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Adds a maximum time based cache to HALControlWord data (#158)

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This is one of the calls with the delayed IPC. In the past, teams have
called an IsMode function so much that their code would start lagging.
This adds a cache, so the data is updated either when new data arrives
and we are notified of it, or after 50ms has passes since the last time
the cache was checked and updated.
This commit is contained in:
Thad House
2016-07-15 13:39:26 -07:00
committed by Peter Johnson
parent 1bf2d58db1
commit 2c911b0f7a
5 changed files with 93 additions and 27 deletions
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39
wpilibc/athena/src/DriverStation.cpp
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@@ -277,7 +277,7 @@ int DriverStation::GetJoystickAxisType(uint32_t stick, uint8_t axis) const {
*/
bool DriverStation::IsEnabled() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return controlWord.enabled && controlWord.dsAttached;
}
@@ -288,7 +288,7 @@ bool DriverStation::IsEnabled() const {
*/
bool DriverStation::IsDisabled() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return !(controlWord.enabled && controlWord.dsAttached);
}
@@ -299,7 +299,7 @@ bool DriverStation::IsDisabled() const {
*/
bool DriverStation::IsAutonomous() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return controlWord.autonomous;
}
@@ -310,7 +310,7 @@ bool DriverStation::IsAutonomous() const {
*/
bool DriverStation::IsOperatorControl() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return !(controlWord.autonomous || controlWord.test);
}
@@ -321,7 +321,7 @@ bool DriverStation::IsOperatorControl() const {
*/
bool DriverStation::IsTest() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return controlWord.test;
}
@@ -332,7 +332,7 @@ bool DriverStation::IsTest() const {
*/
bool DriverStation::IsDSAttached() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return controlWord.dsAttached;
}
@@ -357,7 +357,7 @@ bool DriverStation::IsNewControlData() const {
*/
bool DriverStation::IsFMSAttached() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
UpdateControlWord(false, controlWord);
return controlWord.fmsAttached;
}
@@ -500,6 +500,9 @@ void DriverStation::GetData() {
HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]);
HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]);
}
// Force a control word update, to make sure the data is the newest.
HAL_ControlWord controlWord;
UpdateControlWord(true, controlWord);
// Obtain a write lock on the data, swap the cached data into the
// main data arrays
std::lock_guard<priority_mutex> lock(m_joystickDataMutex);
@@ -597,3 +600,25 @@ void DriverStation::Run() {
if (m_userInTest) HAL_ObserveUserProgramTest();
}
}
/**
* Gets ControlWord data from the cache. If 50ms has passed, or the force
* parameter is set, the cached data is updated. Otherwise the data is just
* copied from the cache.
*
* @param force True to force an update to the cache, otherwise update if 50ms
* have passed.
* @param controlWord Structure to put the return control word data into.
*/
void DriverStation::UpdateControlWord(bool force,
HAL_ControlWord& controlWord) const {
auto now = std::chrono::steady_clock::now();
std::lock_guard<priority_mutex> lock(m_controlWordMutex);
// Update every 50 ms or on force.
if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
force) {
HAL_GetControlWord(&m_controlWordCache);
m_lastControlWordUpdate = now;
}
controlWord = m_controlWordCache;
}