commit a280ae0342d090bbf69214f2d5bad6367910eccf
author Brian Silverman <brians> Mon Oct 28 18:21:15 2013 -0700
committer Brian Silverman <brians> Mon Oct 28 18:21:15 2013 -0700
tree d621a615f47d3cd4165293515d8f37ebbf81746d
parent 7a3fbd1b83be14ebf996bb252c404927fa1ad473

got real timestamps on the sensor data

frc971/input/usb_receiver.h

diff --git a/frc971/input/usb_receiver.h b/frc971/input/usb_receiver.h
index a3b7c5c..dcb7b92 100644
--- a/frc971/input/usb_receiver.h
+++ b/frc971/input/usb_receiver.h
@@ -4,6 +4,7 @@
 #include <memory>
 
 #include "aos/common/time.h"
+#include "aos/common/macros.h"
 
 #include "gyro_board/src/libusb-driver/libusb_wrap.h"
 #include "frc971/input/gyro_board_data.h"
@@ -14,7 +15,7 @@
 // us.
 class USBReceiver {
  public:
-  USBReceiver();
+  USBReceiver(uint8_t expected_robot_id);
 
   void RunIteration();
 
@@ -101,7 +102,9 @@
 
   void Reset();
 
-  virtual void ProcessData() = 0;
+  virtual void ProcessData(const ::aos::time::Time &timestamp) = 0;
+
+  const uint8_t expected_robot_id_;
 
   GyroBoardData data_;
 
@@ -115,6 +118,8 @@
   // finished from the callback to the rest of the code.
   libusb::Transfer *completed_transfer_;
   ::aos::time::Time transfer_received_time_{0, 0};
+
+  DISALLOW_COPY_AND_ASSIGN(USBReceiver);
 };
 
 }  // namespace frc971