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Move DS caching from user level to the HAL (#1143)

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Also switch eventName and gameSpecificData to fixed 64-byte arrays to avoid mallocs and
extra NetComm calls.  This behavior matches 2018 LabView.

The DS caching is kept in Java to avoid JNI and/or massive amounts of allocations.
This does not increase latency because Java still only hits NetComm once.

Moving the DS caching benefits all languages other than Java, because it avoids the need
for individual implementations.  If caching is ever added to NetComm, it will then only be
necessary to remove it from the HAL and Java rather than all languages.
This commit is contained in:
Thad House
2018-07-18 22:22:41 -07:00
committed by Peter Johnson
parent 0b5df467e1
commit fe5d7dd6ba
11 changed files with 405 additions and 391 deletions
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33
hal/src/main/native/sim/MockData/DriverStationData.cpp
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@@ -18,13 +18,6 @@ struct JoystickOutputStore {
int32_t leftRumble = 0;
int32_t rightRumble = 0;
};
struct MatchInfoDataStore {
std::string eventName;
std::string gameSpecificMessage;
int32_t replayNumber = 0;
int32_t matchNumber = 0;
HAL_MatchType matchType = HAL_MatchType::HAL_kMatchType_none;
};
} // namespace hal
using namespace hal;
@@ -76,7 +69,7 @@ void DriverStationData::ResetData() {
{
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
m_matchInfo = std::make_unique<MatchInfoDataStore>();
m_matchInfo = std::make_unique<HAL_MatchInfo>();
}
}
@@ -402,22 +395,7 @@ void DriverStationData::GetJoystickOutputs(int32_t joystickNum,
}
void DriverStationData::GetMatchInfo(HAL_MatchInfo* info) {
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
auto eventLen = m_matchInfo->eventName.size();
info->eventName = static_cast<char*>(std::malloc(eventLen + 1));
std::memcpy(info->eventName, m_matchInfo->eventName.c_str(), eventLen);
auto gameLen = m_matchInfo->gameSpecificMessage.size();
info->gameSpecificMessage = static_cast<char*>(std::malloc(gameLen + 1));
std::memcpy(info->gameSpecificMessage,
m_matchInfo->gameSpecificMessage.c_str(), gameLen);
info->gameSpecificMessage[gameLen] = '\0';
info->eventName[eventLen] = '\0';
info->matchNumber = m_matchInfo->matchNumber;
info->replayNumber = m_matchInfo->replayNumber;
info->matchType = m_matchInfo->matchType;
}
void DriverStationData::FreeMatchInfo(const HAL_MatchInfo* info) {
std::free(info->eventName);
std::free(info->gameSpecificMessage);
*info = *m_matchInfo;
}
void DriverStationData::SetJoystickAxes(int32_t joystickNum,
@@ -453,11 +431,8 @@ void DriverStationData::SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
void DriverStationData::SetMatchInfo(const HAL_MatchInfo* info) {
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
m_matchInfo->eventName = info->eventName;
m_matchInfo->gameSpecificMessage = info->gameSpecificMessage;
m_matchInfo->matchNumber = info->matchNumber;
m_matchInfo->matchType = info->matchType;
m_matchInfo->replayNumber = info->replayNumber;
*m_matchInfo = *info;
*(std::end(m_matchInfo->eventName) - 1) = '\0';
}
void DriverStationData::NotifyNewData() { HAL_ReleaseDSMutex(); }