Dedulicate make_unique
This also gets us off of the WPILib one which goes away for 2019.
Change-Id: I0436ce8fd477bbb27d9b0a7c4832dad01c9bad35
diff --git a/aos/BUILD b/aos/BUILD
index fca0258..2bd5791 100644
--- a/aos/BUILD
+++ b/aos/BUILD
@@ -401,3 +401,11 @@
"//aos/util:run_command",
],
)
+
+cc_library(
+ name = "make_unique",
+ hdrs = [
+ "make_unique.h",
+ ],
+ visibility = ["//visibility:public"],
+)
diff --git a/aos/make_unique.h b/aos/make_unique.h
new file mode 100644
index 0000000..8031f45
--- /dev/null
+++ b/aos/make_unique.h
@@ -0,0 +1,44 @@
+#ifndef AOS_MAKE_UNIQUE_H_
+#define AOS_MAKE_UNIQUE_H_
+
+// TODO(brian): Replace this file with ::std::make_unique once all our
+// toolchains have support.
+
+namespace aos {
+
+/// Constructs a `new T()` with the given args and returns a
+/// `unique_ptr<T>` which owns the object.
+///
+/// Example:
+///
+/// auto p = make_unique<int>();
+/// auto p = make_unique<std::tuple<int, int>>(0, 1);
+template <class T, class... Args>
+typename std::enable_if<!std::is_array<T>::value, std::unique_ptr<T>>::type
+make_unique(Args &&... args) {
+ return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
+}
+
+/// Constructs a `new T[n]` with the given args and returns a
+/// `unique_ptr<T[]>` which owns the object.
+///
+/// \param n size of the new array.
+///
+/// Example:
+///
+/// auto p = make_unique<int[]>(2); // value-initializes the array with 0's.
+template <class T>
+typename std::enable_if<std::is_array<T>::value && std::extent<T>::value == 0,
+ std::unique_ptr<T>>::type
+make_unique(size_t n) {
+ return std::unique_ptr<T>(new typename std::remove_extent<T>::type[n]());
+}
+
+/// This function isn't used and is only here to provide better compile errors.
+template <class T, class... Args>
+typename std::enable_if<std::extent<T>::value != 0>::type
+make_unique(Args &&...) = delete;
+
+} // namespace aos
+
+#endif // AOS_MAKE_UNIQUE_H_
diff --git a/frc971/wpilib/ahal/BUILD b/frc971/wpilib/ahal/BUILD
index f643f57..f91b3fa 100644
--- a/frc971/wpilib/ahal/BUILD
+++ b/frc971/wpilib/ahal/BUILD
@@ -18,6 +18,7 @@
restricted_to = ["//tools:roborio"],
visibility = ["//third_party:__pkg__"],
deps = [
+ "//aos:make_unique",
"//aos/logging",
"//third_party:wpilib_hal",
],
diff --git a/frc971/wpilib/ahal/Base.h b/frc971/wpilib/ahal/Base.h
index 3a3d5a2..2d2e5a7 100644
--- a/frc971/wpilib/ahal/Base.h
+++ b/frc971/wpilib/ahal/Base.h
@@ -7,8 +7,6 @@
#pragma once
-#include "HAL/cpp/make_unique.h"
-
namespace frc {
// A struct to use as a deleter when a std::shared_ptr must wrap a raw pointer
diff --git a/frc971/wpilib/ahal/DriverStation.cc b/frc971/wpilib/ahal/DriverStation.cc
index f4c2e5d..c34db1b 100644
--- a/frc971/wpilib/ahal/DriverStation.cc
+++ b/frc971/wpilib/ahal/DriverStation.cc
@@ -12,6 +12,7 @@
#include "FRC_NetworkCommunication/FRCComm.h"
#include "HAL/HAL.h"
#include "HAL/Power.h"
+#include "aos/make_unique.h"
#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Utility.h"
#include "frc971/wpilib/ahal/WPIErrors.h"
diff --git a/y2012/BUILD b/y2012/BUILD
index fd9119b..5e85c3d 100644
--- a/y2012/BUILD
+++ b/y2012/BUILD
@@ -6,12 +6,12 @@
"joystick_reader.cc",
],
deps = [
- "//aos/time:time",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
- "//aos/input:joystick_input",
"//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/input:joystick_input",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/queues:gyro",
@@ -35,16 +35,17 @@
],
restricted_to = ["//tools:roborio"],
deps = [
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
+ "//aos:init",
+ "//aos:make_unique",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/wpilib:buffered_pcm",
diff --git a/y2012/wpilib_interface.cc b/y2012/wpilib_interface.cc
index 6d4fcff..b5be8f4 100644
--- a/y2012/wpilib_interface.cc
+++ b/y2012/wpilib_interface.cc
@@ -19,15 +19,16 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/robot_state/robot_state.q.h"
+#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/init.h"
-#include "aos/robot_state/robot_state.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/buffered_pcm.h"
@@ -50,15 +51,11 @@
using ::frc971::control_loops::drivetrain_queue;
using ::y2012::control_loops::accessories_queue;
using namespace frc;
+using aos::make_unique;
namespace y2012 {
namespace wpilib {
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
double drivetrain_translate(int32_t in) {
return -static_cast<double>(in) /
(256.0 /*cpr*/ * 4.0 /*4x*/) *
diff --git a/y2014/BUILD b/y2014/BUILD
index dfd2325..e4ad2ed 100644
--- a/y2014/BUILD
+++ b/y2014/BUILD
@@ -11,8 +11,8 @@
visibility = ["//visibility:public"],
deps = [
"//aos:once",
- "//aos/mutex:mutex",
"//aos/logging",
+ "//aos/mutex",
"//aos/network:team_number",
"//frc971:shifter_hall_effect",
"//frc971/control_loops:state_feedback_loop",
@@ -27,12 +27,12 @@
],
deps = [
":constants",
- "//aos/time:time",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
- "//aos/input:joystick_input",
"//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/input:joystick_input",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/queues:gyro",
@@ -61,10 +61,10 @@
"hot_goal_reader.cc",
],
deps = [
- "//aos/time:time",
+ "//aos:init",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos:init",
+ "//aos/time",
"//y2014/queues:hot_goal",
],
)
@@ -77,16 +77,17 @@
restricted_to = ["//tools:roborio"],
deps = [
":constants",
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
+ "//aos:init",
+ "//aos:make_unique",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/wpilib:buffered_pcm",
diff --git a/y2014/wpilib_interface.cc b/y2014/wpilib_interface.cc
index 2cd9b50..af28012 100644
--- a/y2014/wpilib_interface.cc
+++ b/y2014/wpilib_interface.cc
@@ -18,15 +18,16 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/robot_state/robot_state.q.h"
+#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/init.h"
-#include "aos/robot_state/robot_state.q.h"
#include "frc971/shifter_hall_effect.h"
@@ -57,6 +58,7 @@
using ::y2014::control_loops::claw_queue;
using ::y2014::control_loops::shooter_queue;
using namespace frc;
+using aos::make_unique;
namespace y2014 {
namespace wpilib {
@@ -65,13 +67,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
double drivetrain_translate(int32_t in) {
return -static_cast<double>(in) /
(256.0 /*cpr*/ * 4.0 /*4x*/) *
diff --git a/y2014_bot3/BUILD b/y2014_bot3/BUILD
index f5c5979..f6b5ae6 100644
--- a/y2014_bot3/BUILD
+++ b/y2014_bot3/BUILD
@@ -40,6 +40,7 @@
restricted_to = ["//tools:roborio"],
deps = [
"//aos:init",
+ "//aos:make_unique",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
diff --git a/y2014_bot3/wpilib_interface.cc b/y2014_bot3/wpilib_interface.cc
index 1d7edc2..ca80b0c 100644
--- a/y2014_bot3/wpilib_interface.cc
+++ b/y2014_bot3/wpilib_interface.cc
@@ -18,15 +18,16 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/robot_state/robot_state.q.h"
+#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/init.h"
-#include "aos/robot_state/robot_state.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2014_bot3/control_loops/drivetrain/drivetrain_base.h"
@@ -56,6 +57,7 @@
using ::frc971::wpilib::JoystickSender;
using ::frc971::wpilib::GyroSender;
using namespace frc;
+using aos::make_unique;
namespace frc971 {
namespace wpilib {
@@ -329,13 +331,6 @@
rollers_back_right_intake_talon_, rollers_low_goal_talon_;
};
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
public:
::std::unique_ptr<Encoder> make_encoder(int index) {
diff --git a/y2016/BUILD b/y2016/BUILD
index 0e72985..92f0c86 100644
--- a/y2016/BUILD
+++ b/y2016/BUILD
@@ -1,4 +1,4 @@
-load('//frc971:downloader.bzl', 'robot_downloader')
+load("//frc971:downloader.bzl", "robot_downloader")
cc_library(
name = "constants",
@@ -11,8 +11,8 @@
visibility = ["//visibility:public"],
deps = [
"//aos:once",
- "//aos/mutex:mutex",
"//aos/logging",
+ "//aos/mutex",
"//aos/network:team_number",
"//frc971:constants",
"//frc971:shifter_hall_effect",
@@ -28,12 +28,12 @@
],
deps = [
":constants",
- "//aos/time:time",
- "//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
- "//aos/input:joystick_input",
"//aos:init",
+ "//aos/actions:action_lib",
+ "//aos/input:joystick_input",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/queues:gyro",
@@ -48,21 +48,21 @@
)
robot_downloader(
- start_binaries = [
- ':joystick_reader',
- ':wpilib_interface',
- '//y2016/control_loops/drivetrain:drivetrain',
- '//y2016/control_loops/superstructure:superstructure',
- '//y2016/control_loops/shooter:shooter',
- '//y2016/dashboard:dashboard',
- '//y2016/actors:autonomous_action',
- '//y2016/actors:superstructure_action',
- '//y2016/actors:vision_align_action',
- '//y2016/vision:target_receiver',
- ],
- dirs = [
- '//y2016/dashboard:www_files',
- ],
+ dirs = [
+ "//y2016/dashboard:www_files",
+ ],
+ start_binaries = [
+ ":joystick_reader",
+ ":wpilib_interface",
+ "//y2016/control_loops/drivetrain:drivetrain",
+ "//y2016/control_loops/superstructure:superstructure",
+ "//y2016/control_loops/shooter:shooter",
+ "//y2016/dashboard:dashboard",
+ "//y2016/actors:autonomous_action",
+ "//y2016/actors:superstructure_action",
+ "//y2016/actors:vision_align_action",
+ "//y2016/vision:target_receiver",
+ ],
)
cc_binary(
@@ -73,17 +73,18 @@
restricted_to = ["//tools:roborio"],
deps = [
":constants",
+ "//aos:init",
+ "//aos:make_unique",
"//aos:math",
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
diff --git a/y2016/wpilib_interface.cc b/y2016/wpilib_interface.cc
index 320dd73..a4ea3e8 100644
--- a/y2016/wpilib_interface.cc
+++ b/y2016/wpilib_interface.cc
@@ -19,16 +19,17 @@
#include "frc971/wpilib/wpilib_robot_base.h"
#undef ERROR
+#include "aos/commonmath.h"
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
+#include "aos/robot_state/robot_state.q.h"
+#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/stl_mutex/stl_mutex.h"
-#include "aos/init.h"
-#include "aos/robot_state/robot_state.q.h"
-#include "aos/commonmath.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/control_loops.q.h"
@@ -62,6 +63,7 @@
using ::y2016::control_loops::shooter::shooter_queue;
using ::y2016::control_loops::superstructure_queue;
using namespace frc;
+using aos::make_unique;
namespace y2016 {
namespace wpilib {
@@ -73,13 +75,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
// Translates for the sensor values to convert raw index pulses into something
// with proper units.
diff --git a/y2017/BUILD b/y2017/BUILD
index e002758..4e86603 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -1,4 +1,4 @@
-load('//frc971:downloader.bzl', 'robot_downloader')
+load("//frc971:downloader.bzl", "robot_downloader")
cc_library(
name = "constants",
@@ -11,8 +11,8 @@
visibility = ["//visibility:public"],
deps = [
"//aos:once",
- "//aos/mutex:mutex",
"//aos/logging",
+ "//aos/mutex",
"//aos/network:team_number",
"//frc971:constants",
"//frc971/shooter_interpolation:interpolation",
@@ -31,13 +31,13 @@
],
deps = [
":constants",
- "//aos/time:time",
+ "//aos:init",
"//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
"//aos/input:drivetrain_input",
"//aos/input:joystick_input",
- "//aos:init",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//y2017/actors:autonomous_action_lib",
@@ -54,17 +54,18 @@
restricted_to = ["//tools:roborio"],
deps = [
":constants",
+ "//aos:init",
+ "//aos:make_unique",
"//aos:math",
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
"//aos/util:wrapping_counter",
- "//aos:init",
"//frc971/autonomous:auto_queue",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
@@ -86,13 +87,13 @@
)
robot_downloader(
- start_binaries = [
- ':joystick_reader',
- ':wpilib_interface',
- '//y2017/control_loops/drivetrain:drivetrain',
- '//y2017/control_loops/superstructure:superstructure',
- '//y2017/actors:autonomous_action',
- ],
+ start_binaries = [
+ ":joystick_reader",
+ ":wpilib_interface",
+ "//y2017/control_loops/drivetrain:drivetrain",
+ "//y2017/control_loops/superstructure:superstructure",
+ "//y2017/actors:autonomous_action",
+ ],
)
py_library(
diff --git a/y2017/wpilib_interface.cc b/y2017/wpilib_interface.cc
index 4906009..1663ecd 100644
--- a/y2017/wpilib_interface.cc
+++ b/y2017/wpilib_interface.cc
@@ -22,8 +22,10 @@
#undef ERROR
#include "aos/commonmath.h"
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
#include "aos/robot_state/robot_state.q.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
@@ -31,7 +33,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/init.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/control_loops.q.h"
@@ -62,6 +63,7 @@
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
using namespace frc;
+using aos::make_unique;
namespace y2017 {
namespace wpilib {
@@ -73,13 +75,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
// TODO(brian): Use ::std::max instead once we have C++14 so that can be
// constexpr.
template <typename T>
diff --git a/y2017_bot3/BUILD b/y2017_bot3/BUILD
index aaef43a..9841d08 100644
--- a/y2017_bot3/BUILD
+++ b/y2017_bot3/BUILD
@@ -6,13 +6,13 @@
"joystick_reader.cc",
],
deps = [
- "//aos/time:time",
+ "//aos:init",
"//aos/actions:action_lib",
- "//aos/logging",
- "//aos/util:log_interval",
"//aos/input:drivetrain_input",
"//aos/input:joystick_input",
- "//aos:init",
+ "//aos/logging",
+ "//aos/time",
+ "//aos/util:log_interval",
"//frc971/autonomous:auto_queue",
"//frc971/autonomous:base_autonomous_actor",
"//frc971/control_loops/drivetrain:drivetrain_queue",
@@ -29,16 +29,17 @@
],
restricted_to = ["//tools:roborio"],
deps = [
+ "//aos:init",
+ "//aos:make_unique",
"//aos:math",
- "//aos/stl_mutex:stl_mutex",
- "//aos/time:time",
"//aos/controls:control_loop",
"//aos/logging",
"//aos/logging:queue_logging",
- "//aos/robot_state:robot_state",
+ "//aos/robot_state",
+ "//aos/stl_mutex",
+ "//aos/time",
"//aos/util:log_interval",
"//aos/util:phased_loop",
- "//aos:init",
"//frc971/control_loops:queues",
"//frc971/control_loops/drivetrain:drivetrain_queue",
"//frc971/wpilib:buffered_pcm",
diff --git a/y2017_bot3/wpilib_interface.cc b/y2017_bot3/wpilib_interface.cc
index 48787b4..c3c4f37 100644
--- a/y2017_bot3/wpilib_interface.cc
+++ b/y2017_bot3/wpilib_interface.cc
@@ -19,15 +19,16 @@
#undef ERROR
#include "aos/commonmath.h"
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
#include "aos/robot_state/robot_state.q.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/compiler_memory_barrier.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
-#include "aos/init.h"
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
@@ -58,6 +59,7 @@
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
using namespace frc;
+using aos::make_unique;
namespace y2017_bot3 {
namespace wpilib {
@@ -79,13 +81,6 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
// TODO(brian): Use ::std::max instead once we have C++14 so that can be
// constexpr.
template <typename T>
diff --git a/y2018/BUILD b/y2018/BUILD
index 6173702..2a510a9 100644
--- a/y2018/BUILD
+++ b/y2018/BUILD
@@ -70,6 +70,7 @@
deps = [
":status_light",
"//aos:init",
+ "//aos:make_unique",
"//aos:math",
"//aos/controls:control_loop",
"//aos/logging",
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 0493bb5..dea6a7b 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -22,8 +22,10 @@
#undef ERROR
#include "aos/commonmath.h"
+#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
+#include "aos/make_unique.h"
#include "aos/robot_state/robot_state.q.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
@@ -31,7 +33,6 @@
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
-#include "aos/init.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/control_loops.q.h"
@@ -63,6 +64,7 @@
using ::y2018::constants::Values;
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
+using aos::make_unique;
namespace y2018 {
namespace wpilib {
@@ -74,17 +76,8 @@
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.
-// TODO(brian): Replace this with ::std::make_unique once all our toolchains
-// have support.
-
-template <class T, class... U>
-std::unique_ptr<T> make_unique(U &&... u) {
- return std::unique_ptr<T>(new T(std::forward<U>(u)...));
-}
-
// TODO(brian): Use ::std::max instead once we have C++14 so that can be
// constexpr.
-
template <typename T>
constexpr T max(T a, T b) {
return (a > b) ? a : b;