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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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24
hal/include/HAL/handles/IndexedClassedHandleResource.h
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@@ -35,7 +35,7 @@ namespace hal {
*/
template <typename THandle, typename TStruct, int16_t size,
HAL_HandleEnum enumValue>
class IndexedClassedHandleResource {
class IndexedClassedHandleResource : public HandleBase {
friend class IndexedClassedHandleResourceTest;
public:
@@ -50,9 +50,8 @@ class IndexedClassedHandleResource {
void Free(THandle handle);
private:
// Dynamic array to shrink HAL file size.
std::unique_ptr<std::shared_ptr<TStruct>[]> m_structures;
std::unique_ptr<hal::priority_mutex[]> m_handleMutexes;
std::array<std::shared_ptr<TStruct>[], size> m_structures;
std::array<hal::priority_mutex[], size> m_handleMutexes;
};
template <typename THandle, typename TStruct, int16_t size,
@@ -80,7 +79,7 @@ IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
return HAL_kInvalidHandle;
}
m_structures[index] = toSet;
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,
@@ -88,7 +87,7 @@ template <typename THandle, typename TStruct, int16_t size,
std::shared_ptr<TStruct> IndexedClassedHandleResource<
THandle, TStruct, size, enumValue>::Get(THandle handle) {
// 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;
}
@@ -103,10 +102,21 @@ template <typename THandle, typename TStruct, int16_t size,
void IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Free(
THandle handle) {
// 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,
HAL_HandleEnum enumValue>
void IndexedClassedHandleResource<THandle, TStruct, size,
enumValue>::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