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[wpilibj] DriverStation: Fix joystick data logs #5240

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merged 2 commits into from
Mar 26, 2023
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[wpilibj] DriverStation: Fix joystick data logs #5240

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[wpilibj] DriverStation: Fix joystick data logs
PeterJohnson Mar 26, 2023
f478038
Suppress PMD warning
PeterJohnson Mar 26, 2023
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75 changes: 47 additions & 28 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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Original file line number Diff line number Diff line change
Expand Up @@ -216,78 +216,97 @@ private static class JoystickLogSender {
m_logAxes = new FloatArrayLogEntry(log, "DS:joystick" + stick + "/axes", timestamp);
m_logPOVs = new IntegerArrayLogEntry(log, "DS:joystick" + stick + "/povs", timestamp);

appendButtons(timestamp);
appendAxes(timestamp);
appendPOVs(timestamp);
appendButtons(m_joystickButtons[m_stick], timestamp);
appendAxes(m_joystickAxes[m_stick], timestamp);
appendPOVs(m_joystickPOVs[m_stick], timestamp);
}

public void send(long timestamp) {
if (m_joystickButtonsCache[m_stick].m_count != m_joystickButtons[m_stick].m_count
|| m_joystickButtonsCache[m_stick].m_buttons != m_joystickButtons[m_stick].m_buttons) {
appendButtons(timestamp);
HALJoystickButtons buttons = m_joystickButtons[m_stick];
if (buttons.m_count != m_prevButtons.m_count
|| buttons.m_buttons != m_prevButtons.m_buttons) {
appendButtons(buttons, timestamp);
}

if (m_joystickAxesCache[m_stick].m_count != m_joystickAxes[m_stick].m_count) {
appendAxes(timestamp);
HALJoystickAxes axes = m_joystickAxes[m_stick];
int count = axes.m_count;
boolean needToLog = false;
if (count != m_prevAxes.m_count) {
needToLog = true;
} else {
int count = m_joystickAxesCache[m_stick].m_count;
for (int i = 0; i < count; i++) {
if (m_joystickAxesCache[m_stick].m_axes[i] != m_joystickAxes[m_stick].m_axes[i]) {
appendAxes(timestamp);
break;
if (axes.m_axes[i] != m_prevAxes.m_axes[i]) {
needToLog = true;
}
}
}
if (needToLog) {
appendAxes(axes, timestamp);
}

if (m_joystickPOVsCache[m_stick].m_count != m_joystickPOVs[m_stick].m_count) {
appendPOVs(timestamp);
HALJoystickPOVs povs = m_joystickPOVs[m_stick];
count = m_joystickPOVs[m_stick].m_count;
needToLog = false;
if (count != m_prevPOVs.m_count) {
needToLog = true;
} else {
int count = m_joystickPOVsCache[m_stick].m_count;
for (int i = 0; i < count; i++) {
if (m_joystickPOVsCache[m_stick].m_povs[i] != m_joystickPOVs[m_stick].m_povs[i]) {
appendPOVs(timestamp);
break;
if (povs.m_povs[i] != m_prevPOVs.m_povs[i]) {
needToLog = true;
}
}
}
if (needToLog) {
appendPOVs(povs, timestamp);
}
}

void appendButtons(long timestamp) {
int count = m_joystickButtonsCache[m_stick].m_count;
void appendButtons(HALJoystickButtons buttons, long timestamp) {
byte count = buttons.m_count;
if (m_sizedButtons == null || m_sizedButtons.length != count) {
m_sizedButtons = new boolean[count];
}
int buttons = m_joystickButtonsCache[m_stick].m_buttons;
int buttonsValue = buttons.m_buttons;
for (int i = 0; i < count; i++) {
m_sizedButtons[i] = (buttons & (1 << i)) != 0;
m_sizedButtons[i] = (buttonsValue & (1 << i)) != 0;
}
m_logButtons.append(m_sizedButtons, timestamp);
m_prevButtons.m_count = count;
m_prevButtons.m_buttons = buttons.m_buttons;
}

void appendAxes(long timestamp) {
int count = m_joystickAxesCache[m_stick].m_count;
void appendAxes(HALJoystickAxes axes, long timestamp) {
int count = axes.m_count;
if (m_sizedAxes == null || m_sizedAxes.length != count) {
m_sizedAxes = new float[count];
}
System.arraycopy(m_joystickAxesCache[m_stick].m_axes, 0, m_sizedAxes, 0, count);
System.arraycopy(axes.m_axes, 0, m_sizedAxes, 0, count);
m_logAxes.append(m_sizedAxes, timestamp);
m_prevAxes.m_count = count;
System.arraycopy(axes.m_axes, 0, m_prevAxes.m_axes, 0, count);
}

void appendPOVs(long timestamp) {
int count = m_joystickPOVsCache[m_stick].m_count;
@SuppressWarnings("PMD.AvoidArrayLoops")
void appendPOVs(HALJoystickPOVs povs, long timestamp) {
int count = povs.m_count;
if (m_sizedPOVs == null || m_sizedPOVs.length != count) {
m_sizedPOVs = new long[count];
}
for (int i = 0; i < count; i++) {
m_sizedPOVs[i] = m_joystickPOVsCache[m_stick].m_povs[i];
m_sizedPOVs[i] = povs.m_povs[i];
}
m_logPOVs.append(m_sizedPOVs, timestamp);
m_prevPOVs.m_count = count;
System.arraycopy(povs.m_povs, 0, m_prevPOVs.m_povs, 0, count);
}

final int m_stick;
boolean[] m_sizedButtons;
float[] m_sizedAxes;
long[] m_sizedPOVs;
final HALJoystickButtons m_prevButtons = new HALJoystickButtons();
final HALJoystickAxes m_prevAxes = new HALJoystickAxes(DriverStationJNI.kMaxJoystickAxes);
final HALJoystickPOVs m_prevPOVs = new HALJoystickPOVs(DriverStationJNI.kMaxJoystickPOVs);
final BooleanArrayLogEntry m_logButtons;
final FloatArrayLogEntry m_logAxes;
final IntegerArrayLogEntry m_logPOVs;
Expand Down