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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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66
hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
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@@ -7,60 +7,32 @@
#pragma once
#include <atomic>
#include <memory>
#include <wpi/mutex.h>
#include "mockdata/AnalogTriggerData.h"
#include "mockdata/NotifyListenerVector.h"
#include "mockdata/SimDataValue.h"
namespace hal {
class AnalogTriggerData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(TriggerLowerBound)
HAL_SIMDATAVALUE_DEFINE_NAME(TriggerUpperBound)
HAL_SIMDATAVALUE_DEFINE_NAME(TriggerMode)
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeTriggerModeValue(HALSIM_AnalogTriggerMode value) {
return MakeEnum(value);
}
public:
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);
int32_t RegisterTriggerLowerBoundCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void CancelTriggerLowerBoundCallback(int32_t uid);
void InvokeTriggerLowerBoundCallback(HAL_Value value);
double GetTriggerLowerBound();
void SetTriggerLowerBound(double triggerLowerBound);
int32_t RegisterTriggerUpperBoundCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void CancelTriggerUpperBoundCallback(int32_t uid);
void InvokeTriggerUpperBoundCallback(HAL_Value value);
double GetTriggerUpperBound();
void SetTriggerUpperBound(double triggerUpperBound);
int32_t RegisterTriggerModeCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelTriggerModeCallback(int32_t uid);
void InvokeTriggerModeCallback(HAL_Value value);
HALSIM_AnalogTriggerMode GetTriggerMode();
void SetTriggerMode(HALSIM_AnalogTriggerMode triggerMode);
SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{0};
SimDataValue<double, MakeDouble, GetTriggerLowerBoundName> triggerLowerBound{
0};
SimDataValue<double, MakeDouble, GetTriggerUpperBoundName> triggerUpperBound{
0};
SimDataValue<HALSIM_AnalogTriggerMode, MakeTriggerModeValue,
GetTriggerModeName>
triggerMode{static_cast<HALSIM_AnalogTriggerMode>(0)};
virtual void ResetData();
private:
wpi::mutex m_registerMutex;
std::atomic<HAL_Bool> m_initialized{0};
std::shared_ptr<NotifyListenerVector> m_initializedCallbacks = nullptr;
std::atomic<double> m_triggerLowerBound{0};
std::shared_ptr<NotifyListenerVector> m_triggerLowerBoundCallbacks = nullptr;
std::atomic<double> m_triggerUpperBound{0};
std::shared_ptr<NotifyListenerVector> m_triggerUpperBoundCallbacks = nullptr;
std::atomic<HALSIM_AnalogTriggerMode> m_triggerMode{
static_cast<HALSIM_AnalogTriggerMode>(0)};
std::shared_ptr<NotifyListenerVector> m_triggerModeCallbacks = nullptr;
};
extern AnalogTriggerData* SimAnalogTriggerData;
} // namespace hal