commit a4f9ef24c8bf32f22bed592179eb1ded6a932a9c
author Brian Silverman <brians> Sat Mar 30 14:31:16 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:13 2013 -0700
tree fda07d59c0f74a08ac3d355a5c4078bf6449729c
parent e58ef63f298d2a22f9eaed8cd6292ce26f0ccf28

finished getting all of the usb stuff working nicely(ish)

frc971/crio/crio.gyp

diff --git a/frc971/crio/crio.gyp b/frc971/crio/crio.gyp
index cbd7d2d..32166dd 100644
--- a/frc971/crio/crio.gyp
+++ b/frc971/crio/crio.gyp
@@ -22,15 +22,16 @@
         'main.cc',
       ],
       'dependencies': [
+        '<(AOS)/crio/motor_server/motor_server.gyp:MotorServer',
         '../output/output.gyp:MotorWriter',
         'WPILib_changes',
         '<(EXTERNALS):WPILib',
-        '<(AOS)/common/messages/messages.gyp:aos_queues',
         '<(AOS)/crio/controls/controls.gyp:ControlsManager',
-        '<(AOS)/crio/motor_server/motor_server.gyp:crio_control_loop_runner',
-        '<(AOS)/common/sensors/sensors.gyp:sensor_broadcaster',
-        '<(DEPTH)/frc971/input/input.gyp:sensor_packer',
-        '<(DEPTH)/frc971/input/input.gyp:sensor_unpacker',
+        '<(AOS)/crio/shared_libs/shared_libs.gyp:interrupt_notifier',
+        #'<(AOS)/crio/motor_server/motor_server.gyp:crio_control_loop_runner',
+        #'<(AOS)/common/sensors/sensors.gyp:sensor_broadcaster',
+        #'<(DEPTH)/frc971/input/input.gyp:sensor_packer',
+        #'<(DEPTH)/frc971/input/input.gyp:sensor_unpacker',
       ],
     },
     {

frc971/crio/main.cc

diff --git a/frc971/crio/main.cc b/frc971/crio/main.cc
index 85e2d45..3b404b9 100644
--- a/frc971/crio/main.cc
+++ b/frc971/crio/main.cc
@@ -1,12 +1,14 @@
 #include "aos/common/libstdc++/memory"
 
 #include "aos/crio/controls/ControlsManager.h"
-#include "aos/crio/motor_server/crio_control_loop_runner.h"
-#include "aos/common/sensors/sensor_broadcaster.h"
+//#include "aos/crio/motor_server/crio_control_loop_runner.h"
+#include "aos/crio/motor_server/MotorServer.h"
+//#include "aos/common/sensors/sensor_broadcaster.h"
+#include "aos/crio/shared_libs/interrupt_bridge.h"
 
-#include "frc971/queues/sensor_values.h"
-#include "frc971/input/sensor_packer.h"
-#include "frc971/input/sensor_unpacker.h"
+//#include "frc971/queues/sensor_values.h"
+//#include "frc971/input/sensor_packer.h"
+//#include "frc971/input/sensor_unpacker.h"
 
 using ::std::unique_ptr;
 
@@ -16,12 +18,18 @@
  public:
   MyRobot() {}
 
+ private:
   virtual void CreateObjects() {
+#if 0
     packer_ = unique_ptr< ::frc971::SensorPacker>( new ::frc971::SensorPacker());
     unpacker_ = unique_ptr< ::frc971::SensorUnpacker>( new ::frc971::SensorUnpacker());
     broadcaster_ = unique_ptr< ::aos::sensors::SensorBroadcaster< ::frc971::sensor_values>>(
         new ::aos::sensors::SensorBroadcaster< ::frc971::sensor_values>(packer_.get()));
     control_loop_runner_ = unique_ptr< ::aos::crio::CRIOControlLoopRunner< ::frc971::sensor_values>>(new ::aos::crio::CRIOControlLoopRunner< ::frc971::sensor_values>(broadcaster_.get(), unpacker_.get()));
+#endif
+    motor_server_notifier_ =
+        unique_ptr< ::aos::crio::WDInterruptNotifier<void>>(
+            new ::aos::crio::WDInterruptNotifier<void>(WriteOutputs));
   }
 
   virtual void RegisterControlLoops() {
@@ -29,14 +37,22 @@
   }
 
   virtual void StartSensorBroadcasters() {
-    broadcaster_->Start();
+    //broadcaster_->Start();
+    motor_server_notifier_->StartPeriodic(0.01);
   }
 
+  static void WriteOutputs(void *) {
+    ::aos::crio::MotorServer::WriteOutputs();
+  }
+
+#if 0
   unique_ptr< ::frc971::SensorPacker> packer_;
   unique_ptr< ::frc971::SensorUnpacker> unpacker_;
   unique_ptr< ::aos::sensors::SensorBroadcaster< ::frc971::sensor_values>> broadcaster_;
   unique_ptr< ::aos::crio::CRIOControlLoopRunner< ::frc971::sensor_values>>
       control_loop_runner_;
+#endif
+  unique_ptr< ::aos::crio::WDInterruptNotifier<void>> motor_server_notifier_;
 };
 
 }  // namespace frc971

frc971/input/gyro_board_data.h

diff --git a/frc971/input/gyro_board_data.h b/frc971/input/gyro_board_data.h
index 0a8272a..a1b8712 100644
--- a/frc971/input/gyro_board_data.h
+++ b/frc971/input/gyro_board_data.h
@@ -46,6 +46,8 @@
   };
 
   void NetworkToHost() {
+    // Apparently it sends the information out in little endian.
+#if 0
     using ::aos::ntoh;
 
     gyro_angle = ntoh(gyro_angle);
@@ -64,6 +66,7 @@
     capture_shooter_angle_rise = ntoh(capture_shooter_angle_rise);
 
     digitals = ntoh(digitals);
+#endif
   }
 } __attribute__((__packed__));
 

frc971/input/gyro_board_reader.cc

diff --git a/frc971/input/gyro_board_reader.cc b/frc971/input/gyro_board_reader.cc
index dab6130..4628c78 100644
--- a/frc971/input/gyro_board_reader.cc
+++ b/frc971/input/gyro_board_reader.cc
@@ -105,9 +105,9 @@
         LOG(FATAL, "libusb gave error %d\n", r);
       }
 
-      if (read_bytes != sizeof(data)) {
-        LOG(ERROR, "read %d bytes instead of %zu\n",
-            read_bytes, sizeof(data));
+      if (read_bytes < static_cast<ssize_t>(sizeof(*real_data))) {
+        LOG(ERROR, "read %d bytes instead of at least %zd\n",
+            read_bytes, sizeof(*real_data));
         continue;
       }