commit 661688497b98b569e7797ee199a34e60cdcfd22a
author Austin Schuh <austin.schuh@bluerivertech.com> Tue Aug 17 19:42:21 2021 -0700
committer Austin Schuh <austin.schuh@bluerivertech.com> Fri Aug 20 19:27:24 2021 -0700
tree 005b7c6fcb210974af2377c18ede5c9988648e3b
parent 5b728b79162b4e75ea9c64227a258efb4975fb3f

Estimate the distributed clock with boots accounted for

Route the current boot through both the noncausal filter, and the
timestamp solver code.  This gets us 1 step closer to exposing boots
to the user.

This stops before changing log_reader though.  We still CHECK on the way
into the SimulatedEventLoopFactory that actually runs reading.  This
felt like a reasonable intermediate point.

Change-Id: I85d0735c449a2aacf8cc457bdbcdbd667f1809ef
Signed-off-by: Austin Schuh <austin.schuh@bluerivertech.com>

y2020/control_loops/drivetrain/localizer_test.cc

diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index f3c3ebf..a1b6121 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -24,6 +24,7 @@
 namespace drivetrain {
 namespace testing {
 
+using aos::logger::BootTimestamp;
 using frc971::control_loops::drivetrain::DrivetrainConfig;
 using frc971::control_loops::drivetrain::Goal;
 using frc971::control_loops::drivetrain::LocalizerControl;
@@ -133,13 +134,13 @@
     event_loop_factory()->SetTimeConverter(&time_converter_);
     CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 6);
     CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), pi1_), 1);
-    time_converter_.AddMonotonic({monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch() + kPiTimeOffset,
-                                  monotonic_clock::epoch()});
+    time_converter_.AddMonotonic({BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch() + kPiTimeOffset,
+                                  BootTimestamp::epoch()});
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);