous_action_lib",
         "//y2017/control_loops/drivetrain:drivetrain_base",
-        "//y2017/control_loops/superstructure:superstructure_queue",
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+    ],
+)
+
+aos_config(
+    name = "config",
+    src = "y2017.json",
+    flatbuffers = [
+        "//y2017/control_loops/superstructure:superstructure_goal_fbs",
+        "//y2017/control_loops/superstructure:superstructure_output_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
+        "//y2017/control_loops/superstructure:superstructure_status_fbs",
+        "//y2017/vision:vision_fbs",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//aos/robot_state:config",
+        "//frc971/control_loops/drivetrain:config",
     ],
 )
 
@@ -60,16 +77,16 @@
         "//aos:math",
         "//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/autonomous:auto_queue",
-        "//frc971/control_loops:queues",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/autonomous:auto_fbs",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+        "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
         "//frc971/wpilib:ADIS16448",
         "//frc971/wpilib:buffered_pcm",
         "//frc971/wpilib:dma",
@@ -78,13 +95,14 @@
         "//frc971/wpilib:encoder_and_potentiometer",
         "//frc971/wpilib:interrupt_edge_counting",
         "//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",
         "//frc971/wpilib:wpilib_robot_base",
         "//third_party:wpilib",
-        "//y2017/control_loops/superstructure:superstructure_queue",
+        "//y2017/control_loops/superstructure:superstructure_output_fbs",
+        "//y2017/control_loops/superstructure:superstructure_position_fbs",
     ],
 )