commit cc1010eca8530ce08ad9a436a04633f361108c8a
author Austin Schuh <austin.linux@gmail.com> Sun May 12 20:38:01 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 12 20:38:01 2019 -0700
tree 2db2689ef084f099aca7366c910a5a459a49ffa9
parent 0b545432b630f0af5c7eb8532f8c53e0d02ee4cb

Removed gyro_part_id queue.

Converted to an event loop.

Change-Id: I25bab753e898f8420d58ace2606bde42d9f4f780

frc971/wpilib/gyro_sender.cc

diff --git a/frc971/wpilib/gyro_sender.cc b/frc971/wpilib/gyro_sender.cc
index 121665f..925588e 100644
--- a/frc971/wpilib/gyro_sender.cc
+++ b/frc971/wpilib/gyro_sender.cc
@@ -27,7 +27,9 @@
 GyroSender::GyroSender(::aos::EventLoop *event_loop)
     : event_loop_(event_loop),
       joystick_state_fetcher_(event_loop_->MakeFetcher<::aos::JoystickState>(
-          ".aos.joystick_state")) {
+          ".aos.joystick_state")),
+      uid_sender_(event_loop_->MakeSender<::frc971::sensors::Uid>(
+          ".frc971.sensors.gyro_part_id")) {
   PCHECK(
       system("ps -ef | grep '\\[spi0\\]' | awk '{print $1}' | xargs chrt -f -p "
              "33") == 0);
@@ -42,7 +44,7 @@
   }
   LOG(INFO, "gyro initialized successfully\n");
 
-  auto message = ::frc971::sensors::gyro_part_id.MakeMessage();
+  auto message = uid_sender_.MakeMessage();
   message->uid = gyro_.ReadPartID();
   LOG_STRUCT(INFO, "gyro ID", *message);
   message.Send();

frc971/wpilib/gyro_sender.h

diff --git a/frc971/wpilib/gyro_sender.h b/frc971/wpilib/gyro_sender.h
index d41109e..61b7704 100644
--- a/frc971/wpilib/gyro_sender.h
+++ b/frc971/wpilib/gyro_sender.h
@@ -7,6 +7,7 @@
 
 #include "aos/events/event-loop.h"
 #include "aos/robot_state/robot_state.q.h"
+#include "frc971/queues/gyro.q.h"
 #include "frc971/wpilib/gyro_interface.h"
 
 namespace frc971 {
@@ -30,6 +31,7 @@
  private:
   ::aos::EventLoop *event_loop_;
   ::aos::Fetcher<::aos::JoystickState> joystick_state_fetcher_;
+  ::aos::Sender<::frc971::sensors::Uid> uid_sender_;
 
   // Readings per second.
   static const int kReadingRate = 200;