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Switches DS to use Occur callback rather than internal netcomm semaphore (#510)

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Allows us to control multithreaded access and spurious wakeups easier.
closes #509

Switches DS to use new waitForData functionality

Adds a few new functions
This commit is contained in:
Thad House
2017-05-08 20:21:47 -07:00
committed by Peter Johnson
parent 5987cfeaaf
commit fc81298fac
12 changed files with 134 additions and 116 deletions
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36
wpilibc/athena/src/DriverStation.cpp
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@@ -356,9 +356,7 @@ bool DriverStation::IsDSAttached() const {
*
* @return True if the control data has been updated since the last call.
*/
bool DriverStation::IsNewControlData() const {
return m_newControlData.exchange(false);
}
bool DriverStation::IsNewControlData() const { return HAL_IsNewControlData(); }
/**
* Is the driver station attached to a Field Management System?
@@ -475,28 +473,7 @@ void DriverStation::WaitForData() { WaitForData(0); }
* @return true if new data, otherwise false
*/
bool DriverStation::WaitForData(double timeout) {
#if defined(_MSC_VER) && _MSC_VER < 1900
auto timeoutTime = std::chrono::steady_clock::now() +
std::chrono::duration<int64_t, std::nano>(
static_cast<int64_t>(timeout * 1e9));
#else
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
#endif
std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
while (!m_waitForDataPredicate) {
if (timeout > 0) {
auto timedOut = m_waitForDataCond.wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
m_waitForDataCond.wait(lock);
}
}
m_waitForDataPredicate = false;
return true;
return static_cast<bool>(HAL_WaitForDSDataTimeout(timeout));
}
/**
@@ -628,15 +605,6 @@ void DriverStation::Run() {
while (m_isRunning) {
HAL_WaitForDSData();
GetData();
// notify IsNewControlData variables
m_newControlData = true;
// notify WaitForData block
{
std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
m_waitForDataPredicate = true;
}
m_waitForDataCond.notify_all();
if (++period >= 4) {
MotorSafetyHelper::CheckMotors();