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/y2019/actors/auto_splines.cc b/y2019/actors/auto_splines.cc
index 4e8e60d..6166ca8 100644
--- a/y2019/actors/auto_splines.cc
+++ b/y2019/actors/auto_splines.cc
@@ -1,397 +1,792 @@
#include "y2019/actors/auto_splines.h"
-#include "frc971/control_loops/control_loops.q.h"
+#include "frc971/control_loops/control_loops_generated.h"
namespace y2019 {
namespace actors {
-void MaybeFlipSpline(::frc971::MultiSpline *spline, bool is_left) {
+void MaybeFlipSpline(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset,
+ bool is_left) {
+
+ flatbuffers::Vector<float> *spline_y =
+ GetMutableTemporaryPointer(*builder->fbb(), spline_y_offset);
+
if (!is_left) {
- for (size_t i = 0; i < spline->spline_y.size(); i++) {
- spline->spline_y[i] *= -1.0;
+ for (size_t i = 0; i < spline_y->size(); i++) {
+ spline_y->Mutate(i, -spline_y->Get(i));
}
}
}
// Path off of level 2 to the far side of the rocket with a panel
-::frc971::MultiSpline AutonomousSplines::HABToFarRocket(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToFarRocket(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(2.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(2.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 4.0;
- velocity_constraint.start_distance = 0.0;
- velocity_constraint.end_distance = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(4.0);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 2;
- spline.spline_x = {{1.14763818102, 1.66, 3.10, 4.05, 4.45, 5.11, 5.77, 6.71,
- 7.27, 7.19, 6.57}};
- spline.spline_y = {{1.30261224364, 1.30217320136, 1.39, 1.47, 1.56346705393,
- 1.69, 1.81, 1.97, 2.18, 2.84, 3.33}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{longitudinal_constraint, lateral_constraint,
- voltage_constraint, velocity_constraint}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({1.14763818102, 1.66, 3.10, 4.05,
+ 4.45, 5.11, 5.77, 6.71, 7.27, 7.19,
+ 6.57});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({1.30261224364, 1.30217320136, 1.39,
+ 1.47, 1.56346705393, 1.69, 1.81,
+ 1.97, 2.18, 2.84, 3.33});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(2);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from the far side of the rocket to the loading station to pickup
-::frc971::MultiSpline AutonomousSplines::FarRocketToHP(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHP(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 3.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(3.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(2.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 4.5;
- velocity_constraint.start_distance = 0.0;
- velocity_constraint.end_distance = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(4.5);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{6.6, 7.511, 6.332, 4.590, 1.561, 0.179}};
- spline.spline_y = {{3.391, 2.826, 1.384, 3.395 - 0.20, 3.429 - 0.20, 3.434 - 0.20}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{longitudinal_constraint, lateral_constraint,
- voltage_constraint, velocity_constraint}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>(
+ {6.6, 7.511, 6.332, 4.590, 1.561, 0.179});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>(
+ {3.391, 2.826, 1.384, 3.395 - 0.20, 3.429 - 0.20, 3.434 - 0.20});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from the human player station to the far side of the rocket with a panel
-::frc971::MultiSpline AutonomousSplines::HPToFarRocket(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint velocity_constraint;
- ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToFarRocket(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 3.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(3.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 3.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(3.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 2.0;
- velocity_constraint.start_distance = 7.0;
- velocity_constraint.end_distance = 15.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(4.0);
+ velocity_constraint_builder.add_start_distance(7.0);
+ velocity_constraint_builder.add_end_distance(15.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{0.895115737979, 2.9155615909, 5.02361983866,
- 6.40346237218, 7.1260656844, 7.83907559509}};
- spline.spline_y = {{3.43030859063, 3.44230565037, 2.8824369646, 2.81000389973,
- 3.08853311072, 2.6933085577}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{lateral_constraint, velocity_constraint,
- voltage_constraint, longitudinal_constraint}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({0.895115737979, 2.9155615909,
+ 5.02361983866, 6.40346237218,
+ 7.1260656844, 7.83907559509});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({3.43030859063, 3.44230565037,
+ 2.8824369646, 2.81000389973,
+ 3.08853311072, 2.6933085577});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from the far side of the rocket to close to the loading station
-::frc971::MultiSpline AutonomousSplines::FarRocketToNearHP(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint constraints;
-
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToNearHP(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
// TODO(theo): Add some real constraints.
- constraints.constraint_type = 0;
- constraints.value = 0;
- constraints.start_distance = 0;
- constraints.end_distance = 0;
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({6.51652191988, 6.83156293562,
+ 5.74513904409, 2.2337653586,
+ 1.94766705864, 0.727526876557});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({3.2465107468, 2.88277456846,
+ 1.93458779243, 3.44064777429,
+ 3.44377880106, 3.43326367284});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- spline.spline_count = 1;
- spline.spline_x = {{6.51652191988, 6.83156293562, 5.74513904409, 2.2337653586,
- 1.94766705864, 0.727526876557}};
- spline.spline_y = {{3.2465107468, 2.88277456846, 1.93458779243, 3.44064777429,
- 3.44377880106, 3.43326367284}};
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- spline.constraints = {{constraints}};
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ return multispline_builder.Finish();
}
// Path from level 2 to 2nd cargo ship bay with a hatch panel
-::frc971::MultiSpline AutonomousSplines::HABToSecondCargoShipBay(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint constraints;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HABToSecondCargoShipBay(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- constraints.constraint_type = 4;
- constraints.value = 1.6;
- constraints.start_distance = 4.0;
- constraints.end_distance = 10.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(2.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(10.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(1.6);
+ velocity_constraint_builder.add_start_distance(4.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, voltage_constraint_offset,
+ velocity_constraint_offset});
+
constexpr double kLess = 0.06;
- spline.spline_x = {{1.0, 2.53944573074, 5.75526086906, 6.52583747973 - kLess,
- 7.12318661548 - kLess, 7.22595029399 - kLess}};
- spline.spline_y = {{1.5, 1.48, 2.05178220103,
- 2.56666687655, 1.79340280288, 1.16170693058}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>(
+ {1.0, 2.53944573074, 5.75526086906, 6.52583747973 - kLess,
+ 7.12318661548 - kLess, 7.22595029399 - kLess});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({1.5, 1.48, 2.05178220103,
+ 2.56666687655, 1.79340280288,
+ 1.16170693058});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- spline.constraints = {{constraints, longitudinal_constraint, voltage_constraint}};
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from 2nd cargo ship bay to loading station
-::frc971::MultiSpline AutonomousSplines::SecondCargoShipBayToHP(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint constraints;
- ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::SecondCargoShipBayToHP(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- constraints.constraint_type = 4;
- constraints.value = 4.0;
- constraints.start_distance = 0;
- constraints.end_distance = 10;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(4.0);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{7.22595029399, 7.1892447864, 6.5373977907, 5.55997590982,
- 1.22953437637, 0.32521840905}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {voltage_constraint_offset, velocity_constraint_offset});
+
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({7.22595029399, 7.1892447864,
+ 6.5373977907, 5.55997590982,
+ 1.22953437637, 0.32521840905});
constexpr double kYShift = 0.1;
- spline.spline_y = {{1.2, 1.44543230529, 2.00646674662,
- 3.43762336271 - kYShift, 3.44125430793 - kYShift,
- 3.4360348159 - kYShift}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>(
+ {1.2, 1.44543230529, 2.00646674662, 3.43762336271 - kYShift,
+ 3.44125430793 - kYShift, 3.4360348159 - kYShift});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- spline.constraints = {{constraints, voltage_constraint}};
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from loading station to 3rd cargo ship bay with a hatch panel
-::frc971::MultiSpline AutonomousSplines::HPToThirdCargoShipBay(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint velocity_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint2;
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 3.5;
- velocity_constraint.start_distance = 0;
- velocity_constraint.end_distance = 10;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToThirdCargoShipBay(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint2_offset;
- velocity_constraint2.constraint_type = 4;
- velocity_constraint2.value = 2.0;
- velocity_constraint2.start_distance = 6;
- velocity_constraint2.end_distance = 10;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(10.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(3.5);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
+ {
+ frc971::Constraint::Builder velocity_constraint2_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint2_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint2_builder.add_value(2.0);
+ velocity_constraint2_builder.add_start_distance(6.0);
+ velocity_constraint2_builder.add_end_distance(10.0);
+ velocity_constraint2_offset = velocity_constraint2_builder.Finish();
+ }
+
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {voltage_constraint_offset, velocity_constraint_offset,
+ velocity_constraint2_offset});
+
constexpr double kEndMove = 0.25;
- spline.spline_x = {{0.75, 1.112, 5.576, 7.497 - kEndMove, 7.675 - kEndMove,
- 7.768 - kEndMove}};
- spline.spline_y = {{3.431, 3.434, 2.712, 2.874, 1.786, 1.168}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({0.75, 1.112, 5.576, 7.497 - kEndMove,
+ 7.675 - kEndMove, 7.768 - kEndMove});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>(
+ {3.431, 3.434, 2.712, 2.874, 1.786, 1.168});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- spline.constraints = {
- {velocity_constraint, voltage_constraint, velocity_constraint2}};
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
// Path from 3rd cargo ship bay to near the loading station
-::frc971::MultiSpline AutonomousSplines::ThirdCargoShipBayToNearHP(
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::ThirdCargoShipBayToNearHP(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint velocity_constraint;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 0.5;
- velocity_constraint.start_distance = 0;
- velocity_constraint.end_distance = 10;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(0.5);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{7.75823205276, 7.58356294646, 5.95536035287,
- 2.12377989323, 1.29347361128, 0.598613577531}};
- spline.spline_y = {{1.16791407107, 1.94564064915, 2.54565614767,
- 3.43728005786, 3.43775494434, 3.43119598027}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {velocity_constraint_offset});
- spline.constraints = {{velocity_constraint}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({7.75823205276, 7.58356294646,
+ 5.95536035287, 2.12377989323,
+ 1.29347361128, 0.598613577531});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({1.16791407107, 1.94564064915,
+ 2.54565614767, 3.43728005786,
+ 3.43775494434, 3.43119598027});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
-::frc971::MultiSpline AutonomousSplines::HabToFarRocketTest(bool is_left) {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HabToFarRocketTest(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
+ bool is_left) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(2.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 2.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(2.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 1.7;
- velocity_constraint.start_distance = 0.0;
- velocity_constraint.end_distance = 0.8;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(1.7);
+ velocity_constraint_builder.add_start_distance(0.0);
+ velocity_constraint_builder.add_end_distance(0.8);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{1.14763818102, 2.53944573074, 3.74586892131,
- 5.22352745444, 6.70255737219, 7.35784750785}};
- spline.spline_y = {{1.30261224364, 1.28295363394, 1.27450357714,
- 2.89953366429, 3.10734391012, 2.90125929705}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{longitudinal_constraint, lateral_constraint,
- voltage_constraint, velocity_constraint}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({1.14763818102, 2.53944573074,
+ 3.74586892131, 5.22352745444,
+ 6.70255737219, 7.35784750785});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({1.30261224364, 1.28295363394,
+ 1.27450357714, 2.89953366429,
+ 3.10734391012, 2.90125929705});
+ MaybeFlipSpline(builder, spline_y_offset, is_left);
- MaybeFlipSpline(&spline, is_left);
- return spline;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
-::frc971::MultiSpline AutonomousSplines::FarRocketToHPTest() {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FarRocketToHPTest(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 1.5;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(1.5);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 1.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(1.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 0.5;
- velocity_constraint.start_distance = 9.5;
- velocity_constraint.end_distance = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(0.5);
+ velocity_constraint_builder.add_start_distance(9.5);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{6.53, 7.8, 7.8, 4.0, 2.0, 0.4}};
- spline.spline_y = {{3.47, 3.0, 1.5, 3.0, 3.4, 3.4}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{longitudinal_constraint, lateral_constraint,
- voltage_constraint, velocity_constraint}};
- return spline;
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({6.53, 7.8, 7.8, 4.0, 2.0, 0.4});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({3.47, 3.0, 1.5, 3.0, 3.4, 3.4});
+
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
-::frc971::MultiSpline AutonomousSplines::HPToNearRocketTest() {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
- ::frc971::Constraint velocity_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::HPToNearRocketTest(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> velocity_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 1.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(1.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 1.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(1.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 11.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(11.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- velocity_constraint.constraint_type = 4;
- velocity_constraint.value = 0.5;
- velocity_constraint.start_distance = 2.7;
- velocity_constraint.end_distance = 10.0;
+ {
+ frc971::Constraint::Builder velocity_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ velocity_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VELOCITY);
+ velocity_constraint_builder.add_value(0.5);
+ velocity_constraint_builder.add_start_distance(2.7);
+ velocity_constraint_builder.add_end_distance(10.0);
+ velocity_constraint_offset = velocity_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
- spline.spline_x = {{1.5, 2.0, 3.0, 4.0, 4.5, 5.12}};
- spline.spline_y = {{3.4, 3.4, 3.4, 3.0, 3.0, 3.43}};
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset, velocity_constraint_offset});
- spline.constraints = {{longitudinal_constraint, lateral_constraint,
- voltage_constraint, velocity_constraint}};
- return spline;
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({1.5, 2.0, 3.0, 4.0, 4.5, 5.12});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({3.4, 3.4, 3.4, 3.0, 3.0, 3.43});
+
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
+
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
-::frc971::MultiSpline AutonomousSplines::BasicSSpline() {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint longitudinal_constraint;
- ::frc971::Constraint lateral_constraint;
- ::frc971::Constraint voltage_constraint;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::BasicSSpline(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ flatbuffers::Offset<frc971::Constraint> longitudinal_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> lateral_constraint_offset;
+ flatbuffers::Offset<frc971::Constraint> voltage_constraint_offset;
- longitudinal_constraint.constraint_type = 1;
- longitudinal_constraint.value = 1.0;
+ {
+ frc971::Constraint::Builder longitudinal_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ longitudinal_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LONGITUDINAL_ACCELERATION);
+ longitudinal_constraint_builder.add_value(1.0);
+ longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
+ }
- lateral_constraint.constraint_type = 2;
- lateral_constraint.value = 1.0;
+ {
+ frc971::Constraint::Builder lateral_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ lateral_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_LATERAL_ACCELERATION);
+ lateral_constraint_builder.add_value(1.0);
+ lateral_constraint_offset = lateral_constraint_builder.Finish();
+ }
- voltage_constraint.constraint_type = 3;
- voltage_constraint.value = 6.0;
+ {
+ frc971::Constraint::Builder voltage_constraint_builder =
+ builder->MakeBuilder<frc971::Constraint>();
+ voltage_constraint_builder.add_constraint_type(
+ frc971::ConstraintType_VOLTAGE);
+ voltage_constraint_builder.add_value(6.0);
+ voltage_constraint_offset = voltage_constraint_builder.Finish();
+ }
- spline.spline_count = 1;
+ flatbuffers::Offset<
+ flatbuffers::Vector<flatbuffers::Offset<frc971::Constraint>>>
+ constraints_offset =
+ builder->fbb()->CreateVector<flatbuffers::Offset<frc971::Constraint>>(
+ {longitudinal_constraint_offset, lateral_constraint_offset,
+ voltage_constraint_offset});
+
const float startx = 0.4;
const float starty = 3.4;
- spline.spline_x = {{0.0f + startx, 0.6f + startx, 0.6f + startx,
- 0.4f + startx, 0.4f + startx, 1.0f + startx}};
- spline.spline_y = {{starty - 0.0f, starty - 0.0f, starty - 0.3f,
- starty - 0.7f, starty - 1.0f, starty - 1.0f}};
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>({0.0f + startx, 0.6f + startx,
+ 0.6f + startx, 0.4f + startx,
+ 0.4f + startx, 1.0f + startx});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({starty - 0.0f, starty - 0.0f,
+ starty - 0.3f, starty - 0.7f,
+ starty - 1.0f, starty - 1.0f});
- spline.constraints = {
- {longitudinal_constraint, lateral_constraint, voltage_constraint}};
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- return spline;
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_constraints(constraints_offset);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
+
+ return multispline_builder.Finish();
}
-::frc971::MultiSpline AutonomousSplines::StraightLine() {
- ::frc971::MultiSpline spline;
- ::frc971::Constraint contraints;
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::StraightLine(
+ aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder) {
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_x_offset =
+ builder->fbb()->CreateVector<float>(
+ {-12.3, -11.9, -11.5, -11.1, -10.6, -10.0});
+ flatbuffers::Offset<flatbuffers::Vector<float>> spline_y_offset =
+ builder->fbb()->CreateVector<float>({1.25, 1.25, 1.25, 1.25, 1.25, 1.25});
- contraints.constraint_type = 0;
- contraints.value = 0.0;
- contraints.start_distance = 0.0;
- contraints.end_distance = 0.0;
+ frc971::MultiSpline::Builder multispline_builder =
+ builder->MakeBuilder<frc971::MultiSpline>();
- spline.spline_count = 1;
- spline.spline_x = {{-12.3, -11.9, -11.5, -11.1, -10.6, -10.0}};
- spline.spline_y = {{1.25, 1.25, 1.25, 1.25, 1.25, 1.25}};
+ multispline_builder.add_spline_count(1);
+ multispline_builder.add_spline_x(spline_x_offset);
+ multispline_builder.add_spline_y(spline_y_offset);
- spline.constraints = {{contraints}};
-
- return spline;
+ return multispline_builder.Finish();
}
} // namespace actors