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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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45
hal/src/main/native/sim/Encoder.cpp
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@@ -81,10 +81,9 @@ HAL_EncoderHandle HAL_InitializeEncoder(
return HAL_kInvalidHandle;
}
int16_t index = getHandleIndex(handle);
SimEncoderData[index].SetDigitalChannelA(
getHandleIndex(digitalSourceHandleA));
SimEncoderData[index].SetInitialized(true);
SimEncoderData[index].SetReverseDirection(reverseDirection);
SimEncoderData[index].digitalChannelA = getHandleIndex(digitalSourceHandleA);
SimEncoderData[index].initialized = true;
SimEncoderData[index].reverseDirection = reverseDirection;
// TODO: Add encoding type to Sim data
encoder->index = index;
encoder->nativeHandle = nativeHandle;
@@ -102,7 +101,7 @@ void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
} else if (isHandleType(encoder->nativeHandle, HAL_HandleEnum::Counter)) {
counterHandles->Free(encoder->nativeHandle);
}
SimEncoderData[encoder->index].SetInitialized(false);
SimEncoderData[encoder->index].initialized = false;
}
static inline int EncodingScaleFactor(Encoder* encoder) {
@@ -138,7 +137,7 @@ int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
return 0;
}
return SimEncoderData[encoder->index].GetCount();
return SimEncoderData[encoder->index].count;
}
int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
@@ -147,7 +146,7 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
return 0;
}
return SimEncoderData[encoder->index].GetCount() /
return SimEncoderData[encoder->index].count /
DecodingScaleFactor(encoder.get());
}
int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
@@ -167,9 +166,9 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
return;
}
SimEncoderData[encoder->index].SetCount(0);
SimEncoderData[encoder->index].SetPeriod(std::numeric_limits<double>::max());
SimEncoderData[encoder->index].SetReset(true);
SimEncoderData[encoder->index].count = 0;
SimEncoderData[encoder->index].period = std::numeric_limits<double>::max();
SimEncoderData[encoder->index].reset = true;
}
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
@@ -178,7 +177,7 @@ double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
return 0;
}
return SimEncoderData[encoder->index].GetPeriod();
return SimEncoderData[encoder->index].period;
}
void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
int32_t* status) {
@@ -188,7 +187,7 @@ void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
return;
}
SimEncoderData[encoder->index].SetMaxPeriod(maxPeriod);
SimEncoderData[encoder->index].maxPeriod = maxPeriod;
}
HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
int32_t* status) {
@@ -198,8 +197,8 @@ HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
return 0;
}
return SimEncoderData[encoder->index].GetPeriod() >
SimEncoderData[encoder->index].GetMaxPeriod();
return SimEncoderData[encoder->index].period >
SimEncoderData[encoder->index].maxPeriod;
}
HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
int32_t* status) {
@@ -209,7 +208,7 @@ HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
return 0;
}
return SimEncoderData[encoder->index].GetDirection();
return SimEncoderData[encoder->index].direction;
}
double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
int32_t* status) {
@@ -219,7 +218,7 @@ double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
return 0;
}
return SimEncoderData[encoder->index].GetCount() * encoder->distancePerPulse;
return SimEncoderData[encoder->index].count * encoder->distancePerPulse;
}
double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
@@ -228,7 +227,7 @@ double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
return 0;
}
return encoder->distancePerPulse / SimEncoderData[encoder->index].GetPeriod();
return encoder->distancePerPulse / SimEncoderData[encoder->index].period;
}
void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
int32_t* status) {
@@ -243,8 +242,8 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
return;
}
SimEncoderData[encoder->index].SetMaxPeriod(encoder->distancePerPulse /
minRate);
SimEncoderData[encoder->index].maxPeriod =
encoder->distancePerPulse / minRate;
}
void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
double distancePerPulse, int32_t* status) {
@@ -259,7 +258,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
return;
}
encoder->distancePerPulse = distancePerPulse;
SimEncoderData[encoder->index].SetDistancePerPulse(distancePerPulse);
SimEncoderData[encoder->index].distancePerPulse = distancePerPulse;
}
void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
HAL_Bool reverseDirection,
@@ -270,7 +269,7 @@ void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
return;
}
SimEncoderData[encoder->index].SetReverseDirection(reverseDirection);
SimEncoderData[encoder->index].reverseDirection = reverseDirection;
}
void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t samplesToAverage, int32_t* status) {
@@ -280,7 +279,7 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
return;
}
SimEncoderData[encoder->index].SetSamplesToAverage(samplesToAverage);
SimEncoderData[encoder->index].samplesToAverage = samplesToAverage;
}
int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t* status) {
@@ -290,7 +289,7 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
return 0;
}
return SimEncoderData[encoder->index].GetSamplesToAverage();
return SimEncoderData[encoder->index].samplesToAverage;
}
void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,