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
diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 4f68f20..a5621b3 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -45,11 +45,11 @@
} // namespace
-AutonomousActor::AutonomousActor(
- ::aos::EventLoop *event_loop,
- ::frc971::autonomous::AutonomousActionQueueGroup *s)
+AutonomousActor::AutonomousActor(::aos::EventLoop *event_loop)
: frc971::autonomous::BaseAutonomousActor(
- event_loop, s, control_loops::drivetrain::GetDrivetrainConfig()) {}
+ event_loop, control_loops::drivetrain::GetDrivetrainConfig()),
+ vision_align_actor_factory_(
+ actors::VisionAlignActor::MakeFactory(event_loop)) {}
constexpr double kDoNotTurnCare = 2.0;
@@ -194,7 +194,7 @@
void AutonomousActor::AlignWithVisionGoal() {
actors::VisionAlignActionParams params;
- vision_action_ = actors::MakeVisionAlignAction(params);
+ vision_action_ = vision_align_actor_factory_.Make(params);
vision_action_->Start();
}
diff --git a/y2016/actors/autonomous_actor.h b/y2016/actors/autonomous_actor.h
index 4a220ed..a2dda27 100644
--- a/y2016/actors/autonomous_actor.h
+++ b/y2016/actors/autonomous_actor.h
@@ -18,8 +18,7 @@
class AutonomousActor : public ::frc971::autonomous::BaseAutonomousActor {
public:
- explicit AutonomousActor(::aos::EventLoop *event_loop,
- ::frc971::autonomous::AutonomousActionQueueGroup *s);
+ explicit AutonomousActor(::aos::EventLoop *event_loop);
bool RunAction(
const ::frc971::autonomous::AutonomousActionParams ¶ms) override;
@@ -85,7 +84,8 @@
void TwoBallAuto();
- ::std::unique_ptr<actors::VisionAlignAction> vision_action_;
+ actors::VisionAlignActor::Factory vision_align_actor_factory_;
+ ::std::unique_ptr<::aos::common::actions::Action> vision_action_;
};
} // namespace actors
diff --git a/y2016/actors/autonomous_actor_main.cc b/y2016/actors/autonomous_actor_main.cc
index 16fc5c4..1e2628b 100644
--- a/y2016/actors/autonomous_actor_main.cc
+++ b/y2016/actors/autonomous_actor_main.cc
@@ -8,9 +8,8 @@
::aos::Init(-1);
::aos::ShmEventLoop event_loop;
- ::y2016::actors::AutonomousActor autonomous(
- &event_loop, &::frc971::autonomous::autonomous_action);
- autonomous.Run();
+ ::y2016::actors::AutonomousActor autonomous(&event_loop);
+ event_loop.Run();
::aos::Cleanup();
return 0;
diff --git a/y2016/actors/superstructure_action.q b/y2016/actors/superstructure_action.q
index eb23397..1b937aa 100644
--- a/y2016/actors/superstructure_action.q
+++ b/y2016/actors/superstructure_action.q
@@ -21,5 +21,3 @@
queue Goal goal;
queue aos.common.actions.Status status;
};
-
-queue_group SuperstructureActionQueueGroup superstructure_action;
diff --git a/y2016/actors/superstructure_actor.cc b/y2016/actors/superstructure_actor.cc
index d8537ce..f65d05a 100644
--- a/y2016/actors/superstructure_actor.cc
+++ b/y2016/actors/superstructure_actor.cc
@@ -12,10 +12,9 @@
namespace chrono = ::std::chrono;
-SuperstructureActor::SuperstructureActor(
- actors::SuperstructureActionQueueGroup *s)
+SuperstructureActor::SuperstructureActor(::aos::EventLoop *event_loop)
: aos::common::actions::ActorBase<actors::SuperstructureActionQueueGroup>(
- s) {}
+ event_loop, ".y2016.actors.superstructure_action") {}
bool SuperstructureActor::RunAction(
const actors::SuperstructureActionParams ¶ms) {
@@ -105,11 +104,5 @@
}
}
-::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
- const ::y2016::actors::SuperstructureActionParams& params) {
- return ::std::unique_ptr<SuperstructureAction>(new SuperstructureAction(
- &::y2016::actors::superstructure_action, params));
-}
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/superstructure_actor.h b/y2016/actors/superstructure_actor.h
index d48fc71..be02a33 100644
--- a/y2016/actors/superstructure_actor.h
+++ b/y2016/actors/superstructure_actor.h
@@ -13,7 +13,15 @@
class SuperstructureActor
: public ::aos::common::actions::ActorBase<SuperstructureActionQueueGroup> {
public:
- explicit SuperstructureActor(SuperstructureActionQueueGroup *s);
+ typedef ::aos::common::actions::TypedActionFactory<
+ SuperstructureActionQueueGroup>
+ Factory;
+
+ explicit SuperstructureActor(::aos::EventLoop *event_loop);
+
+ static Factory MakeFactory(::aos::EventLoop *event_loop) {
+ return Factory(event_loop, ".y2016.actors.superstructure_action");
+ }
// Internal struct holding superstructure goals sent by autonomous to the
// loop.
@@ -30,13 +38,6 @@
bool SuperstructureDone();
};
-using SuperstructureAction =
- ::aos::common::actions::TypedAction<SuperstructureActionQueueGroup>;
-
-// Makes a new SuperstructureActor action.
-::std::unique_ptr<SuperstructureAction> MakeSuperstructureAction(
- const ::y2016::actors::SuperstructureActionParams ¶ms);
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/superstructure_actor_main.cc b/y2016/actors/superstructure_actor_main.cc
index 69bea8a..a97802c 100644
--- a/y2016/actors/superstructure_actor_main.cc
+++ b/y2016/actors/superstructure_actor_main.cc
@@ -1,5 +1,6 @@
#include <stdio.h>
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
#include "y2016/actors/superstructure_action.q.h"
#include "y2016/actors/superstructure_actor.h"
@@ -7,9 +8,9 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::y2016::actors::SuperstructureActor superstructure(
- &::y2016::actors::superstructure_action);
- superstructure.Run();
+ ::aos::ShmEventLoop event_loop;
+ ::y2016::actors::SuperstructureActor superstructure(&event_loop);
+ event_loop.Run();
::aos::Cleanup();
return 0;
diff --git a/y2016/actors/vision_align_action.q b/y2016/actors/vision_align_action.q
index e822bf4..f9f3024 100644
--- a/y2016/actors/vision_align_action.q
+++ b/y2016/actors/vision_align_action.q
@@ -18,5 +18,3 @@
queue Goal goal;
queue aos.common.actions.Status status;
};
-
-queue_group VisionAlignActionQueueGroup vision_align_action;
diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index b805747..5aebb06 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -22,8 +22,9 @@
namespace actors {
using ::frc971::control_loops::drivetrain_queue;
-VisionAlignActor::VisionAlignActor(actors::VisionAlignActionQueueGroup *s)
- : aos::common::actions::ActorBase<actors::VisionAlignActionQueueGroup>(s) {}
+VisionAlignActor::VisionAlignActor(::aos::EventLoop *event_loop)
+ : aos::common::actions::ActorBase<actors::VisionAlignActionQueueGroup>(
+ event_loop, ".y2016.actors.vision_align_action") {}
bool VisionAlignActor::RunAction(
const actors::VisionAlignActionParams & /*params*/) {
@@ -76,11 +77,5 @@
return true;
}
-::std::unique_ptr<VisionAlignAction> MakeVisionAlignAction(
- const ::y2016::actors::VisionAlignActionParams ¶ms) {
- return ::std::unique_ptr<VisionAlignAction>(
- new VisionAlignAction(&::y2016::actors::vision_align_action, params));
-}
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/vision_align_actor.h b/y2016/actors/vision_align_actor.h
index a1f07fa..7fce07a 100644
--- a/y2016/actors/vision_align_actor.h
+++ b/y2016/actors/vision_align_actor.h
@@ -15,18 +15,19 @@
class VisionAlignActor
: public ::aos::common::actions::ActorBase<VisionAlignActionQueueGroup> {
public:
- explicit VisionAlignActor(VisionAlignActionQueueGroup *s);
+ typedef ::aos::common::actions::TypedActionFactory<
+ VisionAlignActionQueueGroup>
+ Factory;
+
+ explicit VisionAlignActor(::aos::EventLoop *event_loop);
+
+ static Factory MakeFactory(::aos::EventLoop *event_loop) {
+ return Factory(event_loop, ".y2016.actors.vision_align_action");
+ }
bool RunAction(const actors::VisionAlignActionParams ¶ms) override;
};
-typedef ::aos::common::actions::TypedAction<VisionAlignActionQueueGroup>
- VisionAlignAction;
-
-// Makes a new VisionAlignActor action.
-::std::unique_ptr<VisionAlignAction> MakeVisionAlignAction(
- const ::y2016::actors::VisionAlignActionParams ¶ms);
-
} // namespace actors
} // namespace y2016
diff --git a/y2016/actors/vision_align_actor_main.cc b/y2016/actors/vision_align_actor_main.cc
index f9854f7..2fd9eb2 100644
--- a/y2016/actors/vision_align_actor_main.cc
+++ b/y2016/actors/vision_align_actor_main.cc
@@ -1,5 +1,6 @@
#include <stdio.h>
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
#include "y2016/actors/vision_align_action.q.h"
#include "y2016/actors/vision_align_actor.h"
@@ -7,9 +8,9 @@
int main(int /*argc*/, char* /*argv*/ []) {
::aos::Init(-1);
- ::y2016::actors::VisionAlignActor vision_align(
- &::y2016::actors::vision_align_action);
- vision_align.Run();
+ ::aos::ShmEventLoop event_loop;
+ ::y2016::actors::VisionAlignActor vision_align(&event_loop);
+ event_loop.Run();
::aos::Cleanup();
return 0;
diff --git a/y2016/dashboard/BUILD b/y2016/dashboard/BUILD
index 2892814..f3998a1 100644
--- a/y2016/dashboard/BUILD
+++ b/y2016/dashboard/BUILD
@@ -28,6 +28,8 @@
deps = [
":gen_embedded",
"//aos:init",
+ "//aos/events:event-loop",
+ "//aos/events:shm-event-loop",
"//aos/logging",
"//aos/seasocks:seasocks_logger",
"//aos/time",
diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 84af420..d105a10 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -11,6 +11,7 @@
#include "internal/Embedded.h"
#include "seasocks/Server.h"
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/mutex/mutex.h"
@@ -49,8 +50,11 @@
// caused problems in the past when auto aiming that still need to be addressed.
//#define DASHBOARD_READ_VISION_QUEUE
-DataCollector::DataCollector()
- : cur_raw_data_("no data"),
+DataCollector::DataCollector(::aos::EventLoop *event_loop)
+ : vision_status_fetcher_(
+ event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
+ ".y2016.vision.vision_status")),
+ cur_raw_data_("no data"),
sample_id_(0),
measure_index_(0),
overflow_id_(1) {}
@@ -84,16 +88,16 @@
::frc971::autonomous::auto_mode.FetchLatest();
::y2016::control_loops::superstructure_queue.status.FetchLatest();
::y2016::sensors::ball_detector.FetchLatest();
- ::y2016::vision::vision_status.FetchLatest();
+ vision_status_fetcher_.Fetch();
// Caused glitching with auto-aim at NASA, so be cautious with this until
// we find a good fix.
#ifdef DASHBOARD_READ_VISION_QUEUE
- if (::y2016::vision::vision_status.get() &&
- (::y2016::vision::vision_status->left_image_valid ||
- ::y2016::vision::vision_status->right_image_valid)) {
+ if (vision_status_fetcher_.get() &&
+ (vision_status_fetcher_->left_image_valid ||
+ vision_status_fetcher_->right_image_valid)) {
big_indicator = big_indicator::kAiming;
- if (::std::abs(::y2016::vision::vision_status->horizontal_angle) < 0.002) {
+ if (::std::abs(vision_status_fetcher_->horizontal_angle) < 0.002) {
big_indicator = big_indicator::kLockedOn;
}
}
@@ -234,8 +238,9 @@
}
}
-SocketHandler::SocketHandler()
- : data_collector_thread_(::std::ref(data_collector_)) {}
+SocketHandler::SocketHandler(::aos::EventLoop *event_loop)
+ : data_collector_(event_loop),
+ data_collector_thread_(::std::ref(data_collector_)) {}
void SocketHandler::onConnect(seasocks::WebSocket *connection) {
connections_.insert(connection);
@@ -270,9 +275,11 @@
::aos::InitNRT();
+ ::aos::ShmEventLoop event_loop;
+
::seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
new ::aos::seasocks::SeasocksLogger(::seasocks::Logger::Level::Info)));
- ::y2016::dashboard::SocketHandler socket_handler;
+ ::y2016::dashboard::SocketHandler socket_handler(&event_loop);
server.addWebSocketHandler(
"/ws",
diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index d9b7c11..8c64348 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -1,3 +1,6 @@
+#ifndef Y2016_DASHBOARD_DASHBOARD_H_
+#define Y2016_DASHBOARD_DASHBOARD_H_
+
#include <iostream>
#include <memory>
#include <sstream>
@@ -11,10 +14,10 @@
#include "seasocks/StringUtil.h"
#include "seasocks/WebSocket.h"
-#include "aos/init.h"
-#include "aos/time/time.h"
-#include "aos/util/phased_loop.h"
+#include "aos/events/event-loop.h"
#include "aos/mutex/mutex.h"
+#include "aos/time/time.h"
+#include "y2016/vision/vision.q.h"
namespace y2016 {
namespace dashboard {
@@ -31,7 +34,7 @@
class DataCollector {
public:
- DataCollector();
+ DataCollector(::aos::EventLoop *event_loop);
void RunIteration();
// Store a datapoint. In this case, we are reading data points to determine
@@ -60,6 +63,8 @@
::std::vector<ItemDatapoint> datapoints;
};
+ ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
+
// Storage vector that is written and overwritten with data in a FIFO fashion.
::std::vector<SampleItem> sample_items_;
@@ -74,7 +79,7 @@
class SocketHandler : public seasocks::WebSocket::Handler {
public:
- SocketHandler();
+ SocketHandler(::aos::EventLoop *event_loop);
void onConnect(seasocks::WebSocket* connection) override;
void onData(seasocks::WebSocket* connection, const char* data) override;
void onDisconnect(seasocks::WebSocket* connection) override;
@@ -94,3 +99,5 @@
} // namespace dashboard
} // namespace y2016
+
+#endif // Y2016_DASHBOARD_DASHBOARD_H_
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 19cd065..33244be 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -69,16 +69,27 @@
const ButtonLocation kExpand(3, 6);
const ButtonLocation kWinch(3, 5);
+// TODO(austin): ActionJoystickInput
class Reader : public ::aos::input::JoystickInput {
public:
Reader(::aos::EventLoop *event_loop)
: ::aos::input::JoystickInput(event_loop),
+ vision_status_fetcher_(
+ event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
+ ".y2016.vision.vision_status")),
is_high_gear_(true),
intake_goal_(0.0),
shoulder_goal_(M_PI / 2.0),
wrist_goal_(0.0),
- dt_config_(control_loops::drivetrain::GetDrivetrainConfig()) {}
+ dt_config_(control_loops::drivetrain::GetDrivetrainConfig()),
+ autonomous_action_factory_(
+ ::frc971::autonomous::BaseAutonomousActor::MakeFactory(event_loop)),
+ vision_align_action_factory_(
+ actors::VisionAlignActor::MakeFactory(event_loop)),
+ superstructure_action_factory_(
+ actors::SuperstructureActor::MakeFactory(event_loop)) {}
+ // TODO(austin): Move this to the ActionJoystickInput class.
void RunIteration(const ::aos::input::driver_station::Data &data) override {
bool last_auto_running = auto_running_;
auto_running_ = data.GetControlBit(ControlBit::kAutonomous) &&
@@ -100,12 +111,12 @@
vision_valid_ = false;
- ::y2016::vision::vision_status.FetchLatest();
+ vision_status_fetcher_.Fetch();
- if (::y2016::vision::vision_status.get()) {
- vision_valid_ = (::y2016::vision::vision_status->left_image_valid &&
- ::y2016::vision::vision_status->right_image_valid);
- last_angle_ = ::y2016::vision::vision_status->horizontal_angle;
+ if (vision_status_fetcher_.get()) {
+ vision_valid_ = (vision_status_fetcher_->left_image_valid &&
+ vision_status_fetcher_->right_image_valid);
+ last_angle_ = vision_status_fetcher_->horizontal_angle;
}
if (!auto_running_) {
@@ -128,7 +139,7 @@
if (data.IsPressed(kVisionAlign)) {
if (vision_valid_ && !vision_action_running_) {
actors::VisionAlignActionParams params;
- action_queue_.EnqueueAction(actors::MakeVisionAlignAction(params));
+ action_queue_.EnqueueAction(vision_align_action_factory_.Make(params));
vision_action_running_ = true;
LOG(INFO, "Starting vision align\n");
} else {
@@ -258,7 +269,8 @@
params.delay_time = 0.7;
params.full_angle = shoulder_goal_;
params.shooter_angle = wrist_goal_;
- action_queue_.EnqueueAction(actors::MakeSuperstructureAction(params));
+ action_queue_.EnqueueAction(
+ superstructure_action_factory_.Make(params));
}
if (data.IsPressed(kWinch)) {
voltage_climber = 12.0;
@@ -436,8 +448,7 @@
LOG(WARNING, "no auto mode values\n");
params.mode = 0;
}
- action_queue_.EnqueueAction(
- ::frc971::autonomous::MakeAutonomousAction(params));
+ action_queue_.EnqueueAction(autonomous_action_factory_.Make(params));
}
void StopAuto() {
@@ -445,6 +456,8 @@
action_queue_.CancelAllActions();
}
+ ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
+
bool is_high_gear_;
// Whatever these are set to are our default goals to send out after zeroing.
double intake_goal_;
@@ -486,6 +499,10 @@
bool is_expanding_ = false;
+ ::frc971::autonomous::BaseAutonomousActor::Factory autonomous_action_factory_;
+ actors::VisionAlignActor::Factory vision_align_action_factory_;
+ actors::SuperstructureActor::Factory superstructure_action_factory_;
+
::aos::util::SimpleLogInterval no_drivetrain_status_ =
::aos::util::SimpleLogInterval(::std::chrono::milliseconds(200), WARNING,
"no drivetrain status");
diff --git a/y2016/vision/BUILD b/y2016/vision/BUILD
index 99c50fd..3427973 100644
--- a/y2016/vision/BUILD
+++ b/y2016/vision/BUILD
@@ -132,6 +132,7 @@
":vision_data",
":vision_queue",
"//aos:init",
+ "//aos/events:shm-event-loop",
"//aos/logging",
"//aos/logging:queue_logging",
"//aos/mutex",
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index 4b95034..57fbd51 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -10,15 +10,15 @@
#include <thread>
#include <vector>
+#include "aos/events/event-loop.h"
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
#include "aos/mutex/mutex.h"
#include "aos/time/time.h"
#include "aos/vision/events/udp.h"
-
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-
#include "y2016/constants.h"
#include "y2016/vision/stereo_geometry.h"
#include "y2016/vision/vision.q.h"
@@ -302,6 +302,12 @@
};
void Main() {
+ ::aos::ShmEventLoop event_loop;
+
+ ::aos::Sender<::y2016::vision::VisionStatus> vision_status_sender =
+ event_loop.MakeSender<::y2016::vision::VisionStatus>(
+ ".y2016.vision.vision_status");
+
StereoGeometry stereo(constants::GetValues().vision_name);
LOG(INFO, "calibration: %s\n",
stereo.calibration().ShortDebugString().c_str());
@@ -339,7 +345,7 @@
const bool left_image_valid = left.is_valid();
const bool right_image_valid = right.is_valid();
- auto new_vision_status = vision_status.MakeMessage();
+ auto new_vision_status = vision_status_sender.MakeMessage();
new_vision_status->left_image_valid = left_image_valid;
new_vision_status->right_image_valid = right_image_valid;
if (left_image_valid && right_image_valid) {
diff --git a/y2016/vision/vision.q b/y2016/vision/vision.q
index 47906dc..da028fd 100644
--- a/y2016/vision/vision.q
+++ b/y2016/vision/vision.q
@@ -1,5 +1,6 @@
package y2016.vision;
+// Published on ".y2016.vision.vision_status"
message VisionStatus {
bool left_image_valid;
bool right_image_valid;