commit 78e29acf169a92b6346bb3422d75498f4b59a9c8
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Jul 28 21:07:03 2020 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Jul 29 20:34:54 2020 -0700
tree b402853d05675b791e904361d6b265e9d27af756
parent f60791070cacc69984a38a530ce4e203033f4ef0

Clean up the basic codelab

The config was incomplete because it didn't include timing reports, and
wasn't even using the standard config process anyways. The comments were
also out of date due to the flatbuffers transition, and I added in a bit
more boilerplate in the RunIteration function, since handling the
flatbuffer builders is a bit less trivial than the queues were.

Change-Id: I6a9b12ca6c925b561211937fcf36d932299946d2

frc971/codelab/basic_test.cc

diff --git a/frc971/codelab/basic_test.cc b/frc971/codelab/basic_test.cc
index fcb0f15..65ac625 100644
--- a/frc971/codelab/basic_test.cc
+++ b/frc971/codelab/basic_test.cc
@@ -7,7 +7,10 @@
 
 #include "aos/controls/control_loop_test.h"
 #include "aos/events/shm_event_loop.h"
-#include "frc971/codelab/basic_generated.h"
+#include "frc971/codelab/basic_goal_generated.h"
+#include "frc971/codelab/basic_output_generated.h"
+#include "frc971/codelab/basic_position_generated.h"
+#include "frc971/codelab/basic_status_generated.h"
 #include "frc971/control_loops/team_number_test_environment.h"
 #include "gtest/gtest.h"
 
@@ -82,38 +85,7 @@
  public:
   BasicControlLoopTest()
       : ::aos::testing::ControlLoopTest(
-            "{\n"
-            "  \"channels\": [ \n"
-            "    {\n"
-            "      \"name\": \"/aos\",\n"
-            "      \"type\": \"aos.JoystickState\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/aos\",\n"
-            "      \"type\": \"aos.LogMessageFbs\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/aos\",\n"
-            "      \"type\": \"aos.RobotState\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/codelab\",\n"
-            "      \"type\": \"frc971.codelab.Goal\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/codelab\",\n"
-            "      \"type\": \"frc971.codelab.Output\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/codelab\",\n"
-            "      \"type\": \"frc971.codelab.Status\"\n"
-            "    },\n"
-            "    {\n"
-            "      \"name\": \"/codelab\",\n"
-            "      \"type\": \"frc971.codelab.Position\"\n"
-            "    }\n"
-            "  ]\n"
-            "}\n",
+            aos::configuration::ReadConfig("frc971/codelab/config.json"),
             chrono::microseconds(5050)),
         test_event_loop_(MakeEventLoop("test")),
         goal_sender_(test_event_loop_->MakeSender<Goal>("/codelab")),
@@ -124,6 +96,7 @@
         basic_simulation_event_loop_(MakeEventLoop("simulation")),
         basic_simulation_(basic_simulation_event_loop_.get(), dt()) {
     set_team_id(control_loops::testing::kTeamNumber);
+    SetEnabled(true);
   }
 
   ::std::unique_ptr<::aos::EventLoop> test_event_loop_;