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Remove priority mutex (#644)

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* 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
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73
wpilibc/src/main/native/cpp/PIDController.cpp
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@@ -91,7 +91,7 @@ void PIDController::Calculate() {
PIDOutput* pidOutput;
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
pidInput = m_pidInput;
pidOutput = m_pidOutput;
enabled = m_enabled;
@@ -101,7 +101,9 @@ void PIDController::Calculate() {
if (pidOutput == nullptr) return;
if (enabled) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
double feedForward = CalculateFeedForward();
std::lock_guard<std::mutex> sync(m_mutex);
double input = pidInput->PIDGet();
double result;
PIDOutput* pidOutput;
@@ -121,7 +123,7 @@ void PIDController::Calculate() {
}
}
m_result = m_D * m_error + m_P * m_totalError + CalculateFeedForward();
m_result = m_D * m_error + m_P * m_totalError + feedForward;
} else {
if (m_I != 0) {
double potentialIGain = (m_totalError + m_error) * m_I;
@@ -136,7 +138,7 @@ void PIDController::Calculate() {
}
m_result = m_P * m_error + m_I * m_totalError +
m_D * (m_error - m_prevError) + CalculateFeedForward();
m_D * (m_error - m_prevError) + feedForward;
}
m_prevError = m_error;
@@ -198,7 +200,7 @@ double PIDController::CalculateFeedForward() {
*/
void PIDController::SetPID(double p, double i, double d) {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_P = p;
m_I = i;
m_D = d;
@@ -221,7 +223,7 @@ void PIDController::SetPID(double p, double i, double d) {
*/
void PIDController::SetPID(double p, double i, double d, double f) {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_P = p;
m_I = i;
m_D = d;
@@ -240,7 +242,7 @@ void PIDController::SetPID(double p, double i, double d, double f) {
* @return proportional coefficient
*/
double PIDController::GetP() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_P;
}
@@ -250,7 +252,7 @@ double PIDController::GetP() const {
* @return integral coefficient
*/
double PIDController::GetI() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_I;
}
@@ -260,7 +262,7 @@ double PIDController::GetI() const {
* @return differential coefficient
*/
double PIDController::GetD() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_D;
}
@@ -270,7 +272,7 @@ double PIDController::GetD() const {
* @return Feed forward coefficient
*/
double PIDController::GetF() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_F;
}
@@ -282,7 +284,7 @@ double PIDController::GetF() const {
* @return the latest calculated output
*/
double PIDController::Get() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_result;
}
@@ -296,7 +298,7 @@ double PIDController::Get() const {
* @param continuous true turns on continuous, false turns off continuous
*/
void PIDController::SetContinuous(bool continuous) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_continuous = continuous;
}
@@ -308,7 +310,7 @@ void PIDController::SetContinuous(bool continuous) {
*/
void PIDController::SetInputRange(double minimumInput, double maximumInput) {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
}
@@ -323,7 +325,7 @@ void PIDController::SetInputRange(double minimumInput, double maximumInput) {
* @param maximumOutput the maximum value to write to the output
*/
void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
}
@@ -337,7 +339,7 @@ void PIDController::SetOutputRange(double minimumOutput, double maximumOutput) {
*/
void PIDController::SetSetpoint(double setpoint) {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
if (m_maximumInput > m_minimumInput) {
if (setpoint > m_maximumInput)
@@ -364,7 +366,7 @@ void PIDController::SetSetpoint(double setpoint) {
* @return the current setpoint
*/
double PIDController::GetSetpoint() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_setpoint;
}
@@ -374,7 +376,7 @@ double PIDController::GetSetpoint() const {
* @return the change in setpoint over time
*/
double PIDController::GetDeltaSetpoint() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return (m_setpoint - m_prevSetpoint) / m_setpointTimer.Get();
}
@@ -386,7 +388,7 @@ double PIDController::GetDeltaSetpoint() const {
double PIDController::GetError() const {
double setpoint = GetSetpoint();
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return GetContinuousError(setpoint - m_pidInput->PIDGet());
}
}
@@ -417,7 +419,7 @@ PIDSourceType PIDController::GetPIDSourceType() const {
double PIDController::GetAvgError() const {
double avgError = 0;
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
// Don't divide by zero.
if (m_buf.size()) avgError = m_bufTotal / m_buf.size();
}
@@ -431,7 +433,7 @@ double PIDController::GetAvgError() const {
* @param percentage error which is tolerable
*/
void PIDController::SetTolerance(double percent) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
@@ -443,7 +445,7 @@ void PIDController::SetTolerance(double percent) {
* @param percentage error which is tolerable
*/
void PIDController::SetAbsoluteTolerance(double absTolerance) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_toleranceType = kAbsoluteTolerance;
m_tolerance = absTolerance;
}
@@ -455,7 +457,7 @@ void PIDController::SetAbsoluteTolerance(double absTolerance) {
* @param percentage error which is tolerable
*/
void PIDController::SetPercentTolerance(double percent) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
@@ -471,7 +473,7 @@ void PIDController::SetPercentTolerance(double percent) {
* @param bufLength Number of previous cycles to average. Defaults to 1.
*/
void PIDController::SetToleranceBuffer(int bufLength) {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_bufLength = bufLength;
// Cut the buffer down to size if needed.
@@ -493,9 +495,14 @@ void PIDController::SetToleranceBuffer(int bufLength) {
* This will return false until at least one input value has been computed.
*/
bool PIDController::OnTarget() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
if (m_buf.size() == 0) return false;
{
std::lock_guard<std::mutex> sync(m_mutex);
if (m_buf.size() == 0) return false;
}
double error = GetAvgError();
std::lock_guard<std::mutex> sync(m_mutex);
switch (m_toleranceType) {
case kPercentTolerance:
return std::fabs(error) <
@@ -516,7 +523,7 @@ bool PIDController::OnTarget() const {
*/
void PIDController::Enable() {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_enabled = true;
}
@@ -528,7 +535,7 @@ void PIDController::Enable() {
*/
void PIDController::Disable() {
{
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_pidOutput->PIDWrite(0);
m_enabled = false;
}
@@ -540,7 +547,7 @@ void PIDController::Disable() {
* Return true if PIDController is enabled.
*/
bool PIDController::IsEnabled() const {
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
return m_enabled;
}
@@ -550,7 +557,7 @@ bool PIDController::IsEnabled() const {
void PIDController::Reset() {
Disable();
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_prevError = 0;
m_totalError = 0;
m_result = 0;
@@ -579,7 +586,7 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_pListener = m_pEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_P = event.value->GetDouble();
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
@@ -587,7 +594,7 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_iListener = m_iEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_I = event.value->GetDouble();
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
@@ -595,7 +602,7 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_dListener = m_dEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_D = event.value->GetDouble();
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
@@ -603,7 +610,7 @@ void PIDController::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
m_fListener = m_fEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
std::lock_guard<hal::priority_recursive_mutex> sync(m_mutex);
std::lock_guard<std::mutex> sync(m_mutex);
m_F = event.value->GetDouble();
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);