| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 1 | #include "aos/events/shm_event_loop.h" |
| 2 | #include "aos/init.h" |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame] | 3 | #include "y2022/control_loops/superstructure/superstructure.h" |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 4 | |
| 5 | int main(int argc, char **argv) { |
| 6 | ::aos::InitGoogle(&argc, &argv); |
| 7 | |
| 8 | aos::FlatbufferDetachedBuffer<aos::Configuration> config = |
| Austin Schuh | c5fa6d9 | 2022-02-25 14:36:28 -0800 | [diff] [blame] | 9 | aos::configuration::ReadConfig("aos_config.json"); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 10 | |
| 11 | ::aos::ShmEventLoop event_loop(&config.message()); |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame] | 12 | std::shared_ptr<const y2022::constants::Values> values = |
| 13 | std::make_shared<const y2022::constants::Values>( |
| 14 | y2022::constants::MakeValues()); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 15 | ::y2022::control_loops::superstructure::Superstructure superstructure( |
| Henry Speiser | 55aa3ba | 2022-02-21 23:21:12 -0800 | [diff] [blame] | 16 | &event_loop, values); |
| milind-u | 086d726 | 2022-01-19 20:44:18 -0800 | [diff] [blame] | 17 | |
| 18 | event_loop.Run(); |
| 19 | |
| 20 | return 0; |
| 21 | } |