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https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
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 "AnalogTriggerDataInternal.h"
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#include "mockdata/NotifyCallbackHelpers.h"
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using namespace hal;
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@@ -22,160 +21,10 @@ void InitializeAnalogTriggerData() {
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AnalogTriggerData* hal::SimAnalogTriggerData;
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void AnalogTriggerData::ResetData() {
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m_initialized = 0;
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m_initializedCallbacks = nullptr;
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m_triggerLowerBound = 0;
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m_triggerLowerBoundCallbacks = nullptr;
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m_triggerUpperBound = 0;
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m_triggerUpperBoundCallbacks = nullptr;
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m_triggerMode = static_cast<HALSIM_AnalogTriggerMode>(0);
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m_triggerModeCallbacks = nullptr;
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}
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int32_t AnalogTriggerData::RegisterInitializedCallback(
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HAL_NotifyCallback callback, void* param, 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 AnalogTriggerData::CancelInitializedCallback(int32_t uid) {
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m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
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}
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void AnalogTriggerData::InvokeInitializedCallback(HAL_Value value) {
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InvokeCallback(m_initializedCallbacks, "Initialized", &value);
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}
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HAL_Bool AnalogTriggerData::GetInitialized() { return m_initialized; }
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void AnalogTriggerData::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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}
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int32_t AnalogTriggerData::RegisterTriggerLowerBoundCallback(
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HAL_NotifyCallback callback, void* param, 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_triggerLowerBoundCallbacks =
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RegisterCallback(m_triggerLowerBoundCallbacks, "TriggerLowerBound",
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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(GetTriggerLowerBound());
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callback("TriggerLowerBound", param, &value);
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}
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return newUid;
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}
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void AnalogTriggerData::CancelTriggerLowerBoundCallback(int32_t uid) {
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m_triggerLowerBoundCallbacks =
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CancelCallback(m_triggerLowerBoundCallbacks, uid);
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}
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void AnalogTriggerData::InvokeTriggerLowerBoundCallback(HAL_Value value) {
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InvokeCallback(m_triggerLowerBoundCallbacks, "TriggerLowerBound", &value);
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}
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double AnalogTriggerData::GetTriggerLowerBound() { return m_triggerLowerBound; }
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void AnalogTriggerData::SetTriggerLowerBound(double triggerLowerBound) {
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double oldValue = m_triggerLowerBound.exchange(triggerLowerBound);
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if (oldValue != triggerLowerBound) {
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InvokeTriggerLowerBoundCallback(MakeDouble(triggerLowerBound));
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}
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}
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int32_t AnalogTriggerData::RegisterTriggerUpperBoundCallback(
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HAL_NotifyCallback callback, void* param, 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_triggerUpperBoundCallbacks =
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RegisterCallback(m_triggerUpperBoundCallbacks, "TriggerUpperBound",
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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(GetTriggerUpperBound());
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callback("TriggerUpperBound", param, &value);
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}
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return newUid;
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}
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void AnalogTriggerData::CancelTriggerUpperBoundCallback(int32_t uid) {
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m_triggerUpperBoundCallbacks =
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CancelCallback(m_triggerUpperBoundCallbacks, uid);
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}
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void AnalogTriggerData::InvokeTriggerUpperBoundCallback(HAL_Value value) {
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InvokeCallback(m_triggerUpperBoundCallbacks, "TriggerUpperBound", &value);
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}
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double AnalogTriggerData::GetTriggerUpperBound() { return m_triggerUpperBound; }
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void AnalogTriggerData::SetTriggerUpperBound(double triggerUpperBound) {
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double oldValue = m_triggerUpperBound.exchange(triggerUpperBound);
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if (oldValue != triggerUpperBound) {
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InvokeTriggerUpperBoundCallback(MakeDouble(triggerUpperBound));
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}
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}
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int32_t AnalogTriggerData::RegisterTriggerModeCallback(
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HAL_NotifyCallback callback, void* param, 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_triggerModeCallbacks = RegisterCallback(
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m_triggerModeCallbacks, "TriggerMode", 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 = MakeEnum(GetTriggerMode());
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callback("TriggerMode", param, &value);
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}
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return newUid;
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}
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void AnalogTriggerData::CancelTriggerModeCallback(int32_t uid) {
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m_triggerModeCallbacks = CancelCallback(m_triggerModeCallbacks, uid);
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}
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void AnalogTriggerData::InvokeTriggerModeCallback(HAL_Value value) {
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InvokeCallback(m_triggerModeCallbacks, "TriggerMode", &value);
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}
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HALSIM_AnalogTriggerMode AnalogTriggerData::GetTriggerMode() {
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return m_triggerMode;
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}
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void AnalogTriggerData::SetTriggerMode(HALSIM_AnalogTriggerMode triggerMode) {
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HALSIM_AnalogTriggerMode oldValue = m_triggerMode.exchange(triggerMode);
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if (oldValue != triggerMode) {
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InvokeTriggerModeCallback(MakeEnum(triggerMode));
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}
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initialized.Reset(0);
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triggerLowerBound.Reset(0);
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triggerUpperBound.Reset(0);
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triggerMode.Reset(static_cast<HALSIM_AnalogTriggerMode>(0));
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}
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extern "C" {
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@@ -183,98 +32,26 @@ void HALSIM_ResetAnalogTriggerData(int32_t index) {
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SimAnalogTriggerData[index].ResetData();
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}
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int32_t HALSIM_RegisterAnalogTriggerInitializedCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimAnalogTriggerData[index].RegisterInitializedCallback(
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callback, param, 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, AnalogTrigger##CAPINAME, \
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SimAnalogTriggerData, LOWERNAME)
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void HALSIM_CancelAnalogTriggerInitializedCallback(int32_t index, int32_t uid) {
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SimAnalogTriggerData[index].CancelInitializedCallback(uid);
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}
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(double, TriggerLowerBound, triggerLowerBound)
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DEFINE_CAPI(double, TriggerUpperBound, triggerUpperBound)
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DEFINE_CAPI(HALSIM_AnalogTriggerMode, TriggerMode, triggerMode)
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HAL_Bool HALSIM_GetAnalogTriggerInitialized(int32_t index) {
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return SimAnalogTriggerData[index].GetInitialized();
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}
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void HALSIM_SetAnalogTriggerInitialized(int32_t index, HAL_Bool initialized) {
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SimAnalogTriggerData[index].SetInitialized(initialized);
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}
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int32_t HALSIM_RegisterAnalogTriggerTriggerLowerBoundCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimAnalogTriggerData[index].RegisterTriggerLowerBoundCallback(
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callback, param, initialNotify);
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}
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void HALSIM_CancelAnalogTriggerTriggerLowerBoundCallback(int32_t index,
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int32_t uid) {
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SimAnalogTriggerData[index].CancelTriggerLowerBoundCallback(uid);
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}
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double HALSIM_GetAnalogTriggerTriggerLowerBound(int32_t index) {
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return SimAnalogTriggerData[index].GetTriggerLowerBound();
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}
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void HALSIM_SetAnalogTriggerTriggerLowerBound(int32_t index,
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double triggerLowerBound) {
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SimAnalogTriggerData[index].SetTriggerLowerBound(triggerLowerBound);
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}
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int32_t HALSIM_RegisterAnalogTriggerTriggerUpperBoundCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimAnalogTriggerData[index].RegisterTriggerUpperBoundCallback(
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callback, param, initialNotify);
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}
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void HALSIM_CancelAnalogTriggerTriggerUpperBoundCallback(int32_t index,
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int32_t uid) {
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SimAnalogTriggerData[index].CancelTriggerUpperBoundCallback(uid);
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}
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double HALSIM_GetAnalogTriggerTriggerUpperBound(int32_t index) {
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return SimAnalogTriggerData[index].GetTriggerUpperBound();
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}
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void HALSIM_SetAnalogTriggerTriggerUpperBound(int32_t index,
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double triggerUpperBound) {
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SimAnalogTriggerData[index].SetTriggerUpperBound(triggerUpperBound);
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}
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int32_t HALSIM_RegisterAnalogTriggerTriggerModeCallback(
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int32_t index, HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify) {
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return SimAnalogTriggerData[index].RegisterTriggerModeCallback(
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callback, param, initialNotify);
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}
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void HALSIM_CancelAnalogTriggerTriggerModeCallback(int32_t index, int32_t uid) {
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SimAnalogTriggerData[index].CancelTriggerModeCallback(uid);
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}
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HALSIM_AnalogTriggerMode HALSIM_GetAnalogTriggerTriggerMode(int32_t index) {
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return SimAnalogTriggerData[index].GetTriggerMode();
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}
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void HALSIM_SetAnalogTriggerTriggerMode(int32_t index,
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HALSIM_AnalogTriggerMode triggerMode) {
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SimAnalogTriggerData[index].SetTriggerMode(triggerMode);
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}
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#define REGISTER(NAME) \
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SimAnalogTriggerData[index].NAME.RegisterCallback(callback, param, \
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initialNotify)
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void HALSIM_RegisterAnalogTriggerAllCallbacks(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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SimAnalogTriggerData[index].RegisterInitializedCallback(callback, param,
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initialNotify);
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SimAnalogTriggerData[index].RegisterTriggerLowerBoundCallback(callback, param,
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initialNotify);
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SimAnalogTriggerData[index].RegisterTriggerUpperBoundCallback(callback, param,
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initialNotify);
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SimAnalogTriggerData[index].RegisterTriggerModeCallback(callback, param,
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initialNotify);
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REGISTER(initialized);
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REGISTER(triggerLowerBound);
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REGISTER(triggerUpperBound);
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REGISTER(triggerMode);
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}
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} // extern "C"
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