Kill camera_frames queue
Use EventLoop instead.
Change-Id: I39352fecbddd677a32de1a0e77ac11947bc76c6f
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index 49cda13..8cfa45e 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -203,6 +203,7 @@
":event_loop_localizer",
":localizer",
"//aos/controls:control_loop_test",
+ "//aos/events:shm-event-loop",
"//aos/network:team_number",
"//frc971/control_loops:team_number_test_environment",
"//frc971/control_loops/drivetrain:drivetrain_lib",
diff --git a/y2019/control_loops/drivetrain/camera.q b/y2019/control_loops/drivetrain/camera.q
index 6ef6f49..9d5dffc 100644
--- a/y2019/control_loops/drivetrain/camera.q
+++ b/y2019/control_loops/drivetrain/camera.q
@@ -8,6 +8,8 @@
float skew;
};
+// Frames from a camera.
+// Published on ".y2019.control_loops.drivetrain.camera_frames"
message CameraFrame {
// Number of nanoseconds since the aos::monotonic_clock epoch at which this
// frame was captured.
@@ -22,5 +24,3 @@
// Index of the camera position (not serial number) which this frame is from.
uint8_t camera;
};
-
-queue CameraFrame camera_frames;
diff --git a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
index 75a8af3..3052b5b 100644
--- a/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
+++ b/y2019/control_loops/drivetrain/localized_drivetrain_test.cc
@@ -48,7 +48,7 @@
".frc971.control_loops.drivetrain_queue.position",
".frc971.control_loops.drivetrain_queue.output",
".frc971.control_loops.drivetrain_queue.status"),
- camera_queue_(::y2019::control_loops::drivetrain::camera_frames.name()),
+ camera_queue_(".y2019.control_loops.drivetrain.camera_frames"),
localizer_(dt_config_, &event_loop_),
drivetrain_motor_(dt_config_, &event_loop_, &localizer_),
drivetrain_motor_plant_(&simulation_event_loop_, dt_config_),
@@ -60,7 +60,6 @@
// is just prone to causing confusion.
SetStartingPosition({3.0, 2.0, 0.0});
::frc971::sensors::gyro_reading.Clear();
- ::y2019::control_loops::drivetrain::camera_frames.Clear();
set_battery_voltage(12.0);
}
@@ -168,7 +167,6 @@
virtual ~LocalizedDrivetrainTest() {
::frc971::sensors::gyro_reading.Clear();
- ::y2019::control_loops::drivetrain::camera_frames.Clear();
}
const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>