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Add a getControlWord() call to the run thread in DS so that the program is kept alive

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Change-Id: I8b86506f6125422e19e8b5ab23e3667bf808bdc4
This commit is contained in:
Brad Miller
2014-11-25 17:34:38 -05:00
parent 56430ccd7c
commit 81840b2c49
2 changed files with 12 additions and 1 deletions
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11
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -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;
}