Replace aos::SizedArray with absl::InlinedVector
Change-Id: I4dae096c5079afa3135e3a1cb7cb17e2789275e6
Signed-off-by: Tyler Chatow <tchatow@gmail.com>
diff --git a/y2019/jevois/cobs.h b/y2019/jevois/cobs.h
index 979cc15..c429622 100644
--- a/y2019/jevois/cobs.h
+++ b/y2019/jevois/cobs.h
@@ -23,9 +23,8 @@
// output_buffer is where to store the result.
// Returns a span in output_buffer which has no 0 bytes.
template <size_t max_decoded_size>
-absl::Span<char> CobsEncode(
- absl::Span<const char> input,
- std::array<char, CobsMaxEncodedSize(max_decoded_size)> *output_buffer);
+absl::Span<char> CobsEncode(absl::Span<const char> input,
+ absl::Span<char> output_buffer);
// Decodes some COBS-encoded data.
// input is the data to decide. Its size may be at most
@@ -90,20 +89,19 @@
};
template <size_t max_decoded_size>
-absl::Span<char> CobsEncode(
- absl::Span<const char> input,
- std::array<char, CobsMaxEncodedSize(max_decoded_size)> *output_buffer) {
+absl::Span<char> CobsEncode(absl::Span<const char> input,
+ absl::Span<char> output_buffer) {
static_assert(max_decoded_size > 0, "Empty buffers not supported");
if (static_cast<size_t>(input.size()) > max_decoded_size) {
__builtin_trap();
}
auto input_pointer = input.begin();
- auto output_pointer = output_buffer->begin();
+ auto output_pointer = output_buffer.begin();
auto code_pointer = output_pointer;
++output_pointer;
uint8_t code = 1;
while (input_pointer < input.end()) {
- if (output_pointer >= output_buffer->end()) {
+ if (output_pointer >= output_buffer.end()) {
__builtin_trap();
}
if (*input_pointer == 0u) {
@@ -125,11 +123,11 @@
++input_pointer;
}
*code_pointer = code;
- if (output_pointer > output_buffer->end()) {
+ if (output_pointer > output_buffer.end()) {
__builtin_trap();
}
- return absl::Span<char>(*output_buffer)
- .subspan(0, output_pointer - output_buffer->begin());
+ return absl::Span<char>(output_buffer)
+ .subspan(0, output_pointer - output_buffer.begin());
}
template <size_t max_decoded_size>
diff --git a/y2019/jevois/cobs_test.cc b/y2019/jevois/cobs_test.cc
index fd312f0..fa4742f 100644
--- a/y2019/jevois/cobs_test.cc
+++ b/y2019/jevois/cobs_test.cc
@@ -32,8 +32,8 @@
template <size_t max_decoded_size>
void EncodeAndDecode(const absl::Span<const char> decoded_input) {
std::array<char, CobsMaxEncodedSize(max_decoded_size)> encoded_buffer;
- const auto encoded =
- CobsEncode<max_decoded_size>(decoded_input, &encoded_buffer);
+ const auto encoded = CobsEncode<max_decoded_size>(
+ decoded_input, absl::Span<char>(encoded_buffer));
ASSERT_LE(encoded.size(), encoded_buffer.size());
ASSERT_EQ(encoded.data(), &encoded_buffer.front());
diff --git a/y2019/jevois/serial.cc b/y2019/jevois/serial.cc
index 5febbb4..cd0bb99 100644
--- a/y2019/jevois/serial.cc
+++ b/y2019/jevois/serial.cc
@@ -1,13 +1,13 @@
#include "y2019/jevois/serial.h"
-#include "aos/logging/logging.h"
-
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <termios.h>
#include <unistd.h>
+#include "aos/logging/logging.h"
+
namespace y2019 {
namespace jevois {
@@ -33,7 +33,7 @@
| IGNCR // ignore CR
| ICRNL // translate CR to newline on input
| IXON // disable XON/XOFF flow control on output
- );
+ );
// disable implementation-defined output processing
options.c_oflag &= ~OPOST;
@@ -42,7 +42,7 @@
| ICANON // disable cannonical mode
| ISIG // do not signal for INTR, QUIT, SUSP etc
| IEXTEN // disable platform dependent i/p processing
- );
+ );
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
diff --git a/y2019/jevois/serial.h b/y2019/jevois/serial.h
index 9dd4b0c..14e2f98 100644
--- a/y2019/jevois/serial.h
+++ b/y2019/jevois/serial.h
@@ -7,6 +7,6 @@
int open_via_terminos(const char *tty_name);
} // namespace jevois
-} // namespace frc971
+} // namespace y2019
#endif // Y2019_JEVOIS_SERIAL_H_
diff --git a/y2019/jevois/uart.cc b/y2019/jevois/uart.cc
index 2857bd6..9cded62 100644
--- a/y2019/jevois/uart.cc
+++ b/y2019/jevois/uart.cc
@@ -49,8 +49,9 @@
}
AOS_CHECK(remaining_space.empty());
UartToTeensyBuffer result;
- result.set_size(
- CobsEncode<uart_to_teensy_size()>(buffer, result.mutable_backing_array())
+ result.resize(result.capacity());
+ result.resize(
+ CobsEncode<uart_to_teensy_size()>(buffer, absl::Span<char>(result))
.size());
return result;
}
@@ -137,8 +138,9 @@
}
AOS_CHECK(remaining_space.empty());
UartToCameraBuffer result;
- result.set_size(
- CobsEncode<uart_to_camera_size()>(buffer, result.mutable_backing_array())
+ result.resize(result.capacity());
+ result.resize(
+ CobsEncode<uart_to_camera_size()>(buffer, absl::Span<char>(result))
.size());
return result;
}
diff --git a/y2019/jevois/uart_test.cc b/y2019/jevois/uart_test.cc
index ff02f08..5a3a330 100644
--- a/y2019/jevois/uart_test.cc
+++ b/y2019/jevois/uart_test.cc
@@ -88,7 +88,7 @@
}
{
UartToTeensyBuffer buffer = UartPackToTeensy(input_message);
- buffer.set_size(buffer.size() - 1);
+ buffer.resize(buffer.size() - 1);
EXPECT_FALSE(UartUnpackToTeensy(buffer));
}
{
@@ -113,7 +113,7 @@
}
{
UartToCameraBuffer buffer = UartPackToCamera(input_message);
- buffer.set_size(buffer.size() - 1);
+ buffer.resize(buffer.size() - 1);
EXPECT_FALSE(UartUnpackToCamera(buffer));
}
{
diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index 4aa4b54..650693c 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -1,5 +1,3 @@
-#include "y2019/vision/target_finder.h"
-
#include <condition_variable>
#include <fstream>
#include <mutex>
@@ -16,19 +14,20 @@
#include "y2019/jevois/structures.h"
#include "y2019/jevois/uart.h"
#include "y2019/vision/image_writer.h"
+#include "y2019/vision/target_finder.h"
// This has to be last to preserve compatibility with other headers using AOS
// logging.
#include "glog/logging.h"
+using ::aos::monotonic_clock;
using ::aos::events::DataSocket;
using ::aos::events::RXUdpSocket;
using ::aos::events::TCPServer;
using ::aos::vision::DataRef;
using ::aos::vision::Int32Codec;
-using ::aos::monotonic_clock;
-using ::y2019::jevois::open_via_terminos;
using aos::vision::Segment;
+using ::y2019::jevois::open_via_terminos;
class CameraStream : public ::y2019::camera::ImageStreamEvent {
public:
@@ -41,8 +40,9 @@
if (on_frame_) on_frame_(data, monotonic_now);
}
- void set_on_frame(const std::function<
- void(DataRef, monotonic_clock::time_point)> &on_frame) {
+ void set_on_frame(
+ const std::function<void(DataRef, monotonic_clock::time_point)>
+ &on_frame) {
on_frame_ = on_frame;
}
@@ -67,12 +67,12 @@
exit(-1);
}
+using aos::vision::ImageFormat;
using aos::vision::ImageRange;
using aos::vision::RangeImage;
-using aos::vision::ImageFormat;
-using y2019::vision::TargetFinder;
using y2019::vision::IntermediateResult;
using y2019::vision::Target;
+using y2019::vision::TargetFinder;
class TargetProcessPool {
public:
@@ -271,7 +271,7 @@
frc971::jevois::CameraFrame frame{};
- for (size_t i = 0; i < results.size() && i < frame.targets.max_size();
+ for (size_t i = 0; i < results.size() && i < frame.targets.capacity();
++i) {
const auto &result = results[i].extrinsics;
frame.targets.push_back(frc971::jevois::Target{