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/intake/intake.cc

diff --git a/y2017/control_loops/superstructure/intake/intake.cc b/y2017/control_loops/superstructure/intake/intake.cc
index baa4693..ee631d7 100644
--- a/y2017/control_loops/superstructure/intake/intake.cc
+++ b/y2017/control_loops/superstructure/intake/intake.cc
@@ -29,10 +29,11 @@
   disable_count_ = 0;
 }
 
-void Intake::Iterate(
-    const control_loops::IntakeGoal *unsafe_goal,
-    const ::frc971::PotAndAbsolutePosition *position, double *output,
-    ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus *status) {
+flatbuffers::Offset<
+    frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
+Intake::Iterate(const IntakeGoal *unsafe_goal,
+                const ::frc971::PotAndAbsolutePosition *position,
+                double *output, flatbuffers::FlatBufferBuilder *fbb) {
   bool disable = output == nullptr;
   profiled_subsystem_.Correct(*position);
 
@@ -84,9 +85,9 @@
       }
 
       if (unsafe_goal) {
-        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params);
-        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->distance);
-        if (unsafe_goal->disable_intake) {
+        profiled_subsystem_.AdjustProfile(unsafe_goal->profile_params());
+        profiled_subsystem_.set_unprofiled_goal(unsafe_goal->distance());
+        if (unsafe_goal->disable_intake()) {
           if (disable_count_ > 100) {
             disable = true;
           }
@@ -133,13 +134,16 @@
     *output = profiled_subsystem_.voltage();
   }
 
-  // Save debug/internal state.
-  // TODO(austin): Save more.
-  status->zeroed = profiled_subsystem_.zeroed();
+  frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus::Builder
+      status_builder = profiled_subsystem_.BuildStatus<
+          frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus::
+              Builder>(fbb);
 
-  profiled_subsystem_.PopulateStatus(status);
-  status->estopped = (state_ == State::ESTOP);
-  status->state = static_cast<int32_t>(state_);
+  // Save debug/internal state.
+  status_builder.add_estopped((state_ == State::ESTOP));
+  status_builder.add_state(static_cast<int32_t>(state_));
+
+  return status_builder.Finish();
 }
 
 }  // namespace intake