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[hal] Add more shutdown checks and motor safety shutdown (#4510)

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This commit is contained in:
Thad House
2022-10-23 21:59:04 -07:00
committed by GitHub
parent 023a5989f8
commit ba850bac3b
4 changed files with 51 additions and 3 deletions
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30
hal/src/main/native/sim/DriverStation.cpp
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@@ -168,17 +168,26 @@ int32_t HAL_SendConsoleLine(const char* line) {
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
}
std::scoped_lock lock{driverStation->cacheMutex};
*controlWord = newestControlWord;
return 0;
}
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
if (gShutdown) {
return HAL_AllianceStationID_kRed1;
}
std::scoped_lock lock{driverStation->cacheMutex};
return currentRead->allianceStation;
}
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
*axes = currentRead->axes[joystickNum];
@@ -186,6 +195,9 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
}
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
*povs = currentRead->povs[joystickNum];
@@ -194,6 +206,9 @@ int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
if (gShutdown) {
return INCOMPATIBLE_STATE;
}
CHECK_JOYSTICK_NUMBER(joystickNum);
std::scoped_lock lock{driverStation->cacheMutex};
*buttons = currentRead->buttons[joystickNum];
@@ -202,6 +217,9 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
void HAL_GetAllJoystickData(HAL_JoystickAxes* axes, HAL_JoystickPOVs* povs,
HAL_JoystickButtons* buttons) {
if (gShutdown) {
return;
}
std::scoped_lock lock{driverStation->cacheMutex};
std::memcpy(axes, currentRead->axes, sizeof(currentRead->axes));
std::memcpy(povs, currentRead->povs, sizeof(currentRead->povs));
@@ -252,6 +270,9 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
}
double HAL_GetMatchTime(int32_t* status) {
if (gShutdown) {
return 0;
}
std::scoped_lock lock{driverStation->cacheMutex};
return currentRead->matchTime;
}
@@ -282,6 +303,9 @@ void HAL_ObserveUserProgramTest(void) {
}
void HAL_RefreshDSData(void) {
if (gShutdown) {
return;
}
HAL_ControlWord controlWord;
std::memset(&controlWord, 0, sizeof(controlWord));
controlWord.enabled = SimDriverStationData->enabled;
@@ -313,6 +337,9 @@ void HAL_RemoveNewDataEventHandle(WPI_EventHandle handle) {
}
HAL_Bool HAL_GetOutputsEnabled(void) {
if (gShutdown) {
return false;
}
std::scoped_lock lock{driverStation->cacheMutex};
return newestControlWord.enabled && newestControlWord.dsAttached;
}
@@ -321,6 +348,9 @@ HAL_Bool HAL_GetOutputsEnabled(void) {
namespace hal {
void NewDriverStationData() {
if (gShutdown) {
return;
}
cacheToUpdate->Update();
{
std::scoped_lock lock{driverStation->cacheMutex};