Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Change hal sim to use spinlocks (#1291)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

43
hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
View File

@@ -7,48 +7,21 @@
#pragma once
#include <atomic>
#include <memory>
#include <wpi/mutex.h>
#include "mockdata/AnalogGyroData.h"
#include "mockdata/NotifyListenerVector.h"
#include "mockdata/SimDataValue.h"
namespace hal {
class AnalogGyroData {
HAL_SIMDATAVALUE_DEFINE_NAME(Angle)
HAL_SIMDATAVALUE_DEFINE_NAME(Rate)
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
public:
int32_t RegisterAngleCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelAngleCallback(int32_t uid);
void InvokeAngleCallback(HAL_Value value);
double GetAngle();
void SetAngle(double angle);
int32_t RegisterRateCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelRateCallback(int32_t uid);
void InvokeRateCallback(HAL_Value value);
double GetRate();
void SetRate(double rate);
int32_t RegisterInitializedCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelInitializedCallback(int32_t uid);
void InvokeInitializedCallback(HAL_Value value);
HAL_Bool GetInitialized();
void SetInitialized(HAL_Bool initialized);
SimDataValue<double, MakeDouble, GetAngleName> angle{0.0};
SimDataValue<double, MakeDouble, GetRateName> rate{0.0};
SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
virtual void ResetData();
private:
wpi::mutex m_registerMutex;
std::atomic<double> m_angle{0.0};
std::shared_ptr<NotifyListenerVector> m_angleCallbacks = nullptr;
std::atomic<double> m_rate{0.0};
std::shared_ptr<NotifyListenerVector> m_rateCallbacks = nullptr;
std::atomic<HAL_Bool> m_initialized{false};
std::shared_ptr<NotifyListenerVector> m_initializedCallbacks = nullptr;
};
extern AnalogGyroData* SimAnalogGyroData;
} // namespace hal