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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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20
wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
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@@ -37,12 +37,12 @@ MotorSafetyHelper::MotorSafetyHelper(MotorSafety *safeObject)
m_expiration = DEFAULT_SAFETY_EXPIRATION;
m_stopTime = Timer::GetFPGATimestamp();
std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
m_helperList.insert(this);
}
MotorSafetyHelper::~MotorSafetyHelper() {
std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
m_helperList.erase(this);
}
@@ -51,7 +51,7 @@ MotorSafetyHelper::~MotorSafetyHelper() {
* Resets the timer on this object that is used to do the timeouts.
*/
void MotorSafetyHelper::Feed() {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
}
@@ -60,7 +60,7 @@ void MotorSafetyHelper::Feed() {
* @param expirationTime The timeout value in seconds.
*/
void MotorSafetyHelper::SetExpiration(float expirationTime) {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
m_expiration = expirationTime;
}
@@ -69,7 +69,7 @@ void MotorSafetyHelper::SetExpiration(float expirationTime) {
* @return the timeout value in seconds.
*/
float MotorSafetyHelper::GetExpiration() const {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
return m_expiration;
}
@@ -79,7 +79,7 @@ float MotorSafetyHelper::GetExpiration() const {
* timed out.
*/
bool MotorSafetyHelper::IsAlive() const {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
}
@@ -95,7 +95,7 @@ void MotorSafetyHelper::Check() {
DriverStation &ds = DriverStation::GetInstance();
if (!m_enabled || ds.IsDisabled() || ds.IsTest()) return;
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
if (m_stopTime < Timer::GetFPGATimestamp()) {
std::ostringstream desc;
m_safeObject->GetDescription(desc);
@@ -111,7 +111,7 @@ void MotorSafetyHelper::Check() {
* @param enabled True if motor safety is enforced for this object
*/
void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
m_enabled = enabled;
}
@@ -121,7 +121,7 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled) {
* @return True if motor safety is enforced for this device
*/
bool MotorSafetyHelper::IsSafetyEnabled() const {
std::unique_lock<priority_recursive_mutex> sync(m_syncMutex);
std::lock_guard<priority_recursive_mutex> sync(m_syncMutex);
return m_enabled;
}
@@ -132,7 +132,7 @@ bool MotorSafetyHelper::IsSafetyEnabled() const {
* timed out.
*/
void MotorSafetyHelper::CheckMotors() {
std::unique_lock<priority_recursive_mutex> sync(m_listMutex);
std::lock_guard<priority_recursive_mutex> sync(m_listMutex);
for (auto elem : m_helperList) {
elem->Check();
}