/** Provides the service routine for the DS polling thread. */
private void task() {
int safetyCounter = 0;
while (m_thread_keepalive) {
try {
m_packetDataAvailableSem.takeForever();
synchronized (this) {
getData();
m_enhancedIO.updateData();
setData();
}
synchronized (m_dataSem) {
m_dataSem.notifyAll();
}
if (++safetyCounter >= 5) {
// System.out.println("Checking safety");
MotorSafetyHelper.checkMotors();
safetyCounter = 0;
}
} catch (SemaphoreException ex) {
//
}
}
}
