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/y2018/control_loops/superstructure/BUILD b/y2018/control_loops/superstructure/BUILD
index 5dabd1b..4e97571 100644
--- a/y2018/control_loops/superstructure/BUILD
+++ b/y2018/control_loops/superstructure/BUILD
@@ -1,18 +1,48 @@
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: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",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "superstructure_output_fbs",
+ srcs = [
+ "superstructure_output.fbs",
+ ],
+ gen_reflections = 1,
+)
+
cc_library(
name = "superstructure_lib",
srcs = [
@@ -22,16 +52,19 @@
"superstructure.h",
],
deps = [
- ":superstructure_queue",
+ ":superstructure_goal_fbs",
+ ":superstructure_output_fbs",
+ ":superstructure_position_fbs",
+ ":superstructure_status_fbs",
"//aos/controls:control_loop",
- "//aos/events:event-loop",
- "//frc971/control_loops:queues",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//aos/events:event_loop",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
"//y2018:constants",
- "//y2018:status_light",
+ "//y2018:status_light_fbs",
"//y2018/control_loops/superstructure/arm",
"//y2018/control_loops/superstructure/intake",
- "//y2018/vision:vision_queue",
+ "//y2018/vision:vision_fbs",
],
)
@@ -41,12 +74,15 @@
srcs = [
"superstructure_lib_test.cc",
],
+ data = ["//y2018:config.json"],
shard_count = 5,
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",
@@ -63,7 +99,6 @@
],
deps = [
":superstructure_lib",
- ":superstructure_queue",
"//aos:init",
],
)