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https://github.com/wpilibsuite/allwpilib
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a4f0c4fbe0
Currently, about 5ms of every 20ms loop the DS thread would hold the mutex, while grabbing data. During this time, and call to grab joystick data would be blocked. This change grabs the joystick data to a cache, and then grabs the mutex and moves the data references around. This is much more efficient then the old code, and gives teams more of their teleop loop time back for use. Another major change this does is use preallocated arrays when entering the JNI. Previously every JNI DS call would allocate an entire new array. With a GC'd language where those arrays go on the heap, thats a problem, and creates tons of garbage. That garbage is no longer created anymore, as all arrays and byte buffers sent to JNI in the DS are preallocated. In addition, GetJoystickName was always returning joystick 0 data, which this fixes.
129 lines
4.7 KiB
C++
129 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <atomic>
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#include <condition_variable>
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#include <memory>
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#include "HAL/HAL.hpp"
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#include "HAL/cpp/Semaphore.hpp"
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#include "HAL/cpp/priority_condition_variable.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "RobotState.h"
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#include "SensorBase.h"
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#include "Task.h"
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struct HALControlWord;
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class AnalogInput;
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/**
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* Provide access to the network communication data to / from the Driver
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* Station.
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*/
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class DriverStation : public SensorBase, public RobotStateInterface {
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public:
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enum Alliance { kRed, kBlue, kInvalid };
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virtual ~DriverStation();
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static DriverStation& GetInstance();
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static void ReportError(std::string error);
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static void ReportWarning(std::string error);
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static void ReportError(bool is_error, int32_t code, const std::string& error,
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const std::string& location,
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const std::string& stack);
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static const uint32_t kJoystickPorts = 6;
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float GetStickAxis(uint32_t stick, uint32_t axis);
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int GetStickPOV(uint32_t stick, uint32_t pov);
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uint32_t GetStickButtons(uint32_t stick) const;
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bool GetStickButton(uint32_t stick, uint8_t button);
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int GetStickAxisCount(uint32_t stick) const;
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int GetStickPOVCount(uint32_t stick) const;
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int GetStickButtonCount(uint32_t stick) const;
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bool GetJoystickIsXbox(uint32_t stick) const;
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int GetJoystickType(uint32_t stick) const;
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std::string GetJoystickName(uint32_t stick) const;
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int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
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bool IsEnabled() const override;
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bool IsDisabled() const override;
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bool IsAutonomous() const override;
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bool IsOperatorControl() const override;
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bool IsTest() const override;
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bool IsDSAttached() const;
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bool IsNewControlData() const;
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bool IsFMSAttached() const;
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bool IsSysActive() const;
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bool IsSysBrownedOut() const;
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Alliance GetAlliance() const;
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uint32_t GetLocation() const;
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void WaitForData();
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double GetMatchTime() const;
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float GetBatteryVoltage() const;
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only
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* @param entering If true, starting disabled code; if false, leaving disabled
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* code */
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void InDisabled(bool entering) { m_userInDisabled = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only
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* @param entering If true, starting autonomous code; if false, leaving
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* autonomous code */
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void InAutonomous(bool entering) { m_userInAutonomous = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only
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* @param entering If true, starting teleop code; if false, leaving teleop
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* code */
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void InOperatorControl(bool entering) { m_userInTeleop = entering; }
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/** Only to be used to tell the Driver Station what code you claim to be
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* executing for diagnostic purposes only
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* @param entering If true, starting test code; if false, leaving test code */
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void InTest(bool entering) { m_userInTest = entering; }
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protected:
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DriverStation();
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void GetData();
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private:
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static DriverStation* m_instance;
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void ReportJoystickUnpluggedError(std::string message);
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void ReportJoystickUnpluggedWarning(std::string message);
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void Run();
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std::unique_ptr<HALJoystickAxes[]> m_joystickAxes;
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std::unique_ptr<HALJoystickPOVs[]> m_joystickPOVs;
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std::unique_ptr<HALJoystickButtons[]> m_joystickButtons;
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std::unique_ptr<HALJoystickDescriptor[]> m_joystickDescriptor;
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// Cached Data
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std::unique_ptr<HALJoystickAxes[]> m_joystickAxesCache;
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std::unique_ptr<HALJoystickPOVs[]> m_joystickPOVsCache;
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std::unique_ptr<HALJoystickButtons[]> m_joystickButtonsCache;
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std::unique_ptr<HALJoystickDescriptor[]> m_joystickDescriptorCache;
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Task m_task;
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std::atomic<bool> m_isRunning{false};
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mutable Semaphore m_newControlData{Semaphore::kEmpty};
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mutable priority_condition_variable m_packetDataAvailableCond;
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priority_mutex m_packetDataAvailableMutex;
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std::condition_variable_any m_waitForDataCond;
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priority_mutex m_waitForDataMutex;
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mutable priority_mutex m_joystickDataMutex;
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bool m_userInDisabled = false;
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bool m_userInAutonomous = false;
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bool m_userInTeleop = false;
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bool m_userInTest = false;
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double m_nextMessageTime = 0;
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};
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