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Change HAL notifier to polling. (#627)

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This moves the thread code to the WPILib layer, fixing various potential
races and significantly simplifying the HAL implementation.
This commit is contained in:
Peter Johnson
2017-11-19 17:58:40 -08:00
committed by GitHub
parent 4a07f0380f
commit d214b36786
12 changed files with 461 additions and 587 deletions
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23
hal/src/main/native/athena/SPI.cpp
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@@ -15,6 +15,7 @@
#include <array>
#include <atomic>
#include <cstring>
#include <thread>
#include <llvm/raw_ostream.h>
#include <support/mutex.h>
@@ -515,13 +516,7 @@ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) {
}
}
static void spiAccumulatorProcess(uint64_t currentTime,
HAL_NotifierHandle handle) {
int32_t status = 0;
auto param = HAL_GetNotifierParam(handle, &status);
if (param == nullptr) return;
SPIAccumulator* accum = static_cast<SPIAccumulator*>(param);
static void spiAccumulatorProcess(uint64_t currentTime, SPIAccumulator* accum) {
// perform SPI transaction
uint8_t resp_b[4];
HAL_TransactionSPI(accum->port, accum->cmd, resp_b, accum->xferSize);
@@ -564,7 +559,7 @@ static void spiAccumulatorProcess(uint64_t currentTime,
// handle timer slip
if (accum->triggerTime < currentTime)
accum->triggerTime = currentTime + accum->period;
status = 0;
int32_t status = 0;
HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, &status);
}
@@ -623,10 +618,18 @@ void HAL_InitSPIAccumulator(HAL_SPIPort port, int32_t period, int32_t cmd,
accum->bigEndian = bigEndian;
accum->port = port;
if (!accum->notifier) {
accum->notifier =
HAL_InitializeNotifier(spiAccumulatorProcess, accum, status);
accum->notifier = HAL_InitializeNotifier(status);
accum->triggerTime = HAL_GetFPGATime(status) + period;
if (*status != 0) return;
std::thread thr([=] {
int32_t status2 = 0;
while (status2 == 0) {
uint64_t curTime = HAL_WaitForNotifierAlarm(accum->notifier, &status2);
if (curTime == 0 || status2 != 0) break;
spiAccumulatorProcess(curTime, accum);
}
});
thr.detach();
HAL_UpdateNotifierAlarm(accum->notifier, accum->triggerTime, status);
}
}