Add drivetrain_replay binary for y2024
This lets us debug drivetrain/controller issues offline.
Change-Id: Ifad269cf953370f2173de32162b00548638225c8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/simulated_constants_sender.cc b/y2024/constants/simulated_constants_sender.cc
index 28189f8..9b3ee5b 100644
--- a/y2024/constants/simulated_constants_sender.cc
+++ b/y2024/constants/simulated_constants_sender.cc
@@ -6,8 +6,13 @@
namespace y2024 {
bool SendSimulationConstants(aos::SimulatedEventLoopFactory *factory, int team,
- std::string constants_path) {
+ std::string constants_path,
+ const std::set<std::string_view> &node_names) {
for (const aos::Node *node : factory->nodes()) {
+ if (!node_names.empty() &&
+ !node_names.contains(node->name()->string_view())) {
+ continue;
+ }
std::unique_ptr<aos::EventLoop> event_loop =
factory->MakeEventLoop("constants_sender", node);
frc971::constants::ConstantSender<Constants, ConstantsList> sender(
diff --git a/y2024/constants/simulated_constants_sender.h b/y2024/constants/simulated_constants_sender.h
index 5ecc4da..40a5bdd 100644
--- a/y2024/constants/simulated_constants_sender.h
+++ b/y2024/constants/simulated_constants_sender.h
@@ -1,16 +1,21 @@
#ifndef Y2024_CONSTANTS_SIMULATED_CONFIG_SENDER_H_
#define Y2024_CONSTANTS_SIMULATED_CONFIG_SENDER_H_
+#include <set>
+
#include "aos/events/simulated_event_loop.h"
#include "aos/testing/path.h"
namespace y2024 {
// Returns true, to allow this to be easily called in the initializer list of a
// constructor.
+// If node_names is specified, we limit ourselves to sending constants on the
+// specified nodes.
bool SendSimulationConstants(
aos::SimulatedEventLoopFactory *factory, int team,
std::string constants_path =
- aos::testing::ArtifactPath("y2024/constants/test_constants.json"));
+ aos::testing::ArtifactPath("y2024/constants/test_constants.json"),
+ const std::set<std::string_view> &node_names = {});
} // namespace y2024
#endif // Y2024_CONSTANTS_SIMULATED_CONFIG_SENDER_H_