Switch all robots over to use EventLoop
Stop using the old QueueGroup constructor for ControlLoop
Change-Id: I027febf86e75399a97cdb4dc50dbc475705e0393
diff --git a/y2014_bot3/control_loops/rollers/BUILD b/y2014_bot3/control_loops/rollers/BUILD
index 0ca9e1b..9535489 100644
--- a/y2014_bot3/control_loops/rollers/BUILD
+++ b/y2014_bot3/control_loops/rollers/BUILD
@@ -1,40 +1,41 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
+load("//aos/build:queues.bzl", "queue_library")
queue_library(
- name = 'rollers_queue',
- srcs = [
- 'rollers.q',
- ],
- deps = [
- '//aos/controls:control_loop_queues',
- '//frc971/control_loops:queues',
- ],
+ name = "rollers_queue",
+ srcs = [
+ "rollers.q",
+ ],
+ deps = [
+ "//aos/controls:control_loop_queues",
+ "//frc971/control_loops:queues",
+ ],
)
cc_library(
- name = 'rollers_lib',
- hdrs = [
- 'rollers.h',
- ],
- srcs = [
- 'rollers.cc',
- ],
- deps = [
- ':rollers_queue',
- '//aos/logging',
- '//aos/controls:control_loop',
- ],
+ name = "rollers_lib",
+ srcs = [
+ "rollers.cc",
+ ],
+ hdrs = [
+ "rollers.h",
+ ],
+ deps = [
+ ":rollers_queue",
+ "//aos/controls:control_loop",
+ "//aos/logging",
+ ],
)
cc_binary(
- name = 'rollers',
- srcs = [
- 'rollers_main.cc',
- ],
- deps = [
- ':rollers_lib',
- '//aos:init',
- ],
+ name = "rollers",
+ srcs = [
+ "rollers_main.cc",
+ ],
+ deps = [
+ ":rollers_lib",
+ "//aos:init",
+ "//aos/events:shm-event-loop",
+ ],
)
diff --git a/y2014_bot3/control_loops/rollers/rollers.cc b/y2014_bot3/control_loops/rollers/rollers.cc
index 573a41f..d2b4da9 100644
--- a/y2014_bot3/control_loops/rollers/rollers.cc
+++ b/y2014_bot3/control_loops/rollers/rollers.cc
@@ -5,8 +5,9 @@
namespace y2014_bot3 {
namespace control_loops {
-Rollers::Rollers(control_loops::RollersQueue *rollers)
- : aos::controls::ControlLoop<control_loops::RollersQueue>(rollers) {}
+Rollers::Rollers(::aos::EventLoop *event_loop, const ::std::string &name)
+ : aos::controls::ControlLoop<control_loops::RollersQueue>(event_loop,
+ name) {}
void Rollers::RunIteration(
const control_loops::RollersQueue::Goal *goal,
diff --git a/y2014_bot3/control_loops/rollers/rollers.h b/y2014_bot3/control_loops/rollers/rollers.h
index edbea7a..9890871 100644
--- a/y2014_bot3/control_loops/rollers/rollers.h
+++ b/y2014_bot3/control_loops/rollers/rollers.h
@@ -12,8 +12,9 @@
public:
// Constructs a control loops which can take a rollers or defaults to the
// rollers at ::2014_bot3::control_loops::rollers.
- explicit Rollers(control_loops::RollersQueue *rollers_queue =
- &control_loops::rollers_queue);
+ explicit Rollers(
+ ::aos::EventLoop *event_loop,
+ const ::std::string &name = ".y2014_bot3.control_loops.rollers_queue");
protected:
// Executes one cycle of the control loop.
diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index b2bb7c9..d783d98 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -1,10 +1,12 @@
#include "y2014_bot3/control_loops/rollers/rollers.h"
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
int main() {
::aos::Init();
- ::y2014_bot3::control_loops::Rollers rollers;
+ ::aos::ShmEventLoop event_loop;
+ ::y2014_bot3::control_loops::Rollers rollers(&event_loop);
rollers.Run();
::aos::Cleanup();
return 0;