y2019 robot code starts!
We are now deploying the config, and all the missing locations are now
available. Some channels got renamed to be more user friendly.
Change-Id: Idc771998b24a769994ec80f3aee292b0d1ac6240
diff --git a/frc971/autonomous/BUILD b/frc971/autonomous/BUILD
index 2eb4be0..12698a9 100644
--- a/frc971/autonomous/BUILD
+++ b/frc971/autonomous/BUILD
@@ -1,10 +1,19 @@
package(default_visibility = ["//visibility:public"])
+load("//aos:config.bzl", "aos_config")
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
flatbuffer_cc_library(
name = "auto_fbs",
srcs = ["auto.fbs"],
+ gen_reflections = 1,
+ visibility = ["//visibility:public"],
+)
+
+flatbuffer_cc_library(
+ name = "auto_mode_fbs",
+ srcs = ["auto_mode.fbs"],
+ gen_reflections = 1,
visibility = ["//visibility:public"],
)
@@ -29,3 +38,14 @@
"//y2019/control_loops/drivetrain:target_selector_fbs",
],
)
+
+aos_config(
+ name = "config",
+ src = "autonomous_config.json",
+ flatbuffers = [
+ "//aos/actions:actions_fbs",
+ ":auto_fbs",
+ ":auto_mode_fbs",
+ ],
+ visibility = ["//visibility:public"],
+)
diff --git a/frc971/autonomous/auto.fbs b/frc971/autonomous/auto.fbs
index 92ca532..ef8e915 100644
--- a/frc971/autonomous/auto.fbs
+++ b/frc971/autonomous/auto.fbs
@@ -1,11 +1,5 @@
namespace frc971.autonomous;
-// Published on ".frc971.autonomous.auto_mode"
-table AutonomousMode {
- // Mode read from the mode setting sensors.
- mode:int;
-}
-
table AutonomousActionParams {
// The mode from the sensors when auto starts.
mode:int;
@@ -15,3 +9,5 @@
run:uint;
params:AutonomousActionParams;
}
+
+root_type Goal;
diff --git a/frc971/autonomous/auto_mode.fbs b/frc971/autonomous/auto_mode.fbs
new file mode 100644
index 0000000..412cd17
--- /dev/null
+++ b/frc971/autonomous/auto_mode.fbs
@@ -0,0 +1,8 @@
+namespace frc971.autonomous;
+
+table AutonomousMode {
+ // Mode read from the mode setting sensors.
+ mode:int;
+}
+
+root_type AutonomousMode;
diff --git a/frc971/autonomous/autonomous_config.json b/frc971/autonomous/autonomous_config.json
new file mode 100644
index 0000000..5320325
--- /dev/null
+++ b/frc971/autonomous/autonomous_config.json
@@ -0,0 +1,17 @@
+{
+ "channels":
+ [
+ {
+ "name": "/autonomous",
+ "type": "aos.common.actions.Status"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.Goal"
+ },
+ {
+ "name": "/autonomous",
+ "type": "frc971.autonomous.AutonomousMode"
+ }
+ ]
+}
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index 6035551..09d9a0e 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -25,7 +25,7 @@
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
static Factory MakeFactory(::aos::EventLoop *event_loop) {
- return Factory(event_loop, ".frc971.autonomous.autonomous_action");
+ return Factory(event_loop, "/autonomous");
}
protected: