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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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142
hal/lib/Athena/Semaphore.cpp
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@@ -9,128 +9,34 @@ TLogLevel semaphoreLogLevel = logDEBUG;
if (level > semaphoreLogLevel) ; \
else Log().Get(level)
// See: http://www.vxdev.com/docs/vx55man/vxworks/ref/semMLib.html
const uint32_t SEMAPHORE_Q_FIFO= 0x01; // TODO: Support
const uint32_t SEMAPHORE_Q_PRIORITY = 0x01; // TODO: Support
const uint32_t SEMAPHORE_DELETE_SAFE = 0x04; // TODO: Support
const uint32_t SEMAPHORE_INVERSION_SAFE = 0x08; // TODO: Support
MUTEX_ID initializeMutexNormal() { return new std::mutex; }
const int32_t SEMAPHORE_NO_WAIT = 0;
const int32_t SEMAPHORE_WAIT_FOREVER = -1;
const uint32_t SEMAPHORE_EMPTY = 0;
const uint32_t SEMAPHORE_FULL = 1;
MUTEX_ID initializeMutexRecursive()
{
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
MUTEX_ID sem = new pthread_mutex_t();
pthread_mutex_init(sem, &attr);
pthread_mutexattr_destroy(&attr);
return sem;
}
MUTEX_ID initializeMutexNormal()
{
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_NORMAL);
MUTEX_ID sem = new pthread_mutex_t();
pthread_mutex_init(sem, &attr);
pthread_mutexattr_destroy(&attr);
return sem;
}
void deleteMutex(MUTEX_ID sem)
{
pthread_mutex_destroy(sem);
delete sem;
}
void deleteMutex(MUTEX_ID sem) { delete sem; }
/**
* Lock the semaphore, blocking until it's available.
* Lock the mutex, blocking until it's available.
*/
void takeMutex(MUTEX_ID mutex) { mutex->lock(); }
/**
* Attempt to lock the mutex.
* @return true if succeeded in locking the mutex, false otherwise.
*/
bool tryTakeMutex(MUTEX_ID mutex) { return mutex->try_lock(); }
/**
* Unlock the mutex.
* @return 0 for success, -1 for error. If -1, the error will be in errno.
*/
int8_t takeMutex(MUTEX_ID sem)
{
return pthread_mutex_lock(sem);
void giveMutex(MUTEX_ID mutex) { mutex->unlock(); }
MULTIWAIT_ID initializeMultiWait() { return new std::condition_variable; }
void deleteMultiWait(MULTIWAIT_ID cond) { delete cond; }
void takeMultiWait(MULTIWAIT_ID cond, MUTEX_ID m) {
std::unique_lock<std::mutex> lock(*m);
cond->wait(lock);
}
int8_t tryTakeMutex(MUTEX_ID sem)
{
return pthread_mutex_trylock(sem);
}
/**
* Unlock the semaphore.
* @return 0 for success, -1 for error. If -1, the error will be in errno.
*/
int8_t giveMutex(MUTEX_ID sem)
{
return pthread_mutex_unlock(sem);
}
SEMAPHORE_ID initializeSemaphore(uint32_t initial_value) {
SEMAPHORE_ID sem = new sem_t;
sem_init(sem, 0, initial_value);
return sem;
}
void deleteSemaphore(SEMAPHORE_ID sem) {
sem_destroy(sem);
delete sem;
}
/**
* Lock the semaphore, blocking until it's available.
* @return 0 for success, -1 for error. If -1, the error will be in errno.
*/
int8_t takeSemaphore(SEMAPHORE_ID sem)
{
return sem_wait(sem);
}
int8_t tryTakeSemaphore(SEMAPHORE_ID sem)
{
return sem_trywait(sem);
}
/**
* Unlock the semaphore.
* @return 0 for success, -1 for error. If -1, the error will be in errno.
*/
int8_t giveSemaphore(SEMAPHORE_ID sem)
{
return sem_post(sem);
}
MULTIWAIT_ID initializeMultiWait() {
pthread_condattr_t attr;
pthread_condattr_init(&attr);
MULTIWAIT_ID cond = new pthread_cond_t();
pthread_cond_init(cond, &attr);
pthread_condattr_destroy(&attr);
return cond;
}
void deleteMultiWait(MULTIWAIT_ID sem) {
pthread_cond_destroy(sem);
delete sem;
}
/**
* @param timeout Not implemented.
*/
int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout) {
takeMutex(m);
int8_t val = pthread_cond_wait(sem, m);
giveMutex(m);
return val;
}
int8_t giveMultiWait(MULTIWAIT_ID sem) {
return pthread_cond_broadcast(sem);
}
void giveMultiWait(MULTIWAIT_ID cond) { cond->notify_all(); }