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/control_loops/superstructure/BUILD b/y2017/control_loops/superstructure/BUILD
index 5a00bfe..535475d 100644
--- a/y2017/control_loops/superstructure/BUILD
+++ b/y2017/control_loops/superstructure/BUILD
@@ -1,19 +1,49 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-queue_library(
- name = "superstructure_queue",
+flatbuffer_cc_library(
+ name = "superstructure_goal_fbs",
srcs = [
- "superstructure.q",
+ "superstructure_goal.fbs",
],
- deps = [
- "//aos/controls:control_loop_queues",
- "//frc971/control_loops:profiled_subsystem_queue",
- "//frc971/control_loops:queues",
+ gen_reflections = 1,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
],
)
+flatbuffer_cc_library(
+ name = "superstructure_position_fbs",
+ srcs = [
+ "superstructure_position.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "superstructure_status_fbs",
+ srcs = [
+ "superstructure_status.fbs",
+ ],
+ gen_reflections = 1,
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops:profiled_subsystem_fbs_includes",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "superstructure_output_fbs",
+ srcs = [
+ "superstructure_output.fbs",
+ ],
+ gen_reflections = 1,
+)
+
cc_library(
name = "superstructure_lib",
srcs = [
@@ -23,10 +53,13 @@
"superstructure.h",
],
deps = [
- ":superstructure_queue",
+ ":superstructure_goal_fbs",
+ ":superstructure_output_fbs",
+ ":superstructure_position_fbs",
+ ":superstructure_status_fbs",
":vision_distance_average",
"//aos/controls:control_loop",
- "//aos/events:event-loop",
+ "//aos/events:event_loop",
"//y2017:constants",
"//y2017/control_loops/superstructure/column",
"//y2017/control_loops/superstructure/hood",
@@ -40,11 +73,14 @@
srcs = [
"superstructure_lib_test.cc",
],
+ data = ["//y2017:config.json"],
deps = [
+ ":superstructure_goal_fbs",
":superstructure_lib",
- ":superstructure_queue",
+ ":superstructure_output_fbs",
+ ":superstructure_position_fbs",
+ ":superstructure_status_fbs",
"//aos:math",
- "//aos:queues",
"//aos/controls:control_loop_test",
"//aos/testing:googletest",
"//aos/time",
@@ -64,9 +100,8 @@
],
deps = [
":superstructure_lib",
- ":superstructure_queue",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
],
)
@@ -79,11 +114,12 @@
"vision_time_adjuster.h",
],
deps = [
- ":superstructure_queue",
"//aos/containers:ring_buffer",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops:profiled_subsystem_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
"//y2017/control_loops/drivetrain:polydrivetrain_plants",
- "//y2017/vision:vision_queue",
+ "//y2017/vision:vision_fbs",
],
)
@@ -92,6 +128,7 @@
srcs = [
"vision_time_adjuster_test.cc",
],
+ data = ["//y2017:config.json"],
deps = [
":vision_time_adjuster",
"//aos/events:simulated_event_loop",
@@ -109,7 +146,7 @@
deps = [
"//aos/containers:ring_buffer",
"//aos/time",
- "//y2017/vision:vision_queue",
+ "//y2017/vision:vision_fbs",
],
)
@@ -120,6 +157,7 @@
],
deps = [
":vision_distance_average",
+ "//aos:flatbuffers",
"//aos/testing:googletest",
"//aos/time",
],