Require a name when making a simulated event loop
We need application names for both timing reports and for maps. So,
lets require the names everywhere.
Change-Id: I82bf63e2500d0552bc0bb01380f67c5328e9b201
diff --git a/aos/actions/action_test.cc b/aos/actions/action_test.cc
index aa0e6d2..fa1a347 100644
--- a/aos/actions/action_test.cc
+++ b/aos/actions/action_test.cc
@@ -102,9 +102,9 @@
: configuration_(
configuration::ReadConfig("aos/actions/action_test_config.json")),
event_loop_factory_(&configuration_.message()),
- actor1_event_loop_(event_loop_factory_.MakeEventLoop()),
- actor2_event_loop_(event_loop_factory_.MakeEventLoop()),
- test_event_loop_(event_loop_factory_.MakeEventLoop()) {
+ actor1_event_loop_(event_loop_factory_.MakeEventLoop("actor1")),
+ actor2_event_loop_(event_loop_factory_.MakeEventLoop("actor2")),
+ test_event_loop_(event_loop_factory_.MakeEventLoop("test")) {
::aos::testing::EnableTestLogging();
}
@@ -132,7 +132,7 @@
// cancel message.
TEST_F(ActionTest, StartWithOldGoal) {
::std::unique_ptr<::aos::EventLoop> test2_event_loop =
- event_loop_factory_.MakeEventLoop();
+ event_loop_factory_.MakeEventLoop("test2");
::aos::Sender<TestActionGoal> goal_sender =
test2_event_loop->MakeSender<TestActionGoal>("/test_action");
::aos::Fetcher<Status> status_fetcher =
diff --git a/aos/controls/control_loop_test.h b/aos/controls/control_loop_test.h
index 6a8e975..a0a844f 100644
--- a/aos/controls/control_loop_test.h
+++ b/aos/controls/control_loop_test.h
@@ -2,6 +2,7 @@
#define AOS_CONTROLS_CONTROL_LOOP_TEST_H_
#include <chrono>
+#include <string_view>
#include "gtest/gtest.h"
@@ -40,7 +41,7 @@
: configuration_(std::move(configuration)),
event_loop_factory_(&configuration_.message()),
dt_(dt),
- robot_status_event_loop_(MakeEventLoop()) {
+ robot_status_event_loop_(MakeEventLoop("robot_status")) {
testing::EnableTestLogging();
robot_state_sender_ =
robot_status_event_loop_->MakeSender<::aos::RobotState>("/aos");
@@ -88,8 +89,8 @@
battery_voltage_ = battery_voltage;
}
- ::std::unique_ptr<::aos::EventLoop> MakeEventLoop() {
- return event_loop_factory_.MakeEventLoop();
+ ::std::unique_ptr<::aos::EventLoop> MakeEventLoop(std::string_view name) {
+ return event_loop_factory_.MakeEventLoop(name);
}
void RunFor(monotonic_clock::duration duration) {
diff --git a/aos/events/event_loop_param_test.h b/aos/events/event_loop_param_test.h
index fb08ac3..8a8f33a 100644
--- a/aos/events/event_loop_param_test.h
+++ b/aos/events/event_loop_param_test.h
@@ -1,6 +1,7 @@
#ifndef _AOS_EVENTS_EVENT_LOOP_PARAM_TEST_H_
#define _AOS_EVENTS_EVENT_LOOP_PARAM_TEST_H_
+#include <string_view>
#include <vector>
#include "aos/events/event_loop.h"
@@ -35,10 +36,10 @@
virtual ~EventLoopTestFactory() {}
// Makes a connected event loop.
- virtual std::unique_ptr<EventLoop> Make() = 0;
+ virtual std::unique_ptr<EventLoop> Make(std::string_view name) = 0;
// Makes a primary event loop. This is the one the tests will try to use for
// anything blocking.
- virtual std::unique_ptr<EventLoop> MakePrimary() = 0;
+ virtual std::unique_ptr<EventLoop> MakePrimary(std::string_view name) = 0;
// Runs the loops until they quit.
virtual void Run() = 0;
@@ -60,8 +61,19 @@
public:
AbstractEventLoopTestBase() { factory_.reset(GetParam()()); }
- ::std::unique_ptr<EventLoop> Make() { return factory_->Make(); }
- ::std::unique_ptr<EventLoop> MakePrimary() { return factory_->MakePrimary(); }
+ ::std::unique_ptr<EventLoop> Make(std::string_view name = "") {
+ std::string name_copy(name);
+ if (name == "") {
+ name_copy = "loop";
+ name_copy += std::to_string(event_loop_count_);
+ }
+ ++event_loop_count_;
+ return factory_->Make(name_copy);
+ }
+ ::std::unique_ptr<EventLoop> MakePrimary(std::string_view name = "primary") {
+ ++event_loop_count_;
+ return factory_->MakePrimary(name);
+ }
void Run() { return factory_->Run(); }
@@ -83,6 +95,8 @@
// TestWithParam<T>.
private:
::std::unique_ptr<EventLoopTestFactory> factory_;
+
+ int event_loop_count_ = 0;
};
typedef AbstractEventLoopTestBase AbstractEventLoopDeathTest;
diff --git a/aos/events/logger_test.cc b/aos/events/logger_test.cc
index 71c640d..e0dd7de 100644
--- a/aos/events/logger_test.cc
+++ b/aos/events/logger_test.cc
@@ -19,9 +19,9 @@
: config_(
aos::configuration::ReadConfig("aos/events/pingpong_config.json")),
event_loop_factory_(&config_.message()),
- ping_event_loop_(event_loop_factory_.MakeEventLoop()),
+ ping_event_loop_(event_loop_factory_.MakeEventLoop("ping")),
ping_(ping_event_loop_.get()),
- pong_event_loop_(event_loop_factory_.MakeEventLoop()),
+ pong_event_loop_(event_loop_factory_.MakeEventLoop("pong")),
pong_(pong_event_loop_.get()) {}
// Config and factory.
@@ -50,7 +50,7 @@
{
DetachedBufferWriter writer(logfile);
std::unique_ptr<EventLoop> logger_event_loop =
- event_loop_factory_.MakeEventLoop();
+ event_loop_factory_.MakeEventLoop("logger");
event_loop_factory_.RunFor(chrono::milliseconds(95));
@@ -69,7 +69,7 @@
// knows about the factory.
SimulatedEventLoopFactory log_reader_factory(reader.configuration());
std::unique_ptr<EventLoop> reader_event_loop =
- log_reader_factory.MakeEventLoop();
+ log_reader_factory.MakeEventLoop("log_reader");
reader.Register(reader_event_loop.get());
@@ -80,7 +80,7 @@
log_reader.realtime_start_time());
*/
std::unique_ptr<EventLoop> test_event_loop =
- log_reader_factory.MakeEventLoop();
+ log_reader_factory.MakeEventLoop("log_reader");
int ping_count = 10;
int pong_count = 10;
diff --git a/aos/events/pingpong_test.cc b/aos/events/pingpong_test.cc
index 0bc1f88..fca1867 100644
--- a/aos/events/pingpong_test.cc
+++ b/aos/events/pingpong_test.cc
@@ -16,9 +16,9 @@
: config_(aos::configuration::ReadConfig(
"aos/events/pingpong_config.json")),
event_loop_factory_(&config_.message()),
- ping_event_loop_(event_loop_factory_.MakeEventLoop()),
+ ping_event_loop_(event_loop_factory_.MakeEventLoop("ping")),
ping_(ping_event_loop_.get()),
- pong_event_loop_(event_loop_factory_.MakeEventLoop()),
+ pong_event_loop_(event_loop_factory_.MakeEventLoop("pong")),
pong_(pong_event_loop_.get()) {}
// Config and factory.
@@ -50,7 +50,7 @@
// Tests that the number of pong messages matches the number of ping messages.
TEST_F(PingPongTest, AlwaysReplies) {
std::unique_ptr<EventLoop> test_event_loop =
- event_loop_factory_.MakeEventLoop();
+ event_loop_factory_.MakeEventLoop("test");
int ping_count = 0;
int pong_count = 0;
diff --git a/aos/events/shm_event_loop_test.cc b/aos/events/shm_event_loop_test.cc
index 16ac08c..ba0b80d 100644
--- a/aos/events/shm_event_loop_test.cc
+++ b/aos/events/shm_event_loop_test.cc
@@ -1,5 +1,7 @@
#include "aos/events/shm_event_loop.h"
+#include <string_view>
+
#include "aos/events/event_loop_param_test.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
@@ -30,15 +32,18 @@
unlink((FLAGS_shm_base + "/test2/aos.TestMessage.v0").c_str());
}
- ::std::unique_ptr<EventLoop> Make() override {
- return ::std::unique_ptr<EventLoop>(new ShmEventLoop(configuration()));
+ ::std::unique_ptr<EventLoop> Make(std::string_view name) override {
+ ::std::unique_ptr<EventLoop> loop(new ShmEventLoop(configuration()));
+ loop->set_name(name);
+ return loop;
}
- ::std::unique_ptr<EventLoop> MakePrimary() override {
+ ::std::unique_ptr<EventLoop> MakePrimary(std::string_view name) override {
::std::unique_ptr<ShmEventLoop> loop =
::std::unique_ptr<ShmEventLoop>(new ShmEventLoop(configuration()));
primary_event_loop_ = loop.get();
- return ::std::move(loop);
+ loop->set_name(name);
+ return std::move(loop);
}
void Run() override { CHECK_NOTNULL(primary_event_loop_)->Run(); }
@@ -77,8 +82,8 @@
// involved and it's easy to miss one.
TEST(ShmEventLoopTest, AllHandlersAreRealtime) {
ShmEventLoopTestFactory factory;
- auto loop = factory.MakePrimary();
- auto loop2 = factory.Make();
+ auto loop = factory.MakePrimary("primary");
+ auto loop2 = factory.Make("loop2");
loop->SetRuntimeRealtimePriority(1);
@@ -121,7 +126,7 @@
// running at the right offset.
TEST(ShmEventLoopTest, DelayedPhasedLoop) {
ShmEventLoopTestFactory factory;
- auto loop1 = factory.MakePrimary();
+ auto loop1 = factory.MakePrimary("primary");
::std::vector<::aos::monotonic_clock::time_point> times;
diff --git a/aos/events/simulated_event_loop.cc b/aos/events/simulated_event_loop.cc
index 3f6abd3..4819141 100644
--- a/aos/events/simulated_event_loop.cc
+++ b/aos/events/simulated_event_loop.cc
@@ -2,6 +2,7 @@
#include <algorithm>
#include <deque>
+#include <string_view>
#include "absl/container/btree_map.h"
#include "absl/container/btree_set.h"
@@ -60,7 +61,7 @@
size_t max_size() const { return channel_.message().max_size(); }
- const absl::string_view name() const {
+ const std::string_view name() const {
return channel_.message().name()->string_view();
}
@@ -510,9 +511,12 @@
: configuration_(configuration) {}
SimulatedEventLoopFactory::~SimulatedEventLoopFactory() {}
-::std::unique_ptr<EventLoop> SimulatedEventLoopFactory::MakeEventLoop() {
- return ::std::unique_ptr<EventLoop>(new SimulatedEventLoop(
+::std::unique_ptr<EventLoop> SimulatedEventLoopFactory::MakeEventLoop(
+ std::string_view name) {
+ ::std::unique_ptr<EventLoop> result(new SimulatedEventLoop(
&scheduler_, &channels_, configuration_, &raw_event_loops_));
+ result->set_name(name);
+ return result;
}
void SimulatedEventLoopFactory::RunFor(monotonic_clock::duration duration) {
diff --git a/aos/events/simulated_event_loop.h b/aos/events/simulated_event_loop.h
index 485ab68..0550204 100644
--- a/aos/events/simulated_event_loop.h
+++ b/aos/events/simulated_event_loop.h
@@ -4,6 +4,7 @@
#include <algorithm>
#include <map>
#include <memory>
+#include <string_view>
#include <unordered_set>
#include <utility>
#include <vector>
@@ -53,7 +54,7 @@
SimulatedEventLoopFactory(const Configuration *configuration);
~SimulatedEventLoopFactory();
- ::std::unique_ptr<EventLoop> MakeEventLoop();
+ ::std::unique_ptr<EventLoop> MakeEventLoop(std::string_view name);
// Starts executing the event loops unconditionally.
void Run();
diff --git a/aos/events/simulated_event_loop_test.cc b/aos/events/simulated_event_loop_test.cc
index 356c25b..b2eb634 100644
--- a/aos/events/simulated_event_loop_test.cc
+++ b/aos/events/simulated_event_loop_test.cc
@@ -1,5 +1,7 @@
#include "aos/events/simulated_event_loop.h"
+#include <string_view>
+
#include "aos/events/event_loop_param_test.h"
#include "gtest/gtest.h"
@@ -12,11 +14,11 @@
public:
SimulatedEventLoopTestFactory() : event_loop_factory_(configuration()) {}
- ::std::unique_ptr<EventLoop> Make() override {
- return event_loop_factory_.MakeEventLoop();
+ ::std::unique_ptr<EventLoop> Make(std::string_view name) override {
+ return event_loop_factory_.MakeEventLoop(name);
}
- ::std::unique_ptr<EventLoop> MakePrimary() override {
- return event_loop_factory_.MakeEventLoop();
+ ::std::unique_ptr<EventLoop> MakePrimary(std::string_view name) override {
+ return event_loop_factory_.MakeEventLoop(name);
}
void Run() override { event_loop_factory_.Run(); }
@@ -73,7 +75,7 @@
TEST(SimulatedEventLoopTest, RunForNoHandlers) {
SimulatedEventLoopFactory simulated_event_loop_factory(nullptr);
::std::unique_ptr<EventLoop> event_loop =
- simulated_event_loop_factory.MakeEventLoop();
+ simulated_event_loop_factory.MakeEventLoop("loop");
simulated_event_loop_factory.RunFor(chrono::seconds(1));
@@ -88,7 +90,7 @@
TEST(SimulatedEventLoopTest, RunForTimerHandler) {
SimulatedEventLoopFactory simulated_event_loop_factory(nullptr);
::std::unique_ptr<EventLoop> event_loop =
- simulated_event_loop_factory.MakeEventLoop();
+ simulated_event_loop_factory.MakeEventLoop("loop");
int counter = 0;
auto timer = event_loop->AddTimer([&counter]() { ++counter; });
diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index 487a09b..ad526b7 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -111,13 +111,13 @@
" ]\n"
"}\n",
chrono::microseconds(5050)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
goal_sender_(test_event_loop_->MakeSender<Goal>("/codelab")),
- basic_event_loop_(MakeEventLoop()),
+ basic_event_loop_(MakeEventLoop("basic")),
basic_(basic_event_loop_.get(), "/codelab"),
- basic_simulation_event_loop_(MakeEventLoop()),
+ basic_simulation_event_loop_(MakeEventLoop("simulation")),
basic_simulation_(basic_simulation_event_loop_.get(), dt()) {
set_team_id(control_loops::testing::kTeamNumber);
}
diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index a46defd..b2a533e 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -36,7 +36,7 @@
aos::configuration::ReadConfig(
"frc971/control_loops/drivetrain/config.json"),
GetTestDrivetrainConfig().dt),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
drivetrain_goal_sender_(
test_event_loop_->MakeSender<Goal>("/drivetrain")),
drivetrain_goal_fetcher_(
@@ -47,11 +47,11 @@
test_event_loop_->MakeFetcher<Output>("/drivetrain")),
localizer_control_sender_(
test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
- drivetrain_event_loop_(MakeEventLoop()),
+ drivetrain_event_loop_(MakeEventLoop("drivetrain")),
dt_config_(GetTestDrivetrainConfig()),
localizer_(drivetrain_event_loop_.get(), dt_config_),
drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
- drivetrain_plant_event_loop_(MakeEventLoop()),
+ drivetrain_plant_event_loop_(MakeEventLoop("drivetrain_plant")),
drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_) {
set_battery_voltage(12.0);
}
diff --git a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
index 46e9c76..ffea935 100644
--- a/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
+++ b/frc971/control_loops/static_zeroing_single_dof_profiled_subsystem_test.cc
@@ -374,15 +374,15 @@
" ]\n"
"}\n",
chrono::microseconds(5050)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
subsystem_goal_sender_(test_event_loop_->MakeSender<GoalType>("/loop")),
subsystem_goal_fetcher_(
test_event_loop_->MakeFetcher<GoalType>("/loop")),
subsystem_status_fetcher_(
test_event_loop_->MakeFetcher<StatusType>("/loop")),
- subsystem_event_loop_(MakeEventLoop()),
+ subsystem_event_loop_(MakeEventLoop("subsystem")),
subsystem_(subsystem_event_loop_.get(), "/loop"),
- subsystem_plant_event_loop_(MakeEventLoop()),
+ subsystem_plant_event_loop_(MakeEventLoop("plant")),
subsystem_plant_(subsystem_plant_event_loop_.get(), dt()) {}
void VerifyNearGoal() {
diff --git a/frc971/wpilib/loop_output_handler_test.cc b/frc971/wpilib/loop_output_handler_test.cc
index d7ef8cd..f1d403c 100644
--- a/frc971/wpilib/loop_output_handler_test.cc
+++ b/frc971/wpilib/loop_output_handler_test.cc
@@ -36,8 +36,9 @@
"}\n",
aos::Configuration::MiniReflectTypeTable())))),
event_loop_factory_(&configuration_.message()),
- loop_output_hander_event_loop_(event_loop_factory_.MakeEventLoop()),
- test_event_loop_(event_loop_factory_.MakeEventLoop()) {
+ loop_output_hander_event_loop_(
+ event_loop_factory_.MakeEventLoop("output")),
+ test_event_loop_(event_loop_factory_.MakeEventLoop("test")) {
::aos::testing::EnableTestLogging();
}
diff --git a/y2014/control_loops/claw/claw_lib_test.cc b/y2014/control_loops/claw/claw_lib_test.cc
index 55e186e..1d89518 100644
--- a/y2014/control_loops/claw/claw_lib_test.cc
+++ b/y2014/control_loops/claw/claw_lib_test.cc
@@ -292,12 +292,12 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2014/config.json"),
chrono::microseconds(5000)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
claw_goal_sender_(test_event_loop_->MakeSender<Goal>("/claw")),
claw_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/claw")),
- claw_event_loop_(MakeEventLoop()),
+ claw_event_loop_(MakeEventLoop("claw")),
claw_motor_(claw_event_loop_.get()),
- claw_plant_event_loop_(MakeEventLoop()),
+ claw_plant_event_loop_(MakeEventLoop("plant")),
claw_motor_plant_(claw_plant_event_loop_.get(), dt(), 0.4, 0.2),
min_separation_(constants::GetValues().claw.claw_min_separation) {}
diff --git a/y2014/control_loops/shooter/shooter_lib_test.cc b/y2014/control_loops/shooter/shooter_lib_test.cc
index ad24cf9..7512d6b 100644
--- a/y2014/control_loops/shooter/shooter_lib_test.cc
+++ b/y2014/control_loops/shooter/shooter_lib_test.cc
@@ -334,12 +334,12 @@
aos::configuration::ReadConfig("y2014/config.json"),
// TODO(austin): I think this runs at 5 ms in real life.
chrono::microseconds(5000)),
- test_event_loop_(this->MakeEventLoop()),
+ test_event_loop_(this->MakeEventLoop("test")),
shooter_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/shooter")),
shooter_goal_sender_(test_event_loop_->MakeSender<Goal>("/shooter")),
- shooter_event_loop_(this->MakeEventLoop()),
+ shooter_event_loop_(this->MakeEventLoop("shooter")),
shooter_motor_(shooter_event_loop_.get()),
- shooter_plant_event_loop_(this->MakeEventLoop()),
+ shooter_plant_event_loop_(this->MakeEventLoop("plant")),
shooter_motor_plant_(shooter_plant_event_loop_.get(), this->dt(), 0.2) {
}
diff --git a/y2016/control_loops/shooter/shooter_lib_test.cc b/y2016/control_loops/shooter/shooter_lib_test.cc
index b432049..6b3e2d6 100644
--- a/y2016/control_loops/shooter/shooter_lib_test.cc
+++ b/y2016/control_loops/shooter/shooter_lib_test.cc
@@ -122,16 +122,16 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2016/config.json"),
chrono::microseconds(5000)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
shooter_goal_fetcher_(test_event_loop_->MakeFetcher<Goal>("/shooter")),
shooter_goal_sender_(test_event_loop_->MakeSender<Goal>("/shooter")),
shooter_status_fetcher_(
test_event_loop_->MakeFetcher<Status>("/shooter")),
shooter_output_fetcher_(
test_event_loop_->MakeFetcher<Output>("/shooter")),
- shooter_event_loop_(MakeEventLoop()),
+ shooter_event_loop_(MakeEventLoop("shooter")),
shooter_(shooter_event_loop_.get()),
- shooter_plant_event_loop_(MakeEventLoop()),
+ shooter_plant_event_loop_(MakeEventLoop("plant")),
shooter_plant_(shooter_plant_event_loop_.get(), dt()) {
set_team_id(kTeamNumber);
}
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index d530cb3..24bc187 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -356,16 +356,16 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2016/config.json"),
chrono::microseconds(5000)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
test_event_loop_->MakeSender<Goal>("/superstructure")),
superstructure_status_fetcher_(
test_event_loop_->MakeFetcher<Status>("/superstructure")),
- superstructure_event_loop_(MakeEventLoop()),
+ superstructure_event_loop_(MakeEventLoop("superstructure")),
superstructure_(superstructure_event_loop_.get()),
- superstructure_plant_event_loop_(MakeEventLoop()),
+ superstructure_plant_event_loop_(MakeEventLoop("plant")),
superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {}
void VerifyNearGoal() {
diff --git a/y2017/control_loops/superstructure/superstructure_lib_test.cc b/y2017/control_loops/superstructure/superstructure_lib_test.cc
index 5298687..2722024 100644
--- a/y2017/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2017/control_loops/superstructure/superstructure_lib_test.cc
@@ -523,7 +523,7 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2017/config.json"),
chrono::microseconds(5050)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
@@ -534,9 +534,9 @@
test_event_loop_->MakeFetcher<Output>("/superstructure")),
superstructure_position_fetcher_(
test_event_loop_->MakeFetcher<Position>("/superstructure")),
- superstructure_event_loop_(MakeEventLoop()),
+ superstructure_event_loop_(MakeEventLoop("superstructure")),
superstructure_(superstructure_event_loop_.get()),
- superstructure_plant_event_loop_(MakeEventLoop()),
+ superstructure_plant_event_loop_(MakeEventLoop("plant")),
superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
diff --git a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
index 7e9d82d..9a58049 100644
--- a/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
+++ b/y2017/control_loops/superstructure/vision_time_adjuster_test.cc
@@ -20,7 +20,7 @@
: ::testing::Test(),
configuration_(aos::configuration::ReadConfig("y2017/config.json")),
event_loop_factory_(&configuration_.message()),
- simulation_event_loop_(event_loop_factory_.MakeEventLoop()),
+ simulation_event_loop_(event_loop_factory_.MakeEventLoop("drivetrain")),
drivetrain_status_sender_(
simulation_event_loop_
->MakeSender<::frc971::control_loops::drivetrain::Status>(
@@ -28,7 +28,8 @@
vision_status_sender_(
simulation_event_loop_->MakeSender<::y2017::vision::VisionStatus>(
"/vision")),
- vision_time_adjuster_event_loop_(event_loop_factory_.MakeEventLoop()),
+ vision_time_adjuster_event_loop_(
+ event_loop_factory_.MakeEventLoop("vision_time_adjuster")),
vision_status_fetcher_(
vision_time_adjuster_event_loop_
->MakeFetcher<::y2017::vision::VisionStatus>("/vision")),
diff --git a/y2018/control_loops/superstructure/superstructure_lib_test.cc b/y2018/control_loops/superstructure/superstructure_lib_test.cc
index 988655f..a087356 100644
--- a/y2018/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2018/control_loops/superstructure/superstructure_lib_test.cc
@@ -318,7 +318,7 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2018/config.json"),
::std::chrono::microseconds(5050)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<superstructure::Goal>(
"/superstructure")),
@@ -331,9 +331,9 @@
superstructure_output_fetcher_(
test_event_loop_->MakeFetcher<superstructure::Output>(
"/superstructure")),
- superstructure_event_loop_(MakeEventLoop()),
+ superstructure_event_loop_(MakeEventLoop("superstructure")),
superstructure_(superstructure_event_loop_.get(), "/superstructure"),
- superstructure_plant_event_loop_(MakeEventLoop()),
+ superstructure_plant_event_loop_(MakeEventLoop("plant")),
superstructure_plant_(superstructure_plant_event_loop_.get()) {
set_team_id(::frc971::control_loops::testing::kTeamNumber);
}
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 06d2f24..b8674bc 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -47,22 +47,20 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2019/config.json"),
GetTest2019DrivetrainConfig().dt),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
drivetrain_goal_sender_(
test_event_loop_->MakeSender<Goal>("/drivetrain")),
drivetrain_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/drivetrain")),
localizer_control_sender_(
test_event_loop_->MakeSender<LocalizerControl>("/drivetrain")),
-
- drivetrain_event_loop_(MakeEventLoop()),
+ drivetrain_event_loop_(MakeEventLoop("drivetrain")),
dt_config_(GetTest2019DrivetrainConfig()),
camera_sender_(
test_event_loop_->MakeSender<CameraFrame>("/drivetrain")),
localizer_(drivetrain_event_loop_.get(), dt_config_),
drivetrain_(dt_config_, drivetrain_event_loop_.get(), &localizer_),
-
- drivetrain_plant_event_loop_(MakeEventLoop()),
+ drivetrain_plant_event_loop_(MakeEventLoop("plant")),
drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
cameras_(MakeCameras(&robot_pose_)),
last_frame_(monotonic_now()) {
diff --git a/y2019/control_loops/drivetrain/target_selector_test.cc b/y2019/control_loops/drivetrain/target_selector_test.cc
index 2e9028f..90ca830 100644
--- a/y2019/control_loops/drivetrain/target_selector_test.cc
+++ b/y2019/control_loops/drivetrain/target_selector_test.cc
@@ -39,8 +39,8 @@
TargetSelectorParamTest()
: configuration_(aos::configuration::ReadConfig("y2019/config.json")),
event_loop_factory_(&configuration_.message()),
- event_loop_(this->event_loop_factory_.MakeEventLoop()),
- test_event_loop_(this->event_loop_factory_.MakeEventLoop()),
+ event_loop_(this->event_loop_factory_.MakeEventLoop("drivetrain")),
+ test_event_loop_(this->event_loop_factory_.MakeEventLoop("test")),
target_selector_hint_sender_(
test_event_loop_->MakeSender<
::y2019::control_loops::drivetrain::TargetSelectorHint>(
diff --git a/y2019/control_loops/superstructure/superstructure_lib_test.cc b/y2019/control_loops/superstructure/superstructure_lib_test.cc
index 7af8ffd..f0e1a70 100644
--- a/y2019/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2019/control_loops/superstructure/superstructure_lib_test.cc
@@ -405,7 +405,7 @@
: ::aos::testing::ControlLoopTest(
aos::configuration::ReadConfig("y2019/config.json"),
chrono::microseconds(5050)),
- test_event_loop_(MakeEventLoop()),
+ test_event_loop_(MakeEventLoop("test")),
superstructure_goal_fetcher_(
test_event_loop_->MakeFetcher<Goal>("/superstructure")),
superstructure_goal_sender_(
@@ -416,9 +416,9 @@
test_event_loop_->MakeFetcher<Output>("/superstructure")),
superstructure_position_fetcher_(
test_event_loop_->MakeFetcher<Position>("/superstructure")),
- superstructure_event_loop_(MakeEventLoop()),
+ superstructure_event_loop_(MakeEventLoop("superstructure")),
superstructure_(superstructure_event_loop_.get()),
- superstructure_plant_event_loop_(MakeEventLoop()),
+ superstructure_plant_event_loop_(MakeEventLoop("plant")),
superstructure_plant_(superstructure_plant_event_loop_.get(), dt()) {
set_team_id(::frc971::control_loops::testing::kTeamNumber);
}