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/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 54c2ebc..29f110a 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -20,6 +20,7 @@
#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"
@@ -128,7 +129,8 @@
// 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);
@@ -429,6 +431,11 @@
class SuperstructureWriter : public ::frc971::wpilib::LoopOutputHandler {
public:
+ SuperstructureWriter(::aos::EventLoop *event_loop)
+ : ::frc971::wpilib::LoopOutputHandler(event_loop),
+ robot_state_fetcher_(
+ event_loop->MakeFetcher<::aos::RobotState>(".aos.robot_state")) {}
+
void set_elevator_victor(::std::unique_ptr<::frc::VictorSP> t) {
elevator_victor_ = ::std::move(t);
}
@@ -476,9 +483,10 @@
-kMaxBringupPower, kMaxBringupPower) /
12.0);
- ::aos::robot_state.FetchLatest();
- const double battery_voltage =
- ::aos::robot_state.get() ? ::aos::robot_state->voltage_battery : 12.0;
+ robot_state_fetcher_.Fetch();
+ const double battery_voltage = robot_state_fetcher_.get()
+ ? robot_state_fetcher_->voltage_battery
+ : 12.0;
// Throw a fast low pass filter on the battery voltage so we don't respond
// too fast to noise.
@@ -499,6 +507,8 @@
suction_victor_->SetDisabled();
}
+ ::aos::Fetcher<::aos::RobotState> robot_state_fetcher_;
+
::std::unique_ptr<::frc::VictorSP> elevator_victor_, intake_victor_,
wrist_victor_, stilts_victor_, suction_victor_;
@@ -661,12 +671,14 @@
::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);
reader.set_drivetrain_left_encoder(make_encoder(0));
reader.set_drivetrain_right_encoder(make_encoder(1));
@@ -706,7 +718,7 @@
camera_reader.set_activate_passthrough(make_unique<frc::DigitalInput>(25));
auto imu_trigger = make_unique<frc::DigitalInput>(0);
- ::frc971::wpilib::ADIS16448 imu(frc::SPI::Port::kOnboardCS1,
+ ::frc971::wpilib::ADIS16448 imu(&event_loop, frc::SPI::Port::kOnboardCS1,
imu_trigger.get());
imu.set_spi_idle_callback(
[&camera_reader]() { camera_reader.DoSpiTransaction(); });
@@ -718,14 +730,14 @@
// they are identical, as far as DrivetrainWriter is concerned, to the SP
// variety so all the Victors are written as SPs.
- ::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(0)), true);
drivetrain_writer.set_right_controller0(
::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)), false);
::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));
- SuperstructureWriter superstructure_writer;
+ SuperstructureWriter superstructure_writer(&event_loop);
superstructure_writer.set_elevator_victor(
::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(4)));
// TODO(austin): Do the vacuum