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HAL: Expose NetComm SendConsoleLine (#2337)

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This can be use to synchronize writes between threads, assuming writes all go through this and not stdout.
This commit is contained in:
Thad House
2020-02-18 20:44:40 -08:00
committed by GitHub
parent 2a968df779
commit 554bda3332
8 changed files with 86 additions and 14 deletions
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17
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -18,6 +18,7 @@
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "HALInitializer.h"
#include "mockdata/DriverStationDataInternal.h"
@@ -29,6 +30,8 @@ static wpi::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
static std::atomic_bool isFinalized{false};
static std::atomic<HALSIM_SendErrorHandler> sendErrorHandler{nullptr};
static std::atomic<HALSIM_SendConsoleLineHandler> sendConsoleLineHandler{
nullptr};
namespace hal {
namespace init {
@@ -47,6 +50,10 @@ void HALSIM_SetSendError(HALSIM_SendErrorHandler handler) {
sendErrorHandler.store(handler);
}
void HALSIM_SetSendConsoleLine(HALSIM_SendConsoleLineHandler handler) {
sendConsoleLineHandler.store(handler);
}
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
@@ -105,6 +112,16 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
return retval;
}
int32_t HAL_SendConsoleLine(const char* line) {
auto handler = sendConsoleLineHandler.load();
if (handler) {
return handler(line);
}
wpi::outs() << line << "\n";
wpi::outs().flush();
return 0;
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
controlWord->enabled = SimDriverStationData->enabled;
controlWord->autonomous = SimDriverStationData->autonomous;

20
hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2018-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -462,7 +462,23 @@ Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setSendError
HALSIM_SetSendError([](HAL_Bool isError, int32_t errorCode,
HAL_Bool isLVCode, const char* details,
const char* location, const char* callStack,
HAL_Bool printMsg) { return 1; });
HAL_Bool printMsg) { return 0; });
}
}
/*
* Class: edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI
* Method: setSendConsoleLine
* Signature: (Z)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setSendConsoleLine
(JNIEnv*, jclass, jboolean shouldSend)
{
if (shouldSend) {
HALSIM_SetSendConsoleLine(nullptr);
} else {
HALSIM_SetSendConsoleLine([](const char* line) { return 0; });
}
}