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Removes statics from hal sim (#825)

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Based off of #824, the equivelent in sim.
This commit is contained in:
Thad House
2017-12-10 19:38:53 -08:00
committed by Peter Johnson
parent 8bd48d6c34
commit d2e7a90f41
78 changed files with 1008 additions and 576 deletions
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57
hal/src/main/native/sim/DriverStation.cpp
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@@ -23,10 +23,19 @@
#include "MockData/MockHooks.h"
static wpi::mutex msgMutex;
static wpi::condition_variable newDSDataAvailableCond;
static wpi::condition_variable* newDSDataAvailableCond;
static wpi::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
namespace hal {
namespace init {
void InitializeDriverStation() {
static wpi::condition_variable nddaC;
newDSDataAvailableCond = &nddaC;
}
} // namespace init
} // namespace hal
using namespace hal;
extern "C" {
@@ -85,33 +94,33 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
controlWord->enabled = SimDriverStationData.GetEnabled();
controlWord->autonomous = SimDriverStationData.GetAutonomous();
controlWord->test = SimDriverStationData.GetTest();
controlWord->eStop = SimDriverStationData.GetEStop();
controlWord->fmsAttached = SimDriverStationData.GetFmsAttached();
controlWord->dsAttached = SimDriverStationData.GetDsAttached();
controlWord->enabled = SimDriverStationData->GetEnabled();
controlWord->autonomous = SimDriverStationData->GetAutonomous();
controlWord->test = SimDriverStationData->GetTest();
controlWord->eStop = SimDriverStationData->GetEStop();
controlWord->fmsAttached = SimDriverStationData->GetFmsAttached();
controlWord->dsAttached = SimDriverStationData->GetDsAttached();
return 0;
}
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
*status = 0;
return SimDriverStationData.GetAllianceStationId();
return SimDriverStationData->GetAllianceStationId();
}
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
SimDriverStationData.GetJoystickAxes(joystickNum, axes);
SimDriverStationData->GetJoystickAxes(joystickNum, axes);
return 0;
}
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
SimDriverStationData.GetJoystickPOVs(joystickNum, povs);
SimDriverStationData->GetJoystickPOVs(joystickNum, povs);
return 0;
}
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
SimDriverStationData.GetJoystickButtons(joystickNum, buttons);
SimDriverStationData->GetJoystickButtons(joystickNum, buttons);
return 0;
}
/**
@@ -127,25 +136,25 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
*/
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
SimDriverStationData.GetJoystickDescriptor(joystickNum, desc);
SimDriverStationData->GetJoystickDescriptor(joystickNum, desc);
return 0;
}
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum) {
HAL_JoystickDescriptor desc;
SimDriverStationData.GetJoystickDescriptor(joystickNum, &desc);
SimDriverStationData->GetJoystickDescriptor(joystickNum, &desc);
return desc.isXbox;
}
int32_t HAL_GetJoystickType(int32_t joystickNum) {
HAL_JoystickDescriptor desc;
SimDriverStationData.GetJoystickDescriptor(joystickNum, &desc);
SimDriverStationData->GetJoystickDescriptor(joystickNum, &desc);
return desc.type;
}
char* HAL_GetJoystickName(int32_t joystickNum) {
HAL_JoystickDescriptor desc;
SimDriverStationData.GetJoystickDescriptor(joystickNum, &desc);
SimDriverStationData->GetJoystickDescriptor(joystickNum, &desc);
size_t len = std::strlen(desc.name);
char* name = static_cast<char*>(std::malloc(len + 1));
std::strncpy(name, desc.name, len);
@@ -159,22 +168,22 @@ int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) { return 0; }
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble) {
SimDriverStationData.SetJoystickOutputs(joystickNum, outputs, leftRumble,
rightRumble);
SimDriverStationData->SetJoystickOutputs(joystickNum, outputs, leftRumble,
rightRumble);
return 0;
}
double HAL_GetMatchTime(int32_t* status) {
return SimDriverStationData.GetMatchTime();
return SimDriverStationData->GetMatchTime();
}
int HAL_GetMatchInfo(HAL_MatchInfo* info) {
SimDriverStationData.GetMatchInfo(info);
SimDriverStationData->GetMatchInfo(info);
return 0;
}
void HAL_FreeMatchInfo(HAL_MatchInfo* info) {
SimDriverStationData.FreeMatchInfo(info);
SimDriverStationData->FreeMatchInfo(info);
}
void HAL_ObserveUserProgramStarting(void) { HALSIM_SetProgramStarted(); }
@@ -249,12 +258,12 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
auto timedOut = newDSDataAvailableCond.wait_until(lock, timeoutTime);
auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
newDSDataAvailableCond.wait(lock);
newDSDataAvailableCond->wait(lock);
}
}
return true;
@@ -270,7 +279,7 @@ static int32_t newDataOccur(uint32_t refNum) {
std::lock_guard<wpi::mutex> lock(newDSDataAvailableMutex);
// Nofify all threads
newDSDataAvailableCounter++;
newDSDataAvailableCond.notify_all();
newDSDataAvailableCond->notify_all();
return 0;
}
@@ -289,7 +298,7 @@ void HAL_InitializeDriverStation(void) {
// Second check in case another thread was waiting
if (initialized) return;
SimDriverStationData.ResetData();
SimDriverStationData->ResetData();
initialized = true;
}