commit 0debde18356ade861c1ca12210eea1ada0d0ac7e
author Austin Schuh <austin.schuh@bluerivertech.com> Wed Aug 17 16:25:17 2022 -0700
committer Austin Schuh <austin.schuh@bluerivertech.com> Thu Aug 18 12:15:47 2022 -0700
tree 060ae628feb76045424a52f6660a3b6e34f4add4
parent 6c066397e8d47890e2c692d56627122ef19a8c5f

Clear Context in EventLoop at construction time

We were exposing uninitialized memory and hoping our users wouldn't try
to access it.  This is an overly bold assumption.

Change-Id: I286fe5e932354581419059d128563c435b16071b
Signed-off-by: Austin Schuh <austin.schuh@bluerivertech.com>

y2020/control_loops/drivetrain/localizer_test.cc

diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 91b5505..9e9e7dd 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -5,7 +5,6 @@
 #include "aos/events/logging/log_writer.h"
 #include "aos/network/message_bridge_server_generated.h"
 #include "aos/network/team_number.h"
-#include "aos/network/testing_time_converter.h"
 #include "frc971/control_loops/control_loop_test.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
@@ -107,8 +106,13 @@
       : frc971::testing::ControlLoopTest(
             aos::configuration::ReadConfig(
                 "y2020/control_loops/drivetrain/simulation_config.json"),
-            GetTest2020DrivetrainConfig().dt),
-        time_converter_(aos::configuration::NodesCount(configuration())),
+            GetTest2020DrivetrainConfig().dt,
+            {{BootTimestamp::epoch() + kPiTimeOffset,
+              BootTimestamp::epoch() + kPiTimeOffset,
+              BootTimestamp::epoch() + kPiTimeOffset,
+              BootTimestamp::epoch() + kPiTimeOffset,
+              BootTimestamp::epoch() + kPiTimeOffset,
+              BootTimestamp::epoch() + kPiTimeOffset, BootTimestamp::epoch()}}),
         roborio_(aos::configuration::GetNode(configuration(), "roborio")),
         pi1_(aos::configuration::GetNode(configuration(), "pi1")),
         test_event_loop_(MakeEventLoop("test", roborio_)),
@@ -138,16 +142,8 @@
         drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
         drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
         last_frame_(monotonic_now()) {
-    event_loop_factory()->SetTimeConverter(&time_converter_);
     CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 6);
     CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), pi1_), 1);
-    time_converter_.AddMonotonic({BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch() + kPiTimeOffset,
-                                  BootTimestamp::epoch()});
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);
 
@@ -351,8 +347,6 @@
     }
   }
 
-  aos::message_bridge::TestingTimeConverter time_converter_;
-
   const aos::Node *const roborio_;
   const aos::Node *const pi1_;