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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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19
hal/include/HAL/handles/IndexedHandleResource.h
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@@ -34,7 +34,7 @@ namespace hal {
*/
template <typename THandle, typename TStruct, int16_t size,
HAL_HandleEnum enumValue>
class IndexedHandleResource {
class IndexedHandleResource : public HandleBase {
friend class IndexedHandleResourceTest;
public:
@@ -45,6 +45,7 @@ class IndexedHandleResource {
THandle Allocate(int16_t index, int32_t* status);
std::shared_ptr<TStruct> Get(THandle handle);
void Free(THandle handle);
void ResetHandles() override;
private:
std::array<std::shared_ptr<TStruct>, size> m_structures;
@@ -67,7 +68,7 @@ THandle IndexedHandleResource<THandle, TStruct, size, enumValue>::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,
@@ -75,7 +76,7 @@ template <typename THandle, typename TStruct, int16_t size,
std::shared_ptr<TStruct>
IndexedHandleResource<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;
}
@@ -90,10 +91,20 @@ template <typename THandle, typename TStruct, int16_t size,
void IndexedHandleResource<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 IndexedHandleResource<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