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[wpilib, hal] DigitalGlitchFilter: Fix sim crash and clean up construction (#6937)

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Fixes error when >3 are constructed- in java, m_filterAllocated[index] would be evaluated before the bounds check and throw IndexOutOfBounds, in c++ a vague assertion error would be thrown.

Makes DoAdd static in c++

Makes the error message when HAL_SetFilterSelect fails consistent with java
This commit is contained in:
Ryan Blue
2024-08-11 02:30:02 -04:00
committed by GitHub
parent c13c512221
commit dd99ff420c
5 changed files with 61 additions and 30 deletions
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29
wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
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@@ -25,14 +25,11 @@ std::array<bool, 3> DigitalGlitchFilter::m_filterAllocated = {
wpi::mutex DigitalGlitchFilter::m_mutex;
DigitalGlitchFilter::DigitalGlitchFilter() {
std::scoped_lock lock(m_mutex);
auto index =
std::find(m_filterAllocated.begin(), m_filterAllocated.end(), false);
FRC_Assert(index != m_filterAllocated.end());
m_channelIndex = std::distance(m_filterAllocated.begin(), index);
*index = true;
m_channelIndex = AllocateFilterIndex();
if (m_channelIndex < 0) {
throw FRC_MakeError(err::NoAvailableResources,
"No filters available to allocate.");
}
HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
m_channelIndex + 1);
wpi::SendableRegistry::AddLW(this, "DigitalGlitchFilter", m_channelIndex);
@@ -45,6 +42,18 @@ DigitalGlitchFilter::~DigitalGlitchFilter() {
}
}
int DigitalGlitchFilter::AllocateFilterIndex() {
std::scoped_lock lock{m_mutex};
auto filter =
std::find(m_filterAllocated.begin(), m_filterAllocated.end(), false);
if (filter == m_filterAllocated.end()) {
return -1;
}
*filter = true;
return std::distance(m_filterAllocated.begin(), filter);
}
void DigitalGlitchFilter::Add(DigitalSource* input) {
DoAdd(input, m_channelIndex + 1);
}
@@ -67,7 +76,9 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requestedIndex) {
int actualIndex =
HAL_GetFilterSelect(input->GetPortHandleForRouting(), &status);
FRC_CheckErrorStatus(status, "requested index {}", requestedIndex);
FRC_Assert(actualIndex == requestedIndex);
FRC_AssertMessage(actualIndex == requestedIndex,
"HAL_SetFilterSelect({}) failed -> {}", requestedIndex,
actualIndex);
}
}

12
wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h
View File

@@ -117,12 +117,20 @@ class DigitalGlitchFilter : public wpi::Sendable,
void InitSendable(wpi::SendableBuilder& builder) override;
private:
int m_channelIndex;
// Sets the filter for the input to be the requested index. A value of 0
// disables the filter, and the filter value must be between 1 and 3,
// inclusive.
void DoAdd(DigitalSource* input, int requested_index);
static void DoAdd(DigitalSource* input, int requested_index);
/**
* Allocates the next available filter index, or -1 if there are no filters
* available.
* @return the filter index
*/
static int AllocateFilterIndex();
int m_channelIndex = -1;
static wpi::mutex m_mutex;
static std::array<bool, 3> m_filterAllocated;
};