Remove priority mutex (#644)

* 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

wpilibc/src/main/native/include/Commands/Scheduler.h

@@ -10,12 +10,11 @@
 #include <list>
 #include <map>
 #include <memory>
+#include <mutex>
 #include <set>
 #include <string>
 #include <vector>
 
-#include <HAL/cpp/priority_mutex.h>
-
 #include "Commands/Command.h"
 #include "ErrorBase.h"
 #include "SmartDashboard/NamedSendable.h"
@@ -54,11 +53,11 @@ class Scheduler : public ErrorBase, public NamedSendable {
   void ProcessCommandAddition(Command* command);
 
   Command::SubsystemSet m_subsystems;
-  hal::priority_mutex m_buttonsLock;
+  std::mutex m_buttonsLock;
   typedef std::vector<ButtonScheduler*> ButtonVector;
   ButtonVector m_buttons;
   typedef std::vector<Command*> CommandVector;
-  hal::priority_mutex m_additionsLock;
+  std::mutex m_additionsLock;
   CommandVector m_additions;
   typedef std::set<Command*> CommandSet;
   CommandSet m_commands;

wpilibc/src/main/native/include/DigitalGlitchFilter.h

@@ -10,8 +10,7 @@
 #include <stdint.h>
 
 #include <array>
-
-#include <HAL/cpp/priority_mutex.h>
+#include <mutex>
 
 #include "DigitalSource.h"
 
@@ -52,7 +51,7 @@ class DigitalGlitchFilter : public SensorBase {
   void DoAdd(DigitalSource* input, int requested_index);
 
   int m_channelIndex = -1;
-  static hal::priority_mutex m_mutex;
+  static std::mutex m_mutex;
   static std::array<bool, 3> m_filterAllocated;
 };
 

wpilibc/src/main/native/include/DriverStation.h

@@ -9,11 +9,11 @@
 
 #include <atomic>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <thread>
 
 #include <HAL/DriverStation.h>
-#include <HAL/cpp/priority_mutex.h>
 #include <llvm/StringRef.h>
 
 #include "RobotState.h"
@@ -116,7 +116,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   std::thread m_dsThread;
   std::atomic<bool> m_isRunning{false};
 
-  mutable hal::priority_mutex m_joystickDataMutex;
+  mutable std::mutex m_joystickDataMutex;
 
   // Robot state status variables
   bool m_userInDisabled = false;
@@ -127,7 +127,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   // Control word variables
   mutable HAL_ControlWord m_controlWordCache;
   mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
-  mutable hal::priority_mutex m_controlWordMutex;
+  mutable std::mutex m_controlWordMutex;
 
   double m_nextMessageTime = 0;
 };

wpilibc/src/main/native/include/ErrorBase.h

@@ -7,7 +7,8 @@
 
 #pragma once
 
-#include <HAL/cpp/priority_mutex.h>
+#include <mutex>
+
 #include <llvm/StringRef.h>
 
 #include "Base.h"
@@ -114,7 +115,7 @@ class ErrorBase {
  protected:
   mutable Error m_error;
   // TODO: Replace globalError with a global list of all errors.
-  static hal::priority_mutex _globalErrorMutex;
+  static std::mutex _globalErrorMutex;
   static Error _globalError;
 };
 

wpilibc/src/main/native/include/MotorSafetyHelper.h

@@ -7,10 +7,9 @@
 
 #pragma once
 
+#include <mutex>
 #include <set>
 
-#include <HAL/cpp/priority_mutex.h>
-
 #include "ErrorBase.h"
 
 namespace frc {
@@ -38,13 +37,13 @@ class MotorSafetyHelper : public ErrorBase {
   // the FPGA clock value when this motor has expired
   double m_stopTime;
   // protect accesses to the state for this object
-  mutable hal::priority_recursive_mutex m_syncMutex;
+  mutable std::mutex m_syncMutex;
   // the object that is using the helper
   MotorSafety* m_safeObject;
   // List of all existing MotorSafetyHelper objects.
   static std::set<MotorSafetyHelper*> m_helperList;
   // protect accesses to the list of helpers
-  static hal::priority_recursive_mutex m_listMutex;
+  static std::mutex m_listMutex;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Notifier.h

@@ -11,10 +11,10 @@
 
 #include <atomic>
 #include <functional>
+#include <mutex>
 #include <utility>
 
 #include <HAL/Notifier.h>
-#include <HAL/cpp/priority_mutex.h>
 
 #include "ErrorBase.h"
 
@@ -47,9 +47,9 @@ class Notifier : public ErrorBase {
   static void Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle);
 
   // used to constrain execution between destructors and callback
-  static hal::priority_mutex m_destructorMutex;
+  static std::mutex m_destructorMutex;
   // held while updating process information
-  hal::priority_mutex m_processMutex;
+  std::mutex m_processMutex;
   // HAL handle, atomic for proper destruction
   std::atomic<HAL_NotifierHandle> m_notifier{0};
   // address of the handler

wpilibc/src/main/native/include/PIDController.h

@@ -9,11 +9,10 @@
 
 #include <atomic>
 #include <memory>
+#include <mutex>
 #include <queue>
 #include <string>
 
-#include <HAL/cpp/priority_mutex.h>
-
 #include "Base.h"
 #include "Controller.h"
 #include "LiveWindow/LiveWindow.h"
@@ -148,7 +147,7 @@ class PIDController : public LiveWindowSendable, public PIDInterface {
   std::queue<double> m_buf;
   double m_bufTotal = 0;
 
-  mutable hal::priority_recursive_mutex m_mutex;
+  mutable std::mutex m_mutex;
 
   std::unique_ptr<Notifier> m_controlLoop;
   Timer m_setpointTimer;

wpilibc/src/main/native/include/Resource.h

@@ -10,11 +10,10 @@
 #include <stdint.h>
 
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
-#include <HAL/cpp/priority_mutex.h>
-
 #include "ErrorBase.h"
 
 namespace frc {
@@ -44,9 +43,9 @@ class Resource : public ErrorBase {
 
  private:
   std::vector<bool> m_isAllocated;
-  hal::priority_recursive_mutex m_allocateLock;
+  std::mutex m_allocateMutex;
 
-  static hal::priority_recursive_mutex m_createLock;
+  static std::mutex m_createMutex;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/Timer.h

@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <HAL/cpp/priority_mutex.h>
+#include <mutex>
 
 #include "Base.h"
 
@@ -52,7 +52,7 @@ class Timer {
   double m_startTime = 0.0;
   double m_accumulatedTime = 0.0;
   bool m_running = false;
-  mutable hal::priority_mutex m_mutex;
+  mutable std::mutex m_mutex;
 };
 
 }  // namespace frc