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

y2019/control_loops/superstructure/BUILD

diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index f43b448..7cbb202 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -1,16 +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:profiled_subsystem_queue",
-        "//frc971/control_loops:queues",
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_output_fbs",
+    srcs = [
+        "superstructure_output.fbs",
+    ],
+    gen_reflections = 1,
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_status_fbs",
+    srcs = [
+        "superstructure_status.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
+    ],
+)
+
+flatbuffer_cc_library(
+    name = "superstructure_position_fbs",
+    srcs = [
+        "superstructure_position.fbs",
+    ],
+    gen_reflections = 1,
+    includes = [
+        "//frc971/control_loops:control_loops_fbs_includes",
+        "//frc971/control_loops:profiled_subsystem_fbs_includes",
     ],
 )
 
@@ -24,11 +56,14 @@
     ],
     deps = [
         ":collision_avoidance",
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
+        ":superstructure_position_fbs",
+        ":superstructure_status_fbs",
         ":vacuum",
         "//aos/controls:control_loop",
-        "//aos/events:event-loop",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//aos/events:event_loop",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2019:constants",
         "//y2019:status_light",
     ],
@@ -39,18 +74,23 @@
     srcs = [
         "superstructure_lib_test.cc",
     ],
+    data = [
+        "//y2019:config.json",
+    ],
     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",
         "//frc971/control_loops:capped_test_plant",
         "//frc971/control_loops:position_sensor_sim",
         "//frc971/control_loops:team_number_test_environment",
-        "//frc971/control_loops/drivetrain:drivetrain_queue",
+        "//frc971/control_loops/drivetrain:drivetrain_status_fbs",
         "//y2019:status_light",
         "//y2019/control_loops/superstructure/intake:intake_plants",
     ],
@@ -64,7 +104,7 @@
     deps = [
         ":superstructure_lib",
         "//aos:init",
-        "//aos/events:shm-event-loop",
+        "//aos/events:shm_event_loop",
     ],
 )
 
@@ -77,9 +117,12 @@
         "collision_avoidance.h",
     ],
     deps = [
-        ":superstructure_queue",
-        "//aos/controls:control_loop_queues",
+        ":superstructure_goal_fbs",
+        ":superstructure_status_fbs",
+        "//aos/controls:control_loop",
         "//frc971:constants",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
     ],
 )
 
@@ -92,8 +135,11 @@
         "vacuum.h",
     ],
     deps = [
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_output_fbs",
         "//aos/controls:control_loop",
+        "//frc971/control_loops:control_loops_fbs",
+        "//frc971/control_loops:profiled_subsystem_fbs",
     ],
 )
 
@@ -104,7 +150,8 @@
     ],
     deps = [
         ":collision_avoidance",
-        ":superstructure_queue",
+        ":superstructure_goal_fbs",
+        ":superstructure_status_fbs",
         "//aos:math",
         "//aos/testing:googletest",
     ],