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

This uses a priority-aware mutex on Linux platforms.

Fixes #729.

hal/src/main/native/sim/DriverStation.cpp

@@ -11,19 +11,20 @@
 #include <pthread.h>
 #endif
 
-#include <condition_variable>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <mutex>
 #include <string>
 
+#include <support/condition_variable.h>
+#include <support/mutex.h>
+
 #include "MockData/DriverStationDataInternal.h"
 #include "MockData/MockHooks.h"
 
-static std::mutex msgMutex;
-static std::condition_variable newDSDataAvailableCond;
-static std::mutex newDSDataAvailableMutex;
+static wpi::mutex msgMutex;
+static wpi::condition_variable newDSDataAvailableCond;
+static wpi::mutex newDSDataAvailableMutex;
 static int newDSDataAvailableCounter{0};
 
 using namespace hal;
@@ -35,7 +36,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
   // Avoid flooding console by keeping track of previous 5 error
   // messages and only printing again if they're longer than 1 second old.
   static constexpr int KEEP_MSGS = 5;
-  std::lock_guard<std::mutex> lock(msgMutex);
+  std::lock_guard<wpi::mutex> lock(msgMutex);
   static std::string prevMsg[KEEP_MSGS];
   static std::chrono::time_point<std::chrono::steady_clock>
       prevMsgTime[KEEP_MSGS];
@@ -220,7 +221,7 @@ bool HAL_IsNewControlData(void) {
   // worth the cycles to check.
   int currentCount = 0;
   {
-    std::unique_lock<std::mutex> lock(newDSDataAvailableMutex);
+    std::unique_lock<wpi::mutex> lock(newDSDataAvailableMutex);
     currentCount = newDSDataAvailableCounter;
   }
   if (lastCount == currentCount) return false;
@@ -242,7 +243,7 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
   auto timeoutTime =
       std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
 
-  std::unique_lock<std::mutex> lock(newDSDataAvailableMutex);
+  std::unique_lock<wpi::mutex> lock(newDSDataAvailableMutex);
   int currentCount = newDSDataAvailableCounter;
   while (newDSDataAvailableCounter == currentCount) {
     if (timeout > 0) {
@@ -264,7 +265,7 @@ static int32_t newDataOccur(uint32_t refNum) {
   // Since we could get other values, require our specific handle
   // to signal our threads
   if (refNum != refNumber) return 0;
-  std::lock_guard<std::mutex> lock(newDSDataAvailableMutex);
+  std::lock_guard<wpi::mutex> lock(newDSDataAvailableMutex);
   // Nofify all threads
   newDSDataAvailableCounter++;
   newDSDataAvailableCond.notify_all();
@@ -278,11 +279,11 @@ static int32_t newDataOccur(uint32_t refNum) {
  */
 void HAL_InitializeDriverStation(void) {
   static std::atomic_bool initialized{false};
-  static std::mutex initializeMutex;
+  static wpi::mutex initializeMutex;
   // Initial check, as if it's true initialization has finished
   if (initialized) return;
 
-  std::lock_guard<std::mutex> lock(initializeMutex);
+  std::lock_guard<wpi::mutex> lock(initializeMutex);
   // Second check in case another thread was waiting
   if (initialized) return;