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Fix garbage data for match info before DS connection #5879

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merged 2 commits into from
Nov 5, 2023
Merged

Fix garbage data for match info before DS connection #5879

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258133b
Fix garbage data for match info before DS connection
ThadHouse Nov 5, 2023
ec734b8
Formatting fixes
github-actions[bot] Nov 5, 2023
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27 changes: 23 additions & 4 deletions hal/src/main/native/athena/FRCDriverStation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,9 +181,10 @@ static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
namespace {
struct TcpCache {
TcpCache() { std::memset(this, 0, sizeof(*this)); }
void Update(uint32_t mask);
bool Update(uint32_t mask);
void CloneTo(TcpCache* other) { std::memcpy(other, this, sizeof(*this)); }

bool hasReadMatchInfo = false;
HAL_MatchInfo matchInfo;
HAL_JoystickDescriptor descriptors[HAL_kMaxJoysticks];
};
Expand All @@ -199,15 +200,25 @@ constexpr uint32_t combinedMatchInfoMask = kTcpRecvMask_MatchInfoOld |
kTcpRecvMask_MatchInfo |
kTcpRecvMask_GameSpecific;

void TcpCache::Update(uint32_t mask) {
bool TcpCache::Update(uint32_t mask) {
bool failedToReadInfo = false;
if ((mask & combinedMatchInfoMask) != 0) {
HAL_GetMatchInfoInternal(&matchInfo);
int status = HAL_GetMatchInfoInternal(&matchInfo);
if (status != 0) {
failedToReadInfo = true;
if (!hasReadMatchInfo) {
std::memset(&matchInfo, 0, sizeof(matchInfo));
}
} else {
hasReadMatchInfo = true;
}
}
for (int i = 0; i < HAL_kMaxJoysticks; i++) {
if ((mask & (1 << i)) != 0) {
HAL_GetJoystickDescriptorInternal(i, &descriptors[i]);
}
}
return failedToReadInfo;
}

namespace hal::init {
Expand Down Expand Up @@ -532,13 +543,21 @@ HAL_Bool HAL_RefreshDSData(void) {
if (controlWord.dsAttached) {
newestControlWord = currentRead->controlWord;
} else {
// Zero out the control word. When the DS has never been connected
// this returns garbage. And there is no way we can detect that.
std::memset(&controlWord, 0, sizeof(controlWord));
newestControlWord = controlWord;
}
}

uint32_t mask = tcpMask.exchange(0);
if (mask != 0) {
tcpCache.Update(mask);
bool failedToReadMatchInfo = tcpCache.Update(mask);
if (failedToReadMatchInfo) {
// If we failed to read match info
// we want to try again next iteration
tcpMask.fetch_or(combinedMatchInfoMask);
}
std::scoped_lock tcpLock(tcpCacheMutex);
tcpCache.CloneTo(&tcpCurrent);
}
Expand Down