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

y2017/actors/autonomous_actor.cc

diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index ee17f49..841b18c 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -35,11 +35,9 @@
 
 }  // 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()) {}
 
 bool AutonomousActor::RunAction(
     const ::frc971::autonomous::AutonomousActionParams &params) {

y2017/actors/autonomous_actor.h

diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index 4b87c51..7332344 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -19,8 +19,7 @@
 
 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 &params) override;

y2017/actors/autonomous_actor_main.cc

diff --git a/y2017/actors/autonomous_actor_main.cc b/y2017/actors/autonomous_actor_main.cc
index f9dfbbb..88779d8 100644
--- a/y2017/actors/autonomous_actor_main.cc
+++ b/y2017/actors/autonomous_actor_main.cc
@@ -9,9 +9,8 @@
   ::aos::Init(-1);
 
   ::aos::ShmEventLoop event_loop;
-  ::y2017::actors::AutonomousActor autonomous(
-      &event_loop, &::frc971::autonomous::autonomous_action);
-  autonomous.Run();
+  ::y2017::actors::AutonomousActor autonomous(&event_loop);
+  event_loop.Run();
 
   ::aos::Cleanup();
   return 0;

y2017/joystick_reader.cc

diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index d9bca58..963c7d1 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -54,7 +54,10 @@
 class Reader : public ::aos::input::JoystickInput {
  public:
   Reader(::aos::EventLoop *event_loop)
-      : ::aos::input::JoystickInput(event_loop) {
+      : ::aos::input::JoystickInput(event_loop),
+        autonomous_action_factory_(
+            ::frc971::autonomous::BaseAutonomousActor::MakeFactory(
+                event_loop)) {
     drivetrain_input_reader_ = DrivetrainInputReader::Make(
         DrivetrainInputReader::InputType::kSteeringWheel,
         ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
@@ -293,8 +296,7 @@
       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() {
@@ -317,6 +319,8 @@
   double robot_velocity_ = 0.0;
 
   ::aos::common::actions::ActionQueue action_queue_;
+
+  ::frc971::autonomous::BaseAutonomousActor::Factory autonomous_action_factory_;
 };
 
 }  // namespace joysticks