y2024/control_loops/drivetrain/drivetrain_main.cc

#include <memory>

#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "frc971/control_loops/drivetrain/localization/puppet_localizer.h"
#include "y2024/constants/constants_generated.h"
#include "y2024/control_loops/drivetrain/drivetrain_base.h"
using ::frc971::control_loops::drivetrain::DrivetrainLoop;

int main(int argc, char **argv) {
  aos::InitGoogle(&argc, &argv);

  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
      aos::configuration::ReadConfig("aos_config.json");

  frc971::constants::WaitForConstants<y2024::Constants>(&config.message());

  aos::ShmEventLoop event_loop(&config.message());
  const auto drivetrain_config =
      ::y2024::control_loops::drivetrain::GetDrivetrainConfig(&event_loop);

  std::unique_ptr<::frc971::control_loops::drivetrain::PuppetLocalizer>
      localizer = std::make_unique<
          ::frc971::control_loops::drivetrain::PuppetLocalizer>(
          &event_loop, drivetrain_config);
  std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
      drivetrain_config, &event_loop, localizer.get());

  event_loop.Run();

  return 0;
}