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

y2016/dashboard/dashboard.cc

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",