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Remove old driver station code

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We don't need to send status data from the user program anymore

Change-Id: Ifbdb037cfb4e36681914dd7a3a2f5c56cbead6a2
This commit is contained in:
Thomas Clark
2014-08-08 11:23:03 -04:00
parent 8abbcf53f4
commit 5b8279f404
13 changed files with 1 additions and 1151 deletions
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371
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Dashboard.java
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@@ -1,371 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import java.util.Stack;
import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
import edu.wpi.first.wpilibj.communication.UsageReporting;
/**
* Pack data into the "user data" field that gets sent to the dashboard laptop
* via the driver station.
*/
public class Dashboard implements IDashboard {
protected class MemAccess {
byte[] m_bytes;
protected MemAccess(byte[] bytes) {
m_bytes = bytes;
}
protected MemAccess(int length) {
m_bytes = new byte[length];
}
public void setByte(int index, byte value) {
m_bytes[index] = value;
}
public void setShort(int index, short value) {
setByte(index++, (byte) (value >>> 8));
setByte(index++, (byte) (value));
}
public void setInt(int index, int value) {
setByte(index++, (byte) (value >>> 24));
setByte(index++, (byte) (value >>> 16));
setByte(index++, (byte) (value >>> 8));
setByte(index++, (byte) (value));
}
public void setFloat(int index, float value) {
setInt(index, Float.floatToIntBits(value));
}
public void setDouble(int index, double value) {
setInt(index, (int) (Double.doubleToLongBits(value) >>> 32));
setInt(index + 4, (int) Double.doubleToLongBits(value));
}
public void setString(int index, String value) {
setBytes(index, value.getBytes(), 0, value.length());
}
public void setBytes(int index, byte[] value, int offset, int number) {
for (int i = 0; i < number; i++) {
m_bytes[i + index] = value[i + offset];
}
}
}
private static final String kArray = "Array";
private static final String kCluster = "Cluster";
private static final Integer kByte = new Integer(0);
private static final Integer kShort = new Integer(1);
private static final Integer kInt = new Integer(2);
private static final Integer kFloat = new Integer(3);
private static final Integer kDouble = new Integer(4);
private static final Integer kString = new Integer(5);
private static final Integer kOther = new Integer(6);
private static final Integer kBoolean = new Integer(7);
private static final int kMaxDashboardDataSize = DriverStation.USER_STATUS_DATA_SIZE -
4 * 3 - 1; // 13 bytes needed for 3 size parameters and the sequence number
private static boolean m_reported = false;
protected MemAccess m_userStatus;
protected int m_userStatusSize = 0;
private MemAccess m_localBuffer;
private int m_packPtr;
private Stack m_expectedArrayElementType = new Stack();
private Stack m_arrayElementCount = new Stack();
private Stack m_arraySizePtr = new Stack();
private Stack m_complexTypeStack = new Stack();
private final Object m_statusDataSemaphore;
/**
* Dashboard constructor.
*
* This is only called once when the DriverStation constructor is called.
* @param statusDataSemaphore the object to synchronize on
*/
protected Dashboard(Object statusDataSemaphore) {
m_userStatus = new MemAccess(kMaxDashboardDataSize);
m_localBuffer = new MemAccess(kMaxDashboardDataSize);
m_packPtr = 0;
m_statusDataSemaphore = statusDataSemaphore;
}
/**
* Pack a signed 8-bit int into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addByte(byte value) {
if (!validateAdd(1)) {
return false;
}
m_localBuffer.setByte(m_packPtr, value);
m_packPtr += 1;
return addedElement(kByte);
}
/**
* Pack a signed 16-bit int into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addShort(short value) {
if (!validateAdd(2)) {
return false;
}
m_localBuffer.setShort(m_packPtr, value);
m_packPtr += 2;
return addedElement(kShort);
}
/**
* Pack a signed 32-bit int into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addInt(int value) {
if (!validateAdd(4)) {
return false;
}
m_localBuffer.setInt(m_packPtr, value);
m_packPtr += 4;
return addedElement(kInt);
}
/**
* Pack a 32-bit floating point number into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addFloat(float value) {
if (!validateAdd(4)) {
return false;
}
m_localBuffer.setFloat(m_packPtr, value);
m_packPtr += 4;
return addedElement(kFloat);
}
/**
* Pack a 64-bit floating point number into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addDouble(double value) {
if (!validateAdd(8)) {
return false;
}
m_localBuffer.setDouble(m_packPtr, value);
m_packPtr += 8;
return addedElement(kDouble);
}
/**
* Pack a boolean into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addBoolean(boolean value) {
if (!validateAdd(1)) {
return false;
}
m_localBuffer.setByte(m_packPtr, (byte) (value ? 1 : 0));
m_packPtr += 1;
return addedElement(kBoolean);
}
/**
* Pack a NULL-terminated string of 8-bit characters into the dashboard data structure.
* @param value Data to be packed into the structure.
* @return True on success
*/
public boolean addString(String value) {
if (!validateAdd(value.length() + 4)) {
return false;
}
m_localBuffer.setInt(m_packPtr, value.length());
m_packPtr += 4;
m_localBuffer.setString(m_packPtr, value);
m_packPtr += value.length();
return addedElement(kString);
}
/**
* Pack a string of 8-bit characters of specified length into the dashboard data structure.
* @param value Data to be packed into the structure.
* @param length The number of bytes in the string to pack.
* @return True on success
*/
public boolean addString(String value, int length) {
return addString(value.substring(0, length));
}
/**
* Start an array in the packed dashboard data structure.
*
* After calling addArray(), call the appropriate Add method for each element of the array.
* Make sure you call the same add each time. An array must contain elements of the same type.
* You can use clusters inside of arrays to make each element of the array contain a structure of values.
* You can also nest arrays inside of other arrays.
* Every call to addArray() must have a matching call to finalizeArray().
* @return True on success
*/
public boolean addArray() {
if (!validateAdd(4)) {
return false;
}
m_complexTypeStack.push(kArray);
m_arrayElementCount.push(new Integer(0));
m_arraySizePtr.push(new Integer(m_packPtr));
m_packPtr += 4;
return true;
}
/**
* Indicate the end of an array packed into the dashboard data structure.
*
* After packing data into the array, call finalizeArray().
* Every call to addArray() must have a matching call to finalizeArray().
* @return True on success
*/
public boolean finalizeArray() {
if (m_complexTypeStack.peek() != kArray) {
System.err.println("Attempted to finalize an array in the middle of a cluster or without starting the array");
return false;
}
m_complexTypeStack.pop();
m_localBuffer.setInt(((Integer) m_arraySizePtr.pop()).intValue(),
((Integer) m_arrayElementCount.peek()).intValue());
if (((Integer) m_arrayElementCount.peek()).intValue() != 0) {
m_expectedArrayElementType.pop();
}
m_arrayElementCount.pop();
return addedElement(kOther);
}
/**
* Start a cluster in the packed dashboard data structure.
*
* After calling addCluster(), call the appropriate Add method for each element of the cluster.
* You can use clusters inside of arrays to make each element of the array contain a structure of values.
* Every call to addCluster() must have a matching call to finalizeCluster().
* @return True on success
*/
public boolean addCluster() {
m_complexTypeStack.push(kCluster);
return true;
}
/**
* Indicate the end of a cluster packed into the dashboard data structure.
*
* After packing data into the cluster, call finalizeCluster().
* Every call to addCluster() must have a matching call to finalizeCluster
* @return True on success
*/
public boolean finalizeCluster() {
if (m_complexTypeStack.peek() != kCluster) {
System.err.println("Attempted to close a cluster on an open array or without starting the cluster");
return false;
}
m_complexTypeStack.pop();
return addedElement(kOther);
}
/**
* Indicate that the packing is complete and commit the buffer to the DriverStation.
*
* The packing of the dashboard packet is complete.
* If you are not using the packed dashboard data, you can call commit() to commit the Printf() buffer and the error string buffer.
* In effect, you are packing an empty structure.
* Prepares a packet to go to the dashboard...
* Pack the sequence number, Printf() buffer, the errors messages (not implemented yet), and packed dashboard data buffer.
* @return The total size of the data packed into the userData field of the status packet.
*/
public synchronized int commit() {
if (!m_complexTypeStack.empty()) {
System.err.println("didn't finish complex type");
m_packPtr = 0;
System.err.println("didn't finish complex type");
return 0;
}
if(!m_reported) {
UsageReporting.report(tResourceType.kResourceType_Dashboard, 0);
m_reported = true;
}
synchronized (m_statusDataSemaphore) {
// Sequence number
DriverStation.getInstance().incrementUpdateNumber();
// Packed Dashboard Data
m_userStatusSize = m_packPtr;
m_userStatus.setBytes(0, m_localBuffer.m_bytes, 0, m_userStatusSize);
m_packPtr = 0;
}
return m_userStatusSize;
}
/**
* Validate that the data being packed will fit in the buffer.
*/
private boolean validateAdd(int size) {
if (m_packPtr + size > kMaxDashboardDataSize) {
m_packPtr = 0;
System.err.println("Dashboard data is too long to send");
return false;
}
return true;
}
/**
* Check for consistent types when adding elements to an array and keep track of the number of elements in the array.
*/
private boolean addedElement(Integer type) {
if (isArrayRoot()) {
if (((Integer) m_arrayElementCount.peek()).intValue() == 0) {
m_expectedArrayElementType.push(type);
} else {
if (type != m_expectedArrayElementType.peek()) {
System.err.println("Attempted to add multiple datatypes to the same array");
return false;
}
}
m_arrayElementCount.push(new Integer(((Integer) m_arrayElementCount.pop()).intValue() + 1));
}
return true;
}
/**
* If the top of the type stack an array?
*/
private boolean isArrayRoot() {
return !m_complexTypeStack.empty() && m_complexTypeStack.peek() == kArray;
}
public byte[] getBytes() {
return m_userStatus.m_bytes;
}
public int getBytesLength() {
return m_userStatusSize;
}
public void flush() {
}
}

117
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -67,10 +67,6 @@ public class DriverStation implements RobotState.Interface {
private final Object m_dataSem;
private int m_digitalOut;
private volatile boolean m_thread_keepalive = true;
private final Dashboard m_dashboardDefaultHigh;
private final Dashboard m_dashboardDefaultLow;
private IDashboard m_dashboardInUseHigh;
private IDashboard m_dashboardInUseLow;
private int m_updateNumber = 0;
private double m_approxMatchTimeOffset = -1.0;
private boolean m_userInDisabled = false;
@@ -99,11 +95,7 @@ public class DriverStation implements RobotState.Interface {
m_semaphore = new Object();
m_dataSem = new Object();
m_dashboardInUseHigh = m_dashboardDefaultHigh = new Dashboard(m_semaphore);
m_dashboardInUseLow = m_dashboardDefaultLow = new Dashboard(m_semaphore);
m_packetDataAvailableSem = HALUtil.initializeMutexNormal();
m_packetDataAvailableSem = ByteBuffer.allocateDirect(4);
// set the byte order
m_packetDataAvailableSem.order(ByteOrder.LITTLE_ENDIAN);
@@ -131,7 +123,6 @@ public class DriverStation implements RobotState.Interface {
HALUtil.takeMutex(m_packetDataAvailableSem);
synchronized (this) {
getData();
setData();
}
synchronized (m_dataSem) {
m_dataSem.notifyAll();
@@ -212,25 +203,6 @@ public class DriverStation implements RobotState.Interface {
m_newControlData = true;
}
/**
* Copy status data from the DS task for the user.
* This is used primarily to set digital outputs on the DS.
*/
protected void setData() {
synchronized (m_semaphore) {
// TODO ???
/*FRCNetworkCommunicationsLibrary.setStatusData((float) getBatteryVoltage(),
(byte) m_digitalOut,
(byte) m_updateNumber,
new String(m_dashboardInUseHigh.getBytes()),
m_dashboardInUseHigh.getBytesLength(),
new String(m_dashboardInUseLow.getBytes()),
m_dashboardInUseLow.getBytesLength());
m_dashboardInUseHigh.flush();
m_dashboardInUseLow.flush();*/
}
}
/**
* Read the battery voltage.
*
@@ -385,93 +357,6 @@ public class DriverStation implements RobotState.Interface {
}
}
/**
* Sets the dashboard packer to use for sending high priority user data to a
* dashboard receiver. This can idle or restore the default packer.
* (Initializing SmartDashboard sets the high priority packer in use, so
* beware that the default packer will then be idle. You can restore the
* default high priority packer by calling
* {@code setDashboardPackerToUseHigh(getDashboardPackerHigh())}.)
*
* @param dashboard any kind of IDashboard object
*/
public void setDashboardPackerToUseHigh(IDashboard dashboard) {
m_dashboardInUseHigh = dashboard;
}
/**
* Gets the default dashboard packer for sending high priority user data to
* a dashboard receiver. This instance stays around even after a call to
* {@link #setDashboardPackerToUseHigh} changes which packer is in use.
*
* @return the default Dashboard object; it may be idle
*/
public Dashboard getDashboardPackerHigh() {
return m_dashboardDefaultHigh;
}
/**
* Gets the dashboard packer that's currently in use for sending high
* priority user data to a dashboard receiver. This can be any kind of
* IDashboard.
*
* @return the current IDashboard object
*/
public IDashboard getDashboardPackerInUseHigh() {
return m_dashboardInUseHigh;
}
/**
* Sets the dashboard packer to use for sending low priority user data to a
* dashboard receiver. This can idle or restore the default packer.
*
* @param dashboard any kind of IDashboard object
*/
public void setDashboardPackerToUseLow(IDashboard dashboard) {
m_dashboardInUseLow = dashboard;
}
/**
* Gets the default dashboard packer for sending low priority user data to
* a dashboard receiver. This instance stays around even after a call to
* {@link #setDashboardPackerToUseLow} changes which packer is in use.
*
* @return the default Dashboard object; it may be idle
*/
public Dashboard getDashboardPackerLow() {
return m_dashboardDefaultLow;
}
/**
* Gets the dashboard packer that's currently in use for sending low
* priority user data to a dashboard receiver. This can be any kind of
* IDashboard.
*
* @return the current IDashboard object
*/
public IDashboard getDashboardPackerInUseLow() {
return m_dashboardInUseLow;
}
/**
* Gets the status data monitor
* @return The status data monitor for use with IDashboard objects which must
* send data across the network.
*/
public Object getStatusDataMonitor() {
return m_semaphore;
}
/**
* Increments the internal update number sent across the network along with
* status data.
*/
void incrementUpdateNumber() {
synchronized (m_semaphore) {
m_updateNumber++;
}
}
/**
* Is the driver station attached to a Field Management System?
* Note: This does not work with the Blue DS.

34
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/IDashboard.java
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@@ -1,34 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
/**
* Represents a Dashboard which can provide data to be sent by the DriverStation
* class.
* @author pmalmsten
*/
public interface IDashboard {
/**
* Gets a reference to the current data to be sent to the dashboard.
* @return Byte array of data.
*/
public byte[] getBytes();
/**
* Gets the length of the current data to be sent to the
* dashboard.
* @return The length of the data array to be sent to the dashboard.
*/
public int getBytesLength();
/**
* If the dashboard had data buffered to be sent, calling this method
* will reset the output buffer.
*/
public void flush();
}

24
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
View File

@@ -361,30 +361,6 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
public static native int FRCNetworkCommunicationUsageReportingReport(byte resource, byte instanceNumber, byte context, String feature);
/**
* Original signature : <code>void getFPGAHardwareVersion(uint16_t*, uint32_t*)</code><br>
* <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:124</i><br>
* @deprecated use the safer methods {@link #getFPGAHardwareVersion(java.nio.ShortBuffer, java.nio.IntBuffer)} and {@link #getFPGAHardwareVersion(com.sun.jna.ptr.ShortByReference, com.sun.jna.ptr.IntByReference)} instead
*/
//@Deprecated
//public static native void getFPGAHardwareVersion(ShortByReference fpgaVersion, IntByReference fpgaRevision);
/**
* Original signature : <code>void getFPGAHardwareVersion(uint16_t*, uint32_t*)</code><br>
* <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:124</i>
*/
public static native void getFPGAHardwareVersion(ShortBuffer fpgaVersion, IntBuffer fpgaRevision);
/**
* Original signature : <code>int getRecentStatusData(uint8_t*, uint8_t*, uint8_t*, int)</code><br>
* <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:128</i><br>
* @deprecated use the safer methods {@link #getRecentStatusData(java.nio.ByteBuffer, java.nio.ByteBuffer, java.nio.ByteBuffer, int)} and {@link #getRecentStatusData(com.sun.jna.Pointer, com.sun.jna.Pointer, com.sun.jna.Pointer, int)} instead
*/
//@Deprecated
//public static native int getRecentStatusData(Pointer batteryInt, Pointer batteryDec, Pointer dsDigitalOut, int wait_ms);
/**
* Original signature : <code>int getRecentStatusData(uint8_t*, uint8_t*, uint8_t*, int)</code><br>
* <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:128</i>
*/
public static native int getRecentStatusData(ByteBuffer batteryInt, ByteBuffer batteryDec, ByteBuffer dsDigitalOut, int wait_ms);
/**
* Original signature : <code>int setStatusData(float, uint8_t, uint8_t, const char*, int, const char*, int, int)</code><br>
* <i>native declaration : src\main\include\NetworkCommunication\FRCComm.h:124</i><br>
* @deprecated use the safer methods {@link #getFPGAHardwareVersion(java.nio.ShortBuffer, java.nio.IntBuffer)} and {@link #getFPGAHardwareVersion(com.sun.jna.ptr.ShortByReference, com.sun.jna.ptr.IntByReference)} instead
*/