commit ba77b7e5880ad3d93a1f4b6be2864f877a17a7be
author Austin Schuh <austin.linux@gmail.com> Mon Oct 25 21:58:54 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:40:14 2021 -0700
tree 759eb9b927dd0366ef1a88a85c549e947ce1871f
parent d0e9e06d6ded4d05f328e5ff2e186ba0ab4c3669

Switch away from watchers in autonomous

Since auto is blocking, they never get run.  The end result is that we
crash auto when it finishes.

Change-Id: I7e382a6b7551fc373636ac11761efc1e876349d1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index d25a8c3..46a7542 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -38,27 +38,33 @@
       superstructure_goal_sender_(
           event_loop->MakeSender<control_loops::superstructure::Goal>(
               "/superstructure")),
-      joystick_state_fetcher_(
-          event_loop->MakeFetcher<aos::JoystickState>("/aos")),
       superstructure_status_fetcher_(
           event_loop->MakeFetcher<y2020::control_loops::superstructure::Status>(
               "/superstructure")),
+      joystick_state_fetcher_(
+          event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+      robot_state_fetcher_(event_loop->MakeFetcher<aos::RobotState>("/aos")),
       auto_splines_() {
   set_max_drivetrain_voltage(12.0);
   replan_timer_ = event_loop->AddTimer([this]() { Replan(); });
   event_loop->OnRun([this, event_loop]() {
     replan_timer_->Setup(event_loop->monotonic_now());
+    button_poll_->Setup(event_loop->monotonic_now(), chrono::milliseconds(50));
   });
-  event_loop->MakeWatcher("/aos", [this](const aos::RobotState &msg) {
-    if (msg.user_button()) {
-      user_indicated_safe_to_reset_ = true;
-      MaybeSendStartingPosition();
+
+  button_poll_ = event_loop->AddTimer([this]() {
+    if (robot_state_fetcher_.Fetch()) {
+      if (robot_state_fetcher_->user_button()) {
+        user_indicated_safe_to_reset_ = true;
+        MaybeSendStartingPosition();
+      }
     }
-  });
-  event_loop->MakeWatcher("/aos", [this](const aos::JoystickState &msg) {
-    if (msg.has_alliance() && (msg.alliance() != alliance_)) {
-      alliance_ = msg.alliance();
-      Replan();
+    if (joystick_state_fetcher_.Fetch()) {
+      if (joystick_state_fetcher_->has_alliance() &&
+          (joystick_state_fetcher_->alliance() != alliance_)) {
+        alliance_ = joystick_state_fetcher_->alliance();
+        Replan();
+      }
     }
   });
 }

y2020/actors/autonomous_actor.h

diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 3e698f3..7cbabb0 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -71,11 +71,13 @@
       localizer_control_sender_;
   aos::Sender<y2020::control_loops::superstructure::Goal>
       superstructure_goal_sender_;
-  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
   aos::Fetcher<y2020::control_loops::superstructure::Status>
       superstructure_status_fetcher_;
+  aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
+  aos::Fetcher<aos::RobotState> robot_state_fetcher_;
 
   aos::TimerHandler *replan_timer_;
+  aos::TimerHandler *button_poll_;
 
   std::optional<std::array<SplineHandle, 2>> target_offset_splines_;
   std::optional<std::array<SplineHandle, 2>> target_aligned_splines_;