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

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 8cd6b39..7ceb001 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -1,6 +1,7 @@
 #ifndef Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
 #define Y2018_CONTROL_LOOPS_SUPERSTRUCTURE_ARM_ARM_H_
 
+#include "aos/time/time.h"
 #include "frc971/zeroing/zeroing.h"
 #include "y2018/constants.h"
 #include "y2018/control_loops/superstructure/arm/dynamics.h"
@@ -8,7 +9,8 @@
 #include "y2018/control_loops/superstructure/arm/generated_graph.h"
 #include "y2018/control_loops/superstructure/arm/graph.h"
 #include "y2018/control_loops/superstructure/arm/trajectory.h"
-#include "y2018/control_loops/superstructure/superstructure.q.h"
+#include "y2018/control_loops/superstructure/superstructure_position_generated.h"
+#include "y2018/control_loops/superstructure/superstructure_status_generated.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -34,15 +36,15 @@
   static constexpr double kPathlessVMax() { return 5.0; }
   static constexpr double kGotoPathVMax() { return 6.0; }
 
-  void Iterate(const ::aos::monotonic_clock::time_point monotonic_now,
-               const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
-               bool close_claw, const control_loops::ArmPosition *position,
-               const bool claw_beambreak_triggered,
-               const bool box_back_beambreak_triggered,
-               const bool intake_clear_of_box, bool suicide,
-               bool trajectory_override, double *proximal_output,
-               double *distal_output, bool *release_arm_brake,
-               bool *claw_closed, control_loops::ArmStatus *status);
+  flatbuffers::Offset<superstructure::ArmStatus> Iterate(
+      const ::aos::monotonic_clock::time_point monotonic_now,
+      const uint32_t *unsafe_goal, bool grab_box, bool open_claw,
+      bool close_claw, const superstructure::ArmPosition *position,
+      const bool claw_beambreak_triggered,
+      const bool box_back_beambreak_triggered, const bool intake_clear_of_box,
+      bool suicide, bool trajectory_override, double *proximal_output,
+      double *distal_output, bool *release_arm_brake, bool *claw_closed,
+      flatbuffers::FlatBufferBuilder *fbb);
 
   void Reset();
 
@@ -68,6 +70,12 @@
   State state() const { return state_; }
   GrabState grab_state() const { return grab_state_; }
 
+  bool estopped() const { return state_ == State::ESTOP; }
+  bool zeroed() const {
+    return (proximal_zeroing_estimator_.zeroed() &&
+            distal_zeroing_estimator_.zeroed());
+  }
+
   // Returns the maximum position for the intake.  This is used to override the
   // intake position to release the box when the state machine is lifting.
   double max_intake_override() const { return max_intake_override_; }