Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Makes IterativeRobot not double check for new control data (#253)

Browse Source 
Previously could cause a race condition. Also moves wait to the top of
the loop in order to avoid having an initial loop be ran before data can
be check.

Sim is handled in #232, except that needs to be updated as well to move
the wait to the top of the loop.
This commit is contained in:
Thad House
2016-10-02 09:05:32 -07:00
committed by Peter Johnson
parent fd52912d74
commit e65f9908d7
2 changed files with 12 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
View File

@@ -69,6 +69,8 @@ public class IterativeRobot extends RobotBase {
// loop forever, calling the appropriate mode-dependent function
LiveWindow.setEnabled(false);
while (true) {
// Wait for new data to arrive
m_ds.waitForData();
// Call the appropriate function depending upon the current robot mode
if (isDisabled()) {
// call DisabledInit() if we are now just entering disabled mode from
@@ -82,10 +84,8 @@ public class IterativeRobot extends RobotBase {
m_teleopInitialized = false;
m_testInitialized = false;
}
if (nextPeriodReady()) {
HAL.observeUserProgramDisabled();
disabledPeriodic();
}
HAL.observeUserProgramDisabled();
disabledPeriodic();
} else if (isTest()) {
// call TestInit() if we are now just entering test mode from either
// a different mode or from power-on
@@ -97,10 +97,8 @@ public class IterativeRobot extends RobotBase {
m_teleopInitialized = false;
m_disabledInitialized = false;
}
if (nextPeriodReady()) {
HAL.observeUserProgramTest();
testPeriodic();
}
HAL.observeUserProgramTest();
testPeriodic();
} else if (isAutonomous()) {
// call Autonomous_Init() if this is the first time
// we've entered autonomous_mode
@@ -115,10 +113,8 @@ public class IterativeRobot extends RobotBase {
m_teleopInitialized = false;
m_disabledInitialized = false;
}
if (nextPeriodReady()) {
HAL.observeUserProgramAutonomous();
autonomousPeriodic();
}
HAL.observeUserProgramAutonomous();
autonomousPeriodic();
} else {
// call Teleop_Init() if this is the first time
// we've entered teleop_mode
@@ -130,24 +126,13 @@ public class IterativeRobot extends RobotBase {
m_autonomousInitialized = false;
m_disabledInitialized = false;
}
if (nextPeriodReady()) {
HAL.observeUserProgramTeleop();
teleopPeriodic();
}
HAL.observeUserProgramTeleop();
teleopPeriodic();
}
robotPeriodic();
m_ds.waitForData();
}
}
/**
* Determine if the appropriate next periodic function should be called. Call the periodic
* functions whenever a packet is received from the Driver Station, or about every 20ms.
*/
private boolean nextPeriodReady() {
return m_ds.isNewControlData();
}
/* ----------- Overridable initialization code ----------------- */
/**