Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

Remove priority mutex (#644)

Browse Source 
* Removed hal::priority_condition_variable

* Replaced uses of priority mutexes with std::mutex and std::recursive_mutex

This allowed replacing a use of std::condition_variable_any with
std::condition_variable.

* Replaced all uses of std::recursive_mutex with std::mutex equivalents
This commit is contained in:
Tyler Veness
2017-09-28 23:32:35 -07:00
committed by Peter Johnson
parent 19addb04cf
commit dd66b23845
44 changed files with 390 additions and 746 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
hal/src/main/native/athena/FRCDriverStation.cpp
View File

@@ -7,16 +7,16 @@
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <cstdlib>
#include <cstring>
#include <limits>
#include <mutex>
#include <FRC_NetworkCommunication/FRCComm.h>
#include <llvm/raw_ostream.h>
#include "HAL/DriverStation.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
static_assert(sizeof(int32_t) >= sizeof(int),
"FRC_NetworkComm status variable is larger than 32 bits");
@@ -26,9 +26,9 @@ struct HAL_JoystickAxesInt {
int16_t axes[HAL_kMaxJoystickAxes];
};
static hal::priority_mutex msgMutex;
static hal::priority_condition_variable newDSDataAvailableCond;
static hal::priority_mutex newDSDataAvailableMutex;
static std::mutex msgMutex;
static std::condition_variable newDSDataAvailableCond;
static std::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
extern "C" {
@@ -44,7 +44,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
std::lock_guard<hal::priority_mutex> lock(msgMutex);
std::lock_guard<std::mutex> lock(msgMutex);
static std::string prevMsg[KEEP_MSGS];
static std::chrono::time_point<std::chrono::steady_clock>
prevMsgTime[KEEP_MSGS];
@@ -258,7 +258,7 @@ bool HAL_IsNewControlData(void) {
thread_local int lastCount{-1};
int currentCount = 0;
{
std::unique_lock<hal::priority_mutex> lock(newDSDataAvailableMutex);
std::unique_lock<std::mutex> lock(newDSDataAvailableMutex);
currentCount = newDSDataAvailableCounter;
}
if (lastCount == currentCount) return false;
@@ -280,7 +280,7 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
std::unique_lock<hal::priority_mutex> lock(newDSDataAvailableMutex);
std::unique_lock<std::mutex> lock(newDSDataAvailableMutex);
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
@@ -306,7 +306,7 @@ 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;
std::lock_guard<hal::priority_mutex> lock(newDSDataAvailableMutex);
std::lock_guard<std::mutex> lock(newDSDataAvailableMutex);
// Nofify all threads
newDSDataAvailableCounter++;
newDSDataAvailableCond.notify_all();
@@ -320,11 +320,11 @@ static int32_t newDataOccur(uint32_t refNum) {
*/
void HAL_InitializeDriverStation(void) {
static std::atomic_bool initialized{false};
static hal::priority_mutex initializeMutex;
static std::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
if (initialized) return;
std::lock_guard<hal::priority_mutex> lock(initializeMutex);
std::lock_guard<std::mutex> lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return;