Merge "Convert joystick_reader over to event loops."
diff --git a/aos/input/BUILD b/aos/input/BUILD
index f27bf98..dd79c5e 100644
--- a/aos/input/BUILD
+++ b/aos/input/BUILD
@@ -1,49 +1,50 @@
-package(default_visibility = ['//visibility:public'])
+package(default_visibility = ["//visibility:public"])
cc_library(
- name = 'joystick_input',
- srcs = [
- 'joystick_input.cc',
- ],
- hdrs = [
- 'joystick_input.h',
- ],
- deps = [
- '//aos/input:driver_station_data',
- '//aos/robot_state:robot_state',
- '//aos/logging',
- '//aos/logging:queue_logging',
- ],
+ name = "joystick_input",
+ srcs = [
+ "joystick_input.cc",
+ ],
+ hdrs = [
+ "joystick_input.h",
+ ],
+ deps = [
+ "//aos/events:event-loop",
+ "//aos/input:driver_station_data",
+ "//aos/logging",
+ "//aos/logging:queue_logging",
+ "//aos/robot_state",
+ ],
)
cc_library(
- name = 'drivetrain_input',
- srcs = [
- 'drivetrain_input.cc'
- ],
- hdrs = [
- 'drivetrain_input.h',
- ],
- deps = [
- '//aos/input:driver_station_data',
- '//aos/logging',
- '//aos/logging:queue_logging',
- '//aos/robot_state:robot_state',
- '//aos:math',
- '//frc971/control_loops/drivetrain:drivetrain_queue',
- '//frc971/control_loops/drivetrain:drivetrain_config',
- ],
+ name = "drivetrain_input",
+ srcs = [
+ "drivetrain_input.cc",
+ ],
+ hdrs = [
+ "drivetrain_input.h",
+ ],
+ deps = [
+ "//aos:math",
+ "//aos/input:driver_station_data",
+ "//aos/logging",
+ "//aos/logging:queue_logging",
+ "//aos/robot_state",
+ "//frc971/control_loops/drivetrain:drivetrain_config",
+ "//frc971/control_loops/drivetrain:drivetrain_queue",
+ ],
)
cc_library(
- name = 'driver_station_data',
- srcs = [
- 'driver_station_data.cc',
- ],
- hdrs = [
- 'driver_station_data.h',
- ],
- deps = [
- '//aos/robot_state:robot_state',
- ],
+ name = "driver_station_data",
+ srcs = [
+ "driver_station_data.cc",
+ ],
+ hdrs = [
+ "driver_station_data.h",
+ ],
+ deps = [
+ "//aos/robot_state",
+ ],
)
diff --git a/aos/input/joystick_input.cc b/aos/input/joystick_input.cc
index 1620fdb..a208f1e 100644
--- a/aos/input/joystick_input.cc
+++ b/aos/input/joystick_input.cc
@@ -14,7 +14,63 @@
void JoystickInput::Quit(int /*signum*/) { run_ = false; }
+void JoystickInput::HandleData(const ::aos::JoystickState &joystick_state) {
+ data_.Update(joystick_state);
+
+ mode_ = static_cast<int>(joystick_state.switch_left) |
+ (static_cast<int>(joystick_state.scale_left) << 1);
+
+ {
+ using driver_station::JoystickFeature;
+ using driver_station::ButtonLocation;
+ for (int joystick = 1; joystick <= JoystickFeature::kJoysticks;
+ ++joystick) {
+ for (int button = 1; button <= ButtonLocation::kButtons; ++button) {
+ ButtonLocation location(joystick, button);
+ if (data_.PosEdge(location)) {
+ LOG(INFO, "PosEdge(%d, %d)\n", joystick, button);
+ }
+ if (data_.NegEdge(location)) {
+ LOG(INFO, "NegEdge(%d, %d)\n", joystick, button);
+ }
+ }
+ if (data_.GetPOV(joystick) != data_.GetOldPOV(joystick)) {
+ LOG(INFO, "POV %d %d->%d\n", joystick, data_.GetOldPOV(joystick),
+ data_.GetPOV(joystick));
+ }
+ }
+ }
+ {
+ using driver_station::ControlBit;
+ if (data_.PosEdge(ControlBit::kFmsAttached)) {
+ LOG(INFO, "PosEdge(kFmsAttached)\n");
+ }
+ if (data_.NegEdge(ControlBit::kFmsAttached)) {
+ LOG(INFO, "NegEdge(kFmsAttached)\n");
+ }
+ if (data_.PosEdge(ControlBit::kAutonomous)) {
+ LOG(INFO, "PosEdge(kAutonomous)\n");
+ }
+ if (data_.NegEdge(ControlBit::kAutonomous)) {
+ LOG(INFO, "NegEdge(kAutonomous)\n");
+ }
+ if (data_.PosEdge(ControlBit::kEnabled)) {
+ LOG(INFO, "PosEdge(kEnabled)\n");
+ }
+ if (data_.NegEdge(ControlBit::kEnabled)) {
+ LOG(INFO, "NegEdge(kEnabled)\n");
+ }
+ }
+
+ RunIteration(data_);
+
+ if (!run_) {
+ event_loop_->Exit();
+ }
+}
+
void JoystickInput::Run() {
+ // TODO(austin): We need a better sigint story for event loops in general.
run_ = true;
struct sigaction action;
action.sa_handler = &JoystickInput::Quit;
@@ -25,56 +81,8 @@
PCHECK(sigaction(SIGQUIT, &action, nullptr));
PCHECK(sigaction(SIGINT, &action, nullptr));
- driver_station::Data data;
- while (run_) {
- joystick_state.FetchAnother();
+ event_loop_->Run();
- data.Update(*joystick_state);
-
- {
- using driver_station::JoystickFeature;
- using driver_station::ButtonLocation;
- for (int joystick = 1; joystick <= JoystickFeature::kJoysticks;
- ++joystick) {
- for (int button = 1; button <= ButtonLocation::kButtons; ++button) {
- ButtonLocation location(joystick, button);
- if (data.PosEdge(location)) {
- LOG(INFO, "PosEdge(%d, %d)\n", joystick, button);
- }
- if (data.NegEdge(location)) {
- LOG(INFO, "NegEdge(%d, %d)\n", joystick, button);
- }
- }
- if (data.GetPOV(joystick) != data.GetOldPOV(joystick)) {
- LOG(INFO, "POV %d %d->%d\n", joystick, data.GetOldPOV(joystick),
- data.GetPOV(joystick));
- }
- }
- }
- {
- using driver_station::ControlBit;
- if (data.PosEdge(ControlBit::kFmsAttached)) {
- LOG(INFO, "PosEdge(kFmsAttached)\n");
- }
- if (data.NegEdge(ControlBit::kFmsAttached)) {
- LOG(INFO, "NegEdge(kFmsAttached)\n");
- }
- if (data.PosEdge(ControlBit::kAutonomous)) {
- LOG(INFO, "PosEdge(kAutonomous)\n");
- }
- if (data.NegEdge(ControlBit::kAutonomous)) {
- LOG(INFO, "NegEdge(kAutonomous)\n");
- }
- if (data.PosEdge(ControlBit::kEnabled)) {
- LOG(INFO, "PosEdge(kEnabled)\n");
- }
- if (data.NegEdge(ControlBit::kEnabled)) {
- LOG(INFO, "NegEdge(kEnabled)\n");
- }
- }
-
- RunIteration(data);
- }
LOG(INFO, "Shutting down\n");
}
diff --git a/aos/input/joystick_input.h b/aos/input/joystick_input.h
index 4b5c5a6..98a89b1 100644
--- a/aos/input/joystick_input.h
+++ b/aos/input/joystick_input.h
@@ -3,6 +3,7 @@
#include <atomic>
+#include "aos/events/event-loop.h"
#include "aos/input/driver_station_data.h"
namespace aos {
@@ -15,15 +16,34 @@
// (at INFO) button edges.
class JoystickInput {
public:
+ explicit JoystickInput(::aos::EventLoop *event_loop)
+ : event_loop_(event_loop) {
+ event_loop_->MakeWatcher(
+ ".aos.joystick_state",
+ [this](const ::aos::JoystickState &joystick_state) {
+ this->HandleData(joystick_state);
+ });
+ }
+
void Run();
+ protected:
+ int mode() const { return mode_; }
+
private:
+ void HandleData(const ::aos::JoystickState &joystick_state);
+
// Subclasses should do whatever they want with data here.
virtual void RunIteration(const driver_station::Data &data) = 0;
static void Quit(int /*signum*/);
static ::std::atomic<bool> run_;
+
+ EventLoop *event_loop_;
+ driver_station::Data data_;
+
+ int mode_;
};
// Class which will proxy joystick information from UDP packets to the queues.
diff --git a/y2012/joystick_reader.cc b/y2012/joystick_reader.cc
index e48eaf6..46b20f6 100644
--- a/y2012/joystick_reader.cc
+++ b/y2012/joystick_reader.cc
@@ -3,12 +3,13 @@
#include <unistd.h>
#include <math.h>
+#include "aos/actions/actions.h"
+#include "aos/events/shm-event-loop.h"
#include "aos/init.h"
-#include "aos/input/joystick_input.h"
#include "aos/input/driver_station_data.h"
+#include "aos/input/joystick_input.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
-#include "aos/actions/actions.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2012/control_loops/accessories/accessories.q.h"
@@ -80,8 +81,8 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader()
- : is_high_gear_(false) {}
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop), is_high_gear_(false) {}
void RunIteration(const ::aos::input::driver_station::Data &data) override {
if (!data.GetControlBit(ControlBit::kAutonomous)) {
@@ -144,7 +145,8 @@
int main() {
::aos::Init(-1);
- ::y2012::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2012::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2014/joystick_reader.cc b/y2014/joystick_reader.cc
index 72c76ef..cc29bcb 100644
--- a/y2014/joystick_reader.cc
+++ b/y2014/joystick_reader.cc
@@ -155,8 +155,9 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader()
- : is_high_gear_(false),
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop),
+ is_high_gear_(false),
shot_power_(80.0),
goal_angle_(0.0),
separation_angle_(kGrabSeparation),
@@ -523,7 +524,8 @@
int main() {
::aos::Init(-1);
- ::y2014::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2014::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2014_bot3/joystick_reader.cc b/y2014_bot3/joystick_reader.cc
index 70eff54..e2acb8b 100644
--- a/y2014_bot3/joystick_reader.cc
+++ b/y2014_bot3/joystick_reader.cc
@@ -48,7 +48,8 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader() {
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop) {
drivetrain_input_reader_ = DrivetrainInputReader::Make(
DrivetrainInputReader::InputType::kSteeringWheel,
::y2014_bot3::control_loops::drivetrain::GetDrivetrainConfig());
@@ -134,7 +135,8 @@
int main() {
::aos::Init(-1);
- ::y2014_bot3::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2014_bot3::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index 8f99e4c..6887a53 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -71,8 +71,9 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader()
- : is_high_gear_(true),
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop),
+ is_high_gear_(true),
intake_goal_(0.0),
shoulder_goal_(M_PI / 2.0),
wrist_goal_(0.0),
@@ -498,7 +499,8 @@
int main() {
::aos::Init(-1);
- ::y2016::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2016::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index c7869b4..d9bca58 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -53,7 +53,8 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader() {
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop) {
drivetrain_input_reader_ = DrivetrainInputReader::Make(
DrivetrainInputReader::InputType::kSteeringWheel,
::y2017::control_loops::drivetrain::GetDrivetrainConfig());
@@ -324,7 +325,8 @@
int main() {
::aos::Init(-1);
- ::y2017::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2017::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2017_bot3/joystick_reader.cc b/y2017_bot3/joystick_reader.cc
index 811617e..c3cc9cb 100644
--- a/y2017_bot3/joystick_reader.cc
+++ b/y2017_bot3/joystick_reader.cc
@@ -39,7 +39,8 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader() {
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop) {
// Setting driver station type to Steering Wheel
drivetrain_input_reader_ = DrivetrainInputReader::Make(
DrivetrainInputReader::InputType::kSteeringWheel,
@@ -149,7 +150,8 @@
int main() {
::aos::Init(-1);
- ::y2017_bot3::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2017_bot3::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 41efc00..41b4d14 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -87,7 +87,8 @@
class Reader : public ::aos::input::JoystickInput {
public:
- Reader() {
+ Reader(::aos::EventLoop *event_loop)
+ : ::aos::input::JoystickInput(event_loop) {
const uint16_t team = ::aos::network::GetTeamNumber();
drivetrain_input_reader_ = DrivetrainInputReader::Make(
@@ -370,9 +371,8 @@
LOG(WARNING, "no auto mode values\n");
params.mode = 0;
}
- // TODO(austin): use the mode later if we care. We don't care right now.
- params.mode = static_cast<int>(::aos::joystick_state->switch_left) |
- (static_cast<int>(::aos::joystick_state->scale_left) << 1);
+ // Low bit is switch, high bit is scale. 1 means left, 0 means right.
+ params.mode = mode();
action_queue_.EnqueueAction(
::frc971::autonomous::MakeAutonomousAction(params));
}
@@ -408,7 +408,8 @@
int main() {
::aos::Init(-1);
- ::y2018::input::joysticks::Reader reader;
+ ::aos::ShmEventLoop event_loop;
+ ::y2018::input::joysticks::Reader reader(&event_loop);
reader.Run();
::aos::Cleanup();
}