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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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16
hal/src/main/native/sim/DriverStation.cpp
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@@ -96,18 +96,18 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
controlWord->enabled = SimDriverStationData->GetEnabled();
controlWord->autonomous = SimDriverStationData->GetAutonomous();
controlWord->test = SimDriverStationData->GetTest();
controlWord->eStop = SimDriverStationData->GetEStop();
controlWord->fmsAttached = SimDriverStationData->GetFmsAttached();
controlWord->dsAttached = SimDriverStationData->GetDsAttached();
controlWord->enabled = SimDriverStationData->enabled;
controlWord->autonomous = SimDriverStationData->autonomous;
controlWord->test = SimDriverStationData->test;
controlWord->eStop = SimDriverStationData->eStop;
controlWord->fmsAttached = SimDriverStationData->fmsAttached;
controlWord->dsAttached = SimDriverStationData->dsAttached;
return 0;
}
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
*status = 0;
return SimDriverStationData->GetAllianceStationId();
return SimDriverStationData->allianceStationId;
}
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
@@ -166,7 +166,7 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
}
double HAL_GetMatchTime(int32_t* status) {
return SimDriverStationData->GetMatchTime();
return SimDriverStationData->matchTime;
}
int32_t HAL_GetMatchInfo(HAL_MatchInfo* info) {