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/wpilib_interface.cc b/y2017/wpilib_interface.cc
index e55e350..d08909f 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -22,21 +22,21 @@
#undef ERROR
#include "aos/commonmath.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
-#include "aos/logging/queue_logging.h"
#include "aos/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/compiler_memory_barrier.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "frc971/autonomous/auto.q.h"
-#include "frc971/control_loops/control_loops.q.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/autonomous/auto_generated.h"
+#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
@@ -46,19 +46,20 @@
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2017/constants.h"
-#include "y2017/control_loops/superstructure/superstructure.q.h"
+#include "y2017/control_loops/superstructure/superstructure_output_generated.h"
+#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
-using ::y2017::control_loops::SuperstructureQueue;
+namespace superstructure = ::y2017::control_loops::superstructure;
using ::y2017::constants::Values;
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
@@ -128,14 +129,14 @@
: ::frc971::wpilib::SensorReader(event_loop),
auto_mode_sender_(
event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
- ".frc971.autonomous.auto_mode")),
+ "/aos")),
superstructure_position_sender_(
- event_loop->MakeSender<SuperstructureQueue::Position>(
- ".y2017.control_loops.superstructure_queue.position")),
+ event_loop->MakeSender<superstructure::Position>(
+ "/superstructure")),
drivetrain_position_sender_(
- event_loop->MakeSender<
- ::frc971::control_loops::DrivetrainQueue::Position>(
- ".frc971.control_loops.drivetrain_queue.position")) {
+ event_loop
+ ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+ "/drivetrain")) {
// Set to filter out anything shorter than 1/4 of the minimum pulse width
// we should ever see.
UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -207,18 +208,20 @@
void RunIteration() {
{
- auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
- drivetrain_message->right_encoder =
- drivetrain_translate(drivetrain_right_encoder_->GetRaw());
- drivetrain_message->right_speed =
- drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+ auto builder = drivetrain_position_sender_.MakeBuilder();
+ frc971::control_loops::drivetrain::Position::Builder position_builder =
+ builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+ position_builder.add_right_encoder(
+ drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+ position_builder.add_right_speed(drivetrain_velocity_translate(
+ drivetrain_right_encoder_->GetPeriod()));
- drivetrain_message->left_encoder =
- -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
- drivetrain_message->left_speed =
- drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
+ position_builder.add_left_encoder(
+ -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+ position_builder.add_left_speed(
+ drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
- drivetrain_message.Send();
+ builder.Send(position_builder.Finish());
}
}
@@ -226,49 +229,77 @@
const auto values = constants::GetValues();
{
- auto superstructure_message = superstructure_position_sender_.MakeMessage();
- CopyPosition(intake_encoder_, &superstructure_message->intake,
+ auto builder = superstructure_position_sender_.MakeBuilder();
+ frc971::PotAndAbsolutePositionT intake;
+ CopyPosition(intake_encoder_, &intake,
Values::kIntakeEncoderCountsPerRevolution,
Values::kIntakeEncoderRatio, intake_pot_translate, true,
values.intake.pot_offset);
+ flatbuffers::Offset<frc971::PotAndAbsolutePosition> intake_offset =
+ frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &intake);
- CopyPosition(indexer_counter_, &superstructure_message->column.indexer,
+ frc971::HallEffectAndPositionT indexer;
+ CopyPosition(indexer_counter_, &indexer,
Values::kIndexerEncoderCountsPerRevolution,
Values::kIndexerEncoderRatio, true);
+ flatbuffers::Offset<frc971::HallEffectAndPosition> indexer_offset =
+ frc971::HallEffectAndPosition::Pack(*builder.fbb(), &indexer);
- superstructure_message->theta_shooter =
- encoder_translate(shooter_encoder_->GetRaw(),
- Values::kShooterEncoderCountsPerRevolution,
- Values::kShooterEncoderRatio);
-
- CopyPosition(hood_encoder_, &superstructure_message->hood,
+ frc971::IndexPositionT hood;
+ CopyPosition(hood_encoder_, &hood,
Values::kHoodEncoderCountsPerRevolution,
Values::kHoodEncoderRatio, true);
+ flatbuffers::Offset<frc971::IndexPosition> hood_offset =
+ frc971::IndexPosition::Pack(*builder.fbb(), &hood);
- CopyPosition(turret_counter_, &superstructure_message->column.turret,
+ frc971::HallEffectAndPositionT turret;
+ CopyPosition(turret_counter_, &turret,
Values::kTurretEncoderCountsPerRevolution,
Values::kTurretEncoderRatio, false);
+ flatbuffers::Offset<frc971::HallEffectAndPosition> turret_offset =
+ frc971::HallEffectAndPosition::Pack(*builder.fbb(), &turret);
- superstructure_message.Send();
+ superstructure::ColumnPosition::Builder column_builder =
+ builder.MakeBuilder<superstructure::ColumnPosition>();
+ column_builder.add_indexer(indexer_offset);
+ column_builder.add_turret(turret_offset);
+ flatbuffers::Offset<superstructure::ColumnPosition> column_offset =
+ column_builder.Finish();
+
+ superstructure::Position::Builder position_builder =
+ builder.MakeBuilder<superstructure::Position>();
+
+ position_builder.add_column(column_offset);
+ position_builder.add_hood(hood_offset);
+ position_builder.add_intake(intake_offset);
+ position_builder.add_theta_shooter(
+ encoder_translate(shooter_encoder_->GetRaw(),
+ Values::kShooterEncoderCountsPerRevolution,
+ Values::kShooterEncoderRatio));
+
+ builder.Send(position_builder.Finish());
}
{
- auto auto_mode_message = auto_mode_sender_.MakeMessage();
- auto_mode_message->mode = 0;
+ auto builder = auto_mode_sender_.MakeBuilder();
+ ::frc971::autonomous::AutonomousMode::Builder auto_builder =
+ builder.MakeBuilder<::frc971::autonomous::AutonomousMode>();
+
+ int mode = 0;
for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
- auto_mode_message->mode |= 1 << i;
+ mode |= 1 << i;
}
}
- AOS_LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
- auto_mode_message.Send();
+ auto_builder.add_mode(mode);
+ builder.Send(auto_builder.Finish());
}
}
private:
::aos::Sender<::frc971::autonomous::AutonomousMode> auto_mode_sender_;
- ::aos::Sender<SuperstructureQueue::Position> superstructure_position_sender_;
- ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+ ::aos::Sender<superstructure::Position> superstructure_position_sender_;
+ ::aos::Sender<::frc971::control_loops::drivetrain::Position>
drivetrain_position_sender_;
DigitalGlitchFilter hall_filter_;
@@ -293,8 +324,8 @@
public:
SolenoidWriter(::aos::EventLoop *event_loop)
: superstructure_output_fetcher_(
- event_loop->MakeFetcher<SuperstructureQueue::Output>(
- ".y2017.control_loops.superstructure_queue.output")) {
+ event_loop->MakeFetcher<superstructure::Output>(
+ "/superstructure")) {
event_loop->set_name("Solenoids");
event_loop->SetRuntimeRealtimePriority(27);
@@ -321,11 +352,10 @@
{
superstructure_output_fetcher_.Fetch();
if (superstructure_output_fetcher_.get()) {
- AOS_LOG_STRUCT(DEBUG, "solenoids", *superstructure_output_fetcher_);
- lights_->Set(superstructure_output_fetcher_->lights_on);
- rgb_lights_->Set(superstructure_output_fetcher_->red_light_on |
- superstructure_output_fetcher_->green_light_on |
- superstructure_output_fetcher_->blue_light_on);
+ lights_->Set(superstructure_output_fetcher_->lights_on());
+ rgb_lights_->Set(superstructure_output_fetcher_->red_light_on() |
+ superstructure_output_fetcher_->green_light_on() |
+ superstructure_output_fetcher_->blue_light_on());
}
}
@@ -337,16 +367,16 @@
::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> lights_, rgb_lights_;
- ::aos::Fetcher<::y2017::control_loops::SuperstructureQueue::Output>
+ ::aos::Fetcher<::y2017::control_loops::superstructure::Output>
superstructure_output_fetcher_;
};
class SuperstructureWriter
- : public ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output> {
+ : public ::frc971::wpilib::LoopOutputHandler<superstructure::Output> {
public:
SuperstructureWriter(::aos::EventLoop *event_loop)
- : ::frc971::wpilib::LoopOutputHandler<SuperstructureQueue::Output>(
- event_loop, ".y2017.control_loops.superstructure_queue.output") {}
+ : ::frc971::wpilib::LoopOutputHandler<superstructure::Output>(
+ event_loop, "/superstructure") {}
void set_intake_victor(::std::unique_ptr<::frc::VictorSP> t) {
intake_victor_ = ::std::move(t);
@@ -386,27 +416,26 @@
}
private:
- virtual void Write(const SuperstructureQueue::Output &output) override {
- AOS_LOG_STRUCT(DEBUG, "will output", output);
- intake_victor_->SetSpeed(::aos::Clip(output.voltage_intake,
+ virtual void Write(const superstructure::Output &output) override {
+ intake_victor_->SetSpeed(::aos::Clip(output.voltage_intake(),
-kMaxBringupPower, kMaxBringupPower) /
12.0);
- intake_rollers_victor_->SetSpeed(output.voltage_intake_rollers / 12.0);
- indexer_victor_->SetSpeed(-output.voltage_indexer / 12.0);
- indexer_roller_victor_->SetSpeed(output.voltage_indexer_rollers / 12.0);
- turret_victor_->SetSpeed(::aos::Clip(-output.voltage_turret,
+ intake_rollers_victor_->SetSpeed(output.voltage_intake_rollers() / 12.0);
+ indexer_victor_->SetSpeed(-output.voltage_indexer() / 12.0);
+ indexer_roller_victor_->SetSpeed(output.voltage_indexer_rollers() / 12.0);
+ turret_victor_->SetSpeed(::aos::Clip(-output.voltage_turret(),
-kMaxBringupPower, kMaxBringupPower) /
12.0);
- hood_victor_->SetSpeed(
- ::aos::Clip(output.voltage_hood, -kMaxBringupPower, kMaxBringupPower) /
- 12.0);
- shooter_victor_->SetSpeed(output.voltage_shooter / 12.0);
+ hood_victor_->SetSpeed(::aos::Clip(output.voltage_hood(), -kMaxBringupPower,
+ kMaxBringupPower) /
+ 12.0);
+ shooter_victor_->SetSpeed(output.voltage_shooter() / 12.0);
- red_light_->Set(output.red_light_on);
- green_light_->Set(output.green_light_on);
- blue_light_->Set(output.blue_light_on);
+ red_light_->Set(output.red_light_on());
+ green_light_->Set(output.green_light_on());
+ blue_light_->Set(output.blue_light_on());
- gear_servo_->SetPosition(output.gear_servo);
+ gear_servo_->SetPosition(output.gear_servo());
}
virtual void Stop() override {
@@ -443,19 +472,22 @@
}
void Run() override {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
// Thread 1.
- ::aos::ShmEventLoop joystick_sender_event_loop;
+ ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
::frc971::wpilib::JoystickSender joystick_sender(
&joystick_sender_event_loop);
AddLoop(&joystick_sender_event_loop);
// Thread 2.
- ::aos::ShmEventLoop pdp_fetcher_event_loop;
+ ::aos::ShmEventLoop pdp_fetcher_event_loop(&config.message());
::frc971::wpilib::PDPFetcher pdp_fetcher(&pdp_fetcher_event_loop);
AddLoop(&pdp_fetcher_event_loop);
// Thread 3.
- ::aos::ShmEventLoop sensor_reader_event_loop;
+ ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop);
sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
@@ -484,7 +516,7 @@
AddLoop(&sensor_reader_event_loop);
// Thread 5.
- ::aos::ShmEventLoop imu_event_loop;
+ ::aos::ShmEventLoop imu_event_loop(&config.message());
auto imu_trigger = make_unique<DigitalInput>(3);
::frc971::wpilib::ADIS16448 imu(&imu_event_loop, SPI::Port::kOnboardCS1,
imu_trigger.get());
@@ -493,7 +525,7 @@
imu.set_reset(imu_reset.get());
AddLoop(&imu_event_loop);
- ::aos::ShmEventLoop output_event_loop;
+ ::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(7)), true);
@@ -529,7 +561,7 @@
AddLoop(&output_event_loop);
// Thread 6.
- ::aos::ShmEventLoop solenoid_writer_event_loop;
+ ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
SolenoidWriter solenoid_writer(&solenoid_writer_event_loop);
solenoid_writer.set_lights(solenoid_writer.pcm()->MakeSolenoid(0));
solenoid_writer.set_rgb_light(solenoid_writer.pcm()->MakeSolenoid(1));