Remove global queuegroup claw_queue
Change-Id: Ie642d5da51f6c0934ee3206d1a50969d6f2e6d33
diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index 1a874c2..bb38269 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -35,27 +35,40 @@
".y2014.sensors.auto_mode")),
hot_goal_fetcher_(
event_loop->MakeFetcher<::y2014::HotGoal>(".y2014.hot_goal")),
+ claw_goal_sender_(
+ event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
+ ".y2014.control_loops.claw_queue.goal")),
+ claw_goal_fetcher_(
+ event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Goal>(
+ ".y2014.control_loops.claw_queue.goal")),
+ claw_status_fetcher_(
+ event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
+ ".y2014.control_loops.claw_queue.status")),
+ shooter_goal_sender_(
+ event_loop->MakeSender<::y2014::control_loops::ShooterQueue::Goal>(
+ ".y2014.control_loops.shooter_queue.goal")),
shoot_action_factory_(actors::ShootActor::MakeFactory(event_loop)) {}
void AutonomousActor::PositionClawVertically(double intake_power,
double centering_power) {
- if (!control_loops::claw_queue.goal.MakeWithBuilder()
- .bottom_angle(0.0)
- .separation_angle(0.0)
- .intake(intake_power)
- .centering(centering_power)
- .Send()) {
+ auto goal_message = claw_goal_sender_.MakeMessage();
+ goal_message->bottom_angle = 0.0;
+ goal_message->separation_angle = 0.0;
+ goal_message->intake = intake_power;
+ goal_message->centering = centering_power;
+
+ if (!goal_message.Send()) {
LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::PositionClawBackIntake() {
- if (!control_loops::claw_queue.goal.MakeWithBuilder()
- .bottom_angle(-2.273474)
- .separation_angle(0.0)
- .intake(12.0)
- .centering(12.0)
- .Send()) {
+ auto goal_message = claw_goal_sender_.MakeMessage();
+ goal_message->bottom_angle = -2.273474;
+ goal_message->separation_angle = 0.0;
+ goal_message->intake = 12.0;
+ goal_message->centering = 12.0;
+ if (!goal_message.Send()) {
LOG(WARNING, "sending claw goal failed\n");
}
}
@@ -63,35 +76,35 @@
void AutonomousActor::PositionClawUpClosed() {
// Move the claw to where we're going to shoot from but keep it closed until
// it gets there.
- if (!control_loops::claw_queue.goal.MakeWithBuilder()
- .bottom_angle(0.86)
- .separation_angle(0.0)
- .intake(4.0)
- .centering(1.0)
- .Send()) {
+ auto goal_message = claw_goal_sender_.MakeMessage();
+ goal_message->bottom_angle = 0.86;
+ goal_message->separation_angle = 0.0;
+ goal_message->intake = 4.0;
+ goal_message->centering = 1.0;
+ if (!goal_message.Send()) {
LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::PositionClawForShot() {
- if (!control_loops::claw_queue.goal.MakeWithBuilder()
- .bottom_angle(0.86)
- .separation_angle(0.10)
- .intake(4.0)
- .centering(1.0)
- .Send()) {
+ auto goal_message = claw_goal_sender_.MakeMessage();
+ goal_message->bottom_angle = 0.86;
+ goal_message->separation_angle = 0.10;
+ goal_message->intake = 4.0;
+ goal_message->centering = 1.0;
+ if (!goal_message.Send()) {
LOG(WARNING, "sending claw goal failed\n");
}
}
void AutonomousActor::SetShotPower(double power) {
LOG(INFO, "Setting shot power to %f\n", power);
- if (!control_loops::shooter_queue.goal.MakeWithBuilder()
- .shot_power(power)
- .shot_requested(false)
- .unload_requested(false)
- .load_requested(false)
- .Send()) {
+ auto goal_message = shooter_goal_sender_.MakeMessage();
+ goal_message->shot_power = power;
+ goal_message->shot_requested = false;
+ goal_message->unload_requested = false;
+ goal_message->load_requested = false;
+ if (!goal_message.Send()) {
LOG(WARNING, "sending shooter goal failed\n");
}
}
@@ -116,22 +129,21 @@
::std::chrono::milliseconds(10) / 2);
// Poll the running bit and auto done bits.
phased_loop.SleepUntilNext();
- control_loops::claw_queue.status.FetchLatest();
- control_loops::claw_queue.goal.FetchLatest();
+ claw_status_fetcher_.Fetch();
+ claw_goal_fetcher_.Fetch();
if (ShouldCancel()) {
return false;
}
- if (control_loops::claw_queue.status.get() == nullptr ||
- control_loops::claw_queue.goal.get() == nullptr) {
+ if (claw_status_fetcher_.get() == nullptr ||
+ claw_goal_fetcher_.get() == nullptr) {
continue;
}
- bool ans =
- control_loops::claw_queue.status->zeroed &&
- (::std::abs(control_loops::claw_queue.status->bottom_velocity) < 1.0) &&
- (::std::abs(control_loops::claw_queue.status->bottom -
- control_loops::claw_queue.goal->bottom_angle) < 0.10) &&
- (::std::abs(control_loops::claw_queue.status->separation -
- control_loops::claw_queue.goal->separation_angle) < 0.4);
+ bool ans = claw_status_fetcher_->zeroed &&
+ (::std::abs(claw_status_fetcher_->bottom_velocity) < 1.0) &&
+ (::std::abs(claw_status_fetcher_->bottom -
+ claw_goal_fetcher_->bottom_angle) < 0.10) &&
+ (::std::abs(claw_status_fetcher_->separation -
+ claw_goal_fetcher_->separation_angle) < 0.4);
if (ans) {
return true;
}
diff --git a/y2014/actors/autonomous_actor.h b/y2014/actors/autonomous_actor.h
index 5529d36..e832980 100644
--- a/y2014/actors/autonomous_actor.h
+++ b/y2014/actors/autonomous_actor.h
@@ -10,6 +10,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
#include "y2014/actors/shoot_actor.h"
+#include "y2014/control_loops/shooter/shooter.q.h"
#include "y2014/queues/auto_mode.q.h"
#include "y2014/queues/hot_goal.q.h"
@@ -40,6 +41,12 @@
::aos::Fetcher<::y2014::sensors::AutoMode> auto_mode_fetcher_;
::aos::Fetcher<::y2014::HotGoal> hot_goal_fetcher_;
+ ::aos::Sender<::y2014::control_loops::ClawQueue::Goal> claw_goal_sender_;
+ ::aos::Fetcher<::y2014::control_loops::ClawQueue::Goal> claw_goal_fetcher_;
+ ::aos::Fetcher<::y2014::control_loops::ClawQueue::Status>
+ claw_status_fetcher_;
+ ::aos::Sender<::y2014::control_loops::ShooterQueue::Goal>
+ shooter_goal_sender_;
actors::ShootActor::Factory shoot_action_factory_;
};
diff --git a/y2014/actors/shoot_actor.cc b/y2014/actors/shoot_actor.cc
index 5520c49..4a57943 100644
--- a/y2014/actors/shoot_actor.cc
+++ b/y2014/actors/shoot_actor.cc
@@ -4,37 +4,13 @@
#include "aos/logging/logging.h"
-#include "y2014/control_loops/shooter/shooter.q.h"
-#include "y2014/control_loops/claw/claw.q.h"
-#include "y2014/constants.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "y2014/constants.h"
+#include "y2014/control_loops/claw/claw.q.h"
+#include "y2014/control_loops/shooter/shooter.q.h"
namespace y2014 {
namespace actors {
-namespace {
-
-bool IntakeOff() {
- control_loops::claw_queue.goal.FetchLatest();
- if (!control_loops::claw_queue.goal.get()) {
- LOG(WARNING, "no claw goal\n");
- // If it doesn't have a goal, then the intake isn't on so we don't have to
- // turn it off.
- return true;
- } else {
- if (!control_loops::claw_queue.goal.MakeWithBuilder()
- .bottom_angle(control_loops::claw_queue.goal->bottom_angle)
- .separation_angle(control_loops::claw_queue.goal->separation_angle)
- .intake(0.0)
- .centering(0.0)
- .Send()) {
- LOG(WARNING, "sending claw goal failed\n");
- return false;
- }
- }
- return true;
-}
-
-} // namespace
constexpr double ShootActor::kOffsetRadians;
constexpr double ShootActor::kClawShootingSeparation;
@@ -42,14 +18,46 @@
ShootActor::ShootActor(::aos::EventLoop *event_loop)
: ::aos::common::actions::ActorBase<actors::ShootActionQueueGroup>(
- event_loop, ".y2014.actors.shoot_action") {}
+ event_loop, ".y2014.actors.shoot_action"),
+ claw_goal_fetcher_(
+ event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Goal>(
+ ".y2014.control_loops.claw_queue.goal")),
+ claw_status_fetcher_(
+ event_loop->MakeFetcher<::y2014::control_loops::ClawQueue::Status>(
+ ".y2014.control_loops.claw_queue.status")),
+ claw_goal_sender_(
+ event_loop->MakeSender<::y2014::control_loops::ClawQueue::Goal>(
+ ".y2014.control_loops.claw_queue.goal")) {}
double ShootActor::SpeedToAngleOffset(double speed) {
- const constants::Values& values = constants::GetValues();
+ const constants::Values &values = constants::GetValues();
// scale speed to a [0.0-1.0] on something close to the max
return (speed / values.drivetrain_max_speed) * kOffsetRadians;
}
+bool ShootActor::IntakeOff() {
+ claw_goal_fetcher_.Fetch();
+ if (!claw_goal_fetcher_.get()) {
+ LOG(WARNING, "no claw goal\n");
+ // If it doesn't have a goal, then the intake isn't on so we don't have to
+ // turn it off.
+ return true;
+ } else {
+ auto goal_message = claw_goal_sender_.MakeMessage();
+
+ goal_message->bottom_angle = claw_goal_fetcher_->bottom_angle;
+ goal_message->separation_angle = claw_goal_fetcher_->separation_angle;
+ goal_message->intake = 0.0;
+ goal_message->centering = 0.0;
+
+ if (!goal_message.Send()) {
+ LOG(WARNING, "sending claw goal failed\n");
+ return false;
+ }
+ }
+ return true;
+}
+
bool ShootActor::RunAction(const double&) {
InnerRunAction();
@@ -105,23 +113,22 @@
if (!IntakeOff()) return;
}
-bool ClawIsReady() {
- control_loops::claw_queue.goal.FetchLatest();
+bool ShootActor::ClawIsReady() {
+ claw_goal_fetcher_.Fetch();
- bool ans =
- control_loops::claw_queue.status->zeroed &&
- (::std::abs(control_loops::claw_queue.status->bottom_velocity) < 0.5) &&
- (::std::abs(control_loops::claw_queue.status->bottom -
- control_loops::claw_queue.goal->bottom_angle) < 0.10) &&
- (::std::abs(control_loops::claw_queue.status->separation -
- control_loops::claw_queue.goal->separation_angle) < 0.4);
+ bool ans = claw_status_fetcher_->zeroed &&
+ (::std::abs(claw_status_fetcher_->bottom_velocity) < 0.5) &&
+ (::std::abs(claw_status_fetcher_->bottom -
+ claw_goal_fetcher_->bottom_angle) < 0.10) &&
+ (::std::abs(claw_status_fetcher_->separation -
+ claw_goal_fetcher_->separation_angle) < 0.4);
LOG(DEBUG, "Claw is %sready zeroed %d bottom_velocity %f bottom %f sep %f\n",
- ans ? "" : "not ", control_loops::claw_queue.status->zeroed,
- ::std::abs(control_loops::claw_queue.status->bottom_velocity),
- ::std::abs(control_loops::claw_queue.status->bottom -
- control_loops::claw_queue.goal->bottom_angle),
- ::std::abs(control_loops::claw_queue.status->separation -
- control_loops::claw_queue.goal->separation_angle));
+ ans ? "" : "not ", claw_status_fetcher_->zeroed,
+ ::std::abs(claw_status_fetcher_->bottom_velocity),
+ ::std::abs(claw_status_fetcher_->bottom -
+ claw_goal_fetcher_->bottom_angle),
+ ::std::abs(claw_status_fetcher_->separation -
+ claw_goal_fetcher_->separation_angle));
return ans;
}
@@ -141,7 +148,7 @@
bool ShootActor::DoneSetupShot() {
control_loops::shooter_queue.status.FetchAnother();
- control_loops::claw_queue.status.FetchAnother();
+ claw_status_fetcher_.Fetch();
// Make sure that both the shooter and claw have reached the necessary
// states.
if (ShooterIsReady() && ClawIsReady()) {
@@ -153,8 +160,8 @@
}
bool ShootActor::DonePreShotOpen() {
- control_loops::claw_queue.status.FetchAnother();
- if (control_loops::claw_queue.status->separation > kClawShootingSeparation) {
+ claw_status_fetcher_.Fetch();
+ if (claw_status_fetcher_->separation > kClawShootingSeparation) {
LOG(INFO, "Opened up enough to shoot.\n");
return true;
}
diff --git a/y2014/actors/shoot_actor.h b/y2014/actors/shoot_actor.h
index 9b3bcf1..33a284c 100644
--- a/y2014/actors/shoot_actor.h
+++ b/y2014/actors/shoot_actor.h
@@ -3,10 +3,10 @@
#include <memory>
-#include "aos/actions/actor.h"
#include "aos/actions/actions.h"
-
+#include "aos/actions/actor.h"
#include "y2014/actors/shoot_action.q.h"
+#include "y2014/control_loops/claw/claw.q.h"
namespace y2014 {
namespace actors {
@@ -44,6 +44,15 @@
// in the right place
bool DoneSetupShot();
+ bool IntakeOff();
+ bool ClawIsReady();
+
+ private:
+ ::aos::Fetcher<::y2014::control_loops::ClawQueue::Goal> claw_goal_fetcher_;
+ ::aos::Fetcher<::y2014::control_loops::ClawQueue::Status>
+ claw_status_fetcher_;
+ ::aos::Sender<::y2014::control_loops::ClawQueue::Goal> claw_goal_sender_;
+
// to track when shot is complete
int previous_shots_;
};