commit eefe94aa639567e2f0e94ad89dd1596b87c52f8f
author Brian Silverman <brians> Tue Apr 23 18:33:25 2013 -0700
committer Brian Silverman <brians> Fri May 10 16:48:12 2013 -0700
tree f95b0ff00f2b5cb7b695e88f65f402bfc52e58b0
parent 33e6e901754e0f3279d05834dd0c59421e73d6c2

small(ish) fixes to DriverStation

aos/externals/WPILib/WPILib/DriverStation.cpp

diff --git a/aos/externals/WPILib/WPILib/DriverStation.cpp b/aos/externals/WPILib/WPILib/DriverStation.cpp
index 938f40d..9c2cb91 100644
--- a/aos/externals/WPILib/WPILib/DriverStation.cpp
+++ b/aos/externals/WPILib/WPILib/DriverStation.cpp
@@ -19,7 +19,6 @@
 const UINT32 DriverStation::kBatteryChannel;
 const UINT32 DriverStation::kJoystickPorts;
 const UINT32 DriverStation::kJoystickAxes;
-const float DriverStation::kUpdatePeriod;
 DriverStation* DriverStation::m_instance = NULL;
 ReentrantSemaphore DriverStation::m_instanceSemaphore;
 UINT8 DriverStation::m_updateNumber = 0;
@@ -73,6 +72,7 @@
 
 DriverStation::~DriverStation()
 {
+  Synchronized sync(m_instanceSemaphore);
 	m_task.Stop();
 	semDelete(m_statusDataSemaphore);
 	delete m_batteryChannel;

aos/externals/WPILib/WPILib/DriverStation.h

diff --git a/aos/externals/WPILib/WPILib/DriverStation.h b/aos/externals/WPILib/WPILib/DriverStation.h
index 9a5fe3f..1fcf1e8 100644
--- a/aos/externals/WPILib/WPILib/DriverStation.h
+++ b/aos/externals/WPILib/WPILib/DriverStation.h
@@ -13,6 +13,7 @@
 #include "Task.h"
 #include "Synchronized.h"
 #include "RWLock.h"
+#include "Base.h"
 
 struct FRCCommonControlData;
 class AnalogChannel;
@@ -43,6 +44,17 @@
 	static const UINT32 kJoystickPorts = 4;
 	static const UINT32 kJoystickAxes = 6;
 
+  /**
+   * Returns the pointer to all of the data. This pointer will never change, but
+   * its contents will, so make sure to GetDataReadLock() if you want to make
+   * sure that it doesn't change while you're using it.
+   *
+   * You may NOT modify the contents!
+   */
+  const volatile struct FRCCommonControlData *GetControlData() {
+    return m_controlData;
+  }
+
 	float GetStickAxis(UINT32 stick, UINT32 axis);
 	short GetStickButtons(UINT32 stick);
 
@@ -128,13 +140,11 @@
 	void SetData();
 
 private:
-	static void InitTask(DriverStation *ds);
 	static DriverStation *m_instance;
   static ReentrantSemaphore m_instanceSemaphore;
 	static UINT8 m_updateNumber;
-	///< TODO: Get rid of this and use the semaphore signaling
-	static const float kUpdatePeriod = 0.02;
 
+	static void InitTask(DriverStation *ds);
 	void Run();
 
   // Volatile because it gets modified by GetData() in a separate task. Be
@@ -173,6 +183,8 @@
 	bool m_userInAutonomous;
     bool m_userInTeleop;
     bool m_userInTest;
+
+  DISALLOW_COPY_AND_ASSIGN(DriverStation);
 };
 
 #endif