DriverStation::~DriverStation() {
m_isRunning = false;
m_task.join();
// Unregister our semaphore.
HALSetNewDataSem(nullptr);
}
DriverStation::~DriverStation()
{
m_task.Stop();
m_instance = NULL;
deleteMultiWait(m_waitForDataSem);
// Unregister our semaphore.
HALSetNewDataSem(0);
deleteMultiWait(m_packetDataAvailableMultiWait);
deleteMutex(m_packetDataAvailableMutex);
deleteMutex(m_waitForDataMutex);
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
, m_newControlData(0)
, m_packetDataAvailableMultiWait(0)
, m_waitForDataSem(0)
, m_userInDisabled(false)
, m_userInAutonomous(false)
, m_userInTeleop(false)
, m_userInTest(false)
, m_nextMessageTime(0)
{
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for(unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
m_joystickDescriptor[i].isXbox = 0;
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_packetDataAvailableMultiWait = initializeMultiWait();
m_packetDataAvailableMutex = initializeMutexNormal();
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableMultiWait);
AddToSingletonList();
// They need to be identical or it could lead to runtime stack corruption if
// the caller and callee push and pop different amounts of data on the stack.
static_assert(sizeof(this) == sizeof(uint32_t),
"We are passing a pointer through a uint32_t");
if (!m_task.Start((uint32_t)this))
{
wpi_setWPIError(DriverStationTaskError);
}
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation() {
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for (unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
m_joystickDescriptor[i].isXbox = 0;
m_joystickDescriptor[i].type = -1;
m_joystickDescriptor[i].name[0] = '\0';
}
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableCond.native_handle());
AddToSingletonList();
}
/**
* DriverStation constructor.
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
: m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
, m_newControlData(0)
, m_packetDataAvailableMultiWait(0)
, m_waitForDataSem(0)
, m_userInDisabled(false)
, m_userInAutonomous(false)
, m_userInTeleop(false)
, m_userInTest(false)
, m_nextMessageTime(0)
{
// All joysticks should default to having zero axes, povs and buttons, so
// uninitialized memory doesn't get sent to speed controllers.
for(unsigned int i = 0; i < kJoystickPorts; i++) {
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickButtons[i].count = 0;
}
// Create a new semaphore
m_packetDataAvailableMultiWait = initializeMultiWait();
m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_packetDataAvailableMultiWait = initializeMultiWait();
m_packetDataAvailableMutex = initializeMutexNormal();
// Register that semaphore with the network communications task.
// It will signal when new packet data is available.
HALSetNewDataSem(m_packetDataAvailableMultiWait);
AddToSingletonList();
if (!m_task.Start((int32_t)this))
{
wpi_setWPIError(DriverStationTaskError);
}
}
