commit 300f2f6f39716385d311669cd09710bf2770be51
author Austin Schuh <austin.linux@gmail.com> Mon May 27 13:49:23 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:44 2019 -0700
tree db5713a3e24d073d3624c0e2eeea063e8d587ddb
parent 01a9f2aada8524f2e3ebd39dd561fa939717d602

Convert vision_status to event loops

Change-Id: I06c329f3fe42d2dbfa7da90d598c93eacdf746c7

y2018/control_loops/superstructure/superstructure.cc

diff --git a/y2018/control_loops/superstructure/superstructure.cc b/y2018/control_loops/superstructure/superstructure.cc
index d94e34d..d0ff71d 100644
--- a/y2018/control_loops/superstructure/superstructure.cc
+++ b/y2018/control_loops/superstructure/superstructure.cc
@@ -30,6 +30,9 @@
                                                                      name),
       status_light_sender_(
           event_loop->MakeSender<::y2018::StatusLight>(".y2018.status_light")),
+      vision_status_fetcher_(
+          event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
+              ".y2018.vision.vision_status")),
       intake_left_(constants::GetValues().left_intake.zeroing),
       intake_right_(constants::GetValues().right_intake.zeroing) {}
 
@@ -255,11 +258,13 @@
 
   ::frc971::control_loops::drivetrain_queue.output.FetchLatest();
 
-  ::y2018::vision::vision_status.FetchLatest();
+  vision_status_fetcher_.Fetch();
+  monotonic_clock::time_point monotonic_now = event_loop()->monotonic_now();
   if (status->estopped) {
     SendColors(0.5, 0.0, 0.0);
-  } else if (!y2018::vision::vision_status.get() ||
-             y2018::vision::vision_status.Age() > chrono::seconds(1)) {
+  } else if (!vision_status_fetcher_.get() ||
+             monotonic_now >
+                 vision_status_fetcher_->sent_time + chrono::seconds(1)) {
     SendColors(0.5, 0.5, 0.0);
   } else if (rotation_state_ == RotationState::ROTATING_LEFT ||
              rotation_state_ == RotationState::ROTATING_RIGHT) {

y2018/control_loops/superstructure/superstructure.h

diff --git a/y2018/control_loops/superstructure/superstructure.h b/y2018/control_loops/superstructure/superstructure.h
index 8ab6bf3..bceb643 100644
--- a/y2018/control_loops/superstructure/superstructure.h
+++ b/y2018/control_loops/superstructure/superstructure.h
@@ -10,6 +10,7 @@
 #include "y2018/control_loops/superstructure/intake/intake.h"
 #include "y2018/control_loops/superstructure/superstructure.q.h"
 #include "y2018/status_light.q.h"
+#include "y2018/vision/vision.q.h"
 
 namespace y2018 {
 namespace control_loops {
@@ -38,6 +39,7 @@
   void SendColors(float red, float green, float blue);
 
   ::aos::Sender<::y2018::StatusLight> status_light_sender_;
+  ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
 
   intake::IntakeSide intake_left_;
   intake::IntakeSide intake_right_;

y2018/control_loops/superstructure/superstructure_lib_test.cc

diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 5fa4abe..8533dce 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -274,7 +274,6 @@
                               ".y2018.control_loops.superstructure.status",
                               ".y2018.control_loops.superstructure.position"),
         superstructure_(&event_loop_, ".y2018.control_loops.superstructure") {
-    ::y2018::vision::vision_status.Clear();
     ::frc971::control_loops::drivetrain_queue.output.Clear();
     set_team_id(::frc971::control_loops::testing::kTeamNumber);
   }