| Henry Speiser | e5f05aa | 2022-05-02 21:24:26 -0700 | [diff] [blame^] | 1 | #ifndef FRC971_CONSTANTS_CONSTANTS_SENDER_H_ |
| 2 | #define FRC971_CONSTANTS_CONSTANTS_SENDER_H_ |
| 3 | |
| 4 | #include "aos/events/event_loop.h" |
| 5 | #include "aos/flatbuffer_merge.h" |
| 6 | #include "aos/json_to_flatbuffer.h" |
| 7 | #include "aos/network/team_number.h" |
| 8 | #include "gflags/gflags.h" |
| 9 | #include "glog/logging.h" |
| 10 | |
| 11 | namespace frc971::constants { |
| 12 | |
| 13 | // Publishes the constants specific to the current robot |
| 14 | template <typename ConstantsData, typename ConstantsList> |
| 15 | class ConstantSender { |
| 16 | public: |
| 17 | ConstantSender<ConstantsData, ConstantsList>( |
| 18 | aos::EventLoop *event_loop, std::string constants_path, |
| 19 | std::string_view channel_name = "/constants") |
| 20 | : ConstantSender<ConstantsData, ConstantsList>( |
| 21 | event_loop, constants_path, aos::network::GetTeamNumber(), |
| 22 | channel_name) {} |
| 23 | |
| 24 | ConstantSender<ConstantsData, ConstantsList>(aos::EventLoop *event_loop, |
| 25 | std::string constants_path, |
| 26 | const uint16_t team_number, |
| 27 | std::string_view channel_name) |
| 28 | : team_number_(team_number), |
| 29 | channel_name_(channel_name), |
| 30 | constants_path_(constants_path), |
| 31 | event_loop_(event_loop), |
| 32 | sender_(event_loop_->MakeSender<ConstantsData>(channel_name_)) { |
| 33 | event_loop->OnRun([this]() { |
| 34 | typename aos::Sender<ConstantsData>::Builder builder = |
| 35 | sender_.MakeBuilder(); |
| 36 | builder.CheckOk(builder.Send(GetConstantsForTeamNumber(builder.fbb()))); |
| 37 | }); |
| 38 | } |
| 39 | |
| 40 | private: |
| 41 | const uint16_t team_number_ = 0; |
| 42 | std::string_view channel_name_; |
| 43 | flatbuffers::Offset<ConstantsData> GetConstantsForTeamNumber( |
| 44 | flatbuffers::FlatBufferBuilder *fbb) { |
| 45 | aos::FlatbufferDetachedBuffer<ConstantsList> fb = |
| 46 | aos::JsonFileToFlatbuffer<ConstantsList>(constants_path_); |
| 47 | const ConstantsList &message = fb.message(); |
| 48 | const auto *constants = message.constants(); |
| 49 | // Search through the constants for the one matching our team number. |
| 50 | for (const auto &constant_data : *constants) { |
| 51 | if (team_number_ == constant_data->team()) { |
| 52 | // Values is equal to the constants meant for the specific robot. |
| 53 | const ConstantsData *values = constant_data->data(); |
| 54 | flatbuffers::Offset<ConstantsData> flatbuffer_constants = |
| 55 | aos::RecursiveCopyFlatBuffer(values, fbb); |
| 56 | return flatbuffer_constants; |
| 57 | } |
| 58 | } |
| 59 | LOG(FATAL) << "There was no match for " << team_number_ |
| 60 | << ". Check the constants.json file for the team number that is " |
| 61 | "missing."; |
| 62 | } |
| 63 | |
| 64 | std::string constants_path_; |
| 65 | aos::EventLoop *event_loop_; |
| 66 | aos::Sender<ConstantsData> sender_; |
| 67 | }; |
| 68 | |
| 69 | } // namespace frc971::constants |
| 70 | |
| 71 | #endif // FRC971_CONSTANTS_CONSTANTS_SENDER_H_ |