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Don't buffer NetComms data and add IsDSAttached() check to C++ IsEnabled() method (fixes artf3747)

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Change-Id: Idaa7edcd601147c39fb31b7966d9e975869dea87
This commit is contained in:
Kevin O'Connor
2014-11-21 13:14:48 -05:00
parent 7e5ed03d28
commit 97456f40f7
4 changed files with 63 additions and 148 deletions
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92
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -21,18 +21,10 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
*/
public class DriverStation implements RobotState.Interface {
/**
* The size of the user status data
*/
public static final int USER_STATUS_DATA_SIZE = FRCNetworkCommunicationsLibrary.USER_STATUS_DATA_SIZE;
/**
* Number of Joystick Ports
*/
public static final int kJoystickPorts = 6;
/**
* Convert from raw values to volts
*/
public static final double kDSAnalogInScaling = 5.0 / 1023.0;
/**
* The robot alliance that the robot is a part of
@@ -54,19 +46,10 @@ public class DriverStation implements RobotState.Interface {
private static DriverStation instance = new DriverStation();
private HALControlWord m_controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
private HALAllianceStationID m_allianceStationID;
private short[][] m_joystickAxes = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
private short[][] m_joystickPOVs = new short[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs];
private int[] m_joystickButtons = new int[kJoystickPorts];
private Thread m_thread;
private final Object m_semaphore;
private final Object m_dataSem;
private int m_digitalOut;
private volatile boolean m_thread_keepalive = true;
private int m_updateNumber = 0;
private double m_approxMatchTimeOffset = -1.0;
private boolean m_userInDisabled = false;
private boolean m_userInAutonomous = false;
private boolean m_userInTeleop = false;
@@ -91,7 +74,6 @@ public class DriverStation implements RobotState.Interface {
* instance static member variable.
*/
protected DriverStation() {
m_semaphore = new Object();
m_dataSem = new Object();
m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
@@ -118,14 +100,11 @@ 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();
}
m_newControlData = true;
if (++safetyCounter >= 5) {
// System.out.println("Checking safety");
MotorSafetyHelper.checkMotors();
safetyCounter = 0;
}
@@ -165,40 +144,6 @@ public class DriverStation implements RobotState.Interface {
}
}
}
private static boolean lastEnabled = false;
/**
* 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 data
m_controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
// Get the location/alliance data
m_allianceStationID = FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
// 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);
}
if (!lastEnabled && isEnabled()) {
// If starting teleop, assume that autonomous just took up 15 seconds
if (isAutonomous()) {
m_approxMatchTimeOffset = Timer.getFPGATimestamp();
} else {
m_approxMatchTimeOffset = Timer.getFPGATimestamp() - 15.0;
}
} else if (lastEnabled && !isEnabled()) {
m_approxMatchTimeOffset = -1.0;
}
lastEnabled = isEnabled();
m_newControlData = true;
}
/**
* Read the battery voltage.
@@ -229,13 +174,15 @@ 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 >= m_joystickAxes[stick].length) {
if (axis >= joystickAxes.length) {
reportError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n", false);
return 0.0;
}
byte value = (byte)m_joystickAxes[stick][axis];
byte value = (byte)joystickAxes[axis];
if(value < 0) {
return value / 128.0;
@@ -257,13 +204,15 @@ 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 >= m_joystickPOVs[stick].length) {
if (pov >= joystickPOVs.length) {
reportError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n", false);
return 0;
}
return m_joystickPOVs[stick][pov];
return joystickPOVs[pov];
}
/**
@@ -296,7 +245,8 @@ public class DriverStation implements RobotState.Interface {
* @return True if the robot is enabled, false otherwise.
*/
public boolean isEnabled() {
return m_controlWord.getEnabled() && isDSAttached();
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
return controlWord.getEnabled() && controlWord.getDSAttached();
}
/**
@@ -316,7 +266,8 @@ public class DriverStation implements RobotState.Interface {
* @return True if autonomous mode should be enabled, false otherwise.
*/
public boolean isAutonomous() {
return m_controlWord.getAutonomous();
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
return controlWord.getAutonomous();
}
/**
@@ -325,7 +276,8 @@ public class DriverStation implements RobotState.Interface {
* @return True if test mode should be enabled, false otherwise.
*/
public boolean isTest() {
return m_controlWord.getTest();
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
return controlWord.getTest();
}
/**
@@ -369,10 +321,12 @@ public class DriverStation implements RobotState.Interface {
* @return the current alliance
*/
public Alliance getAlliance() {
if(m_allianceStationID == null) {
HALAllianceStationID allianceStationID = FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
if(allianceStationID == null) {
return Alliance.Invalid;
}
switch (m_allianceStationID) {
switch (allianceStationID) {
case Red1:
case Red2:
case Red3:
@@ -394,10 +348,11 @@ public class DriverStation implements RobotState.Interface {
* @return the location of the team's driver station controls: 1, 2, or 3
*/
public int getLocation() {
if(m_allianceStationID == null) {
HALAllianceStationID allianceStationID = FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
if(allianceStationID == null) {
return 0;
}
switch (m_allianceStationID) {
switch (allianceStationID) {
case Red1:
case Blue1:
return 1;
@@ -421,7 +376,8 @@ public class DriverStation implements RobotState.Interface {
* @return True if the robot is competing on a field being controlled by a Field Management System
*/
public boolean isFMSAttached() {
return m_controlWord.getFMSAttached();
HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
return controlWord.getFMSAttached();
}
public boolean isDSAttached() {