commit 9481d0d20b1f982569037a80e5d4ba0a5cc85a13
author Austin Schuh <austin.linux@gmail.com> Sat Jun 29 21:56:17 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:33:36 2019 -0700
tree 4b947839f419f2d8e562cbfc16da28dc4618b6cc
parent 402722c59124bed470559cac005e61ca6637374d

Remove global y2016.control_loops.superstructure_queue object

Change-Id: I6cbce87055ead432e53732066b3f2d2f7693df06

y2016/dashboard/dashboard.cc

diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 300986e..d69afcb 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -59,6 +59,10 @@
       autonomous_mode_fetcher_(
           event_loop->MakeFetcher<::frc971::autonomous::AutonomousMode>(
               ".frc971.autonomous.auto_mode")),
+      superstructure_status_fetcher_(
+          event_loop->MakeFetcher<
+              ::y2016::control_loops::SuperstructureQueue::Status>(
+              ".y2016.control_loops.superstructure_queue.status")),
       cur_raw_data_("no data"),
       sample_id_(0),
       measure_index_(0),
@@ -91,7 +95,7 @@
   int auto_mode_indicator = -1;
 
   autonomous_mode_fetcher_.Fetch();
-  ::y2016::control_loops::superstructure_queue.status.FetchLatest();
+  superstructure_status_fetcher_.Fetch();
   ball_detector_fetcher_.Fetch();
   vision_status_fetcher_.Fetch();
 
@@ -122,11 +126,11 @@
     }
   }
 
-  if (::y2016::control_loops::superstructure_queue.status.get()) {
-    if (!::y2016::control_loops::superstructure_queue.status->zeroed) {
+  if (superstructure_status_fetcher_.get()) {
+    if (!superstructure_status_fetcher_->zeroed) {
       superstructure_state_indicator = superstructure_indicator::kNotZeroed;
     }
-    if (::y2016::control_loops::superstructure_queue.status->estopped) {
+    if (superstructure_status_fetcher_->estopped) {
       superstructure_state_indicator = superstructure_indicator::kEstopped;
     }
   }

y2016/dashboard/dashboard.h

diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index 58c9890..ed5a579 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -18,6 +18,7 @@
 #include "aos/mutex/mutex.h"
 #include "aos/time/time.h"
 #include "frc971/autonomous/auto.q.h"
+#include "y2016/control_loops/superstructure/superstructure.q.h"
 #include "y2016/queues/ball_detector.q.h"
 #include "y2016/vision/vision.q.h"
 
@@ -70,6 +71,8 @@
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
   ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
   ::aos::Fetcher<::frc971::autonomous::AutonomousMode> autonomous_mode_fetcher_;
+  ::aos::Fetcher<::y2016::control_loops::SuperstructureQueue::Status>
+      superstructure_status_fetcher_;
 
   // Storage vector that is written and overwritten with data in a FIFO fashion.
   ::std::vector<SampleItem> sample_items_;