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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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23
hal/include/HAL/handles/UnlimitedHandleResource.h
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@@ -33,7 +33,7 @@ namespace hal {
*
*/
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
class UnlimitedHandleResource {
class UnlimitedHandleResource : public HandleBase {
friend class UnlimitedHandleResourceTest;
public:
@@ -44,6 +44,7 @@ class UnlimitedHandleResource {
THandle Allocate(std::shared_ptr<TStruct> structure);
std::shared_ptr<TStruct> Get(THandle handle);
void Free(THandle handle);
void ResetHandles() override;
private:
std::vector<std::shared_ptr<TStruct>> m_structures;
@@ -58,19 +59,20 @@ THandle UnlimitedHandleResource<THandle, TStruct, enumValue>::Allocate(
for (i = 0; i < m_structures.size(); i++) {
if (m_structures[i] == nullptr) {
m_structures[i] = structure;
return static_cast<THandle>(createHandle(i, enumValue));
return static_cast<THandle>(createHandle(i, enumValue, m_version));
}
}
if (i >= INT16_MAX) return HAL_kInvalidHandle;
m_structures.push_back(structure);
return static_cast<THandle>(createHandle(static_cast<int16_t>(i), enumValue));
return static_cast<THandle>(
createHandle(static_cast<int16_t>(i), enumValue, m_version));
}
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
std::shared_ptr<TStruct>
UnlimitedHandleResource<THandle, TStruct, enumValue>::Get(THandle handle) {
int16_t index = getHandleTypedIndex(handle, enumValue);
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
std::lock_guard<hal::priority_mutex> sync(m_handleMutex);
if (index < 0 || index >= static_cast<int16_t>(m_structures.size()))
return nullptr;
@@ -80,9 +82,20 @@ UnlimitedHandleResource<THandle, TStruct, enumValue>::Get(THandle handle) {
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
void UnlimitedHandleResource<THandle, TStruct, enumValue>::Free(
THandle handle) {
int16_t index = getHandleTypedIndex(handle, enumValue);
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
std::lock_guard<hal::priority_mutex> sync(m_handleMutex);
if (index < 0 || index >= static_cast<int16_t>(m_structures.size())) return;
m_structures[index].reset();
}
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
void UnlimitedHandleResource<THandle, TStruct, enumValue>::ResetHandles() {
{
std::lock_guard<hal::priority_mutex> lock(m_handleMutex);
for (size_t i = 0; i < m_structures.size(); i++) {
m_structures[i].reset();
}
}
HandleBase::ResetHandles();
}
} // namespace hal