commit 170f4954da68828c859097dea28204338c0b8051
author Austin Schuh <austin.linux@gmail.com> Sat Jun 29 18:58:30 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:33:36 2019 -0700
tree 3c1706226ba0f4c6ed12111ba80bb0246ba2b13a
parent 493f7af7bf272fd246c911188acddee52a8c1d58

Kill global .y2019.control_loops.superstructure.superstructure_queue object

Change-Id: Ib75e31cb6717e7421af2f33848f7a77bfb572d15

y2019/control_loops/drivetrain/target_selector_test.cc

diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 966f766..e656534 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -42,30 +42,30 @@
       : target_selector_hint_sender_(
             test_event_loop_.MakeSender<
                 ::y2019::control_loops::drivetrain::TargetSelectorHint>(
-                ".y2019.control_loops.drivetrain.target_selector_hint")) {}
+                ".y2019.control_loops.drivetrain.target_selector_hint")),
+        superstructure_goal_sender_(test_event_loop_.MakeSender<
+                                    ::y2019::control_loops::superstructure::
+                                        SuperstructureQueue::Goal>(
+            ".y2019.control_loops.superstructure.superstructure_queue.goal")) {}
 
  private:
   ::aos::testing::TestSharedMemory my_shm_;
 
  protected:
-  virtual void TearDown() override {
-    ::y2019::control_loops::superstructure::superstructure_queue.goal.Clear();
-  }
-
   ::aos::ShmEventLoop event_loop_;
   ::aos::ShmEventLoop test_event_loop_;
 
   ::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
       target_selector_hint_sender_;
+  ::aos::Sender<::y2019::control_loops::superstructure::SuperstructureQueue::Goal>
+      superstructure_goal_sender_;
 
 };
 
 TEST_P(TargetSelectorParamTest, ExpectReturn) {
   TargetSelector selector(&event_loop_);
   {
-    auto super_goal =
-        ::y2019::control_loops::superstructure::superstructure_queue.goal
-            .MakeMessage();
+    auto super_goal = superstructure_goal_sender_.MakeMessage();
     super_goal->suction.gamepiece_mode = GetParam().ball_mode ? 0 : 1;
     ASSERT_TRUE(super_goal.Send());
   }

y2019/control_loops/superstructure/superstructure.q

diff --git a/y2019/control_loops/superstructure/superstructure.q b/y2019/control_loops/superstructure/superstructure.q
index f78bd5a..d19c2b8 100644
--- a/y2019/control_loops/superstructure/superstructure.q
+++ b/y2019/control_loops/superstructure/superstructure.q
@@ -13,6 +13,7 @@
   int32_t gamepiece_mode;
 };
 
+// Published on ".y2019.control_loops.superstructure.superstructure_queue"
 queue_group SuperstructureQueue {
   implements aos.control_loops.ControlLoop;
 
@@ -112,5 +113,3 @@
   queue Status status;
   queue Position position;
 };
-
-queue_group SuperstructureQueue superstructure_queue;