commit 73b6e3bfaad0a1b7b5532075df71b69b03f098e5
author Austin Schuh <austin.linux@gmail.com> Mon May 27 16:37:15 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 29 20:45:44 2019 -0700
tree 39d43ab37d64c06d28363bada9800a57cd29d404
parent a250b2d60e7e4b41c8a8e23b3a792d0f5461eea9

Convert imu_values to event loops.

Change-Id: Ia31a022550ef076526e2198e1dbf60570caf6a16

frc971/wpilib/ADIS16448.cc

diff --git a/frc971/wpilib/ADIS16448.cc b/frc971/wpilib/ADIS16448.cc
index aec4d4f..75f082d 100644
--- a/frc971/wpilib/ADIS16448.cc
+++ b/frc971/wpilib/ADIS16448.cc
@@ -123,6 +123,8 @@
     : event_loop_(event_loop),
       joystick_state_fetcher_(event_loop_->MakeFetcher<::aos::JoystickState>(
           ".aos.joystick_state")),
+      imu_values_sender_(
+          event_loop_->MakeSender<::frc971::IMUValues>(".frc971.imu_values")),
       spi_(new frc::SPI(port)),
       dio1_(dio1) {
   // 1MHz is the maximum supported for burst reads, but we
@@ -241,7 +243,7 @@
       }
     }
 
-    auto message = imu_values.MakeMessage();
+    auto message = imu_values_sender_.MakeMessage();
     message->fpga_timestamp = ::aos::time::DurationInSeconds(
         dio1_->ReadRisingTimestamp().time_since_epoch());
     message->monotonic_timestamp_ns =

frc971/wpilib/ADIS16448.h

diff --git a/frc971/wpilib/ADIS16448.h b/frc971/wpilib/ADIS16448.h
index a1d6dcd..5af6a4f 100644
--- a/frc971/wpilib/ADIS16448.h
+++ b/frc971/wpilib/ADIS16448.h
@@ -14,6 +14,7 @@
 #include "aos/events/event-loop.h"
 #include "aos/logging/logging.h"
 #include "aos/robot_state/robot_state.q.h"
+#include "frc971/wpilib/imu.q.h"
 #include "frc971/wpilib/spi_rx_clearer.h"
 
 namespace frc971 {
@@ -94,6 +95,7 @@
 
   ::aos::EventLoop *event_loop_;
   ::aos::Fetcher<::aos::JoystickState> joystick_state_fetcher_;
+  ::aos::Sender<::frc971::IMUValues> imu_values_sender_;
 
   // TODO(Brian): This object has no business owning these ones.
   const ::std::unique_ptr<frc::SPI> spi_;

frc971/wpilib/imu.q

diff --git a/frc971/wpilib/imu.q b/frc971/wpilib/imu.q
index c404126..4d9dec7 100644
--- a/frc971/wpilib/imu.q
+++ b/frc971/wpilib/imu.q
@@ -1,6 +1,7 @@
 package frc971;
 
 // Values returned from an IMU.
+// Published on ".frc971.imu_values"
 message IMUValues {
   // Gyro readings in radians/second.
   // Positive is clockwise looking at the connector.
@@ -37,5 +38,3 @@
   // CLOCK_MONOTONIC time in nanoseconds when the values were captured.
   int64_t monotonic_timestamp_ns;
 };
-
-queue IMUValues imu_values;