Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Adds way to reset and version all HAL handles (#545)

Browse Source 
Useful in the sim to force a full reset. On roboRIO, the information is
still created and added, but is not checked because of speed
considerations.
This commit is contained in:
Thad House
2017-06-30 16:28:28 -07:00
committed by Peter Johnson
parent 0cd03c66e3
commit e824b1129e
10 changed files with 187 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
hal/include/HAL/handles/DigitalHandleResource.h
View File

@@ -33,7 +33,7 @@ namespace hal {
*
*/
template <typename THandle, typename TStruct, int16_t size>
class DigitalHandleResource {
class DigitalHandleResource : public HandleBase {
friend class DigitalHandleResourceTest;
public:
@@ -44,6 +44,7 @@ class DigitalHandleResource {
THandle Allocate(int16_t index, HAL_HandleEnum enumValue, int32_t* status);
std::shared_ptr<TStruct> Get(THandle handle, HAL_HandleEnum enumValue);
void Free(THandle handle, HAL_HandleEnum enumValue);
void ResetHandles() override;
private:
std::array<std::shared_ptr<TStruct>, size> m_structures;
@@ -65,14 +66,14 @@ THandle DigitalHandleResource<THandle, TStruct, size>::Allocate(
return HAL_kInvalidHandle;
}
m_structures[index] = std::make_shared<TStruct>();
return static_cast<THandle>(hal::createHandle(index, enumValue));
return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
}
template <typename THandle, typename TStruct, int16_t size>
std::shared_ptr<TStruct> DigitalHandleResource<THandle, TStruct, size>::Get(
THandle handle, HAL_HandleEnum enumValue) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = getHandleTypedIndex(handle, enumValue);
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) {
return nullptr;
}
@@ -86,10 +87,19 @@ template <typename THandle, typename TStruct, int16_t size>
void DigitalHandleResource<THandle, TStruct, size>::Free(
THandle handle, HAL_HandleEnum enumValue) {
// get handle index, and fail early if index out of range or wrong handle
int16_t index = getHandleTypedIndex(handle, enumValue);
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[index]);
m_structures[index].reset();
}
template <typename THandle, typename TStruct, int16_t size>
void DigitalHandleResource<THandle, TStruct, size>::ResetHandles() {
for (int i = 0; i < size; i++) {
std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[i]);
m_structures[i].reset();
}
HandleBase::ResetHandles();
}
} // namespace hal