allwpilib/hal/src/main/native/sim/mockdata/SPIData.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <iostream>

#include "../PortsInternal.h"
#include "SPIDataInternal.h"
#include "mockdata/NotifyCallbackHelpers.h"

using namespace hal;

void InvokeCallback(
    std::shared_ptr<SpiAutoReceiveDataListenerVector> currentVector,
    const char* name, uint8_t* buffer, int32_t numToRead,
    int32_t* outputCount) {
  // Return if no callbacks are assigned
  if (currentVector == nullptr) return;
  // Get a copy of the shared_ptr, then iterate and callback listeners
  auto newCallbacks = currentVector;
  for (size_t i = 0; i < newCallbacks->size(); ++i) {
    if (!(*newCallbacks)[i]) continue;  // callback was removed
    auto listener = (*newCallbacks)[i];
    listener.callback(name, listener.param, buffer, numToRead, outputCount);
  }
}

namespace hal {
namespace init {
void InitializeSPIData() {
  static SPIData ssd[5];
  ::hal::SimSPIData = ssd;
}
}  // namespace init
}  // namespace hal

SPIData* hal::SimSPIData;
void SPIData::ResetData() {
  m_initialized = false;
  m_initializedCallbacks = nullptr;
  m_readCallbacks = nullptr;
  m_writeCallbacks = nullptr;
  m_autoReceiveDataCallbacks = nullptr;
}

SPIData::SPIData() {}
SPIData::~SPIData() {}

int32_t SPIData::RegisterInitializedCallback(HAL_NotifyCallback callback,
                                             void* param,
                                             HAL_Bool initialNotify) {
  // Must return -1 on a null callback for error handling
  if (callback == nullptr) return -1;
  int32_t newUid = 0;
  {
    std::lock_guard<wpi::mutex> lock(m_registerMutex);
    m_initializedCallbacks = RegisterCallback(
        m_initializedCallbacks, "Initialized", callback, param, &newUid);
  }
  if (initialNotify) {
    // We know that the callback is not null because of earlier null check
    HAL_Value value = MakeBoolean(GetInitialized());
    callback("Initialized", param, &value);
  }
  return newUid;
}

void SPIData::CancelInitializedCallback(int32_t uid) {
  m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
}

void SPIData::InvokeInitializedCallback(HAL_Value value) {
  InvokeCallback(m_initializedCallbacks, "Initialized", &value);
}

HAL_Bool SPIData::GetInitialized() { return m_initialized; }

void SPIData::SetInitialized(HAL_Bool initialized) {
  HAL_Bool oldValue = m_initialized.exchange(initialized);
  if (oldValue != initialized) {
    InvokeInitializedCallback(MakeBoolean(initialized));
  }
}

int32_t SPIData::RegisterReadCallback(HAL_BufferCallback callback,
                                      void* param) {
  // Must return -1 on a null callback for error handling
  if (callback == nullptr) return -1;
  int32_t newUid = 0;
  {
    std::lock_guard<wpi::mutex> lock(m_registerMutex);
    m_readCallbacks =
        RegisterCallback(m_readCallbacks, "Read", callback, param, &newUid);
  }

  return newUid;
}

void SPIData::CancelReadCallback(int32_t uid) {
  m_readCallbacks = CancelCallback(m_readCallbacks, uid);
}

int32_t SPIData::RegisterWriteCallback(HAL_ConstBufferCallback callback,
                                       void* param) {
  // Must return -1 on a null callback for error handling
  if (callback == nullptr) return -1;
  int32_t newUid = 0;
  {
    std::lock_guard<wpi::mutex> lock(m_registerMutex);
    m_writeCallbacks =
        RegisterCallback(m_writeCallbacks, "Write", callback, param, &newUid);
  }

  return newUid;
}

void SPIData::CancelWriteCallback(int32_t uid) {
  m_writeCallbacks = CancelCallback(m_writeCallbacks, uid);
}

int32_t SPIData::RegisterReadAutoReceivedDataCallback(
    HAL_SpiReadAutoReceiveBufferCallback callback, void* param) {
  // Must return -1 on a null callback for error handling
  if (callback == nullptr) return -1;
  int32_t newUid = 0;
  {
    std::lock_guard<wpi::mutex> lock(m_registerMutex);
    m_autoReceiveDataCallbacks = RegisterCallbackImpl(
        m_autoReceiveDataCallbacks, "AutoReceive", callback, param, &newUid);
  }
  return newUid;
}

void SPIData::CancelReadAutoReceivedDataCallback(int32_t uid) {
  m_autoReceiveDataCallbacks =
      CancelCallbackImpl<SpiAutoReceiveDataListenerVector,
                         HAL_SpiReadAutoReceiveBufferCallback>(
          m_autoReceiveDataCallbacks, uid);
}

int32_t SPIData::Read(uint8_t* buffer, int32_t count) {
  std::lock_guard<wpi::mutex> lock(m_dataMutex);
  InvokeCallback(m_readCallbacks, "Read", buffer, count);

  return count;
}

int32_t SPIData::Write(const uint8_t* dataToSend, int32_t sendSize) {
  std::lock_guard<wpi::mutex> lock(m_dataMutex);
  InvokeCallback(m_writeCallbacks, "Write", const_cast<uint8_t*>(dataToSend),
                 sendSize);

  return sendSize;
}

int32_t SPIData::Transaction(const uint8_t* dataToSend, uint8_t* dataReceived,
                             int32_t size) {
  std::lock_guard<wpi::mutex> lock(m_dataMutex);
  InvokeCallback(m_writeCallbacks, "Write", dataToSend, size);
  InvokeCallback(m_readCallbacks, "Read", dataReceived, size);

  return size;
}

int32_t SPIData::ReadAutoReceivedData(uint8_t* buffer, int32_t numToRead,
                                      double timeout, int32_t* status) {
  int32_t outputCount = 0;
  InvokeCallback(m_autoReceiveDataCallbacks, "AutoReceive",
                 const_cast<uint8_t*>(buffer), numToRead, &outputCount);

  return outputCount;
}

extern "C" {
void HALSIM_ResetSPIData(int32_t index) { SimSPIData[index].ResetData(); }

int32_t HALSIM_RegisterSPIInitializedCallback(int32_t index,
                                              HAL_NotifyCallback callback,
                                              void* param,
                                              HAL_Bool initialNotify) {
  return SimSPIData[index].RegisterInitializedCallback(callback, param,
                                                       initialNotify);
}

void HALSIM_CancelSPIInitializedCallback(int32_t index, int32_t uid) {
  SimSPIData[index].CancelInitializedCallback(uid);
}

HAL_Bool HALSIM_GetSPIInitialized(int32_t index) {
  return SimSPIData[index].GetInitialized();
}

void HALSIM_SetSPIInitialized(int32_t index, HAL_Bool initialized) {
  SimSPIData[index].SetInitialized(initialized);
}

int32_t HALSIM_RegisterSPIReadCallback(int32_t index,
                                       HAL_BufferCallback callback,
                                       void* param) {
  return SimSPIData[index].RegisterReadCallback(callback, param);
}
void HALSIM_CancelSPIReadCallback(int32_t index, int32_t uid) {
  SimSPIData[index].CancelReadCallback(uid);
}

int32_t HALSIM_RegisterSPIWriteCallback(int32_t index,
                                        HAL_ConstBufferCallback callback,
                                        void* param) {
  return SimSPIData[index].RegisterWriteCallback(callback, param);
}
void HALSIM_CancelSPIWriteCallback(int32_t index, int32_t uid) {
  SimSPIData[index].CancelWriteCallback(uid);
}

int32_t HALSIM_RegisterSPIReadAutoReceivedDataCallback(
    int32_t index, HAL_SpiReadAutoReceiveBufferCallback callback, void* param) {
  return SimSPIData[index].RegisterReadAutoReceivedDataCallback(callback,
                                                                param);
}

void HALSIM_CancelSPIReadAutoReceivedDataCallback(int32_t index, int32_t uid) {
  SimSPIData[index].CancelReadAutoReceivedDataCallback(uid);
}

}  // extern "C"