Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Don't do wait on init for ExHub in sim (#8865)

Browse Source 
Closes #8859
This commit is contained in:
Thad House
2026-05-07 09:58:14 -07:00
committed by GitHub
parent b10bc0a674
commit 63a82dccb2
2 changed files with 16 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHub.java
View File

@@ -4,6 +4,7 @@
package org.wpilib.hardware.expansionhub;
import org.wpilib.framework.RobotBase;
import org.wpilib.hardware.hal.HAL;
import org.wpilib.networktables.BooleanSubscriber;
import org.wpilib.networktables.NetworkTableInstance;
@@ -32,12 +33,14 @@ public class ExpansionHub implements AutoCloseable {
// Wait up to half a second for connected to come up, using a poll loop to
// ensure we don't block.
double startTime = Timer.getMonotonicTimestamp();
while (Timer.getMonotonicTimestamp() - startTime < 0.5) {
if (m_hubConnectedSubscriber.get(false)) {
break;
if (RobotBase.isReal()) {
double startTime = Timer.getMonotonicTimestamp();
while (Timer.getMonotonicTimestamp() - startTime < 0.5) {
if (m_hubConnectedSubscriber.get(false)) {
break;
}
Timer.delay(0.01);
}
Timer.delay(0.01);
}
}