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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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42
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
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@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.DigitalGlitchFilterJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -22,21 +23,12 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
/** Configures the Digital Glitch Filter to its default settings. */
@SuppressWarnings("this-escape")
public DigitalGlitchFilter() {
m_mutex.lock();
try {
int index = 0;
while (m_filterAllocated[index] && index < m_filterAllocated.length) {
index++;
}
if (index != m_filterAllocated.length) {
m_channelIndex = index;
m_filterAllocated[index] = true;
HAL.report(tResourceType.kResourceType_DigitalGlitchFilter, m_channelIndex + 1, 0);
SendableRegistry.addLW(this, "DigitalGlitchFilter", index);
}
} finally {
m_mutex.unlock();
m_channelIndex = allocateFilterIndex();
if (m_channelIndex < 0) {
throw new AllocationException("No filters available to allocate.");
}
HAL.report(tResourceType.kResourceType_DigitalGlitchFilter, m_channelIndex + 1, 0);
SendableRegistry.addLW(this, "DigitalGlitchFilter", m_channelIndex);
}
@Override
@@ -54,6 +46,26 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
}
}
/**
* Allocates the next available filter index, or -1 if there are no filters available.
*
* @return the filter index
*/
private static int allocateFilterIndex() {
m_mutex.lock();
try {
for (int index = 0; index < m_filterAllocated.length; index++) {
if (!m_filterAllocated[index]) {
m_filterAllocated[index] = true;
return index;
}
}
} finally {
m_mutex.unlock();
}
return -1;
}
private static void setFilter(DigitalSource input, int channelIndex) {
if (input != null) { // Counter might have just one input
// analog triggers are not supported for DigitalGlitchFilters
@@ -174,7 +186,7 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
@Override
public void initSendable(SendableBuilder builder) {}
private int m_channelIndex = -1;
private int m_channelIndex;
private static final Lock m_mutex = new ReentrantLock(true);
private static final boolean[] m_filterAllocated = new boolean[3];
}