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refactored HAL library

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builds two libraries, Athena  and Desktop.
Simulation should use Desktop, Robots should use Athena

Also:
 - copied Driverstation and Joystick from Devices into Sim
 - Descreased dependency of pthreads in JNI.
 - removed Simulation ifdef from non simulation
 - added missing decprecated attribute for msvc
 - removed usage reporting from sim
 - removed unused pom.xml and constexpr

Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
This commit is contained in:
peter mitrano
2015-08-19 11:12:54 -04:00
parent 43960b9bca
commit 4514e4489a
27 changed files with 1240 additions and 1041 deletions
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8
hal/include/HAL/HAL.hpp
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@@ -164,8 +164,8 @@ enum HALAllianceStationID {
/* The maximum number of axes that will be stored in a single HALJoystickAxes
struct. This is used for allocating buffers, not bounds checking, since
there are usually less axes in practice. */
static constexpr size_t kMaxJoystickAxes = 12;
static constexpr size_t kMaxJoystickPOVs = 12;
static const size_t kMaxJoystickAxes = 12;
static const size_t kMaxJoystickPOVs = 12;
struct HALJoystickAxes {
uint16_t count;
@@ -234,8 +234,8 @@ extern "C"
int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
int HALGetMatchTime(float *matchTime);
void HALSetNewDataSem(MULTIWAIT_ID sem);
void HALSetNewDataSem(NATIVE_MULTIWAIT_ID sem);
bool HALGetSystemActive(int32_t *status);
bool HALGetBrownedOut(int32_t *status);

38
hal/include/HAL/Semaphore.hpp
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@@ -1,42 +1,24 @@
#pragma once
#include <stdint.h>
#include <pthread.h>
#include <semaphore.h>
#include <mutex>
#include <condition_variable>
typedef pthread_mutex_t* MUTEX_ID;
typedef sem_t* SEMAPHORE_ID;
typedef pthread_cond_t* MULTIWAIT_ID;
typedef std::mutex* MUTEX_ID;
typedef std::condition_variable* MULTIWAIT_ID;
typedef std::condition_variable::native_handle_type NATIVE_MULTIWAIT_ID;
extern "C"
{
extern const uint32_t SEMAPHORE_Q_FIFO;
extern const uint32_t SEMAPHORE_Q_PRIORITY;
extern const uint32_t SEMAPHORE_DELETE_SAFE;
extern const uint32_t SEMAPHORE_INVERSION_SAFE;
extern const int32_t SEMAPHORE_NO_WAIT;
extern const int32_t SEMAPHORE_WAIT_FOREVER;
extern const uint32_t SEMAPHORE_EMPTY;
extern const uint32_t SEMAPHORE_FULL;
MUTEX_ID initializeMutexRecursive();
MUTEX_ID initializeMutexNormal();
void deleteMutex(MUTEX_ID sem);
int8_t takeMutex(MUTEX_ID sem);
int8_t tryTakeMutex(MUTEX_ID sem);
int8_t giveMutex(MUTEX_ID sem);
SEMAPHORE_ID initializeSemaphore(uint32_t initial_value);
void deleteSemaphore(SEMAPHORE_ID sem);
int8_t takeSemaphore(SEMAPHORE_ID sem);
int8_t tryTakeSemaphore(SEMAPHORE_ID sem);
int8_t giveSemaphore(SEMAPHORE_ID sem);
void takeMutex(MUTEX_ID sem);
bool tryTakeMutex(MUTEX_ID sem);
void giveMutex(MUTEX_ID sem);
MULTIWAIT_ID initializeMultiWait();
void deleteMultiWait(MULTIWAIT_ID sem);
int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout);
int8_t giveMultiWait(MULTIWAIT_ID sem);
void takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m);
void giveMultiWait(MULTIWAIT_ID sem);
}

4
hal/include/HAL/cpp/priority_condition_variable.h
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@@ -14,7 +14,7 @@
#include "priority_mutex.h"
class priority_condition_variable {
typedef pthread_cond_t* native_handle_type;
typedef std::condition_variable::native_handle_type native_handle_type;
typedef std::chrono::system_clock clock_t;
public:
@@ -99,7 +99,7 @@ class priority_condition_variable {
struct Unlock {
explicit Unlock(Lock& lk) : m_lock(lk) { lk.unlock(); }
~Unlock() noexcept(false) {
~Unlock() /*noexcept(false)*/ {
if (std::uncaught_exception()) {
try { m_lock.lock(); } catch(...) {}
}