commit da0401517d1bc4b7844dcc070e9d60bfc9ade463
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 29 22:20:03 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Oct 31 21:08:59 2024 -0700
tree f0910468c1c2b498f6076f354d4867a952786c88
parent c68b350a87a7be18b5caaada9af1bbde8ec43af9

Support static flatbuffers in ContinuousAbsoluteEncoderZeroingEstimator

Change-Id: Ic4dac2ff1084e987b2b20286018821c02967975b
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

aos/containers/error_list.h

diff --git a/aos/containers/error_list.h b/aos/containers/error_list.h
index 7ceb1fe..762d2ad 100644
--- a/aos/containers/error_list.h
+++ b/aos/containers/error_list.h
@@ -5,6 +5,7 @@
 
 #include <algorithm>
 
+#include "absl/log/check.h"
 #include "flatbuffers/buffer.h"
 #include "flatbuffers/flatbuffer_builder.h"
 #include "flatbuffers/vector.h"
@@ -128,7 +129,11 @@
       flatbuffers::FlatBufferBuilder *fbb) const {
     return fbb->CreateVector(array_.data(), array_.size());
   }
-};  // namespace aos
+  template <typename StaticBuilder>
+  void ToStaticFlatbuffer(StaticBuilder *vector_builder) const {
+    CHECK(vector_builder->FromData(array_.data(), array_.size()));
+  }
+};
 
 }  // namespace aos
 

frc971/zeroing/continuous_absolute_encoder.cc

diff --git a/frc971/zeroing/continuous_absolute_encoder.cc b/frc971/zeroing/continuous_absolute_encoder.cc
index 3381833..733d46d 100644
--- a/frc971/zeroing/continuous_absolute_encoder.cc
+++ b/frc971/zeroing/continuous_absolute_encoder.cc
@@ -165,4 +165,14 @@
   return builder.Finish();
 }
 
+void ContinuousAbsoluteEncoderZeroingEstimator::GetEstimatorState(
+    AbsoluteEncoderEstimatorStateStatic *fbs) const {
+  errors_.ToStaticFlatbuffer(fbs->add_errors());
+
+  fbs->set_error(error_);
+  fbs->set_zeroed(zeroed_);
+  fbs->set_position(position_);
+  fbs->set_absolute_position(filtered_absolute_encoder_);
+}
+
 }  // namespace frc971::zeroing

frc971/zeroing/continuous_absolute_encoder.h

diff --git a/frc971/zeroing/continuous_absolute_encoder.h b/frc971/zeroing/continuous_absolute_encoder.h
index 4994280..5e700ee 100644
--- a/frc971/zeroing/continuous_absolute_encoder.h
+++ b/frc971/zeroing/continuous_absolute_encoder.h
@@ -47,6 +47,8 @@
   virtual flatbuffers::Offset<State> GetEstimatorState(
       flatbuffers::FlatBufferBuilder *fbb) const override;
 
+  void GetEstimatorState(AbsoluteEncoderEstimatorStateStatic *fbs) const;
+
  private:
   struct PositionStruct {
     PositionStruct(const AbsolutePosition &position_buffer)

frc971/zeroing/zeroing.h

diff --git a/frc971/zeroing/zeroing.h b/frc971/zeroing/zeroing.h
index 68ef38f..01c2c61 100644
--- a/frc971/zeroing/zeroing.h
+++ b/frc971/zeroing/zeroing.h
@@ -10,7 +10,7 @@
 #include "flatbuffers/flatbuffers.h"
 
 #include "frc971/constants.h"
-#include "frc971/control_loops/control_loops_generated.h"
+#include "frc971/control_loops/control_loops_static.h"
 
 // TODO(pschrader): Flag an error if encoder index pulse is not n revolutions
 // away from the last one (i.e. got extra counts from noise, etc..)