Simplify aos::Init
Most of the variants were to deal with core, which has been gone for a
year. Simplify those all into InitGoogle.
InitGoogle should be renamed to Init at some point. It does everything
now.
Change-Id: I738ee03e9c5b2e6348ef33302835f915df68011f
diff --git a/y2016/actors/autonomous_actor_main.cc b/y2016/actors/autonomous_actor_main.cc
index 41b4539..b422faf 100644
--- a/y2016/actors/autonomous_actor_main.cc
+++ b/y2016/actors/autonomous_actor_main.cc
@@ -4,8 +4,8 @@
#include "aos/init.h"
#include "y2016/actors/autonomous_actor.h"
-int main(int /*argc*/, char * /*argv*/ []) {
- ::aos::Init(-1);
+int main(int argc, char *argv[]) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index bed7b3a..e193243 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -22,7 +22,9 @@
superstructure_status_fetcher_(
event_loop
->MakeFetcher<::y2016::control_loops::superstructure::Status>(
- "/superstructure")) {}
+ "/superstructure")) {
+ event_loop->SetRuntimeRealtimePriority(29);
+}
bool SuperstructureActor::RunAction(
const superstructure_action::SuperstructureActionParams *params) {
diff --git a/y2016/actors/superstructure_actor_main.cc b/y2016/actors/superstructure_actor_main.cc
index 54331c9..4cc65a1 100644
--- a/y2016/actors/superstructure_actor_main.cc
+++ b/y2016/actors/superstructure_actor_main.cc
@@ -4,8 +4,8 @@
#include "aos/init.h"
#include "y2016/actors/superstructure_actor.h"
-int main(int /*argc*/, char* /*argv*/ []) {
- ::aos::Init(-1);
+int main(int argc, char *argv[]) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index 1761a72..56a858c 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -23,11 +23,12 @@
: aos::common::actions::ActorBase<vision_align_action::Goal>(
event_loop, "/vision_align_action"),
vision_status_fetcher_(
- event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
- "/vision")),
+ event_loop->MakeFetcher<::y2016::vision::VisionStatus>("/vision")),
drivetrain_goal_sender_(
event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
- "/drivetrain")) {}
+ "/drivetrain")) {
+ event_loop->SetRuntimeRealtimePriority(29);
+}
bool VisionAlignActor::RunAction(
const vision_align_action::VisionAlignActionParams * /*params*/) {
diff --git a/y2016/actors/vision_align_actor_main.cc b/y2016/actors/vision_align_actor_main.cc
index b62fc2d..518b405 100644
--- a/y2016/actors/vision_align_actor_main.cc
+++ b/y2016/actors/vision_align_actor_main.cc
@@ -4,8 +4,8 @@
#include "aos/init.h"
#include "y2016/actors/vision_align_actor.h"
-int main(int /*argc*/, char* /*argv*/ []) {
- ::aos::Init(-1);
+int main(int argc, char *argv[]) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index ad28119..3c60a63 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -6,8 +6,8 @@
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
-int main() {
- ::aos::InitNRT();
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/control_loops/shooter/shooter_main.cc b/y2016/control_loops/shooter/shooter_main.cc
index 2b045fa..2e47a6f 100644
--- a/y2016/control_loops/shooter/shooter_main.cc
+++ b/y2016/control_loops/shooter/shooter_main.cc
@@ -3,8 +3,8 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-int main() {
- ::aos::InitNRT();
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/control_loops/superstructure/superstructure_main.cc b/y2016/control_loops/superstructure/superstructure_main.cc
index 5f2cbb4..ea871f2 100644
--- a/y2016/control_loops/superstructure/superstructure_main.cc
+++ b/y2016/control_loops/superstructure/superstructure_main.cc
@@ -3,8 +3,8 @@
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
-int main() {
- ::aos::InitNRT();
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index ae4f7ed..b16c66e 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -279,11 +279,11 @@
} // namespace dashboard
} // namespace y2016
-int main(int, char *[]) {
+int main(int argc, char **argv) {
// Make sure to reference this to force the linker to include it.
findEmbeddedContent("");
- ::aos::InitNRT();
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index e81942d..09ff112 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -460,8 +460,8 @@
} // namespace input
} // namespace y2016
-int main() {
- ::aos::InitNRT();
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
aos::configuration::ReadConfig("config.json");
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index 0dd5cb9..cc9f41b 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -430,7 +430,7 @@
} // namespace vision
} // namespace y2016
-int main(int /*argc*/, char ** /*argv*/) {
- ::aos::InitNRT();
+int main(int argc, char **argv) {
+ ::aos::InitGoogle(&argc, &argv);
::y2016::vision::Main();
}