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Adds match specific calls to Java and C++ (#720)

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Uses caching, matching the joystick calls.
This commit is contained in:
Thad House
2017-11-09 19:59:29 -08:00
committed by Peter Johnson
parent 2225c4fee2
commit 7bbd13d914
9 changed files with 310 additions and 51 deletions
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13
wpilibc/src/main/native/include/DriverStation.h
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@@ -22,6 +22,8 @@
namespace frc {
struct MatchInfoData;
/**
* Provide access to the network communication data to / from the Driver
* Station.
@@ -29,6 +31,7 @@ namespace frc {
class DriverStation : public SensorBase, public RobotStateInterface {
public:
enum Alliance { kRed, kBlue, kInvalid };
enum MatchType { kNone, kPractice, kQualification, kElimination };
virtual ~DriverStation();
static DriverStation& GetInstance();
@@ -67,6 +70,12 @@ class DriverStation : public SensorBase, public RobotStateInterface {
bool IsSysActive() const;
bool IsBrownedOut() const;
std::string GetGameSpecificMessage() const;
std::string GetEventName() const;
MatchType GetMatchType() const;
int GetMatchNumber() const;
int GetReplayNumber() const;
Alliance GetAlliance() const;
int GetLocation() const;
void WaitForData();
@@ -109,12 +118,14 @@ class DriverStation : public SensorBase, public RobotStateInterface {
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
std::unique_ptr<MatchInfoData> m_matchInfo;
// Joystick Cached Data
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
std::unique_ptr<MatchInfoData> m_matchInfoCache;
// Joystick button rising/falling edge flags
std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
@@ -124,7 +135,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
std::thread m_dsThread;
std::atomic<bool> m_isRunning{false};
mutable std::mutex m_joystickDataMutex;
mutable std::mutex m_cacheDataMutex;
// Robot state status variables
bool m_userInDisabled = false;