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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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35
wpilibc/src/main/native/include/DriverStation.h
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@@ -24,7 +24,6 @@
namespace frc {
struct MatchInfoData;
class MatchDataSender;
/**
@@ -408,36 +407,13 @@ class DriverStation : public ErrorBase {
void Run();
/**
* Gets ControlWord data from the cache. If 50ms has passed, or the force
* parameter is set, the cached data is updated. Otherwise the data is just
* copied from the cache.
*
* @param force True to force an update to the cache, otherwise update if 50ms
* have passed.
* @param controlWord Structure to put the return control word data into.
*/
void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
void SendMatchData();
// Joystick User Data
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
std::unique_ptr<MatchInfoData> m_matchInfo;
// Joystick Cached Data
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
std::unique_ptr<MatchInfoData> m_matchInfoCache;
std::unique_ptr<MatchDataSender> m_matchDataSender;
// Joystick button rising/falling edge flags
wpi::mutex m_buttonEdgeMutex;
std::array<HAL_JoystickButtons, kJoystickPorts> m_previousButtonStates;
std::array<uint32_t, kJoystickPorts> m_joystickButtonsPressed;
std::array<uint32_t, kJoystickPorts> m_joystickButtonsReleased;
@@ -449,19 +425,12 @@ class DriverStation : public ErrorBase {
wpi::condition_variable m_waitForDataCond;
int m_waitForDataCounter;
mutable wpi::mutex m_cacheDataMutex;
// Robot state status variables
bool m_userInDisabled = false;
bool m_userInAutonomous = false;
bool m_userInTeleop = false;
bool m_userInTest = false;
// Control word variables
mutable HAL_ControlWord m_controlWordCache;
mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
mutable wpi::mutex m_controlWordMutex;
double m_nextMessageTime = 0;
};