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

y2012/control_loops/accessories/accessories.cc

diff --git a/y2012/control_loops/accessories/accessories.cc b/y2012/control_loops/accessories/accessories.cc
index d320468..9d96840 100644
--- a/y2012/control_loops/accessories/accessories.cc
+++ b/y2012/control_loops/accessories/accessories.cc
@@ -32,9 +32,12 @@
 }  // namespace y2012
 
 int main() {
-  ::aos::Init();
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::y2012::control_loops::accessories::AccessoriesLoop accessories(&event_loop);
-  accessories.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
 }

y2012/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index 6e5b845..75153cd 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -7,14 +7,17 @@
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
 int main() {
-  ::aos::Init();
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
-      ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
+      &event_loop, ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
       ::y2012::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
       &localizer);
-  drivetrain.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
   return 0;
 }

y2012/joystick_reader.cc

diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index 86c7a90..8f35b92 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -143,9 +143,12 @@
 }  // namespace y2012
 
 int main() {
-  ::aos::Init(-1);
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::y2012::input::joysticks::Reader reader(&event_loop);
-  reader.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
 }