commit ba4f09ac64f610707ddf7ce695336eec9849b71c
author milind-u <milind.upadhyay@gmail.com> Mon Oct 11 17:51:22 2021 -0700
committer milind-u <milind.upadhyay@gmail.com> Wed Oct 13 19:53:21 2021 -0700
tree 07f7858d81cc402d25e0d6f61b36a8cacf8759ec
parent 62d4a8e6025ed37baa3e8f3f9d399ad599e8dd78

Initialize 2020 constants in various mains

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I6cd3f683a5bbf74e3b8bdbf69b00b3f84fdf1ed5

y2020/actors/BUILD

diff --git a/y2020/actors/BUILD b/y2020/actors/BUILD
index 3555531..b2a5121 100644
--- a/y2020/actors/BUILD
+++ b/y2020/actors/BUILD
@@ -75,6 +75,7 @@
         "//aos:init",
         "//aos/events:shm_event_loop",
         "//frc971/autonomous:auto_fbs",
+        "//y2020:constants",
     ],
 )
 
@@ -90,6 +91,7 @@
         "//frc971/autonomous:base_autonomous_actor",
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
+        "//y2020:constants",
         "//y2020/control_loops/drivetrain:drivetrain_base",
         "//y2020/control_loops/superstructure/shooter:shooter_tuning_params_fbs",
         "//y2020/control_loops/superstructure/shooter:shooter_tuning_readings_fbs",

y2020/actors/autonomous_actor_main.cc

diff --git a/y2020/actors/autonomous_actor_main.cc b/y2020/actors/autonomous_actor_main.cc
index f9decd6..72384d5 100644
--- a/y2020/actors/autonomous_actor_main.cc
+++ b/y2020/actors/autonomous_actor_main.cc
@@ -3,6 +3,7 @@
 #include "aos/events/shm_event_loop.h"
 #include "aos/init.h"
 #include "y2020/actors/autonomous_actor.h"
+#include "y2020/constants.h"
 
 int main(int argc, char *argv[]) {
   ::aos::InitGoogle(&argc, &argv);
@@ -11,6 +12,7 @@
       aos::configuration::ReadConfig("config.json");
 
   ::aos::ShmEventLoop event_loop(&config.message());
+  ::y2020::constants::InitValues();
   ::y2020::actors::AutonomousActor autonomous(&event_loop);
 
   event_loop.Run();

y2020/actors/shooter_tuning_actor.cc

diff --git a/y2020/actors/shooter_tuning_actor.cc b/y2020/actors/shooter_tuning_actor.cc
index f9d4123..fac55c6 100644
--- a/y2020/actors/shooter_tuning_actor.cc
+++ b/y2020/actors/shooter_tuning_actor.cc
@@ -9,6 +9,7 @@
 #include "frc971/autonomous/base_autonomous_actor.h"
 #include "frc971/control_loops/control_loops_generated.h"
 #include "glog/logging.h"
+#include "y2020/constants.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 #include "y2020/control_loops/superstructure/shooter/shooter_tuning_params_generated.h"
 #include "y2020/control_loops/superstructure/shooter/shooter_tuning_readings_generated.h"
@@ -176,6 +177,7 @@
       aos::configuration::ReadConfig("config.json");
 
   aos::ShmEventLoop event_loop(&config.message());
+  y2020::constants::InitValues();
   y2020::actors::ShooterTuningActor actor(&event_loop);
 
   event_loop.Run();

y2020/control_loops/drivetrain/BUILD

diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 7c4f99f..edec5c2 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -200,6 +200,7 @@
         "//aos/events/logging:log_writer",
         "//frc971/control_loops/drivetrain:drivetrain_lib",
         "//frc971/control_loops/drivetrain:trajectory_generator",
+        "//y2020:constants",
         "//y2020/control_loops/superstructure:superstructure_lib",
         "@com_github_gflags_gflags//:gflags",
         "@com_github_google_glog//:glog",

y2020/control_loops/drivetrain/drivetrain_replay.cc

diff --git a/y2020/control_loops/drivetrain/drivetrain_replay.cc b/y2020/control_loops/drivetrain/drivetrain_replay.cc
index 913fbda..40b50ed 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay.cc
@@ -14,6 +14,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.h"
 #include "frc971/control_loops/drivetrain/trajectory_generator.h"
 #include "gflags/gflags.h"
+#include "y2020/constants.h"
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 #include "y2020/control_loops/drivetrain/localizer.h"
 #include "y2020/control_loops/superstructure/superstructure.h"
@@ -37,9 +38,7 @@
         logger_(std::make_unique<aos::logger::Logger>(event_loop_.get())) {
     event_loop_->SkipTimingReport();
     event_loop_->SkipAosLog();
-    event_loop_->OnRun([this]() {
-      logger_->StartLogging(std::move(namer_));
-    });
+    event_loop_->OnRun([this]() { logger_->StartLogging(std::move(namer_)); });
   }
 
  private:
@@ -109,6 +108,8 @@
       reader.event_loop_factory()->MakeEventLoop("trajectory_generator", node);
   trajectory_generator_event_loop->SkipTimingReport();
 
+  y2020::constants::InitValues();
+
   frc971::control_loops::drivetrain::TrajectoryGenerator trajectory_generator(
       trajectory_generator_event_loop.get(),
       y2020::control_loops::drivetrain::GetDrivetrainConfig());