commit 1bf8a217e82c2d1677ea6d1509c86057672b7aa5
author Austin Schuh <austin.linux@gmail.com> Sun May 26 22:13:14 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:43:46 2019 -0700
tree e98d74d37f1bbed62c33f92a7378eae35e081c97
parent bbce72d6c317e70df157f703fe60122d2118d649

Convert actions to event loops

The logic gets significantly simpler due to Watchers.  But we also get
to port all the users over as well.

Change-Id: Ib4e75951e65f7431acc6c1548b7f1d20da3da295

frc971/autonomous/auto.q

diff --git a/frc971/autonomous/auto.q b/frc971/autonomous/auto.q
index b72688e..a72514c 100644
--- a/frc971/autonomous/auto.q
+++ b/frc971/autonomous/auto.q
@@ -32,5 +32,3 @@
   queue Goal goal;
   queue aos.common.actions.Status status;
 };
-
-queue_group AutonomousActionQueueGroup autonomous_action;

frc971/autonomous/base_autonomous_actor.cc

diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index 7d7e12e..40d65c3 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -21,9 +21,10 @@
 namespace autonomous {
 
 BaseAutonomousActor::BaseAutonomousActor(
-    ::aos::EventLoop *event_loop, AutonomousActionQueueGroup *s,
+    ::aos::EventLoop *event_loop,
     const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
-    : aos::common::actions::ActorBase<AutonomousActionQueueGroup>(s),
+    : aos::common::actions::ActorBase<AutonomousActionQueueGroup>(
+          event_loop, ".frc971.autonomous.autonomous_action"),
       dt_config_(dt_config),
       initial_drivetrain_({0.0, 0.0}),
       target_selector_hint_sender_(
@@ -500,11 +501,5 @@
   }
 }
 
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
-    const AutonomousActionParams &params) {
-  return ::std::unique_ptr<AutonomousAction>(
-      new AutonomousAction(&autonomous_action, params));
-}
-
 }  // namespace autonomous
 }  // namespace frc971

frc971/autonomous/base_autonomous_actor.h

diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index 7636486..263ce73 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -17,10 +17,17 @@
 class BaseAutonomousActor
     : public ::aos::common::actions::ActorBase<AutonomousActionQueueGroup> {
  public:
+  typedef ::aos::common::actions::TypedActionFactory<AutonomousActionQueueGroup>
+      Factory;
+
   explicit BaseAutonomousActor(
-      ::aos::EventLoop *event_loop, AutonomousActionQueueGroup *s,
+      ::aos::EventLoop *event_loop,
       const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
 
+  static Factory MakeFactory(::aos::EventLoop *event_loop) {
+    return Factory(event_loop, ".frc971.autonomous.autonomous_action");
+  }
+
  protected:
   class SplineHandle {
    public:
@@ -119,13 +126,6 @@
   int32_t goal_spline_handle_ = 0;
 };
 
-using AutonomousAction =
-    ::aos::common::actions::TypedAction<AutonomousActionQueueGroup>;
-
-// Makes a new AutonomousActor action.
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
-    const AutonomousActionParams &params);
-
 }  // namespace autonomous
 }  // namespace frc971