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[hal] Properly use control word that is in sync with DS data (#4989)

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This commit is contained in:
Thad House
2023-01-20 23:46:56 -08:00
committed by GitHub
parent 1ea48caa7d
commit ce3dc4eb3b
1 changed files with 18 additions and 5 deletions
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23
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -43,6 +43,7 @@ struct JoystickDataCache {
HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
HAL_AllianceStationID allianceStation;
float matchTime;
HAL_ControlWord controlWord;
};
static_assert(std::is_standard_layout_v<JoystickDataCache>);
// static_assert(std::is_trivial_v<JoystickDataCache>);
@@ -104,6 +105,8 @@ void JoystickDataCache::Update() {
FRC_NetworkCommunication_getAllianceStation(
reinterpret_cast<AllianceStationID_t*>(&allianceStation));
FRC_NetworkCommunication_getMatchTime(&matchTime);
FRC_NetworkCommunication_getControlWord(
reinterpret_cast<ControlWord_t*>(&controlWord));
}
#define CHECK_JOYSTICK_NUMBER(stickNum) \
@@ -513,12 +516,22 @@ HAL_Bool HAL_RefreshDSData(void) {
std::memset(&controlWord, 0, sizeof(controlWord));
FRC_NetworkCommunication_getControlWord(
reinterpret_cast<ControlWord_t*>(&controlWord));
std::scoped_lock lock{cacheMutex};
JoystickDataCache* prev = currentCache.exchange(nullptr);
if (prev != nullptr) {
currentRead = prev;
JoystickDataCache* prev;
{
std::scoped_lock lock{cacheMutex};
prev = currentCache.exchange(nullptr);
if (prev != nullptr) {
currentRead = prev;
}
// If newest state shows we have a DS attached, just use the
// control word out of the cache, As it will be the one in sync
// with the data. Otherwise use the state that shows disconnected.
if (controlWord.dsAttached) {
newestControlWord = currentRead->controlWord;
} else {
newestControlWord = controlWord;
}
}
newestControlWord = controlWord;
uint32_t mask = tcpMask.exchange(0);
if (mask != 0) {