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/control_loops/superstructure/hood/hood.cc

diff --git a/y2017/control_loops/superstructure/hood/hood.cc b/y2017/control_loops/superstructure/hood/hood.cc
index 8588a16..3dcd806 100644
--- a/y2017/control_loops/superstructure/hood/hood.cc
+++ b/y2017/control_loops/superstructure/hood/hood.cc
@@ -61,10 +61,12 @@
   last_position_ = 0;
 }
 
-void Hood::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-                   const control_loops::HoodGoal *unsafe_goal,
-                   const ::frc971::IndexPosition *position, double *output,
-                   ::frc971::control_loops::IndexProfiledJointStatus *status) {
+flatbuffers::Offset<frc971::control_loops::IndexProfiledJointStatus>
+Hood::Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
+              const double *unsafe_goal,
+              const frc971::ProfileParameters *unsafe_goal_profile_parameters,
+              const ::frc971::IndexPosition *position, double *output,
+              flatbuffers::FlatBufferBuilder *fbb) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -151,8 +153,8 @@
 
       // If we have a goal, go to it.  Otherwise stay where we are.
       if (unsafe_goal) {
-        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params);
-        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->angle);
+        profiled_subsystem_.AdjustProfile(unsafe_goal_profile_parameters);
+        profiled_subsystem_.set_unprofiled_goal(*unsafe_goal);
       }
 
       // ESTOP if we hit the hard limits.
@@ -198,12 +200,14 @@
   }
 
   // Save debug/internal state.
+  frc971::control_loops::IndexProfiledJointStatus::Builder status_builder =
+      profiled_subsystem_.BuildStatus<
+          frc971::control_loops::IndexProfiledJointStatus::Builder>(fbb);
   // TODO(austin): Save more.
-  status->zeroed = profiled_subsystem_.zeroed();
+  status_builder.add_estopped((state_ == State::ESTOP));
+  status_builder.add_state(static_cast<int32_t>(state_));
 
-  profiled_subsystem_.PopulateStatus(status);
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
+  return status_builder.Finish();
 }
 
 }  // namespace hood