commit 59a62e7c0bedb4263d20819b9d37d0efa72725ff
author Austin Schuh <austin.linux@gmail.com> Wed Mar 13 22:39:03 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 13 22:45:50 2019 -0700
tree e2be57d70ebec23daac6b13ee51633f817d37598
parent 4be5a21d60100b34f2e305f4245e9df864766bdf

Added a AutoEnded function

This gets called when the auto action finishes running.  This lets us
reset state when the driver takes control.  It gets run before
HandleTeleop.

Change-Id: I2969d95ed623f9e45735c07da1dc6c504efae06b

aos/input/action_joystick_input.cc

diff --git a/aos/input/action_joystick_input.cc b/aos/input/action_joystick_input.cc
index c2c3763..81e277d 100644
--- a/aos/input/action_joystick_input.cc
+++ b/aos/input/action_joystick_input.cc
@@ -16,6 +16,7 @@
                   data.GetControlBit(ControlBit::kEnabled);
   if (auto_running_ != last_auto_running) {
     if (auto_running_) {
+      auto_was_running_ = true;
       StartAuto();
     } else {
       StopAuto();
@@ -23,6 +24,10 @@
   }
 
   if (!auto_running_ || (run_teleop_in_auto_ && !action_queue_.Running())) {
+    if (auto_was_running_) {
+      AutoEnded();
+      auto_was_running_ = false;
+    }
     if (!data.GetControlBit(ControlBit::kEnabled)) {
       action_queue_.CancelAllActions();
       LOG(DEBUG, "Canceling\n");

aos/input/action_joystick_input.h

diff --git a/aos/input/action_joystick_input.h b/aos/input/action_joystick_input.h
index 9936c98..87b980e 100644
--- a/aos/input/action_joystick_input.h
+++ b/aos/input/action_joystick_input.h
@@ -30,6 +30,8 @@
   }
 
  private:
+  // Handles anything that needs to be cleaned up when the auto action exits.
+  virtual void AutoEnded() {}
   // Handles any year specific superstructure code.
   virtual void HandleTeleop(const ::aos::input::driver_station::Data &data) = 0;
 
@@ -49,6 +51,10 @@
   // finish early), we will run teleop regardless of the mode.
   bool run_teleop_in_auto_ = false;
 
+  // Bool to track if auto was running the last cycle through.  This lets us
+  // call AutoEnded when the auto mode function stops.
+  bool auto_was_running_ = false;
+
   ::std::unique_ptr<DrivetrainInputReader> drivetrain_input_reader_;
   ::aos::common::actions::ActionQueue action_queue_;
 };