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https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +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 "PDPDataInternal.h"
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#include "mockdata/NotifyCallbackHelpers.h"
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using namespace hal;
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@@ -22,250 +21,36 @@ void InitializePDPData() {
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PDPData* hal::SimPDPData;
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void PDPData::ResetData() {
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m_initialized = false;
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m_initializedCallbacks = nullptr;
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m_temperature = 0.0;
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m_temperatureCallbacks = nullptr;
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m_voltage = 12.0;
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m_voltageCallbacks = nullptr;
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initialized.Reset(false);
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temperature.Reset(0.0);
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voltage.Reset(12.0);
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for (int i = 0; i < kNumPDPChannels; i++) {
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m_current[i] = 0;
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m_currentCallbacks[i] = nullptr;
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}
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}
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int32_t PDPData::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 PDPData::CancelInitializedCallback(int32_t uid) {
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m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
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}
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void PDPData::InvokeInitializedCallback(HAL_Value value) {
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InvokeCallback(m_initializedCallbacks, "Initialized", &value);
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}
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HAL_Bool PDPData::GetInitialized() { return m_initialized; }
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void PDPData::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 PDPData::RegisterTemperatureCallback(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_temperatureCallbacks = RegisterCallback(
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m_temperatureCallbacks, "Temperature", 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(GetTemperature());
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callback("Temperature", param, &value);
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}
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return newUid;
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}
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void PDPData::CancelTemperatureCallback(int32_t uid) {
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m_temperatureCallbacks = CancelCallback(m_temperatureCallbacks, uid);
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}
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void PDPData::InvokeTemperatureCallback(HAL_Value value) {
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InvokeCallback(m_temperatureCallbacks, "Temperature", &value);
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}
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double PDPData::GetTemperature() { return m_temperature; }
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void PDPData::SetTemperature(double temperature) {
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double oldValue = m_temperature.exchange(temperature);
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if (oldValue != temperature) {
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InvokeTemperatureCallback(MakeDouble(temperature));
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}
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}
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int32_t PDPData::RegisterVoltageCallback(HAL_NotifyCallback callback,
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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_voltageCallbacks = RegisterCallback(m_voltageCallbacks, "Voltage",
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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(GetVoltage());
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callback("Voltage", param, &value);
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}
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return newUid;
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}
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void PDPData::CancelVoltageCallback(int32_t uid) {
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m_voltageCallbacks = CancelCallback(m_voltageCallbacks, uid);
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}
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void PDPData::InvokeVoltageCallback(HAL_Value value) {
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InvokeCallback(m_voltageCallbacks, "Voltage", &value);
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}
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double PDPData::GetVoltage() { return m_voltage; }
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void PDPData::SetVoltage(double voltage) {
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double oldValue = m_voltage.exchange(voltage);
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if (oldValue != voltage) {
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InvokeVoltageCallback(MakeDouble(voltage));
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}
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}
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int32_t PDPData::RegisterCurrentCallback(int32_t channel,
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HAL_NotifyCallback callback,
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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_currentCallbacks[channel] = RegisterCallback(
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m_currentCallbacks[channel], "Current", 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(GetCurrent(channel));
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callback("Current", param, &value);
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}
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return newUid;
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}
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void PDPData::CancelCurrentCallback(int32_t channel, int32_t uid) {
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m_currentCallbacks[channel] =
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CancelCallback(m_currentCallbacks[channel], uid);
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}
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void PDPData::InvokeCurrentCallback(int32_t channel, HAL_Value value) {
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InvokeCallback(m_currentCallbacks[channel], "Current", &value);
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}
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double PDPData::GetCurrent(int32_t channel) { return m_current[channel]; }
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void PDPData::SetCurrent(int32_t channel, double current) {
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double oldValue = m_current[channel].exchange(current);
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if (oldValue != current) {
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InvokeCurrentCallback(channel, MakeDouble(current));
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current[i].Reset(0.0);
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}
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}
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extern "C" {
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void HALSIM_ResetPDPData(int32_t index) { SimPDPData[index].ResetData(); }
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int32_t HALSIM_RegisterPDPInitializedCallback(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 SimPDPData[index].RegisterInitializedCallback(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, PDP##CAPINAME, SimPDPData, \
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LOWERNAME)
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void HALSIM_CancelPDPInitializedCallback(int32_t index, int32_t uid) {
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SimPDPData[index].CancelInitializedCallback(uid);
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}
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(double, Temperature, temperature)
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DEFINE_CAPI(double, Voltage, voltage)
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HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(double, HALSIM, PDPCurrent, SimPDPData,
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current)
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HAL_Bool HALSIM_GetPDPInitialized(int32_t index) {
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return SimPDPData[index].GetInitialized();
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}
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void HALSIM_SetPDPInitialized(int32_t index, HAL_Bool initialized) {
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SimPDPData[index].SetInitialized(initialized);
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}
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int32_t HALSIM_RegisterPDPTemperatureCallback(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 SimPDPData[index].RegisterTemperatureCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPDPTemperatureCallback(int32_t index, int32_t uid) {
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SimPDPData[index].CancelTemperatureCallback(uid);
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}
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double HALSIM_GetPDPTemperature(int32_t index) {
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return SimPDPData[index].GetTemperature();
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}
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void HALSIM_SetPDPTemperature(int32_t index, double temperature) {
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SimPDPData[index].SetTemperature(temperature);
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}
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int32_t HALSIM_RegisterPDPVoltageCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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return SimPDPData[index].RegisterVoltageCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPDPVoltageCallback(int32_t index, int32_t uid) {
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SimPDPData[index].CancelVoltageCallback(uid);
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}
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double HALSIM_GetPDPVoltage(int32_t index) {
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return SimPDPData[index].GetVoltage();
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}
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void HALSIM_SetPDPVoltage(int32_t index, double voltage) {
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SimPDPData[index].SetVoltage(voltage);
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}
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int32_t HALSIM_RegisterPDPCurrentCallback(int32_t index, int32_t channel,
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HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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return SimPDPData[index].RegisterCurrentCallback(channel, callback, param,
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initialNotify);
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}
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void HALSIM_CancelPDPCurrentCallback(int32_t index, int32_t channel,
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int32_t uid) {
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SimPDPData[index].CancelCurrentCallback(channel, uid);
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}
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double HALSIM_GetPDPCurrent(int32_t index, int32_t channel) {
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return SimPDPData[index].GetCurrent(channel);
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}
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void HALSIM_SetPDPCurrent(int32_t index, int32_t channel, double current) {
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SimPDPData[index].SetCurrent(channel, current);
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}
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#define REGISTER(NAME) \
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SimPDPData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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SimPDPData[index].RegisterInitializedCallback(callback, param, initialNotify);
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SimPDPData[index].RegisterTemperatureCallback(callback, param, initialNotify);
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SimPDPData[index].RegisterVoltageCallback(callback, param, initialNotify);
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REGISTER(initialized);
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REGISTER(temperature);
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REGISTER(voltage);
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}
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} // extern "C"
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