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/y2017/actors/BUILD b/y2017/actors/BUILD
index 8c1b1cd..3b3e0a2 100644
--- a/y2017/actors/BUILD
+++ b/y2017/actors/BUILD
@@ -1,7 +1,5 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
-
filegroup(
name = "binaries",
srcs = [
@@ -19,14 +17,15 @@
],
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:profiled_subsystem_fbs",
"//frc971/control_loops/drivetrain:drivetrain_config",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
"//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",
],
)
@@ -38,7 +37,6 @@
deps = [
":autonomous_action_lib",
"//aos:init",
- "//aos/events:shm-event-loop",
- "//frc971/autonomous:auto_queue",
+ "//aos/events:shm_event_loop",
],
)
diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index a678e79..1124780 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -7,30 +7,37 @@
#include "aos/logging/logging.h"
#include "aos/util/phased_loop.h"
-
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2017/control_loops/drivetrain/drivetrain_base.h"
namespace y2017 {
namespace actors {
using ::aos::monotonic_clock;
+using ::frc971::ProfileParametersT;
namespace chrono = ::std::chrono;
namespace this_thread = ::std::this_thread;
namespace {
-const ProfileParameters kGearBallBackDrive = {3.0, 3.5};
-const ProfileParameters kGearDrive = {1.5, 2.0};
-const ProfileParameters kGearFastDrive = {2.0, 2.5};
-const ProfileParameters kGearSlowDrive = {1.0, 2.0};
-const ProfileParameters kGearPlaceDrive = {0.40, 2.0};
-const ProfileParameters kSlowDrive = {3.0, 2.0};
-const ProfileParameters kSlowTurn = {3.0, 3.0};
-const ProfileParameters kFirstTurn = {1.0, 1.5};
-const ProfileParameters kFirstGearStartTurn = {2.0, 3.0};
-const ProfileParameters kFirstGearTurn = {2.0, 5.0};
-const ProfileParameters kSecondGearTurn = {3.0, 5.0};
-const ProfileParameters kSmashTurn = {1.5, 5.0};
+ProfileParametersT MakeProfileParameters(float max_velocity,
+ float max_acceleration) {
+ ProfileParametersT result;
+ result.max_velocity = max_velocity;
+ result.max_acceleration = max_acceleration;
+ return result;
+}
+
+const ProfileParametersT kGearBallBackDrive = MakeProfileParameters(3.0, 3.5);
+const ProfileParametersT kGearDrive = MakeProfileParameters(1.5, 2.0);
+const ProfileParametersT kGearFastDrive = MakeProfileParameters(2.0, 2.5);
+const ProfileParametersT kGearSlowDrive = MakeProfileParameters(1.0, 2.0);
+const ProfileParametersT kGearPlaceDrive = MakeProfileParameters(0.40, 2.0);
+const ProfileParametersT kSlowDrive = MakeProfileParameters(3.0, 2.0);
+const ProfileParametersT kSlowTurn = MakeProfileParameters(3.0, 3.0);
+const ProfileParametersT kFirstTurn = MakeProfileParameters(1.0, 1.5);
+const ProfileParametersT kFirstGearStartTurn = MakeProfileParameters(2.0, 3.0);
+const ProfileParametersT kFirstGearTurn = MakeProfileParameters(2.0, 5.0);
+const ProfileParametersT kSecondGearTurn = MakeProfileParameters(3.0, 5.0);
+const ProfileParametersT kSmashTurn = MakeProfileParameters(1.5, 5.0);
} // namespace
@@ -38,22 +45,21 @@
: frc971::autonomous::BaseAutonomousActor(
event_loop, control_loops::drivetrain::GetDrivetrainConfig()),
superstructure_status_fetcher_(
- event_loop->MakeFetcher<
- ::y2017::control_loops::SuperstructureQueue::Status>(
- ".y2017.control_loops.superstructure_queue.status")),
- superstructure_goal_sender_(
event_loop
- ->MakeSender<::y2017::control_loops::SuperstructureQueue::Goal>(
- ".y2017.control_loops.superstructure_queue.goal")) {}
+ ->MakeFetcher<::y2017::control_loops::superstructure::Status>(
+ "/superstructure")),
+ superstructure_goal_sender_(
+ event_loop->MakeSender<::y2017::control_loops::superstructure::Goal>(
+ "/superstructure")) {}
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();
- switch (params.mode) {
+ switch (params->mode()) {
case 503: {
// Middle gear auto.
// Red is positive.
diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index f5d4c3f..f0bcfc8 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -7,9 +7,9 @@
#include "aos/actions/actions.h"
#include "aos/actions/actor.h"
#include "frc971/autonomous/base_autonomous_actor.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
namespace y2017 {
namespace actors {
@@ -20,7 +20,7 @@
explicit AutonomousActor(::aos::EventLoop *event_loop);
bool RunAction(
- const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
+ const ::frc971::autonomous::AutonomousActionParams *params) override;
private:
void Reset() {
@@ -38,9 +38,9 @@
SendSuperstructureGoal();
}
- ::aos::Fetcher<::y2017::control_loops::SuperstructureQueue::Status>
+ ::aos::Fetcher<::y2017::control_loops::superstructure::Status>
superstructure_status_fetcher_;
- ::aos::Sender<::y2017::control_loops::SuperstructureQueue::Goal>
+ ::aos::Sender<::y2017::control_loops::superstructure::Goal>
superstructure_goal_sender_;
double intake_goal_ = 0.0;
@@ -82,7 +82,7 @@
superstructure_status_fetcher_.Fetch();
if (superstructure_status_fetcher_.get()) {
- if (superstructure_status_fetcher_->hood.zeroed) {
+ if (superstructure_status_fetcher_->hood()->zeroed()) {
return;
}
}
@@ -91,40 +91,81 @@
}
void SendSuperstructureGoal() {
- auto new_superstructure_goal = superstructure_goal_sender_.MakeMessage();
- new_superstructure_goal->intake.distance = intake_goal_;
- new_superstructure_goal->intake.disable_intake = false;
- new_superstructure_goal->turret.angle = turret_goal_;
- new_superstructure_goal->turret.track = vision_track_;
- new_superstructure_goal->hood.angle = hood_goal_;
- new_superstructure_goal->shooter.angular_velocity = shooter_velocity_;
+ auto builder = superstructure_goal_sender_.MakeBuilder();
- new_superstructure_goal->intake.profile_params.max_velocity =
- intake_max_velocity_;
- new_superstructure_goal->turret.profile_params.max_velocity = 6.0;
- new_superstructure_goal->hood.profile_params.max_velocity = 5.0;
+ flatbuffers::Offset<frc971::ProfileParameters>
+ intake_profile_parameters_offset = frc971::CreateProfileParameters(
+ *builder.fbb(), intake_max_velocity_, 5.0);
- new_superstructure_goal->intake.profile_params.max_acceleration = 5.0;
- new_superstructure_goal->turret.profile_params.max_acceleration = 15.0;
- new_superstructure_goal->hood.profile_params.max_acceleration = 25.0;
+ control_loops::superstructure::IntakeGoal::Builder intake_builder =
+ builder.MakeBuilder<control_loops::superstructure::IntakeGoal>();
+ intake_builder.add_distance(intake_goal_);
+ intake_builder.add_disable_intake(false);
+ intake_builder.add_profile_params(intake_profile_parameters_offset);
+ intake_builder.add_voltage_rollers(0.0);
+ intake_builder.add_disable_intake(false);
+ intake_builder.add_gear_servo(gear_servo_);
+ flatbuffers::Offset<control_loops::superstructure::IntakeGoal>
+ intake_offset = intake_builder.Finish();
- new_superstructure_goal->intake.voltage_rollers = 0.0;
- new_superstructure_goal->lights_on = true;
- new_superstructure_goal->intake.disable_intake = false;
- new_superstructure_goal->intake.gear_servo = gear_servo_;
- new_superstructure_goal->use_vision_for_shots = use_vision_for_shots_;
+ control_loops::superstructure::IndexerGoal::Builder indexer_builder =
+ builder.MakeBuilder<control_loops::superstructure::IndexerGoal>();
+ indexer_builder.add_angular_velocity(indexer_angular_velocity_);
+ indexer_builder.add_voltage_rollers(0.0);
+ flatbuffers::Offset<control_loops::superstructure::IndexerGoal>
+ indexer_offset = indexer_builder.Finish();
- new_superstructure_goal->indexer.angular_velocity =
- indexer_angular_velocity_;
+ flatbuffers::Offset<frc971::ProfileParameters>
+ turret_profile_parameters_offset = frc971::CreateProfileParameters(
+ *builder.fbb(), 6.0, 15.0);
+ control_loops::superstructure::TurretGoal::Builder turret_builder =
+ builder.MakeBuilder<control_loops::superstructure::TurretGoal>();
+ turret_builder.add_angle(turret_goal_);
+ turret_builder.add_track(vision_track_);
+ turret_builder.add_profile_params(turret_profile_parameters_offset);
+ flatbuffers::Offset<control_loops::superstructure::TurretGoal> turret_offset =
+ turret_builder.Finish();
+
+ flatbuffers::Offset<frc971::ProfileParameters>
+ hood_profile_parameters_offset = frc971::CreateProfileParameters(
+ *builder.fbb(), 5.0, 25.0);
+ control_loops::superstructure::HoodGoal::Builder hood_builder =
+ builder.MakeBuilder<control_loops::superstructure::HoodGoal>();
+ hood_builder.add_angle(hood_goal_);
+ hood_builder.add_profile_params(hood_profile_parameters_offset);
+ flatbuffers::Offset<control_loops::superstructure::HoodGoal> hood_offset =
+ hood_builder.Finish();
+
+ control_loops::superstructure::ShooterGoal::Builder shooter_builder =
+ builder.MakeBuilder<control_loops::superstructure::ShooterGoal>();
+ shooter_builder.add_angular_velocity(shooter_velocity_);
+ flatbuffers::Offset<control_loops::superstructure::ShooterGoal>
+ shooter_offset = shooter_builder.Finish();
+
+ control_loops::superstructure::Goal::Builder goal_builder =
+ builder.MakeBuilder<control_loops::superstructure::Goal>();
+ goal_builder.add_lights_on(true);
+ goal_builder.add_use_vision_for_shots(use_vision_for_shots_);
+ goal_builder.add_intake(intake_offset);
+ goal_builder.add_indexer(indexer_offset);
+ goal_builder.add_turret(turret_offset);
+ goal_builder.add_hood(hood_offset);
+ goal_builder.add_shooter(shooter_offset);
+
+ flatbuffers::Offset<control_loops::superstructure::Goal> goal_offset =
+ goal_builder.Finish();
+
+ control_loops::superstructure::Goal *goal =
+ GetMutableTemporaryPointer(*builder.fbb(), goal_offset);
if (indexer_angular_velocity_ < -0.1) {
- new_superstructure_goal->indexer.voltage_rollers = 12.0;
- new_superstructure_goal->intake.voltage_rollers = 6.0;
+ goal->mutable_indexer()->mutate_voltage_rollers(12.0);
+ goal->mutable_intake()->mutate_voltage_rollers(6.0);
} else {
- new_superstructure_goal->indexer.voltage_rollers = 0.0;
+ goal->mutable_indexer()->mutate_voltage_rollers(0.0);
}
- if (!new_superstructure_goal.Send()) {
+ if (!builder.Send(goal_offset)) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}
}
diff --git a/y2017/actors/autonomous_actor_main.cc b/y2017/actors/autonomous_actor_main.cc
index 88779d8..d87ac84 100644
--- a/y2017/actors/autonomous_actor_main.cc
+++ b/y2017/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 "y2017/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());
::y2017::actors::AutonomousActor autonomous(&event_loop);
event_loop.Run();