Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal] Remove DS Data timeout (#8083)

Browse Source
This commit is contained in:
Thad House
2025-07-15 21:18:17 -07:00
committed by GitHub
parent 1530fccbd0
commit 24e2d2d676
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
hal/src/main/native/systemcore/FRCDriverStation.cpp
View File

@@ -608,13 +608,14 @@ HAL_Bool HAL_RefreshDSData(void) {
int64_t dataTime{0};
bool dataValid = systemServerDs->GetLastControlData(&newestData, &dataTime);
auto now = wpi::Now();
auto delta = now - dataTime;
// auto now = wpi::Now();
// auto delta = now - dataTime;
bool updatedData = false;
// Data newer then 125ms, and we have a DS connected
if (dataValid && delta < 125000 && newestData.ControlWord.DsConnected) {
// TODO add a new way to detect if mrccomm has stopped.
if (dataValid /* && delta < 125000 */ && newestData.ControlWord.DsConnected) {
// Update the cache.
cacheToUpdate->Update(newestData);
updatedData = true;