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

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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
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27
hal/include/HAL/handles/HandlesInternal.h
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@@ -13,7 +13,7 @@
/* General Handle Data Layout
* Bits 0-15: Handle Index
* Bits 16-23: Unused
* Bits 16-23: 8 bit rolling reset detection
* Bits 24-30: Handle Type
* Bit 31: 1 if handle error, 0 if no error
*
@@ -23,6 +23,19 @@
namespace hal {
class HandleBase {
public:
HandleBase();
~HandleBase();
HandleBase(const HandleBase&) = delete;
HandleBase& operator=(const HandleBase&) = delete;
virtual void ResetHandles();
static void ResetGlobalHandles();
protected:
int16_t m_version;
};
constexpr int16_t InvalidHandleIndex = -1;
enum class HAL_HandleEnum {
@@ -57,9 +70,16 @@ static inline HAL_HandleEnum getHandleType(HAL_Handle handle) {
static inline bool isHandleType(HAL_Handle handle, HAL_HandleEnum handleType) {
return handleType == getHandleType(handle);
}
static inline bool isHandleCorrectVersion(HAL_Handle handle, int16_t version) {
return (((handle & 0xFF0000) >> 16) & version) == version;
}
static inline int16_t getHandleTypedIndex(HAL_Handle handle,
HAL_HandleEnum enumType) {
HAL_HandleEnum enumType,
int16_t version) {
if (!isHandleType(handle, enumType)) return InvalidHandleIndex;
#if !defined(CONFIG_ATHENA)
if (!isHandleCorrectVersion(handle, version)) return InvalidHandleIndex;
#endif
return getHandleIndex(handle);
}
@@ -94,5 +114,6 @@ HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
HAL_PortHandle createPortHandleForSPI(uint8_t channel);
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType);
HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
int16_t version);
} // namespace hal