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Use wpi::mutex instead of std::mutex. (#730)

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This uses a priority-aware mutex on Linux platforms.

Fixes #729.
This commit is contained in:
Peter Johnson
2017-11-13 09:51:48 -08:00
committed by GitHub
parent 35d68d2a34
commit 4d559f3856
86 changed files with 491 additions and 839 deletions
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48
hal/src/main/native/athena/SPI.cpp
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@@ -9,10 +9,10 @@
#include <array>
#include <atomic>
#include <mutex>
#include <llvm/raw_ostream.h>
#include <spilib/spi-lib.h>
#include <support/mutex.h>
#include "DigitalInternal.h"
#include "HAL/DIO.h"
@@ -32,9 +32,9 @@ static int32_t m_spiMXPHandle = 0;
static constexpr int32_t kSpiMaxHandles = 5;
// Indices 0-3 are for onboard CS0-CS2. Index 4 is for MXP.
static std::array<std::mutex, kSpiMaxHandles> spiHandleMutexes;
static std::array<std::mutex, kSpiMaxHandles> spiApiMutexes;
static std::array<std::mutex, kSpiMaxHandles> spiAccumulatorMutexes;
static std::array<wpi::mutex, kSpiMaxHandles> spiHandleMutexes;
static std::array<wpi::mutex, kSpiMaxHandles> spiApiMutexes;
static std::array<wpi::mutex, kSpiMaxHandles> spiAccumulatorMutexes;
// MXP SPI does not count towards this
std::atomic<int32_t> spiPortCount{0};
@@ -220,7 +220,7 @@ int32_t HAL_TransactionSPI(HAL_SPIPort port, uint8_t* dataToSend,
return -1;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
return spilib_writeread(
HAL_GetSPIHandle(port), reinterpret_cast<const char*>(dataToSend),
reinterpret_cast<char*>(dataReceived), static_cast<int32_t>(size));
@@ -241,7 +241,7 @@ int32_t HAL_WriteSPI(HAL_SPIPort port, uint8_t* dataToSend, int32_t sendSize) {
return -1;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
return spilib_write(HAL_GetSPIHandle(port),
reinterpret_cast<const char*>(dataToSend),
static_cast<int32_t>(sendSize));
@@ -265,7 +265,7 @@ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) {
return -1;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
return spilib_read(HAL_GetSPIHandle(port), reinterpret_cast<char*>(buffer),
static_cast<int32_t>(count));
}
@@ -284,7 +284,7 @@ void HAL_CloseSPI(HAL_SPIPort port) {
HAL_FreeSPIAccumulator(port, &status);
{
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
spilib_close(HAL_GetSPIHandle(port));
}
@@ -326,7 +326,7 @@ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) {
return;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
spilib_setspeed(HAL_GetSPIHandle(port), speed);
}
@@ -346,7 +346,7 @@ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst,
return;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
spilib_setopts(HAL_GetSPIHandle(port), msbFirst, sampleOnTrailing,
clkIdleHigh);
}
@@ -362,7 +362,7 @@ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) {
return;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) | (1 << port), status);
@@ -382,7 +382,7 @@ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) {
return;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1 << port), status);
@@ -402,7 +402,7 @@ int32_t HAL_GetSPIHandle(HAL_SPIPort port) {
return 0;
}
std::lock_guard<std::mutex> sync(spiHandleMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiHandleMutexes[port]);
switch (port) {
case 0:
return m_spiCS0Handle;
@@ -431,7 +431,7 @@ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
return;
}
std::lock_guard<std::mutex> sync(spiHandleMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiHandleMutexes[port]);
switch (port) {
case 0:
m_spiCS0Handle = handle;
@@ -463,7 +463,7 @@ static void spiAccumulatorProcess(uint64_t currentTime,
// perform SPI transaction
uint8_t resp_b[4];
{
std::lock_guard<std::mutex> sync(spiApiMutexes[accum->port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[accum->port]);
spilib_writeread(HAL_GetSPIHandle(accum->port),
reinterpret_cast<const char*>(accum->cmd),
reinterpret_cast<char*>(resp_b),
@@ -538,7 +538,7 @@ void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
return;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
if (!spiAccumulators[port])
spiAccumulators[port] = std::make_unique<SPIAccumulator>();
SPIAccumulator* accum = spiAccumulators[port].get();
@@ -584,7 +584,7 @@ void HAL_FreeSPIAccumulator(HAL_SPIPort port, int32_t* status) {
return;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -604,7 +604,7 @@ void HAL_ResetSPIAccumulator(HAL_SPIPort port, int32_t* status) {
return;
}
std::lock_guard<std::mutex> sync(spiApiMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiApiMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -631,7 +631,7 @@ void HAL_SetSPIAccumulatorCenter(HAL_SPIPort port, int32_t center,
return;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -650,7 +650,7 @@ void HAL_SetSPIAccumulatorDeadband(HAL_SPIPort port, int32_t deadband,
return;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -668,7 +668,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(HAL_SPIPort port, int32_t* status) {
return 0;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -688,7 +688,7 @@ int64_t HAL_GetSPIAccumulatorValue(HAL_SPIPort port, int32_t* status) {
return 0;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -711,7 +711,7 @@ int64_t HAL_GetSPIAccumulatorCount(HAL_SPIPort port, int32_t* status) {
return 0;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
@@ -754,7 +754,7 @@ void HAL_GetSPIAccumulatorOutput(HAL_SPIPort port, int64_t* value,
return;
}
std::lock_guard<std::mutex> sync(spiAccumulatorMutexes[port]);
std::lock_guard<wpi::mutex> sync(spiAccumulatorMutexes[port]);
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;