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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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59
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -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()