From fa229f2b136fffb3f256d2d56e0223cf4d714749 Mon Sep 17 00:00:00 2001
From: Brad Miller <brad@bradhouse.com>
Date: Wed, 3 Dec 2014 11:02:12 -0500
Subject: [PATCH] Added java joystick message spam fix (artf3836)

Change-Id: I1e29aea00dc61574272f47fc3e1bcd98bd825d22
---
 wpilibc/wpilibC++Devices/src/DriverStation.cpp  |  2 +-
 .../edu/wpi/first/wpilibj/DriverStation.java    | 17 ++++++++++++++---
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index a0b24aa289..a73a81ebe8 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -18,7 +18,7 @@
 
 // set the logging level
 TLogLevel dsLogLevel = logDEBUG;
-const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0e06;
+const double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
 
 #define DS_LOG(level) \
 	if (level > dsLogLevel) ; \
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index ae949eb598..9c639b0a04 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -31,6 +31,9 @@ public class DriverStation implements RobotState.Interface {
      */
     public enum Alliance { Red, Blue, Invalid }
 
+    private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
+    private double m_nextMessageTime = 0.0;
+
     private static class DriverStationTask implements Runnable {
 
         private DriverStation m_ds;
@@ -160,6 +163,14 @@ public class DriverStation implements RobotState.Interface {
         return voltage;
     }
 
+    private void reportJoystickUnpluggedError(String message) {
+        double currentTime = Timer.getFPGATimestamp();
+        if (currentTime > m_nextMessageTime) {
+            reportError(message, false);
+            m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
+        }
+    }
+
     /**
      * Get the value of the axis on a joystick.
      * This depends on the mapping of the joystick connected to the specified port.
@@ -180,7 +191,7 @@ public class DriverStation implements RobotState.Interface {
 		short[] joystickAxes = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes((byte)stick);
 
         if (axis >= joystickAxes.length) {
-			reportError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n", false);
+			reportJoystickUnpluggedError("WARNING: Joystick axis " + axis + " on port " + stick + " not available, check if controller is plugged in\n");
             return 0.0;
         }
 
@@ -210,7 +221,7 @@ public class DriverStation implements RobotState.Interface {
 		short[] joystickPOVs = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs((byte)stick);
 
         if (pov >= joystickPOVs.length) {
-			reportError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n", false);
+			reportJoystickUnpluggedError("WARNING: Joystick POV " + pov + " on port " + stick + " not available, check if controller is plugged in\n");
             return 0;
         }
 
@@ -234,7 +245,7 @@ public class DriverStation implements RobotState.Interface {
 		byte count = 0;
 		count = countBuffer.get();
 		if(button >= count) {
-			reportError("WARNING: Joystick Button " + button + " on port " + stick + " not available, check if controller is plugged in\n", false);
+			reportJoystickUnpluggedError("WARNING: Joystick Button " + button + " on port " + stick + " not available, check if controller is plugged in\n");
             return false;
 		}
 		return ((0x1 << (button - 1)) & buttons) != 0;