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Ultrasonic: replace linked list with std::set.

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Also remove m_mutex.  It's no longer necessary because we ensure the automatic
thread is stopped while the set is being accessed.

Change-Id: I5994bbeba022a2ebd9e166fca369ebc8c229975c
This commit is contained in:
Tyler Veness
2015-10-30 01:07:14 -07:00
committed by Peter Johnson
parent 7a2be548a7
commit 887f220fe7
3 changed files with 70 additions and 91 deletions
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23
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
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@@ -253,22 +253,27 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
m_automaticEnabled = enabling;
if (enabling) {
// enabling automatic mode.
// Clear all the counters so no data is valid
/* Clear all the counters so no data is valid. No synchronization is
* needed because the background task is stopped.
*/
for (Ultrasonic u = m_firstSensor; u != null; u = u.m_nextSensor) {
u.m_counter.reset();
}
// Start round robin task
m_task.start();
} else {
// disabling automatic mode. Wait for background task to stop
// running.
while (m_task.isAlive()) {
Timer.delay(.15); // just a little longer than the ping time for
// round-robin to stop
// Wait for background task to stop running
try {
m_task.join();
} catch (InterruptedException e) {
e.printStackTrace();
}
// clear all the counters (data now invalid) since automatic mode is
// stopped
/* Clear all the counters (data now invalid) since automatic mode is
* disabled. No synchronization is needed because the background task is
* stopped.
*/
for (Ultrasonic u = m_firstSensor; u != null; u = u.m_nextSensor) {
u.m_counter.reset();
}