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https://github.com/wpilibsuite/allwpilib
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[hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places. In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested. In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one. This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM. After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
This commit is contained in:
Thad House
@@ -5,32 +5,79 @@
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#include "frc/PneumaticsControlModule.h"
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#include <hal/CTREPCM.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/StackTrace.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Compressor.h"
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#include "frc/DoubleSolenoid.h"
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#include "frc/Errors.h"
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#include "frc/SensorUtil.h"
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#include "frc/Solenoid.h"
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using namespace frc;
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wpi::mutex PneumaticsControlModule::m_handleLock;
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std::unique_ptr<
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wpi::DenseMap<int, std::weak_ptr<PneumaticsControlModule::DataStore>>>
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PneumaticsControlModule::m_handleMap = nullptr;
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// Always called under lock, so we can avoid the double lock from the magic
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// static
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std::weak_ptr<PneumaticsControlModule::DataStore>&
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PneumaticsControlModule::GetDataStore(int module) {
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if (!m_handleMap) {
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m_handleMap = std::make_unique<wpi::DenseMap<
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int, std::weak_ptr<PneumaticsControlModule::DataStore>>>();
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}
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return (*m_handleMap)[module];
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}
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class PneumaticsControlModule::DataStore {
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public:
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explicit DataStore(int module, const char* stackTrace) {
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int32_t status = 0;
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HAL_CTREPCMHandle handle =
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HAL_InitializeCTREPCM(module, stackTrace, &status);
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FRC_CheckErrorStatus(status, "Module {}", module);
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m_moduleObject = PneumaticsControlModule{handle, module};
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m_moduleObject.m_dataStore =
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std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
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}
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~DataStore() noexcept { HAL_FreeCTREPCM(m_moduleObject.m_handle); }
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DataStore(DataStore&&) = delete;
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DataStore& operator=(DataStore&&) = delete;
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private:
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friend class PneumaticsControlModule;
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uint32_t m_reservedMask{0};
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bool m_compressorReserved{false};
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wpi::mutex m_reservedLock;
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PneumaticsControlModule m_moduleObject{HAL_kInvalidHandle, 0};
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};
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PneumaticsControlModule::PneumaticsControlModule()
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: PneumaticsControlModule{SensorUtil::GetDefaultCTREPCMModule()} {}
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PneumaticsControlModule::PneumaticsControlModule(int module) {
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int32_t status = 0;
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std::string stackTrace = wpi::GetStackTrace(1);
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m_handle = HAL_InitializeCTREPCM(module, stackTrace.c_str(), &status);
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FRC_CheckErrorStatus(status, "Module {}", module);
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std::scoped_lock lock(m_handleLock);
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auto& res = GetDataStore(module);
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m_dataStore = res.lock();
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if (!m_dataStore) {
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m_dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
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res = m_dataStore;
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}
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m_handle = m_dataStore->m_moduleObject.m_handle;
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m_module = module;
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wpi::SendableRegistry::AddLW(this, "Compressor", module);
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}
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PneumaticsControlModule::~PneumaticsControlModule() {
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HAL_FreeCTREPCM(m_handle);
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}
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PneumaticsControlModule::PneumaticsControlModule(HAL_CTREPCMHandle handle,
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int module)
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: m_handle{handle}, m_module{module} {}
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bool PneumaticsControlModule::GetCompressor() {
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bool PneumaticsControlModule::GetCompressor() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressor(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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@@ -43,59 +90,59 @@ void PneumaticsControlModule::SetClosedLoopControl(bool enabled) {
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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}
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bool PneumaticsControlModule::GetClosedLoopControl() {
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bool PneumaticsControlModule::GetClosedLoopControl() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMClosedLoopControl(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetPressureSwitch() {
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bool PneumaticsControlModule::GetPressureSwitch() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMPressureSwitch(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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double PneumaticsControlModule::GetCompressorCurrent() {
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double PneumaticsControlModule::GetCompressorCurrent() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() {
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bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() {
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bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() const {
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int32_t status = 0;
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auto result =
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HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorShortedFault() {
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bool PneumaticsControlModule::GetCompressorShortedFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressorShortedFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorShortedStickyFault() {
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bool PneumaticsControlModule::GetCompressorShortedStickyFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressorShortedStickyFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorNotConnectedFault() {
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bool PneumaticsControlModule::GetCompressorNotConnectedFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMCompressorNotConnectedFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() {
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bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() const {
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int32_t status = 0;
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auto result =
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HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_handle, &status);
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@@ -103,13 +150,13 @@ bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() {
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return result;
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}
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bool PneumaticsControlModule::GetSolenoidVoltageFault() {
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bool PneumaticsControlModule::GetSolenoidVoltageFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMSolenoidVoltageFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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return result;
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}
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bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() {
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bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() const {
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int32_t status = 0;
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auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(m_handle, &status);
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FRC_CheckErrorStatus(status, "Module {}", m_module);
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@@ -165,27 +212,58 @@ bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {
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}
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int PneumaticsControlModule::CheckAndReserveSolenoids(int mask) {
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std::scoped_lock lock{m_reservedLock};
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std::scoped_lock lock{m_dataStore->m_reservedLock};
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uint32_t uMask = static_cast<uint32_t>(mask);
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if ((m_reservedMask & uMask) != 0) {
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return m_reservedMask & uMask;
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if ((m_dataStore->m_reservedMask & uMask) != 0) {
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return m_dataStore->m_reservedMask & uMask;
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}
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m_reservedMask |= uMask;
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m_dataStore->m_reservedMask |= uMask;
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return 0;
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}
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void PneumaticsControlModule::UnreserveSolenoids(int mask) {
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std::scoped_lock lock{m_reservedLock};
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m_reservedMask &= ~(static_cast<uint32_t>(mask));
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std::scoped_lock lock{m_dataStore->m_reservedLock};
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m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
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}
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void PneumaticsControlModule::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Compressor");
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builder.AddBooleanProperty(
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"Closed Loop Control", [=]() { return GetClosedLoopControl(); },
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[=](bool value) { SetClosedLoopControl(value); });
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builder.AddBooleanProperty(
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"Enabled", [=] { return GetCompressor(); }, nullptr);
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builder.AddBooleanProperty(
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"Pressure switch", [=]() { return GetPressureSwitch(); }, nullptr);
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bool PneumaticsControlModule::ReserveCompressor() {
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std::scoped_lock lock{m_dataStore->m_reservedLock};
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if (m_dataStore->m_compressorReserved) {
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return false;
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}
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m_dataStore->m_compressorReserved = true;
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return true;
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}
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void PneumaticsControlModule::UnreserveCompressor() {
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std::scoped_lock lock{m_dataStore->m_reservedLock};
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m_dataStore->m_compressorReserved = false;
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}
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Solenoid PneumaticsControlModule::MakeSolenoid(int channel) {
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return Solenoid{m_module, PneumaticsModuleType::CTREPCM, channel};
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}
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DoubleSolenoid PneumaticsControlModule::MakeDoubleSolenoid(int forwardChannel,
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int reverseChannel) {
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return DoubleSolenoid{m_module, PneumaticsModuleType::CTREPCM, forwardChannel,
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reverseChannel};
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}
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Compressor PneumaticsControlModule::MakeCompressor() {
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return Compressor{m_module, PneumaticsModuleType::CTREPCM};
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}
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std::shared_ptr<PneumaticsBase> PneumaticsControlModule::GetForModule(
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int module) {
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std::string stackTrace = wpi::GetStackTrace(1);
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std::scoped_lock lock(m_handleLock);
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auto& res = GetDataStore(module);
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std::shared_ptr<DataStore> dataStore = res.lock();
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if (!dataStore) {
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dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
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res = dataStore;
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}
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return std::shared_ptr<PneumaticsBase>{dataStore, &dataStore->m_moduleObject};
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}
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