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/wpilib_interface.cc

diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index f412846..d6bda66 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -395,6 +395,9 @@
                 ".y2018.control_loops.superstructure_queue.output")),
         status_light_fetcher_(event_loop->MakeFetcher<::y2018::StatusLight>(
             ".y2018.status_light")),
+        vision_status_fetcher_(
+            event_loop->MakeFetcher<::y2018::vision::VisionStatus>(
+                ".y2018.vision.vision_status")),
         pcm_(pcm) {}
 
   // left drive
@@ -473,23 +476,25 @@
         LOG_STRUCT(DEBUG, "pneumatics info", to_log);
       }
 
+      monotonic_clock::time_point monotonic_now = event_loop_->monotonic_now();
       status_light_fetcher_.Fetch();
       // If we don't have a light request (or it's an old one), we are borked.
       // Flash the red light slowly.
       if (!status_light_fetcher_.get() ||
-          event_loop_->monotonic_now() >
+          monotonic_now >
               status_light_fetcher_->sent_time + chrono::milliseconds(100)) {
         StatusLight color;
         color.red = 0.0;
         color.green = 0.0;
         color.blue = 0.0;
 
-        ::y2018::vision::vision_status.FetchLatest();
+        vision_status_fetcher_.Fetch();
         ++light_flash_;
         if (light_flash_ > 10) {
           color.red = 0.5;
-        } 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)) {
           color.red = 0.5;
           color.green = 0.5;
         }
@@ -543,6 +548,7 @@
   ::aos::Fetcher<::y2018::control_loops::SuperstructureQueue::Output>
       superstructure_fetcher_;
   ::aos::Fetcher<::y2018::StatusLight> status_light_fetcher_;
+  ::aos::Fetcher<::y2018::vision::VisionStatus> vision_status_fetcher_;
 
   ::frc971::wpilib::BufferedPcm *pcm_;