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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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44
hal/src/main/native/sim/MockData/DriverStationData.cpp
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@@ -49,7 +49,7 @@ void DriverStationData::ResetData() {
m_dsAttachedCallbacks = nullptr;
{
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(6);
m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(6);
m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(6);
@@ -66,7 +66,7 @@ void DriverStationData::ResetData() {
}
}
{
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
m_matchInfo = std::make_unique<MatchInfoDataStore>();
}
@@ -79,7 +79,7 @@ int32_t DriverStationData::RegisterEnabledCallback(HAL_NotifyCallback callback,
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_enabledCallbacks = RegisterCallback(m_enabledCallbacks, "Enabled",
callback, param, &newUid);
}
@@ -114,7 +114,7 @@ int32_t DriverStationData::RegisterAutonomousCallback(
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_autonomousCallbacks = RegisterCallback(
m_autonomousCallbacks, "Autonomous", callback, param, &newUid);
}
@@ -150,7 +150,7 @@ int32_t DriverStationData::RegisterTestCallback(HAL_NotifyCallback callback,
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_testCallbacks =
RegisterCallback(m_testCallbacks, "Test", callback, param, &newUid);
}
@@ -186,7 +186,7 @@ int32_t DriverStationData::RegisterEStopCallback(HAL_NotifyCallback callback,
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_eStopCallbacks =
RegisterCallback(m_eStopCallbacks, "EStop", callback, param, &newUid);
}
@@ -221,7 +221,7 @@ int32_t DriverStationData::RegisterFmsAttachedCallback(
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_fmsAttachedCallbacks = RegisterCallback(
m_fmsAttachedCallbacks, "FmsAttached", callback, param, &newUid);
}
@@ -256,7 +256,7 @@ int32_t DriverStationData::RegisterDsAttachedCallback(
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_dsAttachedCallbacks = RegisterCallback(
m_dsAttachedCallbacks, "DsAttached", callback, param, &newUid);
}
@@ -291,7 +291,7 @@ int32_t DriverStationData::RegisterAllianceStationIdCallback(
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_allianceStationIdCallbacks =
RegisterCallback(m_allianceStationIdCallbacks, "AllianceStationId",
callback, param, &newUid);
@@ -332,7 +332,7 @@ int32_t DriverStationData::RegisterMatchTimeCallback(
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<std::mutex> lock(m_registerMutex);
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_matchTimeCallbacks = RegisterCallback(m_matchTimeCallbacks, "MatchTime",
callback, param, &newUid);
}
@@ -363,22 +363,22 @@ void DriverStationData::SetMatchTime(double matchTime) {
void DriverStationData::GetJoystickAxes(int32_t joystickNum,
HAL_JoystickAxes* axes) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
*axes = m_joystickAxes[joystickNum];
}
void DriverStationData::GetJoystickPOVs(int32_t joystickNum,
HAL_JoystickPOVs* povs) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
*povs = m_joystickPOVs[joystickNum];
}
void DriverStationData::GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
*buttons = m_joystickButtons[joystickNum];
}
void DriverStationData::GetJoystickDescriptor(
int32_t joystickNum, HAL_JoystickDescriptor* descriptor) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
*descriptor = m_joystickDescriptor[joystickNum];
// Always ensure name is null terminated
descriptor->name[255] = '\0';
@@ -387,13 +387,13 @@ void DriverStationData::GetJoystickOutputs(int32_t joystickNum,
int64_t* outputs,
int32_t* leftRumble,
int32_t* rightRumble) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
*leftRumble = m_joystickOutputs[joystickNum].leftRumble;
*outputs = m_joystickOutputs[joystickNum].outputs;
*rightRumble = m_joystickOutputs[joystickNum].rightRumble;
}
void DriverStationData::GetMatchInfo(HAL_MatchInfo* info) {
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
auto eventLen = m_matchInfo->eventName.size();
info->eventName = static_cast<char*>(std::malloc(eventLen + 1));
std::memcpy(info->eventName, m_matchInfo->eventName.c_str(), eventLen);
@@ -414,37 +414,37 @@ void DriverStationData::FreeMatchInfo(const HAL_MatchInfo* info) {
void DriverStationData::SetJoystickAxes(int32_t joystickNum,
const HAL_JoystickAxes* axes) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickAxes[joystickNum] = *axes;
}
void DriverStationData::SetJoystickPOVs(int32_t joystickNum,
const HAL_JoystickPOVs* povs) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickPOVs[joystickNum] = *povs;
}
void DriverStationData::SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickButtons[joystickNum] = *buttons;
}
void DriverStationData::SetJoystickDescriptor(
int32_t joystickNum, const HAL_JoystickDescriptor* descriptor) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickDescriptor[joystickNum] = *descriptor;
}
void DriverStationData::SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble,
int32_t rightRumble) {
std::lock_guard<std::mutex> lock(m_joystickDataMutex);
std::lock_guard<wpi::mutex> lock(m_joystickDataMutex);
m_joystickOutputs[joystickNum].leftRumble = leftRumble;
m_joystickOutputs[joystickNum].outputs = outputs;
m_joystickOutputs[joystickNum].rightRumble = rightRumble;
}
void DriverStationData::SetMatchInfo(const HAL_MatchInfo* info) {
std::lock_guard<std::mutex> lock(m_matchInfoMutex);
std::lock_guard<wpi::mutex> lock(m_matchInfoMutex);
m_matchInfo->eventName = info->eventName;
m_matchInfo->gameSpecificMessage = info->gameSpecificMessage;
m_matchInfo->matchNumber = info->matchNumber;