Move CameraLog to event loop
Change-Id: I06c5e607f983b762ecb244d8c16cd24c78b596bb
diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 01c8afa..dec9b9c 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -312,7 +312,9 @@
: camera_frame_sender_(
event_loop
->MakeSender<::y2019::control_loops::drivetrain::CameraFrame>(
- ".y2019.control_loops.drivetrain.camera_frames")) {}
+ ".y2019.control_loops.drivetrain.camera_frames")),
+ camera_log_fetcher_(
+ event_loop->MakeFetcher<::y2019::CameraLog>(".y2019.camera_log")) {}
CameraReader(const CameraReader &) = delete;
CameraReader &operator=(const CameraReader &) = delete;
@@ -340,12 +342,12 @@
using namespace frc971::jevois;
RoborioToTeensy to_teensy{};
to_teensy.realtime_now = aos::realtime_clock::now();
- camera_log.FetchLatest();
+ camera_log_fetcher_.Fetch();
if (activate_usb_ && !activate_usb_->Get()) {
to_teensy.camera_command = CameraCommand::kUsb;
} else if (activate_passthrough_ && !activate_passthrough_->Get()) {
to_teensy.camera_command = CameraCommand::kCameraPassthrough;
- } else if (camera_log.get() && camera_log->log) {
+ } else if (camera_log_fetcher_.get() && camera_log_fetcher_->log) {
to_teensy.camera_command = CameraCommand::kLog;
} else {
to_teensy.camera_command = CameraCommand::kNormal;
@@ -428,6 +430,7 @@
private:
::aos::Sender<::y2019::control_loops::drivetrain::CameraFrame>
camera_frame_sender_;
+ ::aos::Fetcher<::y2019::CameraLog> camera_log_fetcher_;
frc::SPI *spi_ = nullptr;
::std::unique_ptr<frc::SPI> dummy_spi_;