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Replaces C++ IsNewControlData semaphore with atomic bool, and Java code with AtomicBool (#187)

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This commit is contained in:
Thad House
2016-10-24 20:32:43 -07:00
committed by Peter Johnson
parent fdebdd520a
commit 1071686d81
3 changed files with 48 additions and 35 deletions
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18
wpilibc/athena/include/DriverStation.h
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@@ -12,7 +12,6 @@
#include <memory>
#include <string>
#include "HAL/cpp/Semaphore.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
#include "RobotState.h"
@@ -102,30 +101,41 @@ class DriverStation : public SensorBase, public RobotStateInterface {
void Run();
void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
// Joystick User Data
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
// Cached Data
// Joystick Cached Data
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
// Internal Driver Station thread
Task m_task;
std::atomic<bool> m_isRunning{false};
mutable Semaphore m_newControlData{Semaphore::kEmpty};
bool m_updatedControlLoopData = false;
// WPILib WaitForData control variables
bool m_waitForDataPredicate = false;
std::condition_variable_any m_waitForDataCond;
priority_mutex m_waitForDataMutex;
mutable std::atomic<bool> m_newControlData{false};
mutable priority_mutex m_joystickDataMutex;
// Robot state status variables
bool m_userInDisabled = false;
bool m_userInAutonomous = false;
bool m_userInTeleop = false;
bool m_userInTest = false;
// Control word variables
mutable HAL_ControlWord m_controlWordCache;
mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
mutable priority_mutex m_controlWordMutex;
double m_nextMessageTime = 0;
};

14
wpilibc/athena/src/DriverStation.cpp
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@@ -348,7 +348,7 @@ bool DriverStation::IsDSAttached() const {
* @return True if the control data has been updated since the last call.
*/
bool DriverStation::IsNewControlData() const {
return m_newControlData.tryTake() == false;
return m_newControlData.exchange(false);
}
/**
@@ -476,7 +476,7 @@ bool DriverStation::WaitForData(double timeout) {
#endif
std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
while (!m_updatedControlLoopData) {
while (!m_waitForDataPredicate) {
if (timeout > 0) {
auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
@@ -486,7 +486,7 @@ bool DriverStation::WaitForData(double timeout) {
m_waitForDataCond.wait(lock);
}
}
m_updatedControlLoopData = false;
m_waitForDataPredicate = false;
return true;
}
@@ -547,8 +547,6 @@ void DriverStation::GetData() {
m_joystickPOVs.swap(m_joystickPOVsCache);
m_joystickButtons.swap(m_joystickButtonsCache);
m_joystickDescriptor.swap(m_joystickDescriptorCache);
m_newControlData.give();
}
/**
@@ -621,9 +619,13 @@ void DriverStation::Run() {
while (m_isRunning) {
HAL_WaitForDSData();
GetData();
// notify IsNewControlData variables
m_newControlData = true;
// notify WaitForData block
{
std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
m_updatedControlLoopData = true;
m_waitForDataPredicate = true;
}
m_waitForDataCond.notify_all();

51
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -8,10 +8,12 @@
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.locks.Condition;
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import java.util.concurrent.atomic.AtomicBoolean;
import edu.wpi.first.wpilibj.hal.AllianceStationID;
import edu.wpi.first.wpilibj.hal.ControlWord;
@@ -77,39 +79,43 @@ public class DriverStation implements RobotState.Interface {
private static DriverStation instance = new DriverStation();
// Joystick User Data
private HALJoystickAxes[] m_joystickAxes = new HALJoystickAxes[kJoystickPorts];
private HALJoystickPOVs[] m_joystickPOVs = new HALJoystickPOVs[kJoystickPorts];
private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
// Joystick Cached Data
private HALJoystickAxes[] m_joystickAxesCache = new HALJoystickAxes[kJoystickPorts];
private HALJoystickPOVs[] m_joystickPOVsCache = new HALJoystickPOVs[kJoystickPorts];
private HALJoystickButtons[] m_joystickButtonsCache = new HALJoystickButtons[kJoystickPorts];
// preallocated byte buffer for button count
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
private int[] m_joystickIsXbox = new int[kJoystickPorts];
private int[] m_joystickType = new int[kJoystickPorts];
private String[] m_joystickName = new String[kJoystickPorts];
private int[][] m_joystickAxisType = new int[kJoystickPorts][HAL.kMaxJoystickAxes];
// Internal Driver Station thread
private Thread m_thread;
private final Lock m_dataMutex;
private final Condition m_dataCond;
private final Object m_newControlDataMutex;
private final Object m_joystickMutex;
private volatile boolean m_threadKeepAlive = true;
private final Object m_controlWordMutex;
private ControlWord m_controlWordCache;
private long m_lastControlWordUpdate;
// WPILib WaitForData control variables
private boolean m_waitForDataPredicate;
private AtomicBoolean m_newControlData;
private final Object m_joystickMutex;
// Robot state status variables
private boolean m_userInDisabled = false;
private boolean m_userInAutonomous = false;
private boolean m_userInTeleop = false;
private boolean m_userInTest = false;
private boolean m_updatedControlLoopData;
private boolean m_newControlData;
// Control word variables
private final Object m_controlWordMutex;
private ControlWord m_controlWordCache;
private long m_lastControlWordUpdate;
/**
* Gets an instance of the DriverStation
@@ -130,7 +136,7 @@ public class DriverStation implements RobotState.Interface {
m_dataMutex = new ReentrantLock();
m_dataCond = m_dataMutex.newCondition();
m_joystickMutex = new Object();
m_newControlDataMutex = new Object();
m_newControlData = new AtomicBoolean(false);
for (int i = 0; i < kJoystickPorts; i++) {
m_joystickButtons[i] = new HALJoystickButtons();
m_joystickAxes[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
@@ -538,11 +544,7 @@ public class DriverStation implements RobotState.Interface {
* @return True if the control data has been updated since the last call.
*/
public boolean isNewControlData() {
synchronized (m_newControlDataMutex) {
boolean result = m_newControlData;
m_newControlData = false;
return result;
}
return m_newControlData.getAndSet(false);
}
/**
@@ -652,7 +654,7 @@ public class DriverStation implements RobotState.Interface {
m_dataMutex.lock();
try {
try {
while (!m_updatedControlLoopData) {
while (!m_waitForDataPredicate) {
if (timeout > 0) {
long now = Utility.getFPGATime();
if (now < startTime + timeoutMicros) {
@@ -671,7 +673,7 @@ public class DriverStation implements RobotState.Interface {
m_dataCond.await();
}
}
m_updatedControlLoopData = false;
m_waitForDataPredicate = false;
// Return true if we have received a proper signal
return true;
} catch (InterruptedException ex) {
@@ -781,10 +783,6 @@ public class DriverStation implements RobotState.Interface {
m_joystickPOVs = m_joystickPOVsCache;
m_joystickPOVsCache = currentPOVs;
}
//Lock new control data mutex and set new control data.
synchronized (m_newControlDataMutex) {
m_newControlData = true;
}
}
/**
@@ -821,11 +819,14 @@ public class DriverStation implements RobotState.Interface {
getData();
m_dataMutex.lock();
try {
m_updatedControlLoopData = true;
m_waitForDataPredicate = true;
m_dataCond.signalAll();
} finally {
m_dataMutex.unlock();
}
// notify isNewControlData variable
m_newControlData.set(true);
if (++safetyCounter >= 4) {
MotorSafetyHelper.checkMotors();
safetyCounter = 0;