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Adding callbacks for notifying when the distance per pulse changes (#861)

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This commit is contained in:
PJ Reiniger
2018-01-02 17:53:39 -05:00
committed by Peter Johnson
parent ee33296e1f
commit ca36d1dce6
3 changed files with 50 additions and 0 deletions
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40
hal/src/main/native/sim/MockData/EncoderData.cpp
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@@ -38,6 +38,8 @@ void EncoderData::ResetData() {
m_reverseDirectionCallbacks = nullptr;
m_samplesToAverage = 0;
m_samplesToAverageCallbacks = nullptr;
m_distancePerPulse = 0;
m_distancePerPulseCallbacks = nullptr;
}
int32_t EncoderData::RegisterInitializedCallback(HAL_NotifyCallback callback,
@@ -330,6 +332,42 @@ void EncoderData::SetSamplesToAverage(int32_t samplesToAverage) {
}
}
int32_t EncoderData::RegisterDistancePerPulseCallback(
HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
// Must return -1 on a null callback for error handling
if (callback == nullptr) return -1;
int32_t newUid = 0;
{
std::lock_guard<wpi::mutex> lock(m_registerMutex);
m_distancePerPulseCallbacks =
RegisterCallback(m_distancePerPulseCallbacks, "DistancePerPulse",
callback, param, &newUid);
}
if (initialNotify) {
// We know that the callback is not null because of earlier null check
HAL_Value value = MakeDouble(GetDistancePerPulse());
callback("DistancePerPulse", param, &value);
}
return newUid;
}
void EncoderData::CancelDistancePerPulseCallback(int32_t uid) {
m_distancePerPulseCallbacks =
CancelCallback(m_distancePerPulseCallbacks, uid);
}
void EncoderData::InvokeDistancePerPulseCallback(HAL_Value value) {
InvokeCallback(m_distancePerPulseCallbacks, "DistancePerPulse", &value);
}
double EncoderData::GetDistancePerPulse() { return m_distancePerPulse; }
void EncoderData::SetDistancePerPulse(double distancePerPulse) {
double oldValue = m_distancePerPulse.exchange(distancePerPulse);
if (oldValue != distancePerPulse) {
InvokeDistancePerPulseCallback(MakeDouble(distancePerPulse));
}
}
extern "C" {
void HALSIM_ResetEncoderData(int32_t index) {
SimEncoderData[index].ResetData();
@@ -511,5 +549,7 @@ void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
initialNotify);
SimEncoderData[index].RegisterSamplesToAverageCallback(callback, param,
initialNotify);
SimEncoderData[index].RegisterDistancePerPulseCallback(callback, param,
initialNotify);
}
} // extern "C"