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Makes the PIDController completely thread safe and ensures that freeing the PID Loop truly clears it [artf2567]

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Change-Id: I96502e1d58bb4353ab5f53086dd275f3c372a7af
This commit is contained in:
Jonathan Leitschuh
2014-06-09 12:40:46 -04:00
parent d418271a60
commit 59a1fb2c08
1 changed files with 24 additions and 6 deletions
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30
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
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@@ -47,6 +47,7 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
PIDSource m_pidInput;
PIDOutput m_pidOutput;
java.util.Timer m_controlLoop;
private boolean m_freed = false;
private boolean m_usingPercentTolerance;
/**
@@ -102,7 +103,17 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
}
public void run() {
m_controller.calculate();
boolean freed;
synchronized (this){
freed = m_freed;
}
if(!freed){
m_controller.calculate();
} else {
cancel();
m_controlLoop.cancel();
m_controlLoop.purge();
}
}
}
@@ -192,7 +203,12 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
* Free the PID object
*/
public void free() {
synchronized (this) {
m_freed = true;
}
m_controlLoop.cancel();
m_pidInput = null;
m_pidOutput = null;
m_controlLoop = null;
}
@@ -217,10 +233,12 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
}
if (enabled) {
double input = pidInput.pidGet();
double input;
double result;
PIDOutput pidOutput = null;
synchronized (this){
input = pidInput.pidGet();
}
synchronized (this) {
m_error = m_setpoint - input;
if (m_continuous) {
@@ -259,7 +277,7 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
pidOutput = m_pidOutput;
result = m_result;
}
pidOutput.pidWrite(result);
}
}
@@ -458,7 +476,7 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
/**
* Set the absolute error which is considered tolerable for use with
* OnTarget.
* @param absolute error which is tolerable in the units of the input object
* @param absvalue absolute error which is tolerable in the units of the input object
*/
public synchronized void setAbsoluteTolerance(double absvalue) {
m_tolerance = new AbsoluteTolerance(absvalue);
@@ -467,7 +485,7 @@ public class PIDController implements IUtility, LiveWindowSendable, Controller {
/**
* Set the percentage error which is considered tolerable for use with
* OnTarget. (Input of 15.0 = 15 percent)
* @param percent error which is tolerable
* @param percentage percent error which is tolerable
*/
public synchronized void setPercentTolerance(double percentage) {
m_tolerance = new PercentageTolerance(percentage);