commit d32b36231fbe161b6ad09999a98aec0beca3761a
author Austin Schuh <austin.linux@gmail.com> Sun Jun 23 18:49:06 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Aug 10 19:33:36 2019 -0700
tree 17c66b77044430ce2a2c70c0c35221772d1f4536
parent 6b6dfa5a91463a8a829d6e939f58b9fe8adbe80f

Make monotonic_now a required parameter to PhasedLoop

This prepares us much better for mocking out time as part of the event
loop conversion.

Change-Id: I57560b97b265ddd41fe7a4e9f74d7b1324d15955

y2014/actors/autonomous_actor.cc

diff --git a/y2014/actors/autonomous_actor.cc b/y2014/actors/autonomous_actor.cc
index 0a242eb..1a874c2 100644
--- a/y2014/actors/autonomous_actor.cc
+++ b/y2014/actors/autonomous_actor.cc
@@ -112,6 +112,7 @@
 bool AutonomousActor::WaitUntilClawDone() {
   while (true) {
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(10),
+                                        event_loop()->monotonic_now(),
                                         ::std::chrono::milliseconds(10) / 2);
     // Poll the running bit and auto done bits.
     phased_loop.SleepUntilNext();

y2014/wpilib_interface.cc

diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index c9d15dd..09edf96 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -456,6 +456,7 @@
     ::aos::SetCurrentThreadRealtimePriority(27);
 
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+                                        ::aos::monotonic_clock::now(),
                                         ::std::chrono::milliseconds(1));
 
     while (run_) {