Merge commit '7c1ae250acb4120322b01a666993ed63c795ef21' into master
Update flatbuffers to latest master.
This adds an upstream flatbuffer_ts_library rule and changes the
typescript codegen, so ends up touching every typescript file we have
that uses flatbuffers. But it does clean up some of the hacks we had to
make to get that to work.
Had to hack the flatbuffer_ts_library a bit because I forgot to make
imports work nicely for cross-repo things.
And of course, the original motivation for this is that it gives us
proper handling of transitive dependencies for
flatbuffer_cc_library, if we start using the deps attribute!
Had to modify the codegen for the new declaration_file attribute in
flatbuffer schemas to make it just be the filename rather than including
the path. Modifying that to make it use a workspace-relative path was
looking obnoxious. It's definitely feasible, but since we don't actually
need that attribute, just make it be a filename for now.
Change-Id: I523a758cafa512fa2a686c9705d23337a26798ca
Signed-off-by: James Kuszmaul <james.kuszmaul@bluerivertech.com>
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 601be56..eb713c2 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -48,11 +48,10 @@
srcs = [
"superstructure_status.fbs",
],
- includes = [
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops:profiled_subsystem_fbs_includes",
+ deps = [
+ "//frc971/control_loops:control_loops_ts_fbs",
+ "//frc971/control_loops:profiled_subsystem_ts_fbs",
],
- target_compatible_with = ["@platforms//os:linux"],
)
flatbuffer_cc_library(
diff --git a/y2022/localizer/BUILD b/y2022/localizer/BUILD
index 1a57caf..edc3791 100644
--- a/y2022/localizer/BUILD
+++ b/y2022/localizer/BUILD
@@ -28,7 +28,6 @@
flatbuffer_ts_library(
name = "localizer_output_ts_fbs",
srcs = ["localizer_output.fbs"],
- target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -46,6 +45,16 @@
visibility = ["//visibility:public"],
)
+flatbuffer_ts_library(
+ name = "localizer_status_ts_fbs",
+ srcs = ["localizer_status.fbs"],
+ visibility = ["//visibility:public"],
+ deps = [
+ "//frc971/control_loops:control_loops_ts_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+ ],
+)
+
flatbuffer_cc_library(
name = "localizer_visualization_fbs",
srcs = ["localizer_visualization.fbs"],
@@ -61,13 +70,12 @@
flatbuffer_ts_library(
name = "localizer_visualization_ts_fbs",
srcs = ["localizer_visualization.fbs"],
- includes = [
- ":localizer_status_fbs_includes",
- "//frc971/control_loops:control_loops_fbs_includes",
- "//frc971/control_loops/drivetrain:drivetrain_status_fbs_includes",
- ],
- target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
+ deps = [
+ ":localizer_status_ts_fbs",
+ "//frc971/control_loops:control_loops_ts_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_status_ts_fbs",
+ ],
)
cc_static_flatbuffer(
diff --git a/y2022/vision/create_calib_file.py b/y2022/vision/create_calib_file.py
index 6b24d28..1f2b9b8 100644
--- a/y2022/vision/create_calib_file.py
+++ b/y2022/vision/create_calib_file.py
@@ -36,7 +36,7 @@
TransformationMatrix.TransformationMatrixStartDataVector(fbb, len(values))
for n in reversed(values):
fbb.PrependFloat32(n)
- list_offset = fbb.EndVector(len(values))
+ list_offset = fbb.EndVector()
TransformationMatrix.TransformationMatrixStart(fbb)
TransformationMatrix.TransformationMatrixAddData(fbb, list_offset)
@@ -74,14 +74,14 @@
fbb, len(camera_int_list))
for n in reversed(camera_int_list):
fbb.PrependFloat32(n)
- intrinsics_vector = fbb.EndVector(len(camera_int_list))
+ intrinsics_vector = fbb.EndVector()
dist_coeffs_list = camera_calib.camera_int.dist_coeffs.ravel().tolist()
CameraCalibration.CameraCalibrationStartDistCoeffsVector(
fbb, len(dist_coeffs_list))
for n in reversed(dist_coeffs_list):
fbb.PrependFloat32(n)
- dist_coeffs_vector = fbb.EndVector(len(dist_coeffs_list))
+ dist_coeffs_vector = fbb.EndVector()
node_name_offset = fbb.CreateString(camera_calib.node_name)
CameraCalibration.CameraCalibrationStart(fbb)
@@ -104,8 +104,7 @@
fbb, len(camera_calibration_vector))
for camera_calibration in reversed(camera_calibration_vector):
fbb.PrependUOffsetTRelative(camera_calibration)
- camera_calibration_vector_table = fbb.EndVector(
- len(camera_calibration_vector))
+ camera_calibration_vector_table = fbb.EndVector()
# Fill out TrainingData
CalibrationData.CalibrationDataStart(fbb)
diff --git a/y2022/www/BUILD b/y2022/www/BUILD
index 4aac007..88e54a5 100644
--- a/y2022/www/BUILD
+++ b/y2022/www/BUILD
@@ -26,6 +26,7 @@
"//aos/network/www:proxy",
"//y2022/control_loops/superstructure:superstructure_status_ts_fbs",
"//y2022/localizer:localizer_output_ts_fbs",
+ "//y2022/localizer:localizer_status_ts_fbs",
"//y2022/localizer:localizer_visualization_ts_fbs",
"@com_github_google_flatbuffers//ts:flatbuffers_ts",
],
diff --git a/y2022/www/field_handler.ts b/y2022/www/field_handler.ts
index 0c0bf2c..63e73c7 100644
--- a/y2022/www/field_handler.ts
+++ b/y2022/www/field_handler.ts
@@ -1,18 +1,9 @@
-import * as web_proxy from 'org_frc971/aos/network/web_proxy_generated';
+import {ByteBuffer} from 'flatbuffers';
import {Connection} from 'org_frc971/aos/network/www/proxy';
-import * as flatbuffers_builder from 'org_frc971/external/com_github_google_flatbuffers/ts/builder';
-import {ByteBuffer} from 'org_frc971/external/com_github_google_flatbuffers/ts/byte-buffer';
-import * as localizer from 'org_frc971/y2022/localizer/localizer_visualization_generated';
-import * as output from 'org_frc971/y2022/localizer/localizer_output_generated';
-import * as ss from 'org_frc971/y2022/control_loops/superstructure/superstructure_status_generated'
-
-import LocalizerVisualization = localizer.frc971.controls.LocalizerVisualization;
-import LocalizerOutput = output.frc971.controls.LocalizerOutput;
-import RejectionReason = localizer.frc971.controls.RejectionReason;
-import TargetEstimateDebug = localizer.frc971.controls.TargetEstimateDebug;
-import SuperstructureStatus = ss.y2022.control_loops.superstructure.Status;
-import SuperstructureState = ss.y2022.control_loops.superstructure.SuperstructureState;
-import IntakeState = ss.y2022.control_loops.superstructure.IntakeState;
+import {IntakeState, Status as SuperstructureStatus, SuperstructureState} from 'org_frc971/y2022/control_loops/superstructure/superstructure_status_generated'
+import {LocalizerOutput} from 'org_frc971/y2022/localizer/localizer_output_generated';
+import {RejectionReason} from 'org_frc971/y2022/localizer/localizer_status_generated';
+import {LocalizerVisualization, TargetEstimateDebug} from 'org_frc971/y2022/localizer/localizer_visualization_generated';
import {FIELD_LENGTH, FIELD_WIDTH, FT_TO_M, IN_TO_M} from './constants';
@@ -128,9 +119,7 @@
const fbBuffer = new ByteBuffer(data);
this.localizerImageMatches.set(
- now,
- LocalizerVisualization.getRootAsLocalizerVisualization(
- fbBuffer as unknown as flatbuffers.ByteBuffer));
+ now, LocalizerVisualization.getRootAsLocalizerVisualization(fbBuffer));
const debug = this.localizerImageMatches.get(now);
@@ -160,14 +149,12 @@
private handleLocalizerOutput(data: Uint8Array): void {
const fbBuffer = new ByteBuffer(data);
- this.localizerOutput = LocalizerOutput.getRootAsLocalizerOutput(
- fbBuffer as unknown as flatbuffers.ByteBuffer);
+ this.localizerOutput = LocalizerOutput.getRootAsLocalizerOutput(fbBuffer);
}
private handleSuperstructureStatus(data: Uint8Array): void {
const fbBuffer = new ByteBuffer(data);
- this.superstructureStatus = SuperstructureStatus.getRootAsStatus(
- fbBuffer as unknown as flatbuffers.ByteBuffer);
+ this.superstructureStatus = SuperstructureStatus.getRootAsStatus(fbBuffer);
}
drawField(): void {