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Moves the DS new data wait calls down to the HAL. (#156)

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This commit is contained in:
Thad House
2016-07-10 23:10:05 -07:00
committed by Peter Johnson
parent 0cb288ffba
commit 4a98e68815
12 changed files with 28 additions and 209 deletions
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8
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -100,8 +100,6 @@ public class DriverStation implements RobotState.Interface {
private boolean m_userInTest = false;
private boolean m_updatedControlLoopData;
private boolean m_newControlData;
private final long m_packetDataAvailableMutex;
private final long m_packetDataAvailableSem;
/**
* Gets an instance of the DriverStation
@@ -132,10 +130,6 @@ public class DriverStation implements RobotState.Interface {
m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
}
m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
m_packetDataAvailableSem = HALUtil.initializeMultiWait();
HAL.setNewDataSem(m_packetDataAvailableSem);
m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);
@@ -155,7 +149,7 @@ public class DriverStation implements RobotState.Interface {
private void task() {
int safetyCounter = 0;
while (m_threadKeepAlive) {
HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex);
HAL.waitForDSData();
getData();
synchronized (m_dataSem) {
m_updatedControlLoopData = true;

2
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.hal.JNIWrapper;
*/
@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
public class HAL extends JNIWrapper {
public static native void setNewDataSem(long mutexId);
public static native void waitForDSData();
public static native int initialize(int mode);

18
wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HALUtil.java
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@@ -18,24 +18,6 @@ public class HALUtil extends JNIWrapper {
public static final int NO_AVAILABLE_RESOURCES = -104;
public static final int PARAMETER_OUT_OF_RANGE = -1028;
// public static final int SEMAPHORE_WAIT_FOREVER = -1;
// public static final int SEMAPHORE_Q_PRIORITY = 0x01;
public static native long initializeMutexNormal();
public static native void deleteMutex(long sem);
public static native void takeMutex(long sem);
// public static native long initializeSemaphore(int initialValue);
// public static native void deleteSemaphore(long sem);
// public static native byte takeSemaphore(long sem, int timeout);
public static native long initializeMultiWait();
public static native void deleteMultiWait(long sem);
public static native void takeMultiWait(long sem, long ms);
public static native short getFPGAVersion();
public static native int getFPGARevision();