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/vision/BUILD b/y2018/vision/BUILD
index 8e5e950..7bcd402 100644
--- a/y2018/vision/BUILD
+++ b/y2018/vision/BUILD
@@ -1,4 +1,4 @@
-load("//aos/build:queues.bzl", "queue_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
cc_binary(
name = "image_streamer",
@@ -17,11 +17,12 @@
],
)
-queue_library(
- name = "vision_queue",
+flatbuffer_cc_library(
+ name = "vision_fbs",
srcs = [
- "vision.q",
+ "vision.fbs",
],
+ gen_reflections = 1,
visibility = ["//visibility:public"],
)
@@ -32,11 +33,10 @@
],
visibility = ["//visibility:public"],
deps = [
- ":vision_queue",
+ ":vision_fbs",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
"//aos/time",
"//aos/vision/events:udp",
"//y2018:vision_proto",
diff --git a/y2018/vision/vision.fbs b/y2018/vision/vision.fbs
new file mode 100644
index 0000000..14f8a45
--- /dev/null
+++ b/y2018/vision/vision.fbs
@@ -0,0 +1,9 @@
+namespace y2018.vision;
+
+// Published on ".y2018.vision.vision_status"
+table VisionStatus {
+ high_frame_count:uint;
+ low_frame_count:uint;
+}
+
+root_type VisionStatus;
diff --git a/y2018/vision/vision.q b/y2018/vision/vision.q
deleted file mode 100644
index fb59d69..0000000
--- a/y2018/vision/vision.q
+++ /dev/null
@@ -1,7 +0,0 @@
-package y2018.vision;
-
-// Published on ".y2018.vision.vision_status"
-message VisionStatus {
- uint32_t high_frame_count;
- uint32_t low_frame_count;
-};
diff --git a/y2018/vision/vision_status.cc b/y2018/vision/vision_status.cc
index 2f358c5..fdd6ffe 100644
--- a/y2018/vision/vision_status.cc
+++ b/y2018/vision/vision_status.cc
@@ -1,13 +1,12 @@
#include <netdb.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/time/time.h"
#include "aos/vision/events/udp.h"
#include "y2018/vision.pb.h"
-#include "y2018/vision/vision.q.h"
+#include "y2018/vision/vision_generated.h"
namespace y2018 {
namespace vision {
@@ -15,23 +14,28 @@
using aos::monotonic_clock;
int Main() {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
::aos::events::RXUdpSocket video_rx(5001);
char data[65507];
::y2018::VisionStatus status;
- ::aos::ShmEventLoop event_loop;
- ::aos::Sender<::y2018::vision::VisionStatus> vision_status_sender_ =
- event_loop.MakeSender<::y2018::vision::VisionStatus>(
- ".y2018.vision.vision_status");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
+ ::aos::Sender<VisionStatus> vision_status_sender_ =
+ event_loop.MakeSender<VisionStatus>("/superstructure");
while (true) {
const ssize_t rx_size = video_rx.Recv(data, sizeof(data));
if (rx_size > 0) {
status.ParseFromArray(data, rx_size);
- auto new_vision_status = vision_status_sender_.MakeMessage();
- new_vision_status->high_frame_count = status.high_frame_count();
- new_vision_status->low_frame_count = status.low_frame_count();
- AOS_LOG_STRUCT(DEBUG, "vision", *new_vision_status);
- if (!new_vision_status.Send()) {
+
+ auto builder = vision_status_sender_.MakeBuilder();
+ VisionStatus::Builder vision_status_builder =
+ builder.MakeBuilder<VisionStatus>();
+ vision_status_builder.add_high_frame_count(status.high_frame_count());
+ vision_status_builder.add_low_frame_count(status.low_frame_count());
+ if (!builder.Send(vision_status_builder.Finish())) {
AOS_LOG(ERROR, "Failed to send vision information\n");
}
}