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[hal] Merge WaitForCachedData into WaitForDSData (#2587)

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Remove WaitForCachedData as it's no longer required.

Also properly handle caching / transition detection logic that occurs at the
WPILib level.

This also changes DriverStation::IsNewControlData() to check for WPILib-level
caching instead of wrapping the HAL function.
This commit is contained in:
Peter Johnson
2020-07-13 21:57:54 -07:00
committed by GitHub
parent f0a34ea64e
commit 16ef372b53
6 changed files with 86 additions and 120 deletions
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75
hal/src/main/native/sim/DriverStation.cpp
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@@ -218,42 +218,29 @@ void HAL_ObserveUserProgramTest(void) {
// TODO
}
#ifdef __APPLE__
static pthread_key_t lastCountKey;
static pthread_once_t lastCountKeyOnce = PTHREAD_ONCE_INIT;
static void InitLastCountKey(void) {
pthread_key_create(&lastCountKey, std::free);
}
#endif
static int& GetThreadLocalLastCount() {
// There is a rollover error condition here. At Packet# = n * (uintmax), this
// will return false when instead it should return true. However, this at a
// 20ms rate occurs once every 2.7 years of DS connected runtime, so not
// worth the cycles to check.
#ifdef __APPLE__
pthread_once(&lastCountKeyOnce, InitLastCountKey);
int* lastCountPtr = static_cast<int*>(pthread_getspecific(lastCountKey));
if (!lastCountPtr) {
lastCountPtr = static_cast<int*>(std::malloc(sizeof(int)));
*lastCountPtr = -1;
pthread_setspecific(lastCountKey, lastCountPtr);
}
int& lastCount = *lastCountPtr;
#else
thread_local int lastCount{-1};
#endif
thread_local int lastCount{0};
return lastCount;
}
void HAL_WaitForCachedControlData(void) {
HAL_WaitForCachedControlDataTimeout(0);
HAL_Bool HAL_IsNewControlData(void) {
std::scoped_lock lock(newDSDataAvailableMutex);
int& lastCount = GetThreadLocalLastCount();
int currentCount = newDSDataAvailableCounter;
if (lastCount == currentCount) return false;
lastCount = currentCount;
return true;
}
HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
int& lastCount = GetThreadLocalLastCount();
void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
std::unique_lock lock(newDSDataAvailableMutex);
int& lastCount = GetThreadLocalLastCount();
int currentCount = newDSDataAvailableCounter;
if (lastCount != currentCount) {
lastCount = currentCount;
@@ -263,7 +250,6 @@ HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
if (isFinalized.load()) {
return false;
}
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
@@ -277,42 +263,7 @@ HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
newDSDataAvailableCond->wait(lock);
}
}
return true;
}
HAL_Bool HAL_IsNewControlData(void) {
int& lastCount = GetThreadLocalLastCount();
int currentCount = 0;
{
std::scoped_lock lock(newDSDataAvailableMutex);
currentCount = newDSDataAvailableCounter;
}
if (lastCount == currentCount) return false;
lastCount = currentCount;
return true;
}
void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); }
HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
if (isFinalized.load()) {
return false;
}
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
std::unique_lock lock(newDSDataAvailableMutex);
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
newDSDataAvailableCond->wait(lock);
}
}
lastCount = newDSDataAvailableCounter;
return true;
}