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Change hal sim to use spinlocks (#1291)

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This makes callback registration completely thread safe.

This patch also uses templates and macros to dramatically reduce the amount of
manual boilerplate.
This commit is contained in:
Peter Johnson
2018-09-03 16:08:07 -07:00
committed by GitHub
parent 67b1c85315
commit c0ff6198b3
65 changed files with 1305 additions and 7639 deletions
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10
hal/src/main/native/sim/AnalogGyro.cpp
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@@ -69,7 +69,7 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
gyro->handle = analogHandle;
gyro->index = channel;
SimAnalogGyroData[channel].SetInitialized(true);
SimAnalogGyroData[channel].initialized = true;
return handle;
}
@@ -82,7 +82,7 @@ void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
auto gyro = analogGyroHandles->Get(handle);
analogGyroHandles->Free(handle);
if (gyro == nullptr) return;
SimAnalogGyroData[gyro->index].SetInitialized(false);
SimAnalogGyroData[gyro->index].initialized = false;
}
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
@@ -104,7 +104,7 @@ void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
return;
}
SimAnalogGyroData[gyro->index].SetAngle(0.0);
SimAnalogGyroData[gyro->index].angle = 0.0;
}
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
@@ -124,7 +124,7 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
return 0;
}
return SimAnalogGyroData[gyro->index].GetAngle();
return SimAnalogGyroData[gyro->index].angle;
}
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
@@ -134,7 +134,7 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
return 0;
}
return SimAnalogGyroData[gyro->index].GetRate();
return SimAnalogGyroData[gyro->index].rate;
}
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {