Remove the final users of robot_state and joystick_state
This means we can remove them from the .q file.
Change-Id: Iefded3cf4537b2635341f3248c5f50af1534a241
diff --git a/aos/controls/replay_control_loop.h b/aos/controls/replay_control_loop.h
index d1436dd..1626c0a 100644
--- a/aos/controls/replay_control_loop.h
+++ b/aos/controls/replay_control_loop.h
@@ -33,10 +33,10 @@
loop_group_->status.FetchLatest();
loop_group_->output.FetchLatest();
- replayer_.AddDirectQueueSender("wpilib_interface.DSReader",
- "joystick_state", ::aos::joystick_state);
- replayer_.AddDirectQueueSender("wpilib_interface.SensorReader",
- "robot_state", ::aos::robot_state);
+ AddDirectQueueSender<::aos::JoystickState>(
+ "wpilib_interface.DSReader", "joystick_state", ".aos.joystick_state");
+ AddDirectQueueSender<::aos::RobotState>("wpilib_interface.SensorReader",
+ "robot_state", ".aos.robot_state");
replayer_.AddHandler(
process_name, "position",
@@ -49,14 +49,15 @@
::std::function<void(const StatusType &)>(::std::ref(status_)));
// The timing of goal messages doesn't matter, and we don't need to look
// back at them after running the loop.
- replayer_.AddDirectQueueSender(process_name, "goal", loop_group_->goal);
+ AddDirectQueueSender<GoalType>(
+ process_name, "goal", ::std::string(loop_group_->name()) + ".goal");
}
template <class QT>
void AddDirectQueueSender(const ::std::string &process_name,
const ::std::string &log_message,
- const ::aos::Queue<QT> &queue) {
- replayer_.AddDirectQueueSender<QT>(process_name, log_message, queue);
+ const ::std::string &name) {
+ replayer_.AddDirectQueueSender<QT>(process_name, log_message, name);
}
// Replays messages from a file.
@@ -93,6 +94,8 @@
// Returns after going through the entire file.
void DoProcessFile();
+ ::aos::ShmEventLoop event_loop_;
+
T *const loop_group_;
CaptureMessage<PositionType> position_;