commit b6c5c8522aeccdfd46986550aa7bef56fde58454
author Austin Schuh <austin.linux@gmail.com> Sun May 19 20:13:31 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 22 22:24:27 2019 -0700
tree e0b938840afbfd13adce62fdf769a91d53c95f14
parent 44019f94389b8293c6b553d506f36d876c444419

Move VisionStatus to an event loop

Convert the simulation over to using SimulatedEventLoop as well.

Change-Id: I05d837530f83df5432f056ca5ef6515fbab5f897

y2017/vision/BUILD

diff --git a/y2017/vision/BUILD b/y2017/vision/BUILD
index 25e1285..83447e3 100644
--- a/y2017/vision/BUILD
+++ b/y2017/vision/BUILD
@@ -61,6 +61,7 @@
         ":vision_queue",
         ":vision_result",
         "//aos:init",
+        "//aos/events:shm-event-loop",
         "//aos/logging",
         "//aos/logging:queue_logging",
         "//aos/mutex",

y2017/vision/target_receiver.cc

diff --git a/y2017/vision/target_receiver.cc b/y2017/vision/target_receiver.cc
index 259e5fd..163e1f1 100644
--- a/y2017/vision/target_receiver.cc
+++ b/y2017/vision/target_receiver.cc
@@ -1,9 +1,10 @@
 #include <netdb.h>
 
+#include "aos/events/shm-event-loop.h"
+#include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/queue_logging.h"
 #include "aos/time/time.h"
-#include "aos/init.h"
 #include "aos/vision/events/udp.h"
 #include "y2017/vision/target_finder.h"
 #include "y2017/vision/vision.q.h"
@@ -19,6 +20,11 @@
   char raw_data[65507];
   // TODO(parker): Have this pull in a config from somewhere.
   TargetFinder finder;
+  ::aos::ShmEventLoop event_loop;
+
+  ::aos::Sender<::y2017::vision::VisionStatus> vision_status_sender =
+      event_loop.MakeSender<::y2017::vision::VisionStatus>(
+          ".y2017.vision.vision_status");
 
   while (true) {
     // TODO(austin): Don't malloc.
@@ -36,7 +42,7 @@
       continue;
     }
 
-    auto new_vision_status = vision_status.MakeMessage();
+    auto new_vision_status = vision_status_sender.MakeMessage();
     new_vision_status->image_valid = target.has_target();
     if (new_vision_status->image_valid) {
       new_vision_status->target_time =

y2017/vision/vision.q

diff --git a/y2017/vision/vision.q b/y2017/vision/vision.q
index b3eeee8..6e4a02a 100644
--- a/y2017/vision/vision.q
+++ b/y2017/vision/vision.q
@@ -1,5 +1,6 @@
 package y2017.vision;
 
+// Published on ".y2017.vision.vision_status"
 message VisionStatus {
   bool image_valid;
 
@@ -11,4 +12,3 @@
   // Capture time of the angle using the clock behind monotonic_clock::now().
   int64_t target_time;
 };
-queue VisionStatus vision_status;