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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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40
wpilibc/src/main/native/cpp/DriverStation.cpp
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@@ -103,7 +103,7 @@ bool DriverStation::GetStickButton(int stick, int button) {
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
std::unique_lock<std::mutex> lock(m_cacheDataMutex);
std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
if (button > m_joystickButtons[stick].count) {
// Unlock early so error printing isn't locked.
lock.unlock();
@@ -134,7 +134,7 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) {
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
std::unique_lock<std::mutex> lock(m_cacheDataMutex);
std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
if (button > m_joystickButtons[stick].count) {
// Unlock early so error printing isn't locked.
lock.unlock();
@@ -171,7 +171,7 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) {
"ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
std::unique_lock<std::mutex> lock(m_cacheDataMutex);
std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
if (button > m_joystickButtons[stick].count) {
// Unlock early so error printing isn't locked.
lock.unlock();
@@ -204,7 +204,7 @@ double DriverStation::GetStickAxis(int stick, int axis) {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
std::unique_lock<std::mutex> lock(m_cacheDataMutex);
std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
if (axis >= m_joystickAxes[stick].count) {
// Unlock early so error printing isn't locked.
m_cacheDataMutex.unlock();
@@ -230,7 +230,7 @@ int DriverStation::GetStickPOV(int stick, int pov) {
wpi_setWPIError(BadJoystickIndex);
return -1;
}
std::unique_lock<std::mutex> lock(m_cacheDataMutex);
std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
if (pov >= m_joystickPOVs[stick].count) {
// Unlock early so error printing isn't locked.
lock.unlock();
@@ -256,7 +256,7 @@ int DriverStation::GetStickButtons(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_joystickButtons[stick].buttons;
}
@@ -271,7 +271,7 @@ int DriverStation::GetStickAxisCount(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_joystickAxes[stick].count;
}
@@ -286,7 +286,7 @@ int DriverStation::GetStickPOVCount(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_joystickPOVs[stick].count;
}
@@ -301,7 +301,7 @@ int DriverStation::GetStickButtonCount(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return 0;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_joystickButtons[stick].count;
}
@@ -316,7 +316,7 @@ bool DriverStation::GetJoystickIsXbox(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return false;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return static_cast<bool>(m_joystickDescriptor[stick].isXbox);
}
@@ -331,7 +331,7 @@ int DriverStation::GetJoystickType(int stick) const {
wpi_setWPIError(BadJoystickIndex);
return -1;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return static_cast<int>(m_joystickDescriptor[stick].type);
}
@@ -345,7 +345,7 @@ std::string DriverStation::GetJoystickName(int stick) const {
if (stick >= kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
std::string retVal(m_joystickDescriptor[stick].name);
return retVal;
}
@@ -361,7 +361,7 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const {
wpi_setWPIError(BadJoystickIndex);
return -1;
}
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_joystickDescriptor[stick].axisTypes[axis];
}
@@ -482,27 +482,27 @@ bool DriverStation::IsBrownedOut() const {
}
std::string DriverStation::GetGameSpecificMessage() const {
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_matchInfo->gameSpecificMessage;
}
std::string DriverStation::GetEventName() const {
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_matchInfo->eventName;
}
DriverStation::MatchType DriverStation::GetMatchType() const {
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_matchInfo->matchType;
}
int DriverStation::GetMatchNumber() const {
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_matchInfo->matchNumber;
}
int DriverStation::GetReplayNumber() const {
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
return m_matchInfo->replayNumber;
}
@@ -650,7 +650,7 @@ void DriverStation::GetData() {
UpdateControlWord(true, controlWord);
// Obtain a write lock on the data, swap the cached data into the
// main data arrays
std::lock_guard<std::mutex> lock(m_cacheDataMutex);
std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
for (int32_t i = 0; i < kJoystickPorts; i++) {
// If buttons weren't pressed and are now, set flags in m_buttonsPressed
@@ -768,7 +768,7 @@ void DriverStation::Run() {
void DriverStation::UpdateControlWord(bool force,
HAL_ControlWord& controlWord) const {
auto now = std::chrono::steady_clock::now();
std::lock_guard<std::mutex> lock(m_controlWordMutex);
std::lock_guard<wpi::mutex> lock(m_controlWordMutex);
// Update every 50 ms or on force.
if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
force) {