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DriverStation: Fix getStickButtonPressed/Released (#856)

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This fixes DriverStation in WPILibJ to check the existence of buttons and hold the data mutex in getStickButtonPressed() and getStickButtonReleased(), as the corresponding methods in WPILibC do.
This commit is contained in:
David Vo
2018-05-17 13:00:48 +10:00
committed by Peter Johnson
parent 72a79aac53
commit 73439d8213
1 changed files with 44 additions and 21 deletions
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65
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -140,8 +140,8 @@ public class DriverStation implements RobotState.Interface {
private MatchInfoData m_matchInfoCache = new MatchInfoData();
// Joystick button rising/falling edge flags
HALJoystickButtons[] m_joystickButtonsPressed = new HALJoystickButtons[kJoystickPorts];
HALJoystickButtons[] m_joystickButtonsReleased = new HALJoystickButtons[kJoystickPorts];
private int[] m_joystickButtonsPressed = new int[kJoystickPorts];
private int[] m_joystickButtonsReleased = new int[kJoystickPorts];
// preallocated byte buffer for button count
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
@@ -197,9 +197,6 @@ public class DriverStation implements RobotState.Interface {
m_joystickButtonsCache[i] = new HALJoystickButtons();
m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
m_joystickButtonsPressed[i] = new HALJoystickButtons();
m_joystickButtonsReleased[i] = new HALJoystickButtons();
}
m_controlWordMutex = new Object();
@@ -342,14 +339,27 @@ public class DriverStation implements RobotState.Interface {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
// If button was pressed, clear flag and return true
if ((m_joystickButtonsPressed[stick].m_buttons & 1 << (button - 1)) != 0) {
m_joystickButtonsPressed[stick].m_buttons &= ~(1 << (button - 1));
return true;
} else {
return false;
boolean error = false;
boolean retVal = false;
synchronized (m_cacheDataMutex) {
if (button > m_joystickButtons[stick].m_count) {
error = true;
retVal = false;
} else {
// If button was pressed, clear flag and return true
if ((m_joystickButtonsPressed[stick] & 1 << (button - 1)) != 0) {
m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
retVal = true;
} else {
retVal = false;
}
}
}
if (error) {
reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
+ " not available, check if controller is plugged in");
}
return retVal;
}
/**
@@ -368,14 +378,27 @@ public class DriverStation implements RobotState.Interface {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
// If button was released, clear flag and return true
if ((m_joystickButtonsReleased[stick].m_buttons & 1 << (button - 1)) != 0) {
m_joystickButtonsReleased[stick].m_buttons &= ~(1 << (button - 1));
return true;
} else {
return false;
boolean error = false;
boolean retVal = false;
synchronized (m_cacheDataMutex) {
if (button > m_joystickButtons[stick].m_count) {
error = true;
retVal = false;
} else {
// If button was released, clear flag and return true
if ((m_joystickButtonsReleased[stick] & 1 << (button - 1)) != 0) {
m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
retVal = true;
} else {
retVal = false;
}
}
}
if (error) {
reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
+ " not available, check if controller is plugged in");
}
return retVal;
}
/**
@@ -1042,11 +1065,11 @@ public class DriverStation implements RobotState.Interface {
try {
for (int i = 0; i < kJoystickPorts; i++) {
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
m_joystickButtonsPressed[i].m_buttons |=
m_joystickButtonsPressed[i] |=
~m_joystickButtons[i].m_buttons & m_joystickButtonsCache[i].m_buttons;
// If buttons were pressed and aren't now, set flags in m_buttonsReleased
m_joystickButtonsReleased[i].m_buttons |=
m_joystickButtonsReleased[i] |=
m_joystickButtons[i].m_buttons & ~m_joystickButtonsCache[i].m_buttons;
}