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[wpilib] Deprecate getInstance() in favor of static functions (#3440)

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Co-authored-by: Noam Zaks <imnoamzaks@gmail.com>
This commit is contained in:
Peter Johnson
2021-06-15 23:06:03 -07:00
committed by GitHub
parent 26ff9371d9
commit 362066a9b7
105 changed files with 1500 additions and 1539 deletions
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372
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -4,23 +4,34 @@
#include "frc/DriverStation.h"
#include <stdint.h>
#include <array>
#include <atomic>
#include <chrono>
#include <string>
#include <string_view>
#include <thread>
#include <type_traits>
#include <fmt/format.h>
#include <hal/DriverStation.h>
#include <hal/DriverStationTypes.h>
#include <hal/HALBase.h>
#include <hal/Power.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "frc/Errors.h"
#include "frc/MotorSafety.h"
#include "frc/Timer.h"
namespace frc {
using namespace frc;
namespace {
// A simple class which caches the previous value written to an NT entry
// Used to prevent redundant, repeated writes of the same value
template <class T>
@@ -60,37 +71,94 @@ class MatchDataSenderEntry {
void SetValue(std::string_view val) { ntEntry.SetString(val); }
};
class MatchDataSender {
public:
std::shared_ptr<nt::NetworkTable> table;
MatchDataSenderEntry<std::string> typeMetaData;
MatchDataSenderEntry<std::string> gameSpecificMessage;
MatchDataSenderEntry<std::string> eventName;
MatchDataSenderEntry<double> matchNumber;
MatchDataSenderEntry<double> replayNumber;
MatchDataSenderEntry<double> matchType;
MatchDataSenderEntry<bool> alliance;
MatchDataSenderEntry<double> station;
MatchDataSenderEntry<double> controlWord;
MatchDataSender()
: table(nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo")),
typeMetaData(table, ".type", "FMSInfo"),
gameSpecificMessage(table, "GameSpecificMessage", ""),
eventName(table, "EventName", ""),
matchNumber(table, "MatchNumber", 0.0),
replayNumber(table, "ReplayNumber", 0.0),
matchType(table, "MatchType", 0.0),
alliance(table, "IsRedAlliance", true),
station(table, "StationNumber", 1.0),
controlWord(table, "FMSControlData", 0.0) {}
struct MatchDataSender {
std::shared_ptr<nt::NetworkTable> table =
nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
MatchDataSenderEntry<std::string> typeMetaData{table, ".type", "FMSInfo"};
MatchDataSenderEntry<std::string> gameSpecificMessage{
table, "GameSpecificMessage", ""};
MatchDataSenderEntry<std::string> eventName{table, "EventName", ""};
MatchDataSenderEntry<double> matchNumber{table, "MatchNumber", 0.0};
MatchDataSenderEntry<double> replayNumber{table, "ReplayNumber", 0.0};
MatchDataSenderEntry<double> matchType{table, "MatchType", 0.0};
MatchDataSenderEntry<bool> alliance{table, "IsRedAlliance", true};
MatchDataSenderEntry<double> station{table, "StationNumber", 1.0};
MatchDataSenderEntry<double> controlWord{table, "FMSControlData", 0.0};
};
} // namespace frc
using namespace frc;
struct Instance {
Instance();
~Instance();
MatchDataSender matchDataSender;
// Joystick button rising/falling edge flags
wpi::mutex buttonEdgeMutex;
std::array<HAL_JoystickButtons, DriverStation::kJoystickPorts>
previousButtonStates;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsPressed;
std::array<uint32_t, DriverStation::kJoystickPorts> joystickButtonsReleased;
// Internal Driver Station thread
std::thread dsThread;
std::atomic<bool> isRunning{false};
mutable wpi::mutex waitForDataMutex;
wpi::condition_variable waitForDataCond;
int waitForDataCounter = 0;
bool silenceJoystickWarning = false;
// Robot state status variables
bool userInDisabled = false;
bool userInAutonomous = false;
bool userInTeleop = false;
bool userInTest = false;
units::second_t nextMessageTime = 0_s;
};
} // namespace
static constexpr auto kJoystickUnpluggedMessageInterval = 1_s;
static Instance& GetInstance() {
static Instance instance;
return instance;
}
static void Run();
static void SendMatchData();
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
static void ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args);
template <typename S, typename... Args>
static inline void ReportJoystickUnpluggedError(const S& format,
Args&&... args) {
ReportJoystickUnpluggedErrorV(
format, fmt::make_args_checked<Args...>(format, args...));
}
/**
* Reports errors related to unplugged joysticks.
*
* Throttles the errors so that they don't overwhelm the DS.
*/
static void ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args);
template <typename S, typename... Args>
static inline void ReportJoystickUnpluggedWarning(const S& format,
Args&&... args) {
ReportJoystickUnpluggedWarningV(
format, fmt::make_args_checked<Args...>(format, args...));
}
static int& GetDSLastCount() {
// There is a rollover error condition here. At Packet# = n * (uintmax), this
// will return false when instead it should return true. However, this at a
@@ -100,14 +168,30 @@ static int& GetDSLastCount() {
return lastCount;
}
DriverStation::~DriverStation() {
m_isRunning = false;
Instance::Instance() {
HAL_Initialize(500, 0);
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < DriverStation::kJoystickPorts; i++) {
joystickButtonsPressed[i] = 0;
joystickButtonsReleased[i] = 0;
previousButtonStates[i].count = 0;
previousButtonStates[i].buttons = 0;
}
dsThread = std::thread(&Run);
}
Instance::~Instance() {
isRunning = false;
// Trigger a DS mutex release in case there is no driver station running.
HAL_ReleaseDSMutex();
m_dsThread.join();
dsThread.join();
}
DriverStation& DriverStation::GetInstance() {
::GetInstance();
static DriverStation instance;
return instance;
}
@@ -158,14 +242,14 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
auto& inst = ::GetInstance();
std::unique_lock lock(inst.buttonEdgeMutex);
// If button was pressed, clear flag and return true
if (m_joystickButtonsPressed[stick] & 1 << (button - 1)) {
m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
if (inst.joystickButtonsPressed[stick] & 1 << (button - 1)) {
inst.joystickButtonsPressed[stick] &= ~(1 << (button - 1));
return true;
} else {
return false;
}
return false;
}
bool DriverStation::GetStickButtonReleased(int stick, int button) {
@@ -189,14 +273,14 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
button, buttons.count);
return false;
}
std::unique_lock lock(m_buttonEdgeMutex);
auto& inst = ::GetInstance();
std::unique_lock lock(inst.buttonEdgeMutex);
// If button was released, clear flag and return true
if (m_joystickButtonsReleased[stick] & 1 << (button - 1)) {
m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
if (inst.joystickButtonsReleased[stick] & 1 << (button - 1)) {
inst.joystickButtonsReleased[stick] &= ~(1 << (button - 1));
return true;
} else {
return false;
}
return false;
}
double DriverStation::GetStickAxis(int stick, int axis) {
@@ -247,7 +331,7 @@ int DriverStation::GetStickPOV(int stick, int pov) {
return povs.povs[pov];
}
int DriverStation::GetStickButtons(int stick) const {
int DriverStation::GetStickButtons(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -259,7 +343,7 @@ int DriverStation::GetStickButtons(int stick) const {
return buttons.buttons;
}
int DriverStation::GetStickAxisCount(int stick) const {
int DriverStation::GetStickAxisCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -271,7 +355,7 @@ int DriverStation::GetStickAxisCount(int stick) const {
return axes.count;
}
int DriverStation::GetStickPOVCount(int stick) const {
int DriverStation::GetStickPOVCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -283,7 +367,7 @@ int DriverStation::GetStickPOVCount(int stick) const {
return povs.count;
}
int DriverStation::GetStickButtonCount(int stick) const {
int DriverStation::GetStickButtonCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return 0;
@@ -295,7 +379,7 @@ int DriverStation::GetStickButtonCount(int stick) const {
return buttons.count;
}
bool DriverStation::GetJoystickIsXbox(int stick) const {
bool DriverStation::GetJoystickIsXbox(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return false;
@@ -307,7 +391,7 @@ bool DriverStation::GetJoystickIsXbox(int stick) const {
return static_cast<bool>(descriptor.isXbox);
}
int DriverStation::GetJoystickType(int stick) const {
int DriverStation::GetJoystickType(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
@@ -319,7 +403,7 @@ int DriverStation::GetJoystickType(int stick) const {
return static_cast<int>(descriptor.type);
}
std::string DriverStation::GetJoystickName(int stick) const {
std::string DriverStation::GetJoystickName(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
}
@@ -330,7 +414,7 @@ std::string DriverStation::GetJoystickName(int stick) const {
return descriptor.name;
}
int DriverStation::GetJoystickAxisType(int stick, int axis) const {
int DriverStation::GetJoystickAxisType(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
FRC_ReportError(warn::BadJoystickIndex, "stick {} out of range", stick);
return -1;
@@ -342,69 +426,70 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const {
return static_cast<bool>(descriptor.axisTypes);
}
bool DriverStation::IsJoystickConnected(int stick) const {
bool DriverStation::IsJoystickConnected(int stick) {
return GetStickAxisCount(stick) > 0 || GetStickButtonCount(stick) > 0 ||
GetStickPOVCount(stick) > 0;
}
bool DriverStation::IsEnabled() const {
bool DriverStation::IsEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.enabled && controlWord.dsAttached;
}
bool DriverStation::IsDisabled() const {
bool DriverStation::IsDisabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !(controlWord.enabled && controlWord.dsAttached);
}
bool DriverStation::IsEStopped() const {
bool DriverStation::IsEStopped() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.eStop;
}
bool DriverStation::IsAutonomous() const {
bool DriverStation::IsAutonomous() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.autonomous;
}
bool DriverStation::IsAutonomousEnabled() const {
bool DriverStation::IsAutonomousEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.autonomous && controlWord.enabled;
}
bool DriverStation::IsOperatorControl() const {
bool DriverStation::IsOperatorControl() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !(controlWord.autonomous || controlWord.test);
}
bool DriverStation::IsOperatorControlEnabled() const {
bool DriverStation::IsOperatorControlEnabled() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
}
bool DriverStation::IsTest() const {
bool DriverStation::IsTest() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.test;
}
bool DriverStation::IsDSAttached() const {
bool DriverStation::IsDSAttached() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.dsAttached;
}
bool DriverStation::IsNewControlData() const {
std::unique_lock lock(m_waitForDataMutex);
bool DriverStation::IsNewControlData() {
auto& inst = ::GetInstance();
std::unique_lock lock(inst.waitForDataMutex);
int& lastCount = GetDSLastCount();
int currentCount = m_waitForDataCounter;
int currentCount = inst.waitForDataCounter;
if (lastCount == currentCount) {
return false;
}
@@ -412,44 +497,44 @@ bool DriverStation::IsNewControlData() const {
return true;
}
bool DriverStation::IsFMSAttached() const {
bool DriverStation::IsFMSAttached() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
return controlWord.fmsAttached;
}
std::string DriverStation::GetGameSpecificMessage() const {
std::string DriverStation::GetGameSpecificMessage() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return std::string(reinterpret_cast<char*>(info.gameSpecificMessage),
info.gameSpecificMessageSize);
}
std::string DriverStation::GetEventName() const {
std::string DriverStation::GetEventName() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.eventName;
}
DriverStation::MatchType DriverStation::GetMatchType() const {
DriverStation::MatchType DriverStation::GetMatchType() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return static_cast<DriverStation::MatchType>(info.matchType);
}
int DriverStation::GetMatchNumber() const {
int DriverStation::GetMatchNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.matchNumber;
}
int DriverStation::GetReplayNumber() const {
int DriverStation::GetReplayNumber() {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
return info.replayNumber;
}
DriverStation::Alliance DriverStation::GetAlliance() const {
DriverStation::Alliance DriverStation::GetAlliance() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -466,7 +551,7 @@ DriverStation::Alliance DriverStation::GetAlliance() const {
}
}
int DriverStation::GetLocation() const {
int DriverStation::GetLocation() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -489,36 +574,37 @@ void DriverStation::WaitForData() {
}
bool DriverStation::WaitForData(units::second_t timeout) {
auto& inst = ::GetInstance();
auto timeoutTime = std::chrono::steady_clock::now() +
std::chrono::steady_clock::duration{timeout};
std::unique_lock lock(m_waitForDataMutex);
std::unique_lock lock(inst.waitForDataMutex);
int& lastCount = GetDSLastCount();
int currentCount = m_waitForDataCounter;
int currentCount = inst.waitForDataCounter;
if (lastCount != currentCount) {
lastCount = currentCount;
return true;
}
while (m_waitForDataCounter == currentCount) {
while (inst.waitForDataCounter == currentCount) {
if (timeout > 0_s) {
auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
auto timedOut = inst.waitForDataCond.wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
m_waitForDataCond.wait(lock);
inst.waitForDataCond.wait(lock);
}
}
lastCount = m_waitForDataCounter;
lastCount = inst.waitForDataCounter;
return true;
}
double DriverStation::GetMatchTime() const {
double DriverStation::GetMatchTime() {
int32_t status = 0;
return HAL_GetMatchTime(&status);
}
double DriverStation::GetBatteryVoltage() const {
double DriverStation::GetBatteryVoltage() {
int32_t status = 0;
double voltage = HAL_GetVinVoltage(&status);
FRC_CheckErrorStatus(status, "{}", "getVinVoltage");
@@ -526,92 +612,101 @@ double DriverStation::GetBatteryVoltage() const {
return voltage;
}
void DriverStation::WakeupWaitForData() {
std::scoped_lock waitLock(m_waitForDataMutex);
// Nofify all threads
m_waitForDataCounter++;
m_waitForDataCond.notify_all();
void DriverStation::InDisabled(bool entering) {
::GetInstance().userInDisabled = entering;
}
void DriverStation::GetData() {
void DriverStation::InAutonomous(bool entering) {
::GetInstance().userInAutonomous = entering;
}
void DriverStation::InOperatorControl(bool entering) {
::GetInstance().userInTeleop = entering;
}
void DriverStation::InTest(bool entering) {
::GetInstance().userInTest = entering;
}
void DriverStation::WakeupWaitForData() {
auto& inst = ::GetInstance();
std::scoped_lock waitLock(inst.waitForDataMutex);
// Nofify all threads
inst.waitForDataCounter++;
inst.waitForDataCond.notify_all();
}
/**
* Copy data from the DS task for the user.
*
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void GetData() {
auto& inst = ::GetInstance();
{
// Compute the pressed and released buttons
HAL_JoystickButtons currentButtons;
std::unique_lock lock(m_buttonEdgeMutex);
std::unique_lock lock(inst.buttonEdgeMutex);
for (int32_t i = 0; i < kJoystickPorts; i++) {
for (int32_t i = 0; i < DriverStation::kJoystickPorts; i++) {
HAL_GetJoystickButtons(i, &currentButtons);
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
m_joystickButtonsPressed[i] |=
~m_previousButtonStates[i].buttons & currentButtons.buttons;
inst.joystickButtonsPressed[i] |=
~inst.previousButtonStates[i].buttons & currentButtons.buttons;
// If buttons were pressed and aren't now, set flags in m_buttonsReleased
m_joystickButtonsReleased[i] |=
m_previousButtonStates[i].buttons & ~currentButtons.buttons;
inst.joystickButtonsReleased[i] |=
inst.previousButtonStates[i].buttons & ~currentButtons.buttons;
m_previousButtonStates[i] = currentButtons;
inst.previousButtonStates[i] = currentButtons;
}
}
WakeupWaitForData();
DriverStation::WakeupWaitForData();
SendMatchData();
}
void DriverStation::SilenceJoystickConnectionWarning(bool silence) {
m_silenceJoystickWarning = silence;
::GetInstance().silenceJoystickWarning = silence;
}
bool DriverStation::IsJoystickConnectionWarningSilenced() const {
return !IsFMSAttached() && m_silenceJoystickWarning;
bool DriverStation::IsJoystickConnectionWarningSilenced() {
return !IsFMSAttached() && ::GetInstance().silenceJoystickWarning;
}
DriverStation::DriverStation() {
HAL_Initialize(500, 0);
m_waitForDataCounter = 0;
m_matchDataSender = std::make_unique<MatchDataSender>();
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickButtonsPressed[i] = 0;
m_joystickButtonsReleased[i] = 0;
m_previousButtonStates[i].count = 0;
m_previousButtonStates[i].buttons = 0;
}
m_dsThread = std::thread(&DriverStation::Run, this);
}
void DriverStation::ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
void ReportJoystickUnpluggedErrorV(fmt::string_view format,
fmt::format_args args) {
auto& inst = GetInstance();
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
if (currentTime > inst.nextMessageTime) {
ReportErrorV(err::Error, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}
void DriverStation::ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
if (IsFMSAttached() || !m_silenceJoystickWarning) {
void ReportJoystickUnpluggedWarningV(fmt::string_view format,
fmt::format_args args) {
auto& inst = GetInstance();
if (DriverStation::IsFMSAttached() || !inst.silenceJoystickWarning) {
auto currentTime = Timer::GetFPGATimestamp();
if (currentTime > m_nextMessageTime) {
if (currentTime > inst.nextMessageTime) {
ReportErrorV(warn::Warning, "", 0, "", format, args);
m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
inst.nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval;
}
}
}
void DriverStation::Run() {
m_isRunning = true;
void Run() {
auto& inst = GetInstance();
inst.isRunning = true;
int safetyCounter = 0;
while (m_isRunning) {
while (inst.isRunning) {
HAL_WaitForDSData();
GetData();
if (IsDisabled()) {
if (DriverStation::IsDisabled()) {
safetyCounter = 0;
}
@@ -619,22 +714,22 @@ void DriverStation::Run() {
MotorSafety::CheckMotors();
safetyCounter = 0;
}
if (m_userInDisabled) {
if (inst.userInDisabled) {
HAL_ObserveUserProgramDisabled();
}
if (m_userInAutonomous) {
if (inst.userInAutonomous) {
HAL_ObserveUserProgramAutonomous();
}
if (m_userInTeleop) {
if (inst.userInTeleop) {
HAL_ObserveUserProgramTeleop();
}
if (m_userInTest) {
if (inst.userInTest) {
HAL_ObserveUserProgramTest();
}
}
}
void DriverStation::SendMatchData() {
void SendMatchData() {
int32_t status = 0;
HAL_AllianceStationID alliance = HAL_GetAllianceStation(&status);
bool isRedAlliance = false;
@@ -669,19 +764,20 @@ void DriverStation::SendMatchData() {
HAL_MatchInfo tmpDataStore;
HAL_GetMatchInfo(&tmpDataStore);
m_matchDataSender->alliance.Set(isRedAlliance);
m_matchDataSender->station.Set(stationNumber);
m_matchDataSender->eventName.Set(tmpDataStore.eventName);
m_matchDataSender->gameSpecificMessage.Set(
auto& inst = GetInstance();
inst.matchDataSender.alliance.Set(isRedAlliance);
inst.matchDataSender.station.Set(stationNumber);
inst.matchDataSender.eventName.Set(tmpDataStore.eventName);
inst.matchDataSender.gameSpecificMessage.Set(
std::string(reinterpret_cast<char*>(tmpDataStore.gameSpecificMessage),
tmpDataStore.gameSpecificMessageSize));
m_matchDataSender->matchNumber.Set(tmpDataStore.matchNumber);
m_matchDataSender->replayNumber.Set(tmpDataStore.replayNumber);
m_matchDataSender->matchType.Set(static_cast<int>(tmpDataStore.matchType));
inst.matchDataSender.matchNumber.Set(tmpDataStore.matchNumber);
inst.matchDataSender.replayNumber.Set(tmpDataStore.replayNumber);
inst.matchDataSender.matchType.Set(static_cast<int>(tmpDataStore.matchType));
HAL_ControlWord ctlWord;
HAL_GetControlWord(&ctlWord);
int32_t wordInt = 0;
std::memcpy(&wordInt, &ctlWord, sizeof(wordInt));
m_matchDataSender->controlWord.Set(wordInt);
inst.matchDataSender.controlWord.Set(wordInt);
}