From 81840b2c49181bf6befc4adb571c9ba1530689e6 Mon Sep 17 00:00:00 2001
From: Brad Miller <brad@bradhouse.com>
Date: Tue, 25 Nov 2014 17:34:38 -0500
Subject: [PATCH] Add a getControlWord() call to the run thread in DS so that
 the program is kept alive

Change-Id: I8b86506f6125422e19e8b5ab23e3667bf808bdc4
---
 wpilibc/wpilibC++Devices/src/DriverStation.cpp        | 11 ++++++++++-
 .../java/edu/wpi/first/wpilibj/DriverStation.java     |  2 ++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index 94f5ed864c..dddbe56ae8 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -82,12 +82,16 @@ void DriverStation::InitTask(DriverStation *ds)
 
 void DriverStation::Run()
 {
+   	HALControlWord controlWord;
 	int period = 0;
 	while (true)
 	{
-		takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);  
+        // need to get the controlWord to keep the motors enabled
+	    HALGetControlWord(&controlWord);
+		takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);
 		giveMultiWait(m_waitForDataSem);
 		giveSemaphore(m_newControlData);
+
 		if (++period >= 4)
 		{
 			MotorSafetyHelper::CheckMotors();
@@ -221,6 +225,7 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
 bool DriverStation::IsEnabled()
 {
 	HALControlWord controlWord;
+    memset(&controlWord, 0, sizeof(controlWord));
 	HALGetControlWord(&controlWord);
 	return controlWord.enabled && controlWord.dsAttached;
 }
@@ -228,6 +233,7 @@ bool DriverStation::IsEnabled()
 bool DriverStation::IsDisabled()
 {
 	HALControlWord controlWord;
+    memset(&controlWord, 0, sizeof(controlWord));
 	HALGetControlWord(&controlWord);
 	return !(controlWord.enabled && controlWord.dsAttached);
 }
@@ -235,6 +241,7 @@ bool DriverStation::IsDisabled()
 bool DriverStation::IsAutonomous()
 {
 	HALControlWord controlWord;
+    memset(&controlWord, 0, sizeof(controlWord));
 	HALGetControlWord(&controlWord);
 	return controlWord.autonomous;
 }
@@ -242,6 +249,7 @@ bool DriverStation::IsAutonomous()
 bool DriverStation::IsOperatorControl()
 {
 	HALControlWord controlWord;
+    memset(&controlWord, 0, sizeof(controlWord));
 	HALGetControlWord(&controlWord);
 	return !(controlWord.autonomous || controlWord.test);
 }
@@ -256,6 +264,7 @@ bool DriverStation::IsTest()
 bool DriverStation::IsDSAttached()
 {
 	HALControlWord controlWord;
+    memset(&controlWord, 0, sizeof(controlWord));
 	HALGetControlWord(&controlWord);
 	return controlWord.dsAttached;
 }
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 17a536f49f..ae949eb598 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -103,6 +103,8 @@ public class DriverStation implements RobotState.Interface {
             synchronized (m_dataSem) {
                 m_dataSem.notifyAll();
             }
+            // need to get the controlWord to keep the motors enabled
+            HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
             m_newControlData = true;
             if (++safetyCounter >= 5) {
                 MotorSafetyHelper.checkMotors();