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/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 9b9ba30..1575584 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -1,5 +1,5 @@
-load("//aos/build:queues.bzl", "queue_library")
-load("//tools/build_rules:select.bzl", "cpu_select", "compiler_select")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("//tools/build_rules:select.bzl", "compiler_select", "cpu_select")
genrule(
name = "genrule_drivetrain",
@@ -31,39 +31,6 @@
],
)
-cc_binary(
- name = "replay_localizer",
- srcs = [
- "replay_localizer.cc",
- ],
- defines =
- cpu_select({
- "amd64": [
- "SUPPORT_PLOT=1",
- ],
- "arm": [],
- }),
- linkstatic = True,
- deps = [
- "//frc971/control_loops/drivetrain:localizer_queue",
- ":localizer",
- ":event_loop_localizer",
- ":drivetrain_base",
- "@com_github_gflags_gflags//:gflags",
- "//y2019:constants",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
- "//aos:init",
- "//aos/controls:replay_control_loop",
- "//frc971/queues:gyro",
- "//frc971/wpilib:imu_queue",
- ] + cpu_select({
- "amd64": [
- "//third_party/matplotlib-cpp",
- ],
- "arm": [],
- }),
-)
-
cc_library(
name = "polydrivetrain_plants",
srcs = [
@@ -111,24 +78,24 @@
":drivetrain_base",
":event_loop_localizer",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
],
)
-queue_library(
- name = "target_selector_queue",
- srcs = [
- "target_selector.q",
- ],
+flatbuffer_cc_library(
+ name = "target_selector_fbs",
+ srcs = ["target_selector.fbs"],
+ gen_reflections = 1,
visibility = ["//visibility:public"],
)
-queue_library(
- name = "camera_queue",
+flatbuffer_cc_library(
+ name = "camera_fbs",
srcs = [
- "camera.q",
+ "camera.fbs",
],
+ gen_reflections = 1,
visibility = ["//visibility:public"],
)
@@ -167,17 +134,18 @@
hdrs = ["target_selector.h"],
deps = [
":camera",
- ":target_selector_queue",
+ ":target_selector_fbs",
"//frc971/control_loops:pose",
"//frc971/control_loops/drivetrain:localizer",
"//y2019:constants",
- "//y2019/control_loops/superstructure:superstructure_queue",
+ "//y2019/control_loops/superstructure:superstructure_goal_fbs",
],
)
cc_test(
name = "target_selector_test",
srcs = ["target_selector_test.cc"],
+ data = ["//y2019:config.json"],
deps = [
":target_selector",
"//aos/events:simulated_event_loop",
@@ -191,7 +159,7 @@
srcs = ["event_loop_localizer.cc"],
hdrs = ["event_loop_localizer.h"],
deps = [
- ":camera_queue",
+ ":camera_fbs",
":localizer",
":target_selector",
"//frc971/control_loops/drivetrain:localizer",
@@ -232,13 +200,14 @@
cc_test(
name = "localized_drivetrain_test",
srcs = ["localized_drivetrain_test.cc"],
+ data = ["//y2019:config.json"],
deps = [
- ":camera_queue",
+ ":camera_fbs",
":drivetrain_base",
":event_loop_localizer",
":localizer",
"//aos/controls:control_loop_test",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
"//aos/network:team_number",
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_lib",