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

y2014_bot3/control_loops/drivetrain/drivetrain_main.cc

diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
index f13a8ab..48f09c5 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -7,14 +7,18 @@
 using ::frc971::control_loops::drivetrain::DrivetrainLoop;
 
 int main() {
-  ::aos::Init();
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
+      &event_loop,
       ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
   DrivetrainLoop drivetrain(
       ::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig(),
       &event_loop, &localizer);
-  drivetrain.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
   return 0;
 }

y2014_bot3/control_loops/rollers/rollers_main.cc

diff --git a/y2014_bot3/control_loops/rollers/rollers_main.cc b/y2014_bot3/control_loops/rollers/rollers_main.cc
index d783d98..1a0d82b 100644
--- a/y2014_bot3/control_loops/rollers/rollers_main.cc
+++ b/y2014_bot3/control_loops/rollers/rollers_main.cc
@@ -4,10 +4,13 @@
 #include "aos/init.h"
 
 int main() {
-  ::aos::Init();
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::y2014_bot3::control_loops::Rollers rollers(&event_loop);
-  rollers.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
   return 0;
 }

y2014_bot3/joystick_reader.cc

diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 989a1c1..44eb2b8 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -140,9 +140,12 @@
 }  // namespace y2014_bot3
 
 int main() {
-  ::aos::Init(-1);
+  ::aos::InitNRT(true);
+
   ::aos::ShmEventLoop event_loop;
   ::y2014_bot3::input::joysticks::Reader reader(&event_loop);
-  reader.Run();
+
+  event_loop.Run();
+
   ::aos::Cleanup();
 }