Move LocalizerControl queue to event loops
Change-Id: Ic29f2daaf1cba7c7054f1e689c5051f23424fe07
diff --git a/frc971/autonomous/base_autonomous_actor.cc b/frc971/autonomous/base_autonomous_actor.cc
index f551898..7d7e12e 100644
--- a/frc971/autonomous/base_autonomous_actor.cc
+++ b/frc971/autonomous/base_autonomous_actor.cc
@@ -21,13 +21,13 @@
namespace autonomous {
BaseAutonomousActor::BaseAutonomousActor(
- AutonomousActionQueueGroup *s,
+ ::aos::EventLoop *event_loop, AutonomousActionQueueGroup *s,
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config)
: aos::common::actions::ActorBase<AutonomousActionQueueGroup>(s),
dt_config_(dt_config),
initial_drivetrain_({0.0, 0.0}),
target_selector_hint_sender_(
- event_loop_.MakeSender<
+ event_loop->MakeSender<
::y2019::control_loops::drivetrain::TargetSelectorHint>(
".y2019.control_loops.drivetrain.target_selector_hint")) {}
diff --git a/frc971/autonomous/base_autonomous_actor.h b/frc971/autonomous/base_autonomous_actor.h
index a6a57cd..7636486 100644
--- a/frc971/autonomous/base_autonomous_actor.h
+++ b/frc971/autonomous/base_autonomous_actor.h
@@ -18,7 +18,7 @@
: public ::aos::common::actions::ActorBase<AutonomousActionQueueGroup> {
public:
explicit BaseAutonomousActor(
- AutonomousActionQueueGroup *s,
+ ::aos::EventLoop *event_loop, AutonomousActionQueueGroup *s,
const control_loops::drivetrain::DrivetrainConfig<double> &dt_config);
protected:
@@ -108,8 +108,6 @@
private:
friend class SplineHandle;
- ::aos::ShmEventLoop event_loop_;
-
::aos::Sender<::y2019::control_loops::drivetrain::TargetSelectorHint>
target_selector_hint_sender_;