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Get MatchTime from NetComms (fixes artf2538)

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Change-Id: I7ea438ce4610087bceac696a958e3c1e3ead238a
This commit is contained in:
Kevin O'Connor
2014-11-21 10:37:29 -05:00
parent 99dc3c90ed
commit 14a1e6ae8e
6 changed files with 25 additions and 7 deletions
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1
hal/include/HAL/HAL.hpp
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@@ -214,6 +214,7 @@ extern "C"
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
int HALGetMatchTime(float *matchTime);
void HALSetNewDataSem(pthread_cond_t *);

5
hal/lib/Athena/HAL.cpp
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@@ -206,6 +206,11 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint
return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
}
int HALGetMatchTime(float *matchTime)
{
return FRC_NetworkCommunication_getMatchTime(matchTime);
}
void HALSetNewDataSem(pthread_cond_t * param)
{
setNewDataSem(param);

6
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -397,9 +397,9 @@ void DriverStation::WaitForData()
*/
double DriverStation::GetMatchTime()
{
if (m_approxMatchTimeOffset < 0.0)
return 0.0;
return Timer::GetFPGATimestamp() - m_approxMatchTimeOffset;
float matchTime;
HALGetMatchTime(&matchTime);
return (double)matchTime;
}
/**

5
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -433,10 +433,7 @@ public class DriverStation implements RobotState.Interface {
* @return Match time in seconds since the beginning of autonomous
*/
public double getMatchTime() {
if (m_approxMatchTimeOffset < 0.0) {
return 0.0;
}
return Timer.getFPGATimestamp() - m_approxMatchTimeOffset;
return FRCNetworkCommunicationsLibrary.HALGetMatchTime();
}
/**

1
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
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@@ -468,6 +468,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
return HALAllianceStationID.Blue2;
case 5:
return HALAllianceStationID.Blue3;
default:
return null;
}
}

14
wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp
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@@ -535,6 +535,20 @@ JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCom
return env->NewDirectByteBuffer(returnByteArray, 4);
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetMatchTime
* Signature: ()F
*/
JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime
(JNIEnv * env, jclass)
{
jfloat matchTime;
HALGetMatchTime((float*)&matchTime);
return matchTime;
}
/*
* Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
* Method: HALGetSystemActive