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

y2016/actors/autonomous_actor.cc

diff --git a/y2016/actors/autonomous_actor.cc b/y2016/actors/autonomous_actor.cc
index 74a1282..f486d38 100644
--- a/y2016/actors/autonomous_actor.cc
+++ b/y2016/actors/autonomous_actor.cc
@@ -166,6 +166,7 @@
   }
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   while (true) {
     if (ShouldCancel()) return;
@@ -183,6 +184,7 @@
 
 void AutonomousActor::WaitForShooterSpeed() {
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   while (true) {
     if (ShouldCancel()) return;
@@ -211,6 +213,7 @@
   int ready_to_fire = 0;
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   monotonic_clock::time_point end_time =
       monotonic_clock::now() + align_duration;
@@ -552,6 +555,7 @@
 
 void AutonomousActor::WaitForBallOrDriveDone() {
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   while (true) {
     if (ShouldCancel()) {
@@ -927,6 +931,7 @@
       ::aos::time::DurationInSeconds(monotonic_clock::now() - start_time));
 
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
 
   while (!ShouldCancel()) {

y2016/actors/vision_align_actor.cc

diff --git a/y2016/actors/vision_align_actor.cc b/y2016/actors/vision_align_actor.cc
index fba545e..1110f92 100644
--- a/y2016/actors/vision_align_actor.cc
+++ b/y2016/actors/vision_align_actor.cc
@@ -34,6 +34,7 @@
   const double robot_radius =
       control_loops::drivetrain::GetDrivetrainConfig().robot_radius;
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
   while (true) {
     const int iterations = phased_loop.SleepUntilNext();

y2016/dashboard/dashboard.cc

diff --git a/y2016/dashboard/dashboard.cc b/y2016/dashboard/dashboard.cc
index 98fcd7b..300986e 100644
--- a/y2016/dashboard/dashboard.cc
+++ b/y2016/dashboard/dashboard.cc
@@ -49,7 +49,8 @@
 //#define DASHBOARD_READ_VISION_QUEUE
 
 DataCollector::DataCollector(::aos::EventLoop *event_loop)
-    : vision_status_fetcher_(
+    : event_loop_(event_loop),
+      vision_status_fetcher_(
           event_loop->MakeFetcher<::y2016::vision::VisionStatus>(
               ".y2016.vision.vision_status")),
       ball_detector_fetcher_(
@@ -235,6 +236,7 @@
   ::aos::SetCurrentThreadName("DashboardData");
 
   ::aos::time::PhasedLoop phased_loop(chrono::milliseconds(100),
+                                      event_loop_->monotonic_now(),
                                       chrono::seconds(0));
   while (run_) {
     phased_loop.SleepUntilNext();

y2016/dashboard/dashboard.h

diff --git a/y2016/dashboard/dashboard.h b/y2016/dashboard/dashboard.h
index 2e01f40..58c9890 100644
--- a/y2016/dashboard/dashboard.h
+++ b/y2016/dashboard/dashboard.h
@@ -65,6 +65,8 @@
     ::std::vector<ItemDatapoint> datapoints;
   };
 
+  ::aos::EventLoop *event_loop_;
+
   ::aos::Fetcher<::y2016::vision::VisionStatus> vision_status_fetcher_;
   ::aos::Fetcher<::y2016::sensors::BallDetector> ball_detector_fetcher_;
   ::aos::Fetcher<::frc971::autonomous::AutonomousMode> autonomous_mode_fetcher_;

y2016/wpilib_interface.cc

diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 3b00248..86ac349 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -385,6 +385,7 @@
     ::aos::SetCurrentThreadRealtimePriority(27);
 
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+                                        ::aos::monotonic_clock::now(),
                                         ::std::chrono::milliseconds(1));
 
     while (run_) {