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Refactor Java Ultrasonic to use a List container (#1389)

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This commit is contained in:
Nicolas Machado
2018-10-29 04:15:32 -04:00
committed by Peter Johnson
parent 99e0f08a6f
commit 761933a164
1 changed files with 28 additions and 29 deletions
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57
wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
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@@ -7,6 +7,9 @@
package edu.wpi.first.wpilibj;
import java.util.ArrayList;
import java.util.List;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
@@ -40,8 +43,8 @@ public class Ultrasonic extends SendableBase implements PIDSource {
// Time (sec) for the ping trigger pulse.
private static final double kPingTime = 10 * 1e-6;
private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
// head of the ultrasonic sensor list
private static Ultrasonic m_firstSensor;
// ultrasonic sensor list
private static final List<Ultrasonic> m_sensors = new ArrayList<>();
// automatic round robin mode
private static boolean m_automaticEnabled;
private DigitalInput m_echoChannel;
@@ -49,7 +52,6 @@ public class Ultrasonic extends SendableBase implements PIDSource {
private boolean m_allocatedChannels;
private boolean m_enabled;
private Counter m_counter;
private Ultrasonic m_nextSensor;
// task doing the round-robin automatic sensing
private static Thread m_task;
private Unit m_units;
@@ -68,19 +70,29 @@ public class Ultrasonic extends SendableBase implements PIDSource {
private static class UltrasonicChecker extends Thread {
@Override
public synchronized void run() {
Ultrasonic ultrasonic = null;
int sensorIndex = 0;
Ultrasonic ultrasonic;
while (m_automaticEnabled) {
if (ultrasonic == null) {
ultrasonic = m_firstSensor;
}
if (ultrasonic == null) {
return;
//lock list to ensure deletion doesn't occur between empty check and retrieving sensor
synchronized (m_sensors) {
if (m_sensors.isEmpty()) {
return;
}
if (sensorIndex >= m_sensors.size()) {
sensorIndex = m_sensors.size() - 1;
}
ultrasonic = m_sensors.get(sensorIndex);
}
if (ultrasonic.isEnabled()) {
// Do the ping
ultrasonic.m_pingChannel.pulse(kPingTime);
}
ultrasonic = ultrasonic.m_nextSensor;
if (sensorIndex < m_sensors.size()) {
sensorIndex++;
} else {
sensorIndex = 0;
}
Timer.delay(.1); // wait for ping to return
}
}
@@ -98,8 +110,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
}
final boolean originalMode = m_automaticEnabled;
setAutomaticMode(false); // kill task when adding a new sensor
m_nextSensor = m_firstSensor;
m_firstSensor = this;
m_sensors.add(this);
m_counter = new Counter(m_echoChannel); // set up counter for this
addChild(m_counter);
@@ -190,7 +201,6 @@ public class Ultrasonic extends SendableBase implements PIDSource {
* stopped, then started again after this sensor is removed (provided this wasn't the last
* sensor).
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
@Override
public synchronized void close() {
super.close();
@@ -212,21 +222,10 @@ public class Ultrasonic extends SendableBase implements PIDSource {
m_pingChannel = null;
m_echoChannel = null;
if (this == m_firstSensor) {
m_firstSensor = m_nextSensor;
if (m_firstSensor == null) {
setAutomaticMode(false);
}
} else {
for (Ultrasonic s = m_firstSensor; s != null; s = s.m_nextSensor) {
if (this == s.m_nextSensor) {
s.m_nextSensor = s.m_nextSensor.m_nextSensor;
break;
}
}
synchronized (m_sensors) {
m_sensors.remove(this);
}
if (m_firstSensor != null && wasAutomaticMode) {
if (!m_sensors.isEmpty() && wasAutomaticMode) {
setAutomaticMode(true);
}
}
@@ -251,7 +250,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
/* Clear all the counters so no data is valid. No synchronization is
* needed because the background task is stopped.
*/
for (Ultrasonic u = m_firstSensor; u != null; u = u.m_nextSensor) {
for (Ultrasonic u : m_sensors) {
u.m_counter.reset();
}
@@ -270,7 +269,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
* disabled. No synchronization is needed because the background task is
* stopped.
*/
for (Ultrasonic u = m_firstSensor; u != null; u = u.m_nextSensor) {
for (Ultrasonic u : m_sensors) {
u.m_counter.reset();
}
}