commit 9fe68f73d944037b507c3bb0fbfc7f862342c000
author Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:32:03 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 17 18:14:55 2019 -0700
tree 9672f3afd7c7766c9882d43ff1a6915e159a0301
parent 4ac96a8f593b84de2773be5ac458656a51d9bc17

Convert control loop tests over to simulated event loop

This makes it so that we properly only use ShmEventLoop for running in
realtime on a robot.  Very nice.

Change-Id: I46b770b336f59e08cfaf28511b3bd5689f72fff1

aos/input/joystick_input.cc

diff --git a/aos/input/joystick_input.cc b/aos/input/joystick_input.cc
index a208f1e..0bbba41 100644
--- a/aos/input/joystick_input.cc
+++ b/aos/input/joystick_input.cc
@@ -10,10 +10,6 @@
 namespace aos {
 namespace input {
 
-::std::atomic<bool> JoystickInput::run_;
-
-void JoystickInput::Quit(int /*signum*/) { run_ = false; }
-
 void JoystickInput::HandleData(const ::aos::JoystickState &joystick_state) {
   data_.Update(joystick_state);
 
@@ -63,27 +59,6 @@
   }
 
   RunIteration(data_);
-
-  if (!run_) {
-    event_loop_->Exit();
-  }
-}
-
-void JoystickInput::Run() {
-  // TODO(austin): We need a better sigint story for event loops in general.
-  run_ = true;
-  struct sigaction action;
-  action.sa_handler = &JoystickInput::Quit;
-  sigemptyset(&action.sa_mask);
-  action.sa_flags = SA_RESETHAND;
-
-  PCHECK(sigaction(SIGTERM, &action, nullptr));
-  PCHECK(sigaction(SIGQUIT, &action, nullptr));
-  PCHECK(sigaction(SIGINT, &action, nullptr));
-
-  event_loop_->Run();
-
-  LOG(INFO, "Shutting down\n");
 }
 
 }  // namespace input

aos/input/joystick_input.h

diff --git a/aos/input/joystick_input.h b/aos/input/joystick_input.h
index 98a89b1..ed72e78 100644
--- a/aos/input/joystick_input.h
+++ b/aos/input/joystick_input.h
@@ -23,10 +23,9 @@
         [this](const ::aos::JoystickState &joystick_state) {
           this->HandleData(joystick_state);
         });
+    event_loop->SetRuntimeRealtimePriority(29);
   }
 
-  void Run();
-
  protected:
   int mode() const { return mode_; }
 
@@ -36,10 +35,6 @@
   // Subclasses should do whatever they want with data here.
   virtual void RunIteration(const driver_station::Data &data) = 0;
 
-  static void Quit(int /*signum*/);
-
-  static ::std::atomic<bool> run_;
-
   EventLoop *event_loop_;
   driver_station::Data data_;