/// <summary>
/// Driver Station constructor
/// </summary>
/// <remarks>This is normally created statically in the singleton instance.</remarks>
protected DriverStation()
{
//Force all joysticks to have no value.
for (int i = 0; i < JoystickPorts; i++)
{
m_joystickButtons[i].count = 0;
m_joystickAxes[i].count = 0;
m_joystickPOVs[i].count = 0;
m_joystickDescriptors[i] = new HALJoystickDescriptor();
m_joystickDescriptors[i].isXbox = 0;
m_joystickDescriptors[i].type = 0xFF;
m_joystickDescriptors[i].name.byte0 = 0;
m_joystickButtonsCache[i].count = 0;
m_joystickAxesCache[i].count = 0;
m_joystickPOVsCache[i].count = 0;
m_joystickDescriptorsCache[i] = new HALJoystickDescriptor();
m_joystickDescriptorsCache[i].isXbox = 0;
m_joystickDescriptorsCache[i].type = 0xFF;
m_joystickDescriptorsCache[i].name.byte0 = 0;
}
m_controlWordCache = new HALControlWord();
m_lastControlWordUpdate = DateTime.MinValue;
//Starts the driver station thread in the background.
m_dsThread = new Thread(Task)
{
IsBackground = true,
Name = "FRCDriverStation"
};
m_dsThread.Start();
}
/// <summary>
/// Gets the HAL Control Word
/// </summary>
/// <returns></returns>
public static int HAL_GetControlWord(ref HALControlWord controlWord)
{
uint word = 0;
int ret = NativeHALGetControlWord(ref word);
controlWord = new HALControlWord((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
return(ret);
}
private void UpdateControlWord(bool force, out HALControlWord controlWord)
{
DateTime now = DateTime.UtcNow;
lock (m_controlWordMutex)
{
if (now - m_lastControlWordUpdate > TimeSpan.FromMilliseconds(50) || force)
{
HAL_GetControlWord(ref m_controlWordCache);
m_lastControlWordUpdate = now;
}
controlWord = m_controlWordCache;
}
}
