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

y2019/actors/autonomous_actor.cc

diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index ee7f492..c933181 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -30,6 +30,7 @@
 bool AutonomousActor::WaitForDriveXGreater(double x) {
   LOG(INFO, "Waiting until x > %f\n", x);
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
 
   while (true) {
@@ -48,6 +49,7 @@
 bool AutonomousActor::WaitForDriveYCloseToZero(double y) {
   LOG(INFO, "Waiting until |y| < %f\n", y);
   ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                      event_loop()->monotonic_now(),
                                       ::std::chrono::milliseconds(5) / 2);
 
   while (true) {

y2019/actors/autonomous_actor.h

diff --git a/y2019/actors/autonomous_actor.h b/y2019/actors/autonomous_actor.h
index 864a328..13b336d 100644
--- a/y2019/actors/autonomous_actor.h
+++ b/y2019/actors/autonomous_actor.h
@@ -110,6 +110,7 @@
 
   bool WaitForGamePiece() {
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                        event_loop()->monotonic_now(),
                                         ::std::chrono::milliseconds(5) / 2);
 
     while (true) {
@@ -161,6 +162,7 @@
 
   bool WaitForSuperstructureDone() {
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
+                                        event_loop()->monotonic_now(),
                                         ::std::chrono::milliseconds(5) / 2);
 
     while (true) {

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index e6dbb1f..16487b9 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -564,6 +564,7 @@
     ::aos::SetCurrentThreadRealtimePriority(27);
 
     ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
+                                        ::aos::monotonic_clock::now(),
                                         ::std::chrono::milliseconds(1));
 
     while (run_) {