DriverStation.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.driverstation;
 
import java.util.concurrent.locks.Lock;
import java.util.concurrent.locks.ReentrantLock;
import org.wpilib.datalog.DataLog;
import org.wpilib.driverstation.internal.DriverStationBackend;

public final class DriverStation {
  private DriverStation() {}
 
  private static final Lock m_dsLock = new ReentrantLock();
  private static final GenericHID[] m_hids = new GenericHID[DriverStationBackend.JOYSTICK_PORTS];
  private static final Gamepad[] m_gamepads = new Gamepad[DriverStationBackend.JOYSTICK_PORTS];
 
  private static GenericHID getGenericHIDUnderLock(int port) {
    GenericHID toRet = m_hids[port];
    if (toRet == null) {
      toRet = new GenericHID(port);
      m_hids[port] = toRet;
    }
    return toRet;
  }

  public static GenericHID getGenericHID(int port) {
    m_dsLock.lock();
    try {
      return getGenericHIDUnderLock(port);
    } finally {
      m_dsLock.unlock();
    }
  }

  public static Gamepad getGamepad(int port) {
    m_dsLock.lock();
    try {
      Gamepad toRet = m_gamepads[port];
      if (toRet == null) {
        toRet = new Gamepad(getGenericHIDUnderLock(port));
        m_gamepads[port] = toRet;
      }
      return toRet;
    } finally {
      m_dsLock.unlock();
    }
  }

  public static void startDataLog(DataLog log) {
    DriverStationBackend.startDataLog(log);
  }

  public static void startDataLog(DataLog log, boolean logJoysticks) {
    DriverStationBackend.startDataLog(log, logJoysticks);
  }

  public static void provideRefreshedDataEventHandle(int handle) {
    DriverStationBackend.provideRefreshedDataEventHandle(handle);
  }

  public static void removeRefreshedDataEventHandle(int handle) {
    DriverStationBackend.removeRefreshedDataEventHandle(handle);
  }
}