commit 996a2a20ea1713c0edf1501b24e50e4a439ce3f4
author Philipp Schrader <philipp.schrader@gmail.com> Wed Feb 22 05:02:48 2017 +0000
committer Philipp Schrader <philipp.schrader@gmail.com> Wed Feb 22 05:02:48 2017 +0000
tree 026f0de682fadca56b839907bba818a6c86553b9
parent 4bd29b17bf604b83805f0f16ea866680eb9e8801

Move y2017 auton actor to use common class

This should give it the drivetrain helpers right off the bat.

Change-Id: I7f88d30c2451da632acc2a85fd57d2bc1772f041

y2017/actors/autonomous_actor.cc

diff --git a/y2017/actors/autonomous_actor.cc b/y2017/actors/autonomous_actor.cc
index ad4b87c..52f3df2 100644
--- a/y2017/actors/autonomous_actor.cc
+++ b/y2017/actors/autonomous_actor.cc
@@ -9,7 +9,7 @@
 #include "aos/common/logging/logging.h"
 
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2017/actors/autonomous_action.q.h"
+#include "y2017/control_loops/drivetrain/drivetrain_base.h"
 
 namespace y2017 {
 namespace actors {
@@ -25,28 +25,13 @@
 }
 }  // namespace
 
-AutonomousActor::AutonomousActor(actors::AutonomousActionQueueGroup *s)
-    : aos::common::actions::ActorBase<actors::AutonomousActionQueueGroup>(s) {}
+AutonomousActor::AutonomousActor(
+    ::frc971::autonomous::AutonomousActionQueueGroup *s)
+    : frc971::autonomous::BaseAutonomousActor(
+          s, control_loops::drivetrain::GetDrivetrainConfig()) {}
 
-void AutonomousActor::WaitUntilDoneOrCanceled(
-    ::std::unique_ptr<aos::common::actions::Action> action) {
-  if (!action) {
-    LOG(ERROR, "No action, not waiting\n");
-    return;
-  }
-
-  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
-                                      ::std::chrono::milliseconds(5) / 2);
-  while (true) {
-    // Poll the running bit and see if we should cancel.
-    phased_loop.SleepUntilNext();
-    if (!action->Running() || ShouldCancel()) {
-      return;
-    }
-  }
-}
-
-bool AutonomousActor::RunAction(const actors::AutonomousActionParams &params) {
+bool AutonomousActor::RunAction(
+    const ::frc971::autonomous::AutonomousActionParams &params) {
   monotonic_clock::time_point start_time = monotonic_clock::now();
   LOG(INFO, "Starting autonomous action with mode %" PRId32 "\n", params.mode);
 
@@ -72,11 +57,5 @@
   return true;
 }
 
-::std::unique_ptr<AutonomousAction> MakeAutonomousAction(
-    const ::y2017::actors::AutonomousActionParams &params) {
-  return ::std::unique_ptr<AutonomousAction>(
-      new AutonomousAction(&::y2017::actors::autonomous_action, params));
-}
-
 }  // namespace actors
 }  // namespace y2017