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Squashed commit of the following:

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commit c8543f97f77a0fef282b6598ae094ac75ea1dd22
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Thu Dec 11 16:41:08 2014 -0500

    Go back to buffering Joystick data.

    Change-Id: I0b4204bfc6e81f50dc4a01c58cfbe14a771e902f

commit a8ddee2a923749903aafe2a8121171b1d70750e7
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Fri Dec 5 17:38:58 2014 -0500

    Add error for using non-existent button 0. Fixes artf3870.

    Change-Id: I5b83cc7e3f0e4ab957279a877c76eeab6cb4b77b

Change-Id: Iae36482fd82176a9e09da1cfdfb69591411b2be2
This commit is contained in:
Kevin O'Connor
2014-12-11 16:44:55 -05:00
parent dd272e6bcb
commit 827341caa2
3 changed files with 94 additions and 44 deletions
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4
wpilibc/wpilibC++Devices/include/DriverStation.h
View File

@@ -89,12 +89,16 @@ public:
protected:
DriverStation();
void GetData();
private:
static void InitTask(DriverStation *ds);
static DriverStation *m_instance;
void ReportJoystickUnpluggedError(std::string message);
void Run();
HALJoystickAxes m_joystickAxes[kJoystickPorts];
HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
HALJoystickButtons m_joystickButtons[kJoystickPorts];
Task m_task;
SEMAPHORE_ID m_newControlData;
MULTIWAIT_ID m_packetDataAvailableMultiWait;

59
wpilibc/wpilibC++Devices/src/DriverStation.cpp
View File

@@ -28,7 +28,7 @@ const uint32_t DriverStation::kJoystickPorts;
DriverStation* DriverStation::m_instance = NULL;
/**
* DriverStation contructor.
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
@@ -43,6 +43,13 @@ DriverStation::DriverStation()
, m_userInTest(false)
, m_nextMessageTime(0)
{
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for(unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
@@ -84,15 +91,12 @@ void DriverStation::InitTask(DriverStation *ds)
void DriverStation::Run()
{
HALControlWord controlWord;
int period = 0;
while (true)
{
// need to get the controlWord to keep the motors enabled
HALGetControlWord(&controlWord);
takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);
GetData();
giveMultiWait(m_waitForDataSem);
giveSemaphore(m_newControlData);
if (++period >= 4)
{
@@ -122,6 +126,23 @@ DriverStation* DriverStation::GetInstance()
return m_instance;
}
/**
* Copy data from the DS task for the user.
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
void DriverStation::GetData()
{
// Get the status of all of the joysticks
for(uint8_t stick = 0; stick < kJoystickPorts; stick++) {
HALGetJoystickAxes(stick, &m_joystickAxes[stick]);
HALGetJoystickPOVs(stick, &m_joystickPOVs[stick]);
HALGetJoystickButtons(stick, &m_joystickButtons[stick]);
}
giveSemaphore(m_newControlData);
}
/**
* Read the battery voltage.
*
@@ -211,9 +232,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
return 0;
}
HALJoystickAxes joystickAxes;
HALGetJoystickAxes(stick, &joystickAxes);
if (axis >= joystickAxes.count)
if (axis >= m_joystickAxes[stick].count)
{
if (axis >= kMaxJoystickAxes)
wpi_setWPIError(BadJoystickAxis);
@@ -222,7 +241,7 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
return 0.0f;
}
int8_t value = joystickAxes.axes[axis];
int8_t value = m_joystickAxes[stick].axes[axis];
if(value < 0)
{
@@ -245,10 +264,8 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
HALJoystickPOVs joystickPOVs;
HALGetJoystickPOVs(stick, &joystickPOVs);
if (pov >= joystickPOVs.count)
if (pov >= m_joystickPOVs[stick].count)
{
if (pov >= kMaxJoystickPOVs)
wpi_setWPIError(BadJoystickAxis);
@@ -257,7 +274,7 @@ int DriverStation::GetStickPOV(uint32_t stick, uint32_t pov) {
return 0;
}
return joystickPOVs.povs[pov];
return m_joystickPOVs[stick].povs[pov];
}
/**
@@ -271,16 +288,20 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
if (stick >= kJoystickPorts)
{
wpi_setWPIError(BadJoystickIndex);
return 0;
return false;
}
HALJoystickButtons joystickButtons;
HALGetJoystickButtons(stick, &joystickButtons);
if(button > joystickButtons.count)
if(button > m_joystickButtons[stick].count)
{
ReportJoystickUnpluggedError("WARNING: Joystick Button missing, check if all controllers are plugged in\n");
return false;
}
return ((0x1 << (button-1)) & joystickButtons.buttons) !=0;
if(button == 0)
{
ReportJoystickUnpluggedError("ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
return ((0x1 << (button-1)) & m_joystickButtons[stick].buttons) !=0;
}
bool DriverStation::IsEnabled()

75
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -25,6 +25,11 @@ public class DriverStation implements RobotState.Interface {
* Number of Joystick Ports
*/
public static final int kJoystickPorts = 6;
private class HALJoystickButtons {
public int buttons;
public byte count;
}
/**
* The robot alliance that the robot is a part of
@@ -49,6 +54,9 @@ public class DriverStation implements RobotState.Interface {
private static DriverStation instance = new DriverStation();
private short[][] m_joystickAxes = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
private short[][] m_joystickPOVs = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs];
private HALJoystickButtons[] m_joystickButtons = new HALJoystickButtons[kJoystickPorts];
private Thread m_thread;
private final Object m_dataSem;
@@ -78,6 +86,10 @@ public class DriverStation implements RobotState.Interface {
*/
protected DriverStation() {
m_dataSem = new Object();
for(int i=0; i<kJoystickPorts; i++)
{
m_joystickButtons[i] = new HALJoystickButtons();
}
m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
m_packetDataAvailableSem = HALUtil.initializeMultiWait();
@@ -103,13 +115,13 @@ public class DriverStation implements RobotState.Interface {
int safetyCounter = 0;
while (m_thread_keepalive) {
HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex, 0);
synchronized (this) {
getData();
}
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) {
if (++safetyCounter >= 4) {
MotorSafetyHelper.checkMotors();
safetyCounter = 0;
}
@@ -149,6 +161,24 @@ public class DriverStation implements RobotState.Interface {
}
}
}
/**
* Copy data from the DS task for the user.
* If no new data exists, it will just be returned, otherwise
* the data will be copied from the DS polling loop.
*/
protected synchronized void getData() {
// Get the status of all of the joysticks
for(byte stick = 0; stick < kJoystickPorts; stick++) {
m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
m_joystickPOVs[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick);
ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
m_joystickButtons[stick].buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
m_joystickButtons[stick].count = countBuffer.get();
}
m_newControlData = true;
}
/**
* Read the battery voltage.
@@ -187,15 +217,13 @@ public class DriverStation implements RobotState.Interface {
if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
throw new RuntimeException("Joystick axis is out of range");
}
short[] joystickAxes = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes((byte)stick);
if (axis >= joystickAxes.length) {
if (axis >= m_joystickAxes[stick].length) {
reportJoystickUnpluggedError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n");
return 0.0;
}
byte value = (byte)joystickAxes[axis];
byte value = (byte)m_joystickAxes[stick][axis];
if(value < 0) {
return value / 128.0;
@@ -215,7 +243,7 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
}
return FRCNetworkCommunicationsLibrary.HALGetJoystickAxes((byte)stick).length;
return m_joystickAxes[stick].length;
}
/**
@@ -231,15 +259,13 @@ public class DriverStation implements RobotState.Interface {
if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) {
throw new RuntimeException("Joystick POV is out of range");
}
short[] joystickPOVs = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs((byte)stick);
if (pov >= joystickPOVs.length) {
if (pov >= m_joystickPOVs[stick].length) {
reportJoystickUnpluggedError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n");
return 0;
}
return joystickPOVs[pov];
return m_joystickPOVs[stick][pov];
}
/**
@@ -253,7 +279,7 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
}
return FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs((byte)stick).length;
return m_joystickPOVs[stick].length;
}
/**
@@ -268,15 +294,17 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
int buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
byte count = 0;
count = countBuffer.get();
if(button > count) {
if(button > m_joystickButtons[stick].count) {
reportJoystickUnpluggedError("WARNING: Joystick Button " + button + " on port " + stick + " not available, check if controller is plugged in\n");
return false;
}
return ((0x1 << (button - 1)) & buttons) != 0;
if(button == 0)
{
reportJoystickUnpluggedError("ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
}
/**
@@ -290,11 +318,8 @@ public class DriverStation implements RobotState.Interface {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
}
ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
int buttons = FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte)stick, countBuffer);
byte count = countBuffer.get();
return count;
return m_joystickButtons[stick].count;
}
/**