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[sim] Add callback for NotifyNewData

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This commit is contained in:
Peter Johnson
2020-08-14 22:14:07 -07:00
parent ae5b07ba01
commit dc9e560f9b
5 changed files with 54 additions and 0 deletions
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8
hal/src/main/native/athena/mockdata/DriverStationData.cpp
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@@ -71,6 +71,14 @@ void HALSIM_GetMatchInfo(HAL_MatchInfo* info) {}
void HALSIM_SetMatchInfo(const HAL_MatchInfo* info) {}
int32_t HALSIM_RegisterDriverStationNewDataCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
return 0;
}
void HALSIM_CancelDriverStationNewDataCallback(int32_t uid) {}
void HALSIM_NotifyDriverStationNewData(void) {}
void HALSIM_SetJoystickButton(int32_t stick, int32_t button, HAL_Bool state) {}

4
hal/src/main/native/include/hal/simulation/DriverStationData.h
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@@ -159,6 +159,10 @@ void HALSIM_RegisterDriverStationAllCallbacks(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
int32_t HALSIM_RegisterDriverStationNewDataCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify);
void HALSIM_CancelDriverStationNewDataCallback(int32_t uid);
void HALSIM_NotifyDriverStationNewData(void);
#ifdef __cplusplus

1
hal/src/main/native/sim/DriverStation.cpp
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@@ -274,6 +274,7 @@ static int32_t newDataOccur(uint32_t refNum) {
// Since we could get other values, require our specific handle
// to signal our threads
if (refNum != refNumber) return 0;
SimDriverStationData->CallNewDataCallbacks();
std::scoped_lock lock(newDSDataAvailableMutex);
// Nofify all threads
newDSDataAvailableCounter++;

34
hal/src/main/native/sim/mockdata/DriverStationData.cpp
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@@ -58,6 +58,7 @@ void DriverStationData::ResetData() {
m_matchInfoCallbacks.Reset();
m_matchInfo = HAL_MatchInfo{};
}
m_newDataCallbacks.Reset();
}
#define DEFINE_CPPAPI_CALLBACKS(name, data, data2) \
@@ -186,6 +187,28 @@ void DriverStationData::SetMatchInfo(const HAL_MatchInfo* info) {
m_matchInfoCallbacks(info);
}
int32_t DriverStationData::RegisterNewDataCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
int32_t uid = m_newDataCallbacks.Register(callback, param);
if (initialNotify) {
HAL_Value empty;
empty.type = HAL_UNASSIGNED;
callback(GetNewDataName(), param, &empty);
}
return uid;
}
void DriverStationData::CancelNewDataCallback(int32_t uid) {
m_newDataCallbacks.Cancel(uid);
}
void DriverStationData::CallNewDataCallbacks() {
HAL_Value empty;
empty.type = HAL_UNASSIGNED;
m_newDataCallbacks(&empty);
}
void DriverStationData::NotifyNewData() { HAL_ReleaseDSMutex(); }
void DriverStationData::SetJoystickButton(int32_t stick, int32_t button,
@@ -401,6 +424,17 @@ void HALSIM_SetMatchInfo(const HAL_MatchInfo* info) {
SimDriverStationData->SetMatchInfo(info);
}
int32_t HALSIM_RegisterDriverStationNewDataCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
return SimDriverStationData->RegisterNewDataCallback(callback, param,
initialNotify);
}
void HALSIM_CancelDriverStationNewDataCallback(int32_t uid) {
SimDriverStationData->CancelNewDataCallback(uid);
}
void HALSIM_NotifyDriverStationNewData(void) {
SimDriverStationData->NotifyNewData();
}

7
hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
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@@ -32,6 +32,7 @@ class DriverStationData {
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickDescriptor)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(JoystickOutputs)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(MatchInfo)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(NewData)
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeAllianceStationIdValue(HAL_AllianceStationID value) {
@@ -90,6 +91,11 @@ class DriverStationData {
void FreeMatchInfo(const HAL_MatchInfo* info);
int32_t RegisterNewDataCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelNewDataCallback(int32_t uid);
void CallNewDataCallbacks();
void NotifyNewData();
void SetJoystickButton(int32_t stick, int32_t button, HAL_Bool state);
@@ -136,6 +142,7 @@ class DriverStationData {
m_joystickDescriptorCallbacks;
SimCallbackRegistry<HAL_MatchInfoCallback, GetMatchInfoName>
m_matchInfoCallbacks;
SimCallbackRegistry<HAL_NotifyCallback, GetNewDataName> m_newDataCallbacks;
struct JoystickOutputStore {
int64_t outputs = 0;