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[sim] Process WS Encoder reset internally (#2927)

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Currently, Encoder.reset() must make a round trip to the sensor and back
in order for the count to be updated for the user program.  As the sim layer
also resets the internal encoder count, this creates a race condition (a WS
message with a new count can be "in flight" during a reset and update the
count).

This changes the WS layer to not put reset on the wire, but instead keep an
offset count internal to the robot program.  The value on the wire is not
reset, but rather all sends and receives are adjusted as necessary to the
internal robot count.

This approach is straightforward, but does result in the value on the wire
not matching the value in the user program.  A future improvement will fix
this, but this change fixes the immediate race condition problem.
This commit is contained in:
Peter Johnson
2020-12-10 20:30:12 -08:00
committed by GitHub
parent 941edca597
commit f78d1d4340
3 changed files with 25 additions and 4 deletions
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2
hal/src/main/native/sim/Encoder.cpp
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@@ -174,9 +174,9 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
return;
}
SimEncoderData[encoder->index].reset = true;
SimEncoderData[encoder->index].count = 0;
SimEncoderData[encoder->index].period = std::numeric_limits<double>::max();
SimEncoderData[encoder->index].reset = true;
}
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);