Add progress counter to shooter tuning actor
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: If54401f389c32a9e28d65f177aa7d3924e58ee8c
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/actors/shooter_tuning_actor.cc b/y2020/actors/shooter_tuning_actor.cc
index 03d169c..a783c65 100644
--- a/y2020/actors/shooter_tuning_actor.cc
+++ b/y2020/actors/shooter_tuning_actor.cc
@@ -93,9 +93,11 @@
LOG(INFO) << "velocity_accelerator,velocity_finisher,velocity_ball";
shooting_ = true;
- for (const auto &velocity_pair : velocities_) {
- velocity_accelerator_ = velocity_pair.first;
- velocity_finisher_ = velocity_pair.second;
+ for (size_t i = 0; i < velocities_.size(); i++) {
+ LOG(INFO) << "Shooting ball " << (i + 1) << " out of "
+ << velocities_.size();
+ velocity_accelerator_ = velocities_[i].first;
+ velocity_finisher_ = velocities_[i].second;
SendSuperstructureGoal();
WaitAndWriteBallData();
}
@@ -158,11 +160,6 @@
aos::ShmEventLoop event_loop(&config.message());
y2020::actors::ShooterTuningActor actor(&event_loop);
- event_loop.OnRun([&]() {
- actor.RunAction(nullptr);
- LOG(INFO) << "Finished shooter tuning action";
- event_loop.Exit();
- });
event_loop.Run();
return 0;