commit 87dd383ddfd1e1729736be9bcf6d811ec17d17bc
author Austin Schuh <austin.linux@gmail.com> Fri Jan 01 23:07:31 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Jan 11 10:10:55 2021 -0800
tree 3b5c3da06a2f8debadd262e16124f89dc2761ff2
parent 4d17fc846928074f6ae533b59dd866efe7108928

Use the new solver to compute time

Now that all the infrastructure exists, hook it up.  Track which nodes
are connected, if there are any orphaned nodes, and everything else the
old code used to do.

This doesn't yet handle single directions going and coming.

Change-Id: I658347797384f7608870d231a3ebbb2c05dad1dc

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 da3ef17..3798c34 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -6,6 +6,7 @@
 #include "aos/events/logging/logger.h"
 #include "aos/network/message_bridge_server_generated.h"
 #include "aos/network/team_number.h"
+#include "aos/network/testing_time_converter.h"
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/drivetrain_test_lib.h"
 #include "frc971/control_loops/team_number_test_environment.h"
@@ -103,6 +104,7 @@
             aos::configuration::ReadConfig(
                 "y2020/control_loops/drivetrain/simulation_config.json"),
             GetTest2020DrivetrainConfig().dt),
+        time_converter_(aos::configuration::NodesCount(configuration())),
         roborio_(aos::configuration::GetNode(configuration(), "roborio")),
         pi1_(aos::configuration::GetNode(configuration(), "pi1")),
         test_event_loop_(MakeEventLoop("test", roborio_)),
@@ -128,9 +130,15 @@
         drivetrain_plant_event_loop_(MakeEventLoop("plant", roborio_)),
         drivetrain_plant_(drivetrain_plant_event_loop_.get(), dt_config_),
         last_frame_(monotonic_now()) {
-    event_loop_factory()->GetNodeEventLoopFactory(pi1_)->SetDistributedOffset(
-        kPiTimeOffset, 1.0);
-
+    event_loop_factory()->SetTimeConverter(&time_converter_);
+    CHECK_EQ(aos::configuration::GetNodeIndex(configuration(), roborio_), 5);
+    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()});
     set_team_id(frc971::control_loops::testing::kTeamNumber);
     set_battery_voltage(12.0);
 
@@ -326,6 +334,8 @@
     }
   }
 
+  aos::message_bridge::TestingTimeConverter time_converter_;
+
   const aos::Node *const roborio_;
   const aos::Node *const pi1_;