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https://github.com/wpilibsuite/allwpilib
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Change hal sim to use spinlocks (#1291)
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
@@ -7,7 +7,6 @@
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#include "../PortsInternal.h"
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#include "AnalogGyroDataInternal.h"
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#include "mockdata/NotifyCallbackHelpers.h"
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using namespace hal;
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@@ -22,120 +21,9 @@ void InitializeAnalogGyroData() {
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AnalogGyroData* hal::SimAnalogGyroData;
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void AnalogGyroData::ResetData() {
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m_angle = 0.0;
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m_angleCallbacks = nullptr;
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m_rate = 0.0;
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m_rateCallbacks = nullptr;
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m_initialized = false;
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m_initializedCallbacks = nullptr;
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}
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int32_t AnalogGyroData::RegisterAngleCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_angleCallbacks =
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RegisterCallback(m_angleCallbacks, "Angle", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeDouble(GetAngle());
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callback("Angle", param, &value);
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}
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return newUid;
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}
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void AnalogGyroData::CancelAngleCallback(int32_t uid) {
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m_angleCallbacks = CancelCallback(m_angleCallbacks, uid);
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}
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void AnalogGyroData::InvokeAngleCallback(HAL_Value value) {
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InvokeCallback(m_angleCallbacks, "Angle", &value);
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}
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double AnalogGyroData::GetAngle() { return m_angle; }
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void AnalogGyroData::SetAngle(double angle) {
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double oldValue = m_angle.exchange(angle);
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if (oldValue != angle) {
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InvokeAngleCallback(MakeDouble(angle));
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}
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}
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int32_t AnalogGyroData::RegisterRateCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_rateCallbacks =
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RegisterCallback(m_rateCallbacks, "Rate", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeDouble(GetRate());
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callback("Rate", param, &value);
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}
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return newUid;
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}
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void AnalogGyroData::CancelRateCallback(int32_t uid) {
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m_rateCallbacks = CancelCallback(m_rateCallbacks, uid);
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}
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void AnalogGyroData::InvokeRateCallback(HAL_Value value) {
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InvokeCallback(m_rateCallbacks, "Rate", &value);
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}
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double AnalogGyroData::GetRate() { return m_rate; }
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void AnalogGyroData::SetRate(double rate) {
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double oldValue = m_rate.exchange(rate);
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if (oldValue != rate) {
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InvokeRateCallback(MakeDouble(rate));
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}
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}
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int32_t AnalogGyroData::RegisterInitializedCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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m_initializedCallbacks = RegisterCallback(
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m_initializedCallbacks, "Initialized", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetInitialized());
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callback("Initialized", param, &value);
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}
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return newUid;
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}
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void AnalogGyroData::CancelInitializedCallback(int32_t uid) {
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m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
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}
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void AnalogGyroData::InvokeInitializedCallback(HAL_Value value) {
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InvokeCallback(m_initializedCallbacks, "Initialized", &value);
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}
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HAL_Bool AnalogGyroData::GetInitialized() { return m_initialized; }
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void AnalogGyroData::SetInitialized(HAL_Bool initialized) {
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HAL_Bool oldValue = m_initialized.exchange(initialized);
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if (oldValue != initialized) {
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InvokeInitializedCallback(MakeBoolean(initialized));
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}
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angle.Reset(0.0);
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rate.Reset(0.0);
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initialized.Reset(false);
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}
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extern "C" {
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@@ -143,73 +31,23 @@ void HALSIM_ResetAnalogGyroData(int32_t index) {
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SimAnalogGyroData[index].ResetData();
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}
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int32_t HALSIM_RegisterAnalogGyroAngleCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimAnalogGyroData[index].RegisterAngleCallback(callback, param,
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initialNotify);
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, AnalogGyro##CAPINAME, \
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SimAnalogGyroData, LOWERNAME)
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void HALSIM_CancelAnalogGyroAngleCallback(int32_t index, int32_t uid) {
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SimAnalogGyroData[index].CancelAngleCallback(uid);
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}
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DEFINE_CAPI(double, Angle, angle)
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DEFINE_CAPI(double, Rate, rate)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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double HALSIM_GetAnalogGyroAngle(int32_t index) {
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return SimAnalogGyroData[index].GetAngle();
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}
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void HALSIM_SetAnalogGyroAngle(int32_t index, double angle) {
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SimAnalogGyroData[index].SetAngle(angle);
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}
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int32_t HALSIM_RegisterAnalogGyroRateCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimAnalogGyroData[index].RegisterRateCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelAnalogGyroRateCallback(int32_t index, int32_t uid) {
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SimAnalogGyroData[index].CancelRateCallback(uid);
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}
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double HALSIM_GetAnalogGyroRate(int32_t index) {
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return SimAnalogGyroData[index].GetRate();
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}
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void HALSIM_SetAnalogGyroRate(int32_t index, double rate) {
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SimAnalogGyroData[index].SetRate(rate);
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}
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int32_t HALSIM_RegisterAnalogGyroInitializedCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimAnalogGyroData[index].RegisterInitializedCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelAnalogGyroInitializedCallback(int32_t index, int32_t uid) {
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SimAnalogGyroData[index].CancelInitializedCallback(uid);
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}
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HAL_Bool HALSIM_GetAnalogGyroInitialized(int32_t index) {
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return SimAnalogGyroData[index].GetInitialized();
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}
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void HALSIM_SetAnalogGyroInitialized(int32_t index, HAL_Bool initialized) {
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SimAnalogGyroData[index].SetInitialized(initialized);
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}
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#define REGISTER(NAME) \
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SimAnalogGyroData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterAnalogGyroAllCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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SimAnalogGyroData[index].RegisterAngleCallback(callback, param,
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initialNotify);
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SimAnalogGyroData[index].RegisterRateCallback(callback, param, initialNotify);
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SimAnalogGyroData[index].RegisterInitializedCallback(callback, param,
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initialNotify);
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REGISTER(angle);
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REGISTER(rate);
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REGISTER(initialized);
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}
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} // extern "C"
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