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Replaced instances of std::unique_lock with std::lock_guard where possible

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If a lock is used with a mutex that doesn't need to be unlocked again before the lock is destroyed, std::lock_guard can be more efficient than std::unique_lock due to less overhead.

This commit also removes a redundant set of curly braces in PIDController.cpp intended to constrain a lock's scope.

Change-Id: Idd692ce439528ddb319a4c62c40c7351a664eb97
This commit is contained in:
Tyler Veness
2015-09-01 16:47:57 -07:00
committed by Brad Miller (WPI)
parent f64b055499
commit c0ecde302f
20 changed files with 225 additions and 227 deletions
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40
hal/lib/Athena/Digital.cpp
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@@ -284,7 +284,7 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
float rawDutyCycle = 256.0 * dutyCycle;
if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
{
std::unique_lock<priority_recursive_mutex> sync(digitalPwmMutex);
std::lock_guard<priority_recursive_mutex> sync(digitalPwmMutex);
uint8_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
if (pwmPeriodPower < 4) {
// The resolution of the duty cycle drops close to the highest frequencies.
@@ -318,7 +318,7 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
{
std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
if (on)
forwardRelays |= 1 << port->port.pin;
@@ -337,7 +337,7 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkRelayChannel(port);
{
std::unique_lock<priority_recursive_mutex> sync(digitalRelayMutex);
std::lock_guard<priority_recursive_mutex> sync(digitalRelayMutex);
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
if (on)
reverseRelays |= 1 << port->port.pin;
@@ -384,7 +384,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
}
{
std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
@@ -468,7 +468,7 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
value = 1;
}
{
std::unique_lock<priority_recursive_mutex> sync(digitalDIOMutex);
std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if(port->port.pin < kNumHeaders) {
@@ -1146,7 +1146,7 @@ void spiInitialize(uint8_t port, int32_t *status) {
*/
int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size)
{
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_writeread(spiGetHandle(port), (const char*) dataToSend, (char*) dataReceived, (int32_t) size);
}
@@ -1162,7 +1162,7 @@ int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived,
*/
int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
{
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_write(spiGetHandle(port), (const char*) dataToSend, (int32_t) sendSize);
}
@@ -1180,7 +1180,7 @@ int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize)
*/
int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
{
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
return spilib_read(spiGetHandle(port), (char*) buffer, (int32_t) count);
}
@@ -1190,7 +1190,7 @@ int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count)
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiClose(uint8_t port) {
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_close(spiGetHandle(port));
spiSetHandle(port, 0);
return;
@@ -1203,7 +1203,7 @@ void spiClose(uint8_t port) {
* @param speed The speed in Hz (0-1MHz)
*/
void spiSetSpeed(uint8_t port, uint32_t speed) {
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setspeed(spiGetHandle(port), speed);
}
@@ -1216,7 +1216,7 @@ void spiSetSpeed(uint8_t port, uint32_t speed) {
* @param clk_idle_high True to set the clock to active low, False to set the clock active high
*/
void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high) {
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
spilib_setopts(spiGetHandle(port), msb_first, sample_on_trailing, clk_idle_high);
}
@@ -1226,7 +1226,7 @@ void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idl
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if(port < 4)
{
spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) | (1<<port), status);
@@ -1243,7 +1243,7 @@ void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status){
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
*/
void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
if(port < 4)
{
spiSystem->writeChipSelectActiveHigh_Hdr(spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1<<port), status);
@@ -1261,7 +1261,7 @@ void spiSetChipSelectActiveLow(uint8_t port, int32_t *status){
* @return The stored handle for the SPI port. 0 represents no stored handle.
*/
int32_t spiGetHandle(uint8_t port){
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch(port){
case 0:
return m_spiCS0Handle;
@@ -1285,7 +1285,7 @@ int32_t spiGetHandle(uint8_t port){
* @param handle The value of the handle for the port.
*/
void spiSetHandle(uint8_t port, int32_t handle){
std::unique_lock<priority_recursive_mutex> sync(spiGetSemaphore(port));
std::lock_guard<priority_recursive_mutex> sync(spiGetSemaphore(port));
switch(port){
case 0:
m_spiCS0Handle = handle;
@@ -1336,7 +1336,7 @@ void i2CInitialize(uint8_t port, int32_t *status) {
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
std::unique_lock<priority_recursive_mutex> sync(lock);
std::lock_guard<priority_recursive_mutex> sync(lock);
if(port == 0) {
i2COnboardObjCount++;
if (i2COnBoardHandle > 0) return;
@@ -1375,7 +1375,7 @@ int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend,
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
std::unique_lock<priority_recursive_mutex> sync(lock);
std::lock_guard<priority_recursive_mutex> sync(lock);
return i2clib_writeread(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize, (char*) dataReceived, (int32_t) receiveSize);
}
}
@@ -1400,7 +1400,7 @@ int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend, uint8
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
std::unique_lock<priority_recursive_mutex> sync(lock);
std::lock_guard<priority_recursive_mutex> sync(lock);
return i2clib_write(handle, deviceAddress, (const char*) dataToSend, (int32_t) sendSize);
}
}
@@ -1427,7 +1427,7 @@ int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t co
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
std::unique_lock<priority_recursive_mutex> sync(lock);
std::lock_guard<priority_recursive_mutex> sync(lock);
return i2clib_read(handle, deviceAddress, (char*) buffer, (int32_t) count);
}
@@ -1440,7 +1440,7 @@ void i2CClose(uint8_t port) {
}
priority_recursive_mutex &lock = port == 0 ? digitalI2COnBoardMutex : digitalI2CMXPMutex;
{
std::unique_lock<priority_recursive_mutex> sync(lock);
std::lock_guard<priority_recursive_mutex> sync(lock);
if((port == 0 ? i2COnboardObjCount--:i2CMXPObjCount--) == 0) {
int32_t handle = port == 0 ? i2COnBoardHandle:i2CMXPHandle;
i2clib_close(handle);