Merge "Make 2019 robot start again"
diff --git a/aos/starter/starter_cmd.cc b/aos/starter/starter_cmd.cc
index e9b6ed5..3cf6636 100644
--- a/aos/starter/starter_cmd.cc
+++ b/aos/starter/starter_cmd.cc
@@ -24,8 +24,7 @@
{"restart", aos::starter::Command::RESTART}};
void PrintKey() {
- absl::PrintF("%-30s %-30s %s\n\n", "Name", "Time since last started",
- "State");
+ absl::PrintF("%-30s %-10s %s\n\n", "Name", "Uptime", "State");
}
void PrintApplicationStatus(const aos::starter::ApplicationStatus *app_status,
@@ -34,7 +33,7 @@
chrono::nanoseconds(app_status->last_start_time()));
const auto time_running =
chrono::duration_cast<chrono::seconds>(time - last_start_time);
- absl::PrintF("%-30s %-30s %s\n", app_status->name()->string_view(),
+ absl::PrintF("%-30s %-10s %s\n", app_status->name()->string_view(),
std::to_string(time_running.count()) + 's',
aos::starter::EnumNameState(app_status->state()));
}
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index 050f00e..8665e91 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2012/control_loops/drivetrain/drivetrain_base.h"
@@ -15,7 +16,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2012::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2014/control_loops/drivetrain/drivetrain_main.cc b/y2014/control_loops/drivetrain/drivetrain_main.cc
index 8367ec1..19b8e70 100644
--- a/y2014/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2014/control_loops/drivetrain/drivetrain_base.h"
@@ -15,8 +16,8 @@
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2014::control_loops::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(::y2014::control_loops::GetDrivetrainConfig(),
- &event_loop, &localizer);
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ ::y2014::control_loops::GetDrivetrainConfig(), &event_loop, &localizer);
event_loop.Run();
diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index 1b7bda1..7c1486d 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
@@ -16,7 +17,7 @@
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop,
::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig(),
&event_loop, &localizer);
diff --git a/y2016/control_loops/drivetrain/drivetrain_main.cc b/y2016/control_loops/drivetrain/drivetrain_main.cc
index 3c60a63..7edcde5 100644
--- a/y2016/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2016/control_loops/drivetrain/drivetrain_base.h"
@@ -15,7 +16,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2016::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2016::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2017/control_loops/drivetrain/drivetrain_main.cc b/y2017/control_loops/drivetrain/drivetrain_main.cc
index 444838c..4db7b95 100644
--- a/y2017/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2017/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2017/control_loops/drivetrain/drivetrain_base.h"
@@ -15,7 +16,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2017::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2017::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2018/control_loops/drivetrain/drivetrain_main.cc b/y2018/control_loops/drivetrain/drivetrain_main.cc
index ad1d9bd..461fd34 100644
--- a/y2018/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2018/control_loops/drivetrain/drivetrain_base.h"
@@ -15,7 +16,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2018::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2019/control_loops/drivetrain/drivetrain_main.cc b/y2019/control_loops/drivetrain/drivetrain_main.cc
index 5641d1d..a45db0c 100644
--- a/y2019/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,7 @@
-#include "aos/init.h"
+#include <memory>
#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2019/control_loops/drivetrain/drivetrain_base.h"
#include "y2019/control_loops/drivetrain/event_loop_localizer.h"
@@ -16,7 +17,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::y2019::control_loops::drivetrain::EventLoopLocalizer localizer(
&event_loop, ::y2019::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2019::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index e73c023..dec9118 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -1,3 +1,5 @@
+#include <memory>
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
@@ -15,7 +17,7 @@
::aos::ShmEventLoop event_loop(&config.message());
::y2020::control_loops::drivetrain::Localizer localizer(
&event_loop, ::y2020::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2020::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
&localizer);
diff --git a/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
index 0fef75f..f79846e 100644
--- a/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2021_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -1,3 +1,5 @@
+#include <memory>
+
#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
@@ -15,7 +17,7 @@
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop,
::y2021_bot3::control_loops::drivetrain::GetDrivetrainConfig());
- DrivetrainLoop drivetrain(
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
::y2021_bot3::control_loops::drivetrain::GetDrivetrainConfig(),
&event_loop, &localizer);