import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Starting point for the applications. Starts the OtaServer and then runs
 * the robot.
 *
 * @throws javax.microedition.midlet.MIDletStateChangeException
 */
protected final void startApp() throws MIDletStateChangeException {
    boolean errorOnExit = false;

    Watchdog.getInstance().setExpiration(0.1);
    Watchdog.getInstance().setEnabled(false);
    FRCControl.observeUserProgramStarting();
    UsageReporting.report(UsageReporting.kResourceType_Language, UsageReporting.kLanguage_Java);

    writeVersionString();

    try {
        this.startCompetition();
    } catch (Throwable t) {
        t.printStackTrace();
        errorOnExit = true;
    } finally {
        // startCompetition never returns unless exception occurs....
        System.err.println("WARNING: Robots don't quit!");
        if (errorOnExit) {
            System.err.println("---> The startCompetition() method (or methods called by it) should have handled the exception above.");
        } else {
            System.err.println("---> Unexpected return from startCompetition() method.");
        }
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Starting point for the applications. Starts the OtaServer and then runs
 * the robot.
 * @throws javax.microedition.midlet.MIDletStateChangeException
 */
protected final void startApp() throws MIDletStateChangeException {
    boolean errorOnExit = false;

    Watchdog.getInstance().setExpiration(0.1);
    Watchdog.getInstance().setEnabled(false);
    FRCControl.observeUserProgramStarting();
    UsageReporting.report(UsageReporting.kResourceType_Language, UsageReporting.kLanguage_Java);

    try {
        this.startCompetition();
    } catch (Throwable t) {
        t.printStackTrace();
        errorOnExit = true;
    } finally {
        // startCompetition never returns unless exception occurs....
        System.err.println("WARNING: Robots don't quit!");
        if (errorOnExit) {
            System.err.println("---> The startCompetition() method (or methods called by it) should have handled the exception above.");
        } else {
            System.err.println("---> Unexpected return from startCompetition() method.");
        }
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Called by the other Kinect functions to check for the latest data
 * This function will update the internal data structures
 * with the most recent Kinect input
 */
void updateData() {
    int retVal;

    if (m_recentPacketNumber !=  DriverStation.getInstance().getPacketNumber()){
        m_recentPacketNumber = DriverStation.getInstance().getPacketNumber();
        synchronized (m_headerDataSemaphore) {
            retVal = FRCControl.getDynamicControlData(kHeaderBlockID, tempHeaderData, tempHeaderData.size(), 5);
            if (retVal == 0) {
                tempHeaderData.copy(m_headerData);
                m_headerValid = true;
            }else {
                m_headerValid = false;
            }
        }

        synchronized (m_skeletonExtraDataSemaphore) {
            retVal = FRCControl.getDynamicControlData(kSkeletonExtraBlockID, tempSkeletonExtraData, tempSkeletonExtraData.size(), 5);
            if (retVal == 0) {
                tempSkeletonExtraData.copy(m_skeletonExtraData);
                m_skeletonExtraValid = true;
            }else {
                m_skeletonExtraValid = false;
            }
        }

        synchronized (m_skeletonDataSemaphore) {
            retVal = FRCControl.getDynamicControlData(kSkeletonBlockID, tempSkeletonData, tempSkeletonData.size(), 5);
            if (retVal == 0) {
                tempSkeletonData.copy(m_skeletonData);
                m_skeletonValid = true;
            }else {
                m_skeletonValid = false;
            }
        }
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * DriverStationLCD constructor.
 *
 * This is only called once the first time GetInstance() is called
 */
private DriverStationLCD() {
    m_textBuffer = new byte[FRCControl.USER_DS_LCD_DATA_SIZE];

    for (int i = 0; i < FRCControl.USER_DS_LCD_DATA_SIZE; i++) {
        m_textBuffer[i] = ' ';
    }

    m_textBuffer[0] = (byte) (kFullDisplayTextCommand >> 8);
    m_textBuffer[1] = (byte) kFullDisplayTextCommand;

    UsageReporting.report(UsageReporting.kResourceType_DriverStationLCD, 0);
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Update the data in this class with the latest data from the
 * Driver Station.
 */
private void getData() {
    if (m_recentPacketNumber !=  DriverStation.getInstance().getPacketNumber()){
        m_recentPacketNumber = DriverStation.getInstance().getPacketNumber();
        int retVal = FRCControl.getDynamicControlData(kJoystickDataID, tempOutputData, tempOutputData.size(), 5);
        if (retVal != 0) {
            System.err.println("Bad retval: " + retVal);
        }
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * DriverStationLCD constructor.
 *
 * This is only called once the first time GetInstance() is called
 */
private DriverStationLCD() {
    final char[] blank_bytes = new char[LINE_LENGTH];
    Arrays.fill(blank_bytes, ' ');
    EMPTY_STRING = new String(blank_bytes);
    textBuffer = new byte[NUM_LINES][FRCControl.USER_DS_LCD_DATA_SIZE];
    clear();
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Called by the DriverStation class when data is available.
 * This function will set any modified configuration / output,
 * then read the input and configuration from the IO.
 */
void updateData() {
    int retVal;
    synchronized (m_outputDataSemaphore) {
        if (m_outputValid || m_configChanged || m_requestEnhancedEnable) {
            m_outputData.flags = kStatusValid;
            if (m_requestEnhancedEnable) {
                // Someone called one of the get config APIs, but we are not in enhanced mode.
                m_outputData.flags |= kForceEnhancedMode;
            }
            if (m_configChanged) {
                if (!m_outputValid) {
                    // Someone called one of the set config APIs, but we are not in enhanced mode.
                    m_outputData.flags |= kForceEnhancedMode;
                }
                m_outputData.flags |= kStatusConfigChanged;
            }
            FRCControl.overrideIOConfig(m_outputData, 5);
        }
        retVal = FRCControl.getDynamicControlData(kOutputBlockID, tempOutputData, tempOutputData.size(), 5);
        if (retVal == 0) {
            if (m_outputValid) {
                if (m_configChanged) {
                    // If our config change made the round trip then clear the flag.
                    if (isConfigEqual(tempOutputData, m_outputData)) {
                        m_configChanged = false;
                    }
                } else {
                    // TODO: This won't work until artf1128 is fixed
                    //if (tempOutputData.flags & kStatusConfigChanged)
                    {
                        // Configuration was updated on the DS, so update our local cache.
                        mergeConfigIntoOutput(tempOutputData, m_outputData);
                    }
                }
            } else {
                // Initialize the local cache.
                mergeConfigIntoOutput(tempOutputData, m_outputData);
            }
            m_requestEnhancedEnable = false;
            m_outputValid = true;
        } else {
            m_outputValid = false;
            m_inputValid = false;
        }
    }

    synchronized (m_inputDataSemaphore) {

        retVal = FRCControl.getDynamicControlData(kInputBlockID, tempInputData, tempInputData.size(), 5);
        if (retVal == 0 && tempInputData.data.api_version == kSupportedAPIVersion) {
            tempInputData.copy(m_inputData);
            m_inputValid = true;
        } else {
            m_outputValid = false;
            m_inputValid = false;
        }
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Send the text data to the Driver Station.
 */
public synchronized void updateLCD() {
    FRCControl.setUserDsLcdData(m_textBuffer, FRCControl.USER_DS_LCD_DATA_SIZE, kSyncTimeout_ms);
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Send the text data to the Driver Station.
 */
private void updateLCD() {
    synchronized (textBuffer) {
        FRCControl.setUserDsLcdData(flattenTextBuffer(textBuffer), FRCControl.USER_DS_LCD_DATA_SIZE, TIMEOUT_MS);
    }
}
 

import edu.wpi.first.wpilibj.communication.FRCControl; //导入依赖的package包/类
/**
 * Flushes this output stream and forces any buffered output bytes
 * to be written out. The general contract of <code>flush</code> is
 * that calling it is an indication that, if any bytes previously
 * written have been buffered by the implementation of the output
 * stream, such bytes should immediately be written to their
 * intended destination.
 * <p>
 * The <code>flush</code> method of <code>OutputStream</code> does nothing.
 *
 * @exception  IOException  if an I/O error occurs.
 */
public synchronized void flush()
        throws IOException {
    if (errorBuffer == null) {
        throw new IllegalStateException("DSErrorOutputStream is closed");
    }

    if (index > 0) {
        FRCControl.setErrorData(errorBuffer, index, 100);
        index = 0;
    }
}