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

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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;