public void run() {
if (BlackBoxProtocol.getInstance().reconnectToDriverStation())
System.out.println("BlackBoxProtocol: Established connection to driver station");
else System.out.println("BlackBoxProtocol: Failed to establish connection with driver station");
running = true;
while (running) {
if (BlackBoxProtocol.getInstance().isConnectedToDriverStation()) {
BlackBoxPacket gamePacket = new BlackBoxPacket();
addGamePacket(gamePacket);
BlackBoxPacket dataPacket = new BlackBoxPacket();
addAnalogPackets(dataPacket);
addDigitalPackets(dataPacket);
addSolenoidPackets(dataPacket);
BlackBoxPacket messagePacket = new BlackBoxPacket();
while (messages.size() > 0) {
String message = (String) messages.elementAt(0);
messages.removeElementAt(0);
messagePacket.addPacket(BlackBoxSubPacket.createPacketForMessage(message));
}
BlackBoxProtocol.getInstance().sendPacket(gamePacket);
BlackBoxProtocol.getInstance().sendPacket(dataPacket);
BlackBoxProtocol.getInstance().sendPacket(messagePacket);
} else {
BlackBoxProtocol.getInstance().reconnectToDriverStation();
}
try {
Thread.sleep(BlackBoxProtocol.getInstance().getUpdateRate());
} catch (InterruptedException ex) {
running = false;
}
}
}
