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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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111
hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
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@@ -7,80 +7,35 @@
#pragma once
#include <array>
#include <atomic>
#include <memory>
#include <wpi/mutex.h>
#include <wpi/spinlock.h>
#include "mockdata/DriverStationData.h"
#include "mockdata/NotifyListenerVector.h"
#include "mockdata/SimDataValue.h"
namespace hal {
struct JoystickOutputStore;
class DriverStationData {
HAL_SIMDATAVALUE_DEFINE_NAME(Enabled)
HAL_SIMDATAVALUE_DEFINE_NAME(Autonomous)
HAL_SIMDATAVALUE_DEFINE_NAME(Test)
HAL_SIMDATAVALUE_DEFINE_NAME(EStop)
HAL_SIMDATAVALUE_DEFINE_NAME(FmsAttached)
HAL_SIMDATAVALUE_DEFINE_NAME(DsAttached)
HAL_SIMDATAVALUE_DEFINE_NAME(AllianceStationId)
HAL_SIMDATAVALUE_DEFINE_NAME(MatchTime)
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeAllianceStationIdValue(HAL_AllianceStationID value) {
return MakeEnum(value);
}
public:
DriverStationData();
void ResetData();
int32_t RegisterEnabledCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelEnabledCallback(int32_t uid);
void InvokeEnabledCallback(HAL_Value value);
HAL_Bool GetEnabled();
void SetEnabled(HAL_Bool enabled);
int32_t RegisterAutonomousCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelAutonomousCallback(int32_t uid);
void InvokeAutonomousCallback(HAL_Value value);
HAL_Bool GetAutonomous();
void SetAutonomous(HAL_Bool autonomous);
int32_t RegisterTestCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelTestCallback(int32_t uid);
void InvokeTestCallback(HAL_Value value);
HAL_Bool GetTest();
void SetTest(HAL_Bool test);
int32_t RegisterEStopCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelEStopCallback(int32_t uid);
void InvokeEStopCallback(HAL_Value value);
HAL_Bool GetEStop();
void SetEStop(HAL_Bool eStop);
int32_t RegisterFmsAttachedCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelFmsAttachedCallback(int32_t uid);
void InvokeFmsAttachedCallback(HAL_Value value);
HAL_Bool GetFmsAttached();
void SetFmsAttached(HAL_Bool fmsAttached);
int32_t RegisterDsAttachedCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelDsAttachedCallback(int32_t uid);
void InvokeDsAttachedCallback(HAL_Value value);
HAL_Bool GetDsAttached();
void SetDsAttached(HAL_Bool dsAttached);
int32_t RegisterAllianceStationIdCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void CancelAllianceStationIdCallback(int32_t uid);
void InvokeAllianceStationIdCallback(HAL_Value value);
HAL_AllianceStationID GetAllianceStationId();
void SetAllianceStationId(HAL_AllianceStationID allianceStationId);
int32_t RegisterMatchTimeCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelMatchTimeCallback(int32_t uid);
void InvokeMatchTimeCallback(HAL_Value value);
double GetMatchTime();
void SetMatchTime(double matchTime);
void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
@@ -103,28 +58,20 @@ class DriverStationData {
void NotifyNewData();
private:
wpi::mutex m_registerMutex;
std::atomic<HAL_Bool> m_enabled{false};
std::shared_ptr<NotifyListenerVector> m_enabledCallbacks = nullptr;
std::atomic<HAL_Bool> m_autonomous{false};
std::shared_ptr<NotifyListenerVector> m_autonomousCallbacks = nullptr;
std::atomic<HAL_Bool> m_test{false};
std::shared_ptr<NotifyListenerVector> m_testCallbacks = nullptr;
std::atomic<HAL_Bool> m_eStop{false};
std::shared_ptr<NotifyListenerVector> m_eStopCallbacks = nullptr;
std::atomic<HAL_Bool> m_fmsAttached{false};
std::shared_ptr<NotifyListenerVector> m_fmsAttachedCallbacks = nullptr;
std::atomic<HAL_Bool> m_dsAttached{false};
std::shared_ptr<NotifyListenerVector> m_dsAttachedCallbacks = nullptr;
std::atomic<HAL_AllianceStationID> m_allianceStationId{
static_cast<HAL_AllianceStationID>(0)};
std::shared_ptr<NotifyListenerVector> m_allianceStationIdCallbacks = nullptr;
std::atomic<double> m_matchTime{0.0};
std::shared_ptr<NotifyListenerVector> m_matchTimeCallbacks = nullptr;
SimDataValue<HAL_Bool, MakeBoolean, GetEnabledName> enabled{false};
SimDataValue<HAL_Bool, MakeBoolean, GetAutonomousName> autonomous{false};
SimDataValue<HAL_Bool, MakeBoolean, GetTestName> test{false};
SimDataValue<HAL_Bool, MakeBoolean, GetEStopName> eStop{false};
SimDataValue<HAL_Bool, MakeBoolean, GetFmsAttachedName> fmsAttached{false};
SimDataValue<HAL_Bool, MakeBoolean, GetDsAttachedName> dsAttached{false};
SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
GetAllianceStationIdName>
allianceStationId{static_cast<HAL_AllianceStationID>(0)};
SimDataValue<double, MakeDouble, GetMatchTimeName> matchTime{0.0};
wpi::mutex m_joystickDataMutex;
wpi::mutex m_matchInfoMutex;
private:
wpi::spinlock m_joystickDataMutex;
wpi::spinlock m_matchInfoMutex;
std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;