commit 0b545432b630f0af5c7eb8532f8c53e0d02ee4cb
author Austin Schuh <austin.linux@gmail.com> Sun May 12 15:46:12 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 12 15:46:12 2019 -0700
tree 982de4fa9faccfc6775606ffc6d2f1bd88fecc8c
parent c087b100615f29a93feb5e49157680a3bc53be95

Remove pdp_values queue.

Switch to event loops (kinda)

Change-Id: Ia1334871715321f99f12015a771414a236221cb6

frc971/wpilib/BUILD

diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 889c32e..2ef83ce 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -207,6 +207,7 @@
     deps = [
         ":pdp_values",
         "//aos:init",
+        "//aos/events:event-loop",
         "//aos/logging:queue_logging",
         "//aos/util:phased_loop",
         "//third_party:wpilib",

frc971/wpilib/pdp_fetcher.cc

diff --git a/frc971/wpilib/pdp_fetcher.cc b/frc971/wpilib/pdp_fetcher.cc
index 81f9fcf..eff53e7 100644
--- a/frc971/wpilib/pdp_fetcher.cc
+++ b/frc971/wpilib/pdp_fetcher.cc
@@ -2,8 +2,9 @@
 
 #include <chrono>
 
-#include "aos/logging/queue_logging.h"
+#include "aos/events/event-loop.h"
 #include "aos/init.h"
+#include "aos/logging/queue_logging.h"
 #include "aos/util/phased_loop.h"
 #include "frc971/wpilib/ahal/PowerDistributionPanel.h"
 #include "frc971/wpilib/pdp_values.q.h"
@@ -19,6 +20,7 @@
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
                                       ::std::chrono::milliseconds(4));
 
+  // TODO(austin): Event loop instead of while loop.
   while (true) {
     {
       const int iterations = phased_loop.SleepUntilNext();
@@ -26,7 +28,7 @@
         LOG(DEBUG, "PDPFetcher skipped %d iterations\n", iterations - 1);
       }
     }
-    auto message = pdp_values.MakeMessage();
+    auto message = pdp_values_sender_.MakeMessage();
     message->voltage = pdp->GetVoltage();
     message->temperature = pdp->GetTemperature();
     message->power = pdp->GetTotalPower();

frc971/wpilib/pdp_fetcher.h

diff --git a/frc971/wpilib/pdp_fetcher.h b/frc971/wpilib/pdp_fetcher.h
index 513f5fc..db783f6 100644
--- a/frc971/wpilib/pdp_fetcher.h
+++ b/frc971/wpilib/pdp_fetcher.h
@@ -4,6 +4,9 @@
 #include <atomic>
 #include <memory>
 
+#include "aos/events/event-loop.h"
+#include "frc971/wpilib/pdp_values.q.h"
+
 namespace frc971 {
 namespace wpilib {
 
@@ -11,12 +14,21 @@
 // separate thread.
 class PDPFetcher {
  public:
+  PDPFetcher(::aos::EventLoop *event_loop)
+      : event_loop_(event_loop),
+        pdp_values_sender_(event_loop_->MakeSender<::frc971::PDPValues>(
+            ".frc971.pdp_values")) {}
+
   void Quit() { run_ = false; }
 
   // To be called by a ::std::thread.
   void operator()();
 
  private:
+  ::aos::EventLoop *event_loop_;
+
+  ::aos::Sender<::frc971::PDPValues> pdp_values_sender_;
+
   ::std::atomic<bool> run_{true};
 };
 

frc971/wpilib/pdp_values.q

diff --git a/frc971/wpilib/pdp_values.q b/frc971/wpilib/pdp_values.q
index bda1c49..4c326ab 100644
--- a/frc971/wpilib/pdp_values.q
+++ b/frc971/wpilib/pdp_values.q
@@ -1,11 +1,10 @@
 package frc971;
 
 // Values retrieved from the PDP.
+// Published on ".frc971.pdp_values"
 message PDPValues {
   double voltage;
   double temperature;
   double power;
   double[16] currents;
 };
-
-queue PDPValues pdp_values;