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https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +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 "PWMDataInternal.h"
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#include "mockdata/NotifyCallbackHelpers.h"
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using namespace hal;
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@@ -22,362 +21,38 @@ void InitializePWMData() {
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PWMData* hal::SimPWMData;
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void PWMData::ResetData() {
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m_initialized = false;
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m_initializedCallbacks = nullptr;
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m_rawValue = 0;
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m_rawValueCallbacks = nullptr;
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m_speed = 0;
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m_speedCallbacks = nullptr;
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m_position = 0;
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m_positionCallbacks = nullptr;
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m_periodScale = 0;
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m_periodScaleCallbacks = nullptr;
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m_zeroLatch = false;
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m_zeroLatchCallbacks = nullptr;
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}
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int32_t PWMData::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 PWMData::CancelInitializedCallback(int32_t uid) {
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m_initializedCallbacks = CancelCallback(m_initializedCallbacks, uid);
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}
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void PWMData::InvokeInitializedCallback(HAL_Value value) {
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InvokeCallback(m_initializedCallbacks, "Initialized", &value);
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}
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HAL_Bool PWMData::GetInitialized() { return m_initialized; }
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void PWMData::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 PWMData::RegisterRawValueCallback(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_rawValueCallbacks = RegisterCallback(m_rawValueCallbacks, "RawValue",
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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 = MakeInt(GetRawValue());
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callback("RawValue", param, &value);
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}
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return newUid;
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}
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void PWMData::CancelRawValueCallback(int32_t uid) {
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m_rawValueCallbacks = CancelCallback(m_rawValueCallbacks, uid);
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}
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void PWMData::InvokeRawValueCallback(HAL_Value value) {
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InvokeCallback(m_rawValueCallbacks, "RawValue", &value);
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}
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int32_t PWMData::GetRawValue() { return m_rawValue; }
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void PWMData::SetRawValue(int32_t rawValue) {
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int32_t oldValue = m_rawValue.exchange(rawValue);
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if (oldValue != rawValue) {
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InvokeRawValueCallback(MakeInt(rawValue));
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}
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}
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int32_t PWMData::RegisterSpeedCallback(HAL_NotifyCallback callback, 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_speedCallbacks =
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RegisterCallback(m_speedCallbacks, "Speed", 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(GetSpeed());
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callback("Speed", param, &value);
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}
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return newUid;
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}
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void PWMData::CancelSpeedCallback(int32_t uid) {
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m_speedCallbacks = CancelCallback(m_speedCallbacks, uid);
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}
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void PWMData::InvokeSpeedCallback(HAL_Value value) {
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InvokeCallback(m_speedCallbacks, "Speed", &value);
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}
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double PWMData::GetSpeed() { return m_speed; }
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void PWMData::SetSpeed(double speed) {
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double oldValue = m_speed.exchange(speed);
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if (oldValue != speed) {
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InvokeSpeedCallback(MakeDouble(speed));
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}
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}
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int32_t PWMData::RegisterPositionCallback(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_positionCallbacks = RegisterCallback(m_positionCallbacks, "Position",
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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(GetPosition());
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callback("Position", param, &value);
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}
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return newUid;
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}
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void PWMData::CancelPositionCallback(int32_t uid) {
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m_positionCallbacks = CancelCallback(m_positionCallbacks, uid);
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}
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void PWMData::InvokePositionCallback(HAL_Value value) {
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InvokeCallback(m_positionCallbacks, "Position", &value);
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}
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double PWMData::GetPosition() { return m_position; }
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void PWMData::SetPosition(double position) {
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double oldValue = m_position.exchange(position);
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if (oldValue != position) {
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InvokePositionCallback(MakeDouble(position));
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}
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}
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int32_t PWMData::RegisterPeriodScaleCallback(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_periodScaleCallbacks = RegisterCallback(
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m_periodScaleCallbacks, "PeriodScale", 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 = MakeInt(GetPeriodScale());
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callback("PeriodScale", param, &value);
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}
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return newUid;
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}
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void PWMData::CancelPeriodScaleCallback(int32_t uid) {
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m_periodScaleCallbacks = CancelCallback(m_periodScaleCallbacks, uid);
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}
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void PWMData::InvokePeriodScaleCallback(HAL_Value value) {
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InvokeCallback(m_periodScaleCallbacks, "PeriodScale", &value);
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}
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int32_t PWMData::GetPeriodScale() { return m_periodScale; }
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void PWMData::SetPeriodScale(int32_t periodScale) {
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int32_t oldValue = m_periodScale.exchange(periodScale);
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if (oldValue != periodScale) {
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InvokePeriodScaleCallback(MakeInt(periodScale));
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}
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}
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int32_t PWMData::RegisterZeroLatchCallback(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_zeroLatchCallbacks = RegisterCallback(m_zeroLatchCallbacks, "ZeroLatch",
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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 = MakeBoolean(GetZeroLatch());
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callback("ZeroLatch", param, &value);
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}
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return newUid;
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}
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void PWMData::CancelZeroLatchCallback(int32_t uid) {
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m_zeroLatchCallbacks = CancelCallback(m_zeroLatchCallbacks, uid);
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}
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void PWMData::InvokeZeroLatchCallback(HAL_Value value) {
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InvokeCallback(m_zeroLatchCallbacks, "ZeroLatch", &value);
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}
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HAL_Bool PWMData::GetZeroLatch() { return m_zeroLatch; }
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void PWMData::SetZeroLatch(HAL_Bool zeroLatch) {
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HAL_Bool oldValue = m_zeroLatch.exchange(zeroLatch);
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if (oldValue != zeroLatch) {
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InvokeZeroLatchCallback(MakeBoolean(zeroLatch));
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}
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initialized.Reset(false);
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rawValue.Reset(0);
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speed.Reset(0);
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position.Reset(0);
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periodScale.Reset(0);
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zeroLatch.Reset(false);
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}
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extern "C" {
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void HALSIM_ResetPWMData(int32_t index) { SimPWMData[index].ResetData(); }
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int32_t HALSIM_RegisterPWMInitializedCallback(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 SimPWMData[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, PWM##CAPINAME, SimPWMData, \
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LOWERNAME)
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void HALSIM_CancelPWMInitializedCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelInitializedCallback(uid);
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}
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(int32_t, RawValue, rawValue)
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DEFINE_CAPI(double, Speed, speed)
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DEFINE_CAPI(double, Position, position)
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DEFINE_CAPI(int32_t, PeriodScale, periodScale)
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DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch)
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HAL_Bool HALSIM_GetPWMInitialized(int32_t index) {
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return SimPWMData[index].GetInitialized();
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}
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void HALSIM_SetPWMInitialized(int32_t index, HAL_Bool initialized) {
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SimPWMData[index].SetInitialized(initialized);
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}
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int32_t HALSIM_RegisterPWMRawValueCallback(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 SimPWMData[index].RegisterRawValueCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPWMRawValueCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelRawValueCallback(uid);
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}
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int32_t HALSIM_GetPWMRawValue(int32_t index) {
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return SimPWMData[index].GetRawValue();
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}
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void HALSIM_SetPWMRawValue(int32_t index, int32_t rawValue) {
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SimPWMData[index].SetRawValue(rawValue);
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}
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int32_t HALSIM_RegisterPWMSpeedCallback(int32_t index,
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HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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return SimPWMData[index].RegisterSpeedCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPWMSpeedCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelSpeedCallback(uid);
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}
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double HALSIM_GetPWMSpeed(int32_t index) {
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return SimPWMData[index].GetSpeed();
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}
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void HALSIM_SetPWMSpeed(int32_t index, double speed) {
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SimPWMData[index].SetSpeed(speed);
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}
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int32_t HALSIM_RegisterPWMPositionCallback(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 SimPWMData[index].RegisterPositionCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPWMPositionCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelPositionCallback(uid);
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}
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double HALSIM_GetPWMPosition(int32_t index) {
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return SimPWMData[index].GetPosition();
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}
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void HALSIM_SetPWMPosition(int32_t index, double position) {
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SimPWMData[index].SetPosition(position);
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}
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int32_t HALSIM_RegisterPWMPeriodScaleCallback(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 SimPWMData[index].RegisterPeriodScaleCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPWMPeriodScaleCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelPeriodScaleCallback(uid);
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}
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int32_t HALSIM_GetPWMPeriodScale(int32_t index) {
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return SimPWMData[index].GetPeriodScale();
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}
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void HALSIM_SetPWMPeriodScale(int32_t index, int32_t periodScale) {
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SimPWMData[index].SetPeriodScale(periodScale);
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}
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int32_t HALSIM_RegisterPWMZeroLatchCallback(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 SimPWMData[index].RegisterZeroLatchCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelPWMZeroLatchCallback(int32_t index, int32_t uid) {
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SimPWMData[index].CancelZeroLatchCallback(uid);
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}
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HAL_Bool HALSIM_GetPWMZeroLatch(int32_t index) {
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return SimPWMData[index].GetZeroLatch();
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}
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void HALSIM_SetPWMZeroLatch(int32_t index, HAL_Bool zeroLatch) {
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SimPWMData[index].SetZeroLatch(zeroLatch);
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}
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#define REGISTER(NAME) \
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SimPWMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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SimPWMData[index].RegisterInitializedCallback(callback, param, initialNotify);
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SimPWMData[index].RegisterRawValueCallback(callback, param, initialNotify);
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SimPWMData[index].RegisterSpeedCallback(callback, param, initialNotify);
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SimPWMData[index].RegisterPositionCallback(callback, param, initialNotify);
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SimPWMData[index].RegisterPeriodScaleCallback(callback, param, initialNotify);
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SimPWMData[index].RegisterZeroLatchCallback(callback, param, initialNotify);
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REGISTER(initialized);
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REGISTER(rawValue);
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REGISTER(speed);
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REGISTER(position);
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REGISTER(periodScale);
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REGISTER(zeroLatch);
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}
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} // extern "C"
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