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/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_