Make code run again on roborio
The code was still running some of the old queue stuff and getting
confused. Disable the old queue implementation stuff in initialization.
Change-Id: I3f4128c5fc71825845091cb52314b358bb9a182b
diff --git a/aos/BUILD b/aos/BUILD
index f6c6182..1afbcf8 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -6,8 +6,6 @@
srcs = [
"//aos:aos_dump",
"//aos:core",
- "//aos/logging:log_displayer",
- "//aos/logging:log_streamer",
"//aos/starter",
],
visibility = ["//visibility:public"],
@@ -17,7 +15,6 @@
name = "prime_start_binaries",
srcs = [
"//aos/events/logging:logger_main",
- "//aos/logging:binary_log_writer",
],
visibility = ["//visibility:public"],
)
@@ -27,8 +24,6 @@
srcs = [
# starter is hard coded to look for a non-stripped core...
"//aos:core",
- "//aos/logging:log_streamer.stripped",
- "//aos/logging:log_displayer.stripped",
"//aos:aos_dump.stripped",
"//aos/starter",
],
@@ -39,7 +34,6 @@
name = "prime_start_binaries_stripped",
srcs = [
"//aos/events/logging:logger_main.stripped",
- "//aos/logging:binary_log_writer.stripped",
],
visibility = ["//visibility:public"],
)
@@ -457,11 +451,11 @@
],
visibility = ["//visibility:public"],
deps = [
+ "//aos:macros",
"@com_github_google_flatbuffers//:flatbuffers",
"@com_github_google_glog//:glog",
"@com_google_absl//absl/strings",
"@com_google_absl//absl/types:span",
- "//aos:macros",
],
)
diff --git a/aos/init.cc b/aos/init.cc
index 957899c7..5d62868 100644
--- a/aos/init.cc
+++ b/aos/init.cc
@@ -58,25 +58,18 @@
google::InstallFailureSignalHandler();
}
-void InitNRT(bool for_realtime) {
+void InitNRT() {
InitStart();
- aos_core_create_shared_mem(false, for_realtime && ShouldBeRealtime());
- logging::RegisterQueueImplementation();
ExpandStackSize();
- AOS_LOG(INFO, "%s initialized non-realtime\n", program_invocation_short_name);
}
void InitCreate() {
InitStart();
- aos_core_create_shared_mem(true, false);
- logging::RegisterQueueImplementation();
AOS_LOG(INFO, "%s created shm\n", program_invocation_short_name);
}
void Init(int relative_priority) {
InitStart();
- aos_core_create_shared_mem(false, ShouldBeRealtime());
- logging::RegisterQueueImplementation();
GoRT(relative_priority);
}
diff --git a/aos/init.h b/aos/init.h
index 85d5da7..3ff56b8 100644
--- a/aos/init.h
+++ b/aos/init.h
@@ -5,6 +5,8 @@
namespace aos {
+// TODO(james): Clean up/unify the various init functions.
+
// Initializes glog and gflags.
void InitGoogle(int *argc, char ***argv);
@@ -13,8 +15,7 @@
// them again after fork(2)ing.
// Does the non-realtime parts of the initialization process.
-// If for_realtime is true, this sets up to call GoRT later.
-void InitNRT(bool for_realtime = false);
+void InitNRT();
// Initializes everything, including the realtime stuff.
// relative_priority adjusts the priority of this process relative to all of the
// other ones (positive for higher priority).
@@ -26,7 +27,7 @@
// exit gracefully).
void Cleanup();
-// Performs the realtime parts of initialization after InitNRT(true) has been called.
+// Performs the realtime parts of initialization after InitNRT() has been called.
void GoRT(int relative_priority = 0);
// Pins the current thread to CPU #number.