Convert aos over to flatbuffers
Everything builds, and all the tests pass. I suspect that some entries
are missing from the config files, but those will be found pretty
quickly on startup.
There is no logging or live introspection of queue messages.
Change-Id: I496ee01ed68f202c7851bed7e8786cee30df29f5
diff --git a/y2012/BUILD b/y2012/BUILD
index 401beac..ff6d3f2 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -12,9 +12,10 @@
"//aos/logging",
"//aos/time",
"//aos/util:log_interval",
- "//frc971/autonomous:auto_queue",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
- "//y2012/control_loops/accessories:accessories_queue",
+ "//frc971/autonomous:auto_fbs",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_goal_fbs",
+ "//y2012/control_loops/accessories:accessories_fbs",
],
)
@@ -37,17 +38,18 @@
"//aos:init",
"//aos:make_unique",
"//aos/controls:control_loop",
- "//aos/events:shm-event-loop",
+ "//aos/controls:control_loop_fbs",
+ "//aos/events:shm_event_loop",
"//aos/logging",
- "//aos/logging:queue_logging",
- "//aos/robot_state",
+ "//aos/robot_state:robot_state_fbs",
"//aos/stl_mutex",
"//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//frc971/control_loops:queues",
- "//frc971/control_loops/drivetrain:drivetrain_queue",
+ "//frc971/control_loops:control_loops_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_output_fbs",
+ "//frc971/control_loops/drivetrain:drivetrain_position_fbs",
"//frc971/wpilib:buffered_pcm",
"//frc971/wpilib:dma",
"//frc971/wpilib:dma_edge_counting",
@@ -55,13 +57,13 @@
"//frc971/wpilib:encoder_and_potentiometer",
"//frc971/wpilib:interrupt_edge_counting",
"//frc971/wpilib:joystick_sender",
- "//frc971/wpilib:logging_queue",
+ "//frc971/wpilib:logging_fbs",
"//frc971/wpilib:loop_output_handler",
"//frc971/wpilib:sensor_reader",
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:wpilib",
- "//y2012/control_loops/accessories:accessories_queue",
+ "//y2012/control_loops/accessories:accessories_fbs",
],
)
diff --git a/y2012/control_loops/accessories/BUILD b/y2012/control_loops/accessories/BUILD
index 63f02dd..65a6d1d 100644
--- a/y2012/control_loops/accessories/BUILD
+++ b/y2012/control_loops/accessories/BUILD
@@ -1,25 +1,23 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
-load('//aos/build:queues.bzl', 'queue_library')
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
cc_binary(
- name = 'accessories',
- srcs = [
- 'accessories.cc',
- ],
- deps = [
- ':accessories_queue',
- '//aos:init',
- '//aos/controls:control_loop',
- ],
+ name = "accessories",
+ srcs = [
+ "accessories.cc",
+ ],
+ deps = [
+ ":accessories_fbs",
+ "//aos:init",
+ "//aos/controls:control_loop",
+ "//aos/controls:control_loop_fbs",
+ ],
)
-queue_library(
- name = 'accessories_queue',
- srcs = [
- 'accessories.q',
- ],
- deps = [
- '//aos/controls:control_loop_queues',
- ],
+flatbuffer_cc_library(
+ name = "accessories_fbs",
+ srcs = [
+ "accessories.fbs",
+ ],
)
diff --git a/y2012/control_loops/accessories/accessories.cc b/y2012/control_loops/accessories/accessories.cc
index 9d96840..726aede 100644
--- a/y2012/control_loops/accessories/accessories.cc
+++ b/y2012/control_loops/accessories/accessories.cc
@@ -1,28 +1,43 @@
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/controls/control_loop.h"
+#include "aos/controls/control_loops_generated.h"
namespace y2012 {
namespace control_loops {
namespace accessories {
class AccessoriesLoop : public ::aos::controls::ControlLoop<
- ::y2012::control_loops::AccessoriesQueue> {
+ Message, ::aos::control_loops::Position,
+ ::aos::control_loops::Status, Message> {
public:
explicit AccessoriesLoop(
::aos::EventLoop *event_loop,
const ::std::string &name = ".y2012.control_loops.accessories_queue")
- : ::aos::controls::ControlLoop<::y2012::control_loops::AccessoriesQueue>(
+ : ::aos::controls::ControlLoop<Message, ::aos::control_loops::Position,
+ ::aos::control_loops::Status, Message>(
event_loop, name) {}
void RunIteration(
- const ::y2012::control_loops::AccessoriesQueue::Message *goal,
+ const Message *goal,
const ::aos::control_loops::Position * /*position*/,
- ::y2012::control_loops::AccessoriesQueue::Message *output,
- ::aos::control_loops::Status * /*status*/) override {
+ ::aos::Sender<Message>::Builder *output,
+ ::aos::Sender<::aos::control_loops::Status>::Builder * /*status*/) override {
if (output) {
- *output = *goal;
+ //*output = *goal;
+ Message::Builder output_builder = output->MakeBuilder<Message>();
+ flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoid_offset =
+ output->fbb()->template CreateVector<uint8_t>(
+ goal->solenoids()->data(), 3);
+ output_builder.add_solenoids(solenoid_offset);
+ flatbuffers::Offset<flatbuffers::Vector<double>> stick_offset =
+ output->fbb()->template CreateVector<double>(
+ goal->sticks()->data(), 2);
+ output_builder.add_sticks(stick_offset);
+
+ output_builder.Finish();
}
}
};
@@ -34,7 +49,10 @@
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::y2012::control_loops::accessories::AccessoriesLoop accessories(&event_loop);
event_loop.Run();
diff --git a/y2012/control_loops/accessories/accessories.fbs b/y2012/control_loops/accessories/accessories.fbs
new file mode 100644
index 0000000..1174b55
--- /dev/null
+++ b/y2012/control_loops/accessories/accessories.fbs
@@ -0,0 +1,8 @@
+namespace y2012.control_loops.accessories;
+
+table Message {
+ solenoids:[bool]; // Exactly 3 values
+ sticks:[double]; // Exactly 2 values
+}
+
+root_type Message;
diff --git a/y2012/control_loops/accessories/accessories.q b/y2012/control_loops/accessories/accessories.q
deleted file mode 100644
index 6427d49..0000000
--- a/y2012/control_loops/accessories/accessories.q
+++ /dev/null
@@ -1,17 +0,0 @@
-package y2012.control_loops;
-
-import "aos/controls/control_loops.q";
-
-// Published on ".y2012.control_loops.accessories_queue"
-queue_group AccessoriesQueue {
- implements aos.control_loops.ControlLoop;
- message Message {
- bool[3] solenoids;
- double[2] sticks;
- };
-
- queue Message goal;
- queue .aos.control_loops.Position position;
- queue Message output;
- queue .aos.control_loops.Status status;
-};
diff --git a/y2012/control_loops/drivetrain/BUILD b/y2012/control_loops/drivetrain/BUILD
index 3be1e9a..35d596a 100644
--- a/y2012/control_loops/drivetrain/BUILD
+++ b/y2012/control_loops/drivetrain/BUILD
@@ -1,7 +1,5 @@
package(default_visibility = ["//visibility:public"])
-load("//aos/build:queues.bzl", "queue_library")
-
genrule(
name = "genrule_drivetrain",
outs = [
@@ -78,7 +76,7 @@
deps = [
":drivetrain_base",
"//aos:init",
- "//aos/events:shm-event-loop",
+ "//aos/events:shm_event_loop",
"//frc971/control_loops/drivetrain:drivetrain_lib",
],
)
diff --git a/y2012/control_loops/drivetrain/drivetrain_main.cc b/y2012/control_loops/drivetrain/drivetrain_main.cc
index 75153cd..735f13f 100644
--- a/y2012/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_main.cc
@@ -1,6 +1,6 @@
#include "aos/init.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain.h"
#include "y2012/control_loops/drivetrain/drivetrain_base.h"
@@ -9,7 +9,10 @@
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::frc971::control_loops::drivetrain::DeadReckonEkf localizer(
&event_loop, ::y2012::control_loops::drivetrain::GetDrivetrainConfig());
DrivetrainLoop drivetrain(
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index 460d850..48e6eb5 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -4,15 +4,15 @@
#include <math.h>
#include "aos/actions/actions.h"
-#include "aos/events/shm-event-loop.h"
+#include "aos/events/shm_event_loop.h"
#include "aos/init.h"
#include "aos/input/driver_station_data.h"
#include "aos/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_goal_generated.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::JoystickAxis;
@@ -81,13 +81,12 @@
Reader(::aos::EventLoop *event_loop)
: ::aos::input::JoystickInput(event_loop),
drivetrain_goal_sender_(
- event_loop
- ->MakeSender<::frc971::control_loops::DrivetrainQueue::Goal>(
- ".frc971.control_loops.drivetrain_queue.goal")),
+ event_loop->MakeSender<::frc971::control_loops::drivetrain::Goal>(
+ "/drivetrain")),
accessories_goal_sender_(
event_loop
- ->MakeSender<::y2012::control_loops::AccessoriesQueue::Message>(
- ".y2012.control_loops.accessories_queue.goal")),
+ ->MakeSender<::y2012::control_loops::accessories::Message>(
+ "/accessories")),
is_high_gear_(false) {}
void RunIteration(const ::aos::input::driver_station::Data &data) override {
@@ -106,33 +105,43 @@
if (data.PosEdge(kShiftHigh)) {
is_high_gear_ = true;
}
- auto drivetrain_message = drivetrain_goal_sender_.MakeMessage();
- drivetrain_message->wheel = wheel;
- drivetrain_message->throttle = throttle;
- drivetrain_message->highgear = is_high_gear_;
- drivetrain_message->quickturn = data.IsPressed(kQuickTurn);
+ auto builder = drivetrain_goal_sender_.MakeBuilder();
+ frc971::control_loops::drivetrain::Goal::Builder goal_builder =
+ builder.MakeBuilder<frc971::control_loops::drivetrain::Goal>();
+ goal_builder.add_wheel(wheel);
+ goal_builder.add_throttle(throttle);
+ goal_builder.add_highgear(is_high_gear_);
+ goal_builder.add_quickturn(data.IsPressed(kQuickTurn));
- if (!drivetrain_message.Send()) {
+ if (!builder.Send(goal_builder.Finish())) {
AOS_LOG(WARNING, "sending stick values failed\n");
}
}
void HandleTeleop(const ::aos::input::driver_station::Data &data) {
- auto accessories_message = accessories_goal_sender_.MakeMessage();
- accessories_message->solenoids[0] = data.IsPressed(kLongShot);
- accessories_message->solenoids[1] = data.IsPressed(kCloseShot);
- accessories_message->solenoids[2] = data.IsPressed(kFenderShot);
- accessories_message->sticks[0] = data.GetAxis(kAdjustClawGoal);
- accessories_message->sticks[1] = data.GetAxis(kAdjustClawSeparation);
- if (!accessories_message.Send()) {
+ auto builder = accessories_goal_sender_.MakeBuilder();
+ flatbuffers::Offset<flatbuffers::Vector<uint8_t>> solenoids_offset =
+ builder.fbb()->CreateVector<uint8_t>({data.IsPressed(kLongShot),
+ data.IsPressed(kCloseShot),
+ data.IsPressed(kFenderShot)});
+
+ flatbuffers::Offset<flatbuffers::Vector<double>> sticks_offset =
+ builder.fbb()->CreateVector<double>({data.GetAxis(kAdjustClawGoal),
+ data.GetAxis(kAdjustClawSeparation)});
+
+ y2012::control_loops::accessories::Message::Builder message_builder =
+ builder.MakeBuilder<y2012::control_loops::accessories::Message>();
+ message_builder.add_solenoids(solenoids_offset);
+ message_builder.add_sticks(sticks_offset);
+ if (!builder.Send(message_builder.Finish())) {
AOS_LOG(WARNING, "sending accessories goal failed\n");
}
}
private:
- ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Goal>
+ ::aos::Sender<::frc971::control_loops::drivetrain::Goal>
drivetrain_goal_sender_;
- ::aos::Sender<::y2012::control_loops::AccessoriesQueue::Message>
+ ::aos::Sender<::y2012::control_loops::accessories::Message>
accessories_goal_sender_;
bool is_high_gear_;
@@ -145,7 +154,10 @@
int main() {
::aos::InitNRT(true);
- ::aos::ShmEventLoop event_loop;
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
+ ::aos::ShmEventLoop event_loop(&config.message());
::y2012::input::joysticks::Reader reader(&event_loop);
event_loop.Run();
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index a85f096..b28c34c 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -19,18 +19,19 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
-#include "aos/events/shm-event-loop.h"
+#include "aos/controls/control_loops_generated.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/make_unique.h"
-#include "aos/robot_state/robot_state.q.h"
+#include "aos/robot_state/robot_state_generated.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "frc971/control_loops/drivetrain/drivetrain.q.h"
+#include "frc971/control_loops/drivetrain/drivetrain_output_generated.h"
+#include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
@@ -39,16 +40,12 @@
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
#include "frc971/wpilib/joystick_sender.h"
-#include "frc971/wpilib/logging.q.h"
+#include "frc971/wpilib/logging_generated.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/sensor_reader.h"
-#include "y2012/control_loops/accessories/accessories.q.h"
+#include "y2012/control_loops/accessories/accessories_generated.h"
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-using ::y2012::control_loops::AccessoriesQueue;
+namespace accessories = ::y2012::control_loops::accessories;
using namespace frc;
using aos::make_unique;
@@ -74,33 +71,40 @@
: ::frc971::wpilib::SensorReader(event_loop),
accessories_position_sender_(
event_loop->MakeSender<::aos::control_loops::Position>(
- ".y2012.control_loops.accessories_queue.position")),
+ "/accessories")),
drivetrain_position_sender_(
- event_loop->MakeSender<
- ::frc971::control_loops::DrivetrainQueue::Position>(
- ".frc971.control_loops.drivetrain_queue.position")) {}
+ event_loop
+ ->MakeSender<::frc971::control_loops::drivetrain::Position>(
+ "/drivetrain")) {}
void RunIteration() {
{
- auto drivetrain_message = drivetrain_position_sender_.MakeMessage();
- drivetrain_message->right_encoder =
- drivetrain_translate(drivetrain_right_encoder_->GetRaw());
- drivetrain_message->left_encoder =
- -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
- drivetrain_message->left_speed =
- drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
- drivetrain_message->right_speed =
- drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());
+ auto builder = drivetrain_position_sender_.MakeBuilder();
- drivetrain_message.Send();
+ frc971::control_loops::drivetrain::Position::Builder position_builder =
+ builder.MakeBuilder<frc971::control_loops::drivetrain::Position>();
+ position_builder.add_right_encoder(
+ drivetrain_translate(drivetrain_right_encoder_->GetRaw()));
+ position_builder.add_left_encoder(
+ -drivetrain_translate(drivetrain_left_encoder_->GetRaw()));
+ position_builder.add_left_speed(
+ drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod()));
+ position_builder.add_right_speed(drivetrain_velocity_translate(
+ drivetrain_right_encoder_->GetPeriod()));
+
+ builder.Send(position_builder.Finish());
}
- accessories_position_sender_.MakeMessage().Send();
+ {
+ auto builder = accessories_position_sender_.MakeBuilder();
+ builder.Send(
+ builder.MakeBuilder<::aos::control_loops::Position>().Finish());
+ }
}
private:
::aos::Sender<::aos::control_loops::Position> accessories_position_sender_;
- ::aos::Sender<::frc971::control_loops::DrivetrainQueue::Position>
+ ::aos::Sender<::frc971::control_loops::drivetrain::Position>
drivetrain_position_sender_;
};
@@ -112,11 +116,14 @@
pcm_(pcm),
drivetrain_fetcher_(
event_loop_
- ->MakeFetcher<::frc971::control_loops::DrivetrainQueue::Output>(
- ".y2012.control_loops.drivetrain_queue.output")),
- accessories_fetcher_(event_loop_->MakeFetcher<
- ::y2012::control_loops::AccessoriesQueue::Message>(
- ".y2012.control_loops.accessories_queue.output")) {
+ ->MakeFetcher<::frc971::control_loops::drivetrain::Output>(
+ "/drivetrain")),
+ accessories_fetcher_(
+ event_loop_
+ ->MakeFetcher<::y2012::control_loops::accessories::Message>(
+ "/accessories")),
+ pneumatics_to_log_sender_(
+ event_loop->MakeSender<::frc971::wpilib::PneumaticsToLog>("/aos")) {
event_loop_->set_name("Solenoids");
event_loop_->SetRuntimeRealtimePriority(27);
@@ -155,29 +162,30 @@
{
accessories_fetcher_.Fetch();
if (accessories_fetcher_.get()) {
- AOS_LOG_STRUCT(DEBUG, "solenoids", *accessories_fetcher_);
- s1_->Set(accessories_fetcher_->solenoids[0]);
- s2_->Set(accessories_fetcher_->solenoids[1]);
- s3_->Set(accessories_fetcher_->solenoids[2]);
+ s1_->Set(accessories_fetcher_->solenoids()->Get(0));
+ s2_->Set(accessories_fetcher_->solenoids()->Get(1));
+ s3_->Set(accessories_fetcher_->solenoids()->Get(2));
}
}
{
drivetrain_fetcher_.Fetch();
if (drivetrain_fetcher_.get()) {
- AOS_LOG_STRUCT(DEBUG, "solenoids", *drivetrain_fetcher_);
- const bool high =
- drivetrain_fetcher_->left_high || drivetrain_fetcher_->right_high;
+ const bool high = drivetrain_fetcher_->left_high() ||
+ drivetrain_fetcher_->right_high();
drivetrain_high_->Set(high);
drivetrain_low_->Set(!high);
}
}
{
- ::frc971::wpilib::PneumaticsToLog to_log;
+ auto builder = pneumatics_to_log_sender_.MakeBuilder();
+
+ ::frc971::wpilib::PneumaticsToLog::Builder to_log_builder =
+ builder.MakeBuilder<frc971::wpilib::PneumaticsToLog>();
pcm_->Flush();
- to_log.read_solenoids = pcm_->GetAll();
- AOS_LOG_STRUCT(DEBUG, "pneumatics info", to_log);
+ to_log_builder.add_read_solenoids(pcm_->GetAll());
+ builder.Send(to_log_builder.Finish());
}
}
@@ -192,28 +200,30 @@
::std::unique_ptr<Compressor> compressor_;
- ::aos::Fetcher<::frc971::control_loops::DrivetrainQueue::Output>
+ ::aos::Fetcher<::frc971::control_loops::drivetrain::Output>
drivetrain_fetcher_;
- ::aos::Fetcher<::y2012::control_loops::AccessoriesQueue::Message>
+ ::aos::Fetcher<::y2012::control_loops::accessories::Message>
accessories_fetcher_;
+
+ aos::Sender<::frc971::wpilib::PneumaticsToLog> pneumatics_to_log_sender_;
};
-class AccessoriesWriter
- : public ::frc971::wpilib::LoopOutputHandler<AccessoriesQueue::Message> {
+class AccessoriesWriter : public ::frc971::wpilib::LoopOutputHandler<
+ control_loops::accessories::Message> {
public:
AccessoriesWriter(::aos::EventLoop *event_loop)
- : ::frc971::wpilib::LoopOutputHandler<AccessoriesQueue::Message>(
- event_loop, ".y2012.control_loops.accessories_queue.output") {}
+ : ::frc971::wpilib::LoopOutputHandler<
+ control_loops::accessories::Message>(event_loop, "/accessories") {}
void set_talon1(::std::unique_ptr<Talon> t) { talon1_ = ::std::move(t); }
void set_talon2(::std::unique_ptr<Talon> t) { talon2_ = ::std::move(t); }
private:
- virtual void Write(const AccessoriesQueue::Message &output) override {
- talon1_->SetSpeed(output.sticks[0]);
- talon2_->SetSpeed(output.sticks[1]);
- AOS_LOG_STRUCT(DEBUG, "will output", output);
+ virtual void Write(
+ const control_loops::accessories::Message &output) override {
+ talon1_->SetSpeed(output.sticks()->Get(0));
+ talon2_->SetSpeed(output.sticks()->Get(1));
}
virtual void Stop() override {
@@ -233,21 +243,24 @@
}
void Run() override {
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig("config.json");
+
// Thread 1.
- ::aos::ShmEventLoop joystick_sender_event_loop;
+ ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
::frc971::wpilib::JoystickSender joystick_sender(
&joystick_sender_event_loop);
AddLoop(&joystick_sender_event_loop);
// Thread 2.
- ::aos::ShmEventLoop sensor_reader_event_loop;
+ ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
SensorReader sensor_reader(&sensor_reader_event_loop);
sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
AddLoop(&sensor_reader_event_loop);
// Thread 3.
- ::aos::ShmEventLoop output_event_loop;
+ ::aos::ShmEventLoop output_event_loop(&config.message());
::frc971::wpilib::DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_left_controller0(
::std::unique_ptr<Talon>(new Talon(3)), true);
@@ -260,7 +273,7 @@
AddLoop(&output_event_loop);
// Thread 4.
- ::aos::ShmEventLoop solenoid_writer_event_loop;
+ ::aos::ShmEventLoop solenoid_writer_event_loop(&config.message());
::std::unique_ptr<::frc971::wpilib::BufferedPcm> pcm(
new ::frc971::wpilib::BufferedPcm());
SolenoidWriter solenoid_writer(&solenoid_writer_event_loop, pcm);