commit 55a13dcb359f1bdcd50b01fa4db0cb94c58357a3
author Austin Schuh <austin.linux@gmail.com> Sun Jan 27 22:39:03 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Jan 30 23:35:08 2019 -0800
tree 925594473261015a834d089cf131f2c8a21fd630
parent 520f33d2a9a9e540f2b3e3eddd499b87b211df12

Switch all robots over to use EventLoop

Stop using the old QueueGroup constructor for ControlLoop

Change-Id: I027febf86e75399a97cdb4dc50dbc475705e0393

y2012/control_loops/accessories/accessories.cc

diff --git a/y2012/control_loops/accessories/accessories.cc b/y2012/control_loops/accessories/accessories.cc
index 0f9fc93..d320468 100644
--- a/y2012/control_loops/accessories/accessories.cc
+++ b/y2012/control_loops/accessories/accessories.cc
@@ -11,10 +11,10 @@
                             ::y2012::control_loops::AccessoriesQueue> {
  public:
   explicit AccessoriesLoop(
-      ::y2012::control_loops::AccessoriesQueue *my_accessories =
-          &::y2012::control_loops::accessories_queue)
+      ::aos::EventLoop *event_loop,
+      const ::std::string &name = ".y2012.control_loops.accessories_queue")
       : ::aos::controls::ControlLoop<::y2012::control_loops::AccessoriesQueue>(
-            my_accessories) {}
+            event_loop, name) {}
 
   void RunIteration(
       const ::y2012::control_loops::AccessoriesQueue::Message *goal,
@@ -33,7 +33,8 @@
 
 int main() {
   ::aos::Init();
-  ::y2012::control_loops::accessories::AccessoriesLoop accessories;
+  ::aos::ShmEventLoop event_loop;
+  ::y2012::control_loops::accessories::AccessoriesLoop accessories(&event_loop);
   accessories.Run();
   ::aos::Cleanup();
 }

y2012/control_loops/drivetrain/BUILD

diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
index a0aa4cc..3be1e9a 100644
--- a/y2012/control_loops/drivetrain/BUILD
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -78,6 +78,7 @@
     deps = [
         ":drivetrain_base",
         "//aos:init",
+        "//aos/events:shm-event-loop",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
     ],
 )

y2012/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index 6b7eca3..ef348a4 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -1,5 +1,6 @@
 #include "aos/init.h"
 
+#include "aos/events/shm-event-loop.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "y2012/control_loops/drivetrain/drivetrain_base.h"
 
@@ -7,8 +8,9 @@
 
 int main() {
   ::aos::Init();
+  ::aos::ShmEventLoop event_loop;
   DrivetrainLoop drivetrain(
-      ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
+      ::y2012::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop);
   drivetrain.Run();
   ::aos::Cleanup();
   return 0;