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[wpilibj] Cache NT writes from DriverStation (#2780)

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This reduces malloc traffic.
This commit is contained in:
Starlight220
2020-11-22 00:35:43 +02:00
committed by GitHub
parent f7f9087fb5
commit 7cf5bebf8e
1 changed files with 99 additions and 56 deletions
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155
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -107,6 +107,23 @@ public class DriverStation {
@SuppressWarnings("MemberName")
NetworkTableEntry controlWord;
@SuppressWarnings("MemberName")
boolean oldIsRedAlliance = true;
@SuppressWarnings("MemberName")
int oldStationNumber = 1;
@SuppressWarnings("MemberName")
String oldEventName = "";
@SuppressWarnings("MemberName")
String oldGameSpecificMessage = "";
@SuppressWarnings("MemberName")
int oldMatchNumber;
@SuppressWarnings("MemberName")
int oldReplayNumber;
@SuppressWarnings("MemberName")
int oldMatchType;
@SuppressWarnings("MemberName")
int oldControlWord;
MatchDataSender() {
table = NetworkTableInstance.getDefault().getTable("FMSInfo");
typeMetadata = table.getEntry(".type");
@@ -128,6 +145,87 @@ public class DriverStation {
controlWord = table.getEntry("FMSControlData");
controlWord.forceSetDouble(0);
}
@SuppressWarnings("PMD.NPathComplexity")
private void sendMatchData(DriverStation driverStation) {
AllianceStationID allianceID = HAL.getAllianceStation();
boolean isRedAlliance = false;
int stationNumber = 1;
switch (allianceID) {
case Blue1:
isRedAlliance = false;
stationNumber = 1;
break;
case Blue2:
isRedAlliance = false;
stationNumber = 2;
break;
case Blue3:
isRedAlliance = false;
stationNumber = 3;
break;
case Red1:
isRedAlliance = true;
stationNumber = 1;
break;
case Red2:
isRedAlliance = true;
stationNumber = 2;
break;
default:
isRedAlliance = true;
stationNumber = 3;
break;
}
String currentEventName;
String currentGameSpecificMessage;
int currentMatchNumber;
int currentReplayNumber;
int currentMatchType;
int currentControlWord;
synchronized (driverStation.m_cacheDataMutex) {
currentEventName = driverStation.m_matchInfo.eventName;
currentGameSpecificMessage = driverStation.m_matchInfo.gameSpecificMessage;
currentMatchNumber = driverStation.m_matchInfo.matchNumber;
currentReplayNumber = driverStation.m_matchInfo.replayNumber;
currentMatchType = driverStation.m_matchInfo.matchType;
}
currentControlWord = HAL.nativeGetControlWord();
if (oldIsRedAlliance != isRedAlliance) {
alliance.setBoolean(isRedAlliance);
oldIsRedAlliance = isRedAlliance;
}
if (oldStationNumber != stationNumber) {
station.setDouble(stationNumber);
oldStationNumber = stationNumber;
}
if (!oldEventName.equals(currentEventName)) {
eventName.setString(currentEventName);
oldEventName = currentEventName;
}
if (!oldGameSpecificMessage.equals(currentGameSpecificMessage)) {
gameSpecificMessage.setString(currentGameSpecificMessage);
oldGameSpecificMessage = currentGameSpecificMessage;
}
if (currentMatchNumber != oldMatchNumber) {
matchNumber.setDouble(currentMatchNumber);
oldMatchNumber = currentMatchNumber;
}
if (currentReplayNumber != oldReplayNumber) {
replayNumber.setDouble(currentReplayNumber);
oldReplayNumber = currentReplayNumber;
}
if (currentMatchType != oldMatchType) {
matchType.setDouble(currentMatchType);
oldMatchType = currentMatchType;
}
if (currentControlWord != oldControlWord) {
controlWord.setDouble(currentControlWord);
oldControlWord = currentControlWord;
}
}
}
private static DriverStation instance = new DriverStation();
@@ -1004,61 +1102,6 @@ public class DriverStation {
m_userInTest = entering;
}
private void sendMatchData() {
AllianceStationID alliance = HAL.getAllianceStation();
boolean isRedAlliance = false;
int stationNumber = 1;
switch (alliance) {
case Blue1:
isRedAlliance = false;
stationNumber = 1;
break;
case Blue2:
isRedAlliance = false;
stationNumber = 2;
break;
case Blue3:
isRedAlliance = false;
stationNumber = 3;
break;
case Red1:
isRedAlliance = true;
stationNumber = 1;
break;
case Red2:
isRedAlliance = true;
stationNumber = 2;
break;
default:
isRedAlliance = true;
stationNumber = 3;
break;
}
String eventName;
String gameSpecificMessage;
int matchNumber;
int replayNumber;
int matchType;
synchronized (m_cacheDataMutex) {
eventName = m_matchInfo.eventName;
gameSpecificMessage = m_matchInfo.gameSpecificMessage;
matchNumber = m_matchInfo.matchNumber;
replayNumber = m_matchInfo.replayNumber;
matchType = m_matchInfo.matchType;
}
m_matchDataSender.alliance.setBoolean(isRedAlliance);
m_matchDataSender.station.setDouble(stationNumber);
m_matchDataSender.eventName.setString(eventName);
m_matchDataSender.gameSpecificMessage.setString(gameSpecificMessage);
m_matchDataSender.matchNumber.setDouble(matchNumber);
m_matchDataSender.replayNumber.setDouble(replayNumber);
m_matchDataSender.matchType.setDouble(matchType);
m_matchDataSender.controlWord.setDouble(HAL.nativeGetControlWord());
}
/**
* Forces waitForData() to return immediately.
*/
@@ -1144,7 +1187,7 @@ public class DriverStation {
}
wakeupWaitForData();
sendMatchData();
m_matchDataSender.sendMatchData(this);
}
/**