Move Position, robot_state, and joystick_state over
ControlLoop should now be completely using the event loop.
Change-Id: Ifb936c384d1031abbc9e61d834b1ef157ad0841c
diff --git a/aos/controls/control_loop.h b/aos/controls/control_loop.h
index 0b6e391..1f05c33 100644
--- a/aos/controls/control_loop.h
+++ b/aos/controls/control_loop.h
@@ -7,6 +7,7 @@
#include "aos/events/event-loop.h"
#include "aos/events/shm-event-loop.h"
#include "aos/queue.h"
+#include "aos/robot_state/robot_state.q.h"
#include "aos/time/time.h"
#include "aos/type_traits/type_traits.h"
#include "aos/util/log_interval.h"
@@ -52,13 +53,22 @@
OutputType;
ControlLoop(T *control_loop)
- : event_loop_(new ::aos::ShmEventLoop()), control_loop_(control_loop) {
- output_sender_ = event_loop_->MakeSender<OutputType>(
- ::std::string(control_loop_->name()) + ".output");
- status_sender_ = event_loop_->MakeSender<StatusType>(
- ::std::string(control_loop_->name()) + ".status");
- goal_fetcher_ = event_loop_->MakeFetcher<GoalType>(
- ::std::string(control_loop_->name()) + ".goal");
+ : shm_event_loop_(new ::aos::ShmEventLoop()),
+ event_loop_(shm_event_loop_.get()),
+ name_(control_loop->name()) {
+ output_sender_ = event_loop_->MakeSender<OutputType>(name_ + ".output");
+ status_sender_ = event_loop_->MakeSender<StatusType>(name_ + ".status");
+ goal_fetcher_ = event_loop_->MakeFetcher<GoalType>(name_ + ".goal");
+ robot_state_fetcher_ =
+ event_loop_->MakeFetcher<::aos::RobotState>(".aos.robot_state");
+ joystick_state_fetcher_ =
+ event_loop_->MakeFetcher<::aos::JoystickState>(".aos.joystick_state");
+ }
+
+ const ::aos::RobotState &robot_state() const { return *robot_state_fetcher_; }
+ bool has_joystick_state() const { return joystick_state_fetcher_.get(); }
+ const ::aos::JoystickState &joystick_state() const {
+ return *joystick_state_fetcher_;
}
// Returns true if all the counters etc in the sensor data have been reset.
@@ -120,12 +130,20 @@
::std::chrono::milliseconds(100);
// Pointer to the queue group
- ::std::unique_ptr<EventLoop> event_loop_;
- T *control_loop_;
+ ::std::unique_ptr<ShmEventLoop> shm_event_loop_;
+ EventLoop *event_loop_;
+ ::std::string name_;
::aos::Sender<OutputType> output_sender_;
::aos::Sender<StatusType> status_sender_;
::aos::Fetcher<GoalType> goal_fetcher_;
+ ::aos::Fetcher<::aos::RobotState> robot_state_fetcher_;
+ ::aos::Fetcher<::aos::JoystickState> joystick_state_fetcher_;
+
+ // Fetcher only to be used for the Iterate method. If Iterate is called, Run
+ // can't be called.
+ bool has_iterate_fetcher_ = false;
+ ::aos::Fetcher<PositionType> iterate_position_fetcher_;
bool reset_ = false;
int32_t sensor_reader_pid_ = 0;