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Add missing lock in FRCDriverStation (#2034)

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Switch newDataCounter to atomic
This commit is contained in:
Thad House
2019-11-05 20:41:16 -08:00
committed by Peter Johnson
parent 114ddaf81f
commit d93aa2b6b2
1 changed files with 8 additions and 9 deletions
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17
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -124,7 +124,7 @@ static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
static wpi::mutex* newDSDataAvailableMutex;
static wpi::condition_variable* newDSDataAvailableCond;
static int newDSDataAvailableCounter{0};
static std::atomic_int newDSDataAvailableCounter{0};
namespace hal {
namespace init {
@@ -353,8 +353,7 @@ void HAL_WaitForCachedControlData(void) {
HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
int& lastCount = GetThreadLocalLastCount();
std::unique_lock lock{*newDSDataAvailableMutex};
int currentCount = newDSDataAvailableCounter;
int currentCount = newDSDataAvailableCounter.load();
if (lastCount != currentCount) {
lastCount = currentCount;
return true;
@@ -362,7 +361,8 @@ HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
while (newDSDataAvailableCounter == currentCount) {
std::unique_lock lock{*newDSDataAvailableMutex};
while (newDSDataAvailableCounter.load() == currentCount) {
if (timeout > 0) {
auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
@@ -377,8 +377,7 @@ HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
HAL_Bool HAL_IsNewControlData(void) {
int& lastCount = GetThreadLocalLastCount();
std::lock_guard lock{*newDSDataAvailableMutex};
int currentCount = newDSDataAvailableCounter;
int currentCount = newDSDataAvailableCounter.load();
if (lastCount == currentCount) return false;
lastCount = currentCount;
return true;
@@ -398,9 +397,9 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
int currentCount = newDSDataAvailableCounter.load();
std::unique_lock lock{*newDSDataAvailableMutex};
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
while (newDSDataAvailableCounter.load() == currentCount) {
if (timeout > 0) {
auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
@@ -421,7 +420,7 @@ static void newDataOccur(uint32_t refNum) {
// to signal our threads
if (refNum != refNumber) return;
// Notify all threads
newDSDataAvailableCounter++;
newDSDataAvailableCounter.fetch_add(1);
newDSDataAvailableCond->notify_all();
}