commit 2971b5a9bd364300f269402f94f1c0ae4395af62
author James Kuszmaul <jabukuszmaul@gmail.com> Sun Jan 29 15:49:32 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 04 14:08:46 2023 -0800
tree 4f537acf303687bbe1248fb529fff529e303cc4d
parent c726eee3f4413bb74da4edab58c23a257b617b84

Stop using std::function in HybridEkf

Removes malloc's from the HybridEkf and localizer as a whole.

This solution feels a bit inelegant, but that's true of the entire
HybridEkf class (I may simplify some of this once we delete y2019).

Change-Id: I2deb5b1221ea17b08baad7e8bb46d6bbd1b987a6
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/control_loops/drivetrain/localizer_test.cc

diff --git a/y2022/control_loops/drivetrain/localizer_test.cc b/y2022/control_loops/drivetrain/localizer_test.cc
index 1e33826..77f3988 100644
--- a/y2022/control_loops/drivetrain/localizer_test.cc
+++ b/y2022/control_loops/drivetrain/localizer_test.cc
@@ -10,12 +10,13 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
 #include "frc971/control_loops/team_number_test_environment.h"
-#include "y2022/localizer/localizer_output_generated.h"
 #include "gtest/gtest.h"
 #include "y2022/control_loops/drivetrain/drivetrain_base.h"
+#include "y2022/localizer/localizer_output_generated.h"
 
 DEFINE_string(output_folder, "",
               "If set, logs all channels to the provided logfile.");
+DECLARE_bool(die_on_malloc);
 
 namespace y2022 {
 namespace control_loops {
@@ -31,7 +32,7 @@
   DrivetrainConfig<double> config = GetDrivetrainConfig();
   return config;
 }
-}
+}  // namespace
 
 namespace chrono = std::chrono;
 using aos::monotonic_clock;
@@ -74,6 +75,7 @@
         drivetrain_plant_(drivetrain_plant_event_loop_.get(),
                           drivetrain_plant_imu_event_loop_.get(), dt_config_,
                           std::chrono::microseconds(500)) {
+    FLAGS_die_on_malloc = true;
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);
 
@@ -95,6 +97,7 @@
           output_builder.add_x(drivetrain_plant_.state()(0));
           output_builder.add_y(drivetrain_plant_.state()(1));
           output_builder.add_theta(drivetrain_plant_.state()(2));
+          builder.CheckOk(builder.Send(output_builder.Finish()));
         })
         ->Setup(imu_test_event_loop_->monotonic_now(),
                 std::chrono::milliseconds(5));