commit d3f92f1d400e506375f2b32a264f0487ea2ce7d4
author Brian Silverman <brians> Wed Mar 20 23:01:33 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:12 2013 -0700
tree 1aeeb5403212c6c30b1c165df793cb1cf72205d4
parent 50df23fd3453636cef5eb1820792cf2d53634775

made stuff actually work

aos/common/sensors/sensor_receiver-tmpl.h

diff --git a/aos/common/sensors/sensor_receiver-tmpl.h b/aos/common/sensors/sensor_receiver-tmpl.h
index 6456a95..076f6ca 100644
--- a/aos/common/sensors/sensor_receiver-tmpl.h
+++ b/aos/common/sensors/sensor_receiver-tmpl.h
@@ -57,19 +57,19 @@
 
 template<class Values>
 bool SensorReceiver<Values>::GoodPacket() {
-  if (!data_.CheckChecksum()) {
-    LOG(WARNING, "got a bad packet\n");
-    return false;
-  }
-
   bool good;
   // If it's a multiple of kSensorSendFrequency from start_count_.
   if (((data_.count - start_count_) % kSendsPerCycle) == 0) {
     if (((data_.count - start_count_) / kSendsPerCycle) >=
         ((NextLoopTime() - start_time_).ToNSec() / kLoopFrequency.ToNSec())) {
       good = true;
+#if 0
+      if (((data_.count - start_count_) / kSendsPerCycle % 20) == 0) {
+        LOG(DEBUG, "dropping one for fun\n");
+        good = false;
+      }
+#endif
     } else {
-      // when it broke, it got #1 but wanted #0 (etc)
       LOG(INFO, "packet %"PRId32" late. is packet #%d, wanted #%"PRId64" now\n",
           data_.count, (data_.count - start_count_) / kSendsPerCycle,
           (NextLoopTime() - start_time_).ToNSec() / kLoopFrequency.ToNSec());
@@ -195,6 +195,13 @@
 bool SensorReceiver<Values>::ReceiveData() {
   int old_count = data_.count;
   DoReceiveData();
+
+  data_.checksum = ntoh(data_.checksum);
+  if (!data_.CheckChecksum()) {
+    LOG(WARNING, "got a bad packet\n");
+    return ReceiveData();
+  }
+
   data_.NetworkToHost();
   if (data_.count < 0) {
     LOG(FATAL, "data count overflowed. currently %"PRId32"\n", data_.count);

aos/common/sensors/sensors.h

diff --git a/aos/common/sensors/sensors.h b/aos/common/sensors/sensors.h
index 007921c..a6b2bfa 100644
--- a/aos/common/sensors/sensors.h
+++ b/aos/common/sensors/sensors.h
@@ -44,6 +44,7 @@
   // All of the other 4-byte chunks in the message bitwise-exclusive-ORed
   // together. Needed because it seems like nobody else checks... (vxworks not
   // sending the UDP checksum or (not very likely) linux not checking it).
+  // TODO(brians): static_assert that this is at the front
   uint32_t checksum;
 
   Values values;

frc971/input/JoystickReader.cc

diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index aeb8801..84f20b5 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -170,7 +170,7 @@
     }
 
     static int hanger_cycles = 0;
-    if (Pressed(2, 13)) {
+    if (Pressed(2, 1)) {
       ++hanger_cycles;
     } else {
       hanger_cycles = 0;