commit df6cbb144de371a4f77f02112451c0244bddcca5
author Austin Schuh <austin.linux@gmail.com> Sat Feb 02 13:46:52 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun May 12 14:55:18 2019 -0700
tree 4a9338092440cf98d1e9b9dfa6cf993fdc15210a
parent 9ae162b2ff2835b7286b42d7b9d7a522dc8b2a92

Remove the final users of robot_state and joystick_state

This means we can remove them from the .q file.

Change-Id: Iefded3cf4537b2635341f3248c5f50af1534a241

y2017/wpilib_interface.cc

diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 12e5760..49ff30c 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -22,6 +22,7 @@
 #undef ERROR
 
 #include "aos/commonmath.h"
+#include "aos/events/shm-event-loop.h"
 #include "aos/init.h"
 #include "aos/logging/logging.h"
 #include "aos/logging/queue_logging.h"
@@ -124,7 +125,8 @@
 // Class to send position messages with sensor readings to our loops.
 class SensorReader : public ::frc971::wpilib::SensorReader {
  public:
-  SensorReader() {
+  SensorReader(::aos::EventLoop *event_loop)
+      : ::frc971::wpilib::SensorReader(event_loop) {
     // Set to filter out anything shorter than 1/4 of the minimum pulse width
     // we should ever see.
     UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
@@ -333,6 +335,9 @@
 
 class SuperstructureWriter : public ::frc971::wpilib::LoopOutputHandler {
  public:
+  SuperstructureWriter(::aos::EventLoop *event_loop)
+      : ::frc971::wpilib::LoopOutputHandler(event_loop) {}
+
   void set_intake_victor(::std::unique_ptr<::frc::VictorSP> t) {
     intake_victor_ = ::std::move(t);
   }
@@ -436,12 +441,14 @@
     ::aos::InitNRT();
     ::aos::SetCurrentThreadName("StartCompetition");
 
-    ::frc971::wpilib::JoystickSender joystick_sender;
+    ::aos::ShmEventLoop event_loop;
+
+    ::frc971::wpilib::JoystickSender joystick_sender(&event_loop);
     ::std::thread joystick_thread(::std::ref(joystick_sender));
 
     ::frc971::wpilib::PDPFetcher pdp_fetcher;
     ::std::thread pdp_fetcher_thread(::std::ref(pdp_fetcher));
-    SensorReader reader;
+    SensorReader reader(&event_loop);
 
     // TODO(campbell): Update port numbers
     reader.set_drivetrain_left_encoder(make_encoder(0));
@@ -470,20 +477,21 @@
     ::std::thread reader_thread(::std::ref(reader));
 
     auto imu_trigger = make_unique<DigitalInput>(3);
-    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
+    ::frc971::wpilib::ADIS16448 imu(&event_loop, SPI::Port::kOnboardCS1,
+                                    imu_trigger.get());
     imu.SetDummySPI(SPI::Port::kOnboardCS2);
     auto imu_reset = make_unique<DigitalOutput>(6);
     imu.set_reset(imu_reset.get());
     ::std::thread imu_thread(::std::ref(imu));
 
-    ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
+    ::frc971::wpilib::DrivetrainWriter drivetrain_writer(&event_loop);
     drivetrain_writer.set_left_controller0(
         ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(7)), true);
     drivetrain_writer.set_right_controller0(
         ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)), false);
     ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
 
-    SuperstructureWriter superstructure_writer;
+    SuperstructureWriter superstructure_writer(&event_loop);
     superstructure_writer.set_intake_victor(
         ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)));
     superstructure_writer.set_intake_rollers_victor(