Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib, commands] Cache controller BooleanEvents/Triggers and directly construct Triggers (#6738)

Browse Source 
This has been a common footgun for teams, due to calling the factory functions in periodic loops.
This commit is contained in:
Gold856
2024-07-29 10:58:23 -04:00
committed by GitHub
parent 073192d513
commit 3c2bdafd57
21 changed files with 235 additions and 187 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
View File

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Pair;
import edu.wpi.first.wpilibj.event.BooleanEvent;
import edu.wpi.first.wpilibj.event.EventLoop;
import java.util.HashMap;
@@ -97,6 +98,12 @@ public class GenericHID {
private int m_outputs;
private int m_leftRumble;
private int m_rightRumble;
private final Map<EventLoop, Map<Integer, BooleanEvent>> m_buttonCache = new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, BooleanEvent>> m_axisLessThanCache =
new HashMap<>();
private final Map<EventLoop, Map<Pair<Integer, Double>, BooleanEvent>> m_axisGreaterThanCache =
new HashMap<>();
private final Map<EventLoop, Map<Integer, BooleanEvent>> m_povCache = new HashMap<>();
/**
* Construct an instance of a device.
@@ -159,7 +166,10 @@ public class GenericHID {
* @return an event instance representing the button's digital signal attached to the given loop.
*/
public BooleanEvent button(int button, EventLoop loop) {
return new BooleanEvent(loop, () -> getRawButton(button));
synchronized (m_buttonCache) {
var cache = m_buttonCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(button, k -> new BooleanEvent(loop, () -> getRawButton(k)));
}
}
/**
@@ -223,7 +233,12 @@ public class GenericHID {
* @return a BooleanEvent instance based around this angle of a POV on the HID.
*/
public BooleanEvent pov(int pov, int angle, EventLoop loop) {
return new BooleanEvent(loop, () -> getPOV(pov) == angle);
synchronized (m_povCache) {
var cache = m_povCache.computeIfAbsent(loop, k -> new HashMap<>());
// angle can be -1, so use 3600 instead of 360
return cache.computeIfAbsent(
pov * 3600 + angle, k -> new BooleanEvent(loop, () -> getPOV(pov) == angle));
}
}
/**
@@ -335,7 +350,12 @@ public class GenericHID {
* @return an event instance that is true when the axis value is less than the provided threshold.
*/
public BooleanEvent axisLessThan(int axis, double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getRawAxis(axis) < threshold);
synchronized (m_axisLessThanCache) {
var cache = m_axisLessThanCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(
Pair.of(axis, threshold),
k -> new BooleanEvent(loop, () -> getRawAxis(axis) < threshold));
}
}
/**
@@ -349,7 +369,12 @@ public class GenericHID {
* threshold.
*/
public BooleanEvent axisGreaterThan(int axis, double threshold, EventLoop loop) {
return new BooleanEvent(loop, () -> getRawAxis(axis) > threshold);
synchronized (m_axisGreaterThanCache) {
var cache = m_axisGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
return cache.computeIfAbsent(
Pair.of(axis, threshold),
k -> new BooleanEvent(loop, () -> getRawAxis(axis) > threshold));
}
}
/**

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
View File

@@ -261,7 +261,7 @@ public class Joystick extends GenericHID {
* given loop.
*/
public BooleanEvent trigger(EventLoop loop) {
return new BooleanEvent(loop, this::getTrigger);
return button(ButtonType.kTrigger.value, loop);
}
/**
@@ -299,7 +299,7 @@ public class Joystick extends GenericHID {
* loop.
*/
public BooleanEvent top(EventLoop loop) {
return new BooleanEvent(loop, this::getTop);
return button(ButtonType.kTop.value, loop);
}
/**