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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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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();