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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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28
hal/src/main/native/sim/PWM.cpp
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@@ -57,7 +57,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
port->channel = origChannel;
SimPWMData[origChannel].SetInitialized(true);
SimPWMData[origChannel].initialized = true;
// Defaults to allow an always valid config.
HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
@@ -71,7 +71,7 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return;
}
SimPWMData[port->channel].SetInitialized(false);
SimPWMData[port->channel].initialized = false;
digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
}
@@ -174,7 +174,7 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
return;
}
SimPWMData[port->channel].SetRawValue(value);
SimPWMData[port->channel].rawValue = value;
}
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
@@ -195,7 +195,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
speed = 1.0;
}
SimPWMData[port->channel].SetSpeed(speed);
SimPWMData[port->channel].speed = speed;
}
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
@@ -216,7 +216,7 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
pos = 1.0;
}
SimPWMData[port->channel].SetPosition(pos);
SimPWMData[port->channel].position = pos;
}
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -225,9 +225,9 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
*status = HAL_HANDLE_ERROR;
return;
}
SimPWMData[port->channel].SetRawValue(0);
SimPWMData[port->channel].SetPosition(0);
SimPWMData[port->channel].SetSpeed(0);
SimPWMData[port->channel].rawValue = 0;
SimPWMData[port->channel].position = 0;
SimPWMData[port->channel].speed = 0;
}
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -237,7 +237,7 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return 0;
}
return SimPWMData[port->channel].GetRawValue();
return SimPWMData[port->channel].rawValue;
}
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -251,7 +251,7 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return 0;
}
double speed = SimPWMData[port->channel].GetSpeed();
double speed = SimPWMData[port->channel].speed;
if (speed > 1) speed = 1;
if (speed < -1) speed = -1;
return speed;
@@ -268,7 +268,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return 0;
}
double position = SimPWMData[port->channel].GetPosition();
double position = SimPWMData[port->channel].position;
if (position > 1) position = 1;
if (position < 0) position = 0;
return position;
@@ -281,8 +281,8 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return;
}
SimPWMData[port->channel].SetZeroLatch(true);
SimPWMData[port->channel].SetZeroLatch(false);
SimPWMData[port->channel].zeroLatch = true;
SimPWMData[port->channel].zeroLatch = false;
}
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
@@ -293,7 +293,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
return;
}
SimPWMData[port->channel].SetPeriodScale(squelchMask);
SimPWMData[port->channel].periodScale = squelchMask;
}
int32_t HAL_GetPWMLoopTiming(int32_t* status) { return kExpectedLoopTiming; }