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artf4156: Replaced synchronization primitives with C++11 equivalents

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Change-Id: I90da739347e875efda2a29dd5484b6dda3cd4753
This commit is contained in:
Tyler Veness
2015-06-25 01:54:20 -07:00
committed by James Kuszmaul
parent 7f5ee01d3e
commit 3f59f3472a
61 changed files with 1293 additions and 768 deletions
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55
wpilibc/wpilibC++Sim/src/DriverStation.cpp
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@@ -5,7 +5,6 @@
/*----------------------------------------------------------------------------*/
#include "DriverStation.h"
#include "HAL/cpp/Synchronized.hpp"
#include "Timer.h"
#include "simulation/MainNode.h"
//#include "MotorSafetyHelper.h"
@@ -33,14 +32,7 @@ uint8_t DriverStation::m_updateNumber = 0;
*
* This is only called once the first time GetInstance() is called
*/
DriverStation::DriverStation()
{
// Create a new semaphore
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_stateSemaphore = initializeMutexRecursive();
m_joystickSemaphore = initializeMutexRecursive();
DriverStation::DriverStation() {
state = msgs::DriverStationPtr(new msgs::DriverStation());
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
@@ -67,13 +59,6 @@ DriverStation::DriverStation()
AddToSingletonList();
}
DriverStation::~DriverStation()
{
deleteMultiWait(m_waitForDataSem);
deleteMutex(m_waitForDataMutex);
// TODO: Release m_stateSemaphore and m_joystickSemaphore?
}
/**
* Return a pointer to the singleton DriverStation.
*/
@@ -113,13 +98,13 @@ float DriverStation::GetStickAxis(uint32_t stick, uint32_t axis)
wpi_setWPIError(BadJoystickIndex);
return 0.0;
}
CRITICAL_REGION(m_joystickSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_joystickMutex);
if (joysticks[stick] == nullptr || axis >= joysticks[stick]->axes().size())
{
return 0.0;
}
return joysticks[stick]->axes(axis);
END_REGION
}
/**
@@ -137,13 +122,13 @@ bool DriverStation::GetStickButton(uint32_t stick, uint32_t button)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "stick must be between 0 and 5");
return false;
}
CRITICAL_REGION(m_joystickSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_joystickMutex);
if (joysticks[stick] == nullptr || button >= joysticks[stick]->buttons().size())
{
return false;
return false;
}
return joysticks[stick]->buttons(button-1);
END_REGION
}
/**
@@ -161,7 +146,8 @@ short DriverStation::GetStickButtons(uint32_t stick)
return false;
}
short btns = 0, btnid;
CRITICAL_REGION(m_joystickSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_joystickMutex);
msgs::JoystickPtr joy = joysticks[stick];
for (btnid = 0; btnid < joy->buttons().size() && btnid < 12; btnid++)
{
@@ -171,7 +157,6 @@ short DriverStation::GetStickButtons(uint32_t stick)
}
}
return btns;
END_REGION
}
// 5V divided by 10 bits
@@ -230,9 +215,8 @@ bool DriverStation::GetDigitalOut(uint32_t channel)
bool DriverStation::IsEnabled() const
{
CRITICAL_REGION(m_stateSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_stateMutex);
return state != nullptr ? state->enabled() : false;
END_REGION
}
bool DriverStation::IsDisabled() const
@@ -242,10 +226,9 @@ bool DriverStation::IsDisabled() const
bool DriverStation::IsAutonomous() const
{
CRITICAL_REGION(m_stateSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_stateMutex);
return state != nullptr ?
state->state() == msgs::DriverStation_State_AUTO : false;
END_REGION;
}
bool DriverStation::IsOperatorControl() const
@@ -255,10 +238,9 @@ bool DriverStation::IsOperatorControl() const
bool DriverStation::IsTest() const
{
CRITICAL_REGION(m_stateSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_stateMutex);
return state != nullptr ?
state->state() == msgs::DriverStation_State_TEST : false;
END_REGION;
}
/**
@@ -301,7 +283,8 @@ uint32_t DriverStation::GetLocation() const
*/
void DriverStation::WaitForData()
{
takeMultiWait(m_waitForDataSem, m_waitForDataMutex, SEMAPHORE_WAIT_FOREVER);
std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
m_waitForDataCond.wait(lock);
}
/**
@@ -341,18 +324,18 @@ uint16_t DriverStation::GetTeamNumber() const
void DriverStation::stateCallback(const msgs::ConstDriverStationPtr &msg)
{
CRITICAL_REGION(m_stateSemaphore)
*state = *msg;
END_REGION;
giveMultiWait(m_waitForDataSem);
{
std::unique_lock<priority_recursive_mutex> lock(m_stateMutex);
*state = *msg;
}
m_waitForDataCond.notify_all();
}
void DriverStation::joystickCallback(const msgs::ConstJoystickPtr &msg,
int i)
{
CRITICAL_REGION(m_joystickSemaphore)
std::unique_lock<priority_recursive_mutex> lock(m_joystickMutex);
*(joysticks[i]) = *msg;
END_REGION;
}
void DriverStation::joystickCallback0(const msgs::ConstJoystickPtr &msg)