commit 425492b2114b01679b9caaf6e905bcefa5f23131
author Brian Silverman <brians> Wed Dec 30 15:23:55 2015 -0800
committer Brian Silverman <brians> Wed Dec 30 17:26:13 2015 -0800
tree f9d3d7aad394e092a7b46e06fcd2d7592800f85e
parent c75c1ad19ad9c158d5c7c45def020b56267eecdb

Move PDP measurement fetching to a separate thread

Stupid CAN messages are too slow for being inline with the normal
path...

Change-Id: I160a24eb3216fc54083df576555b5bcad062ceb8

frc971/wpilib/wpilib_interface.cc

diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 2129ec3..5df3c9c 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -3,6 +3,8 @@
 #include "aos/common/messages/robot_state.q.h"
 #include "aos/common/logging/queue_logging.h"
 
+#include "frc971/wpilib/pdp_fetcher.h"
+
 #include "DriverStation.h"
 #include "ControllerPower.h"
 #undef ERROR
@@ -11,7 +13,7 @@
 namespace wpilib {
 
 void SendRobotState(int32_t my_pid, DriverStation *ds,
-                    PowerDistributionPanel *pdp) {
+                    PDPFetcher *pdp_fetcher) {
   auto new_state = ::aos::robot_state.MakeMessage();
 
   new_state->reader_pid = my_pid;
@@ -26,12 +28,7 @@
   new_state->voltage_roborio_in = ControllerPower::GetInputVoltage();
   new_state->voltage_battery = ds->GetBatteryVoltage();
 
-  new_state->pdp_voltage = pdp->GetVoltage();
-  new_state->pdp_temperature = pdp->GetTemperature();
-  new_state->pdp_power = pdp->GetTotalPower();
-  for (int i = 0; i < 16; ++i) {
-    new_state->pdp_currents[i] = pdp->GetCurrent(i);
-  }
+  pdp_fetcher->GetValues(&new_state->pdp);
 
   LOG_STRUCT(DEBUG, "robot_state", *new_state);