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HAL: wait for all objects to release handle before freeing (#1011)

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This avoids a race on free.
This commit is contained in:
Thad House
2018-05-01 19:26:25 -07:00
committed by Peter Johnson
parent 6a159c5bd2
commit f7bcf53059
2 changed files with 36 additions and 3 deletions
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20
hal/src/main/native/athena/PWM.cpp
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@@ -7,10 +7,14 @@
#include "HAL/PWM.h"
#include <wpi/raw_ostream.h>
#include <cmath>
#include <thread>
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HAL/cpp/fpga_clock.h"
#include "HAL/handles/HandlesInternal.h"
#include "PortsInternal.h"
@@ -116,6 +120,20 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
return;
}
digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
// Wait for no other object to hold this handle.
auto start = hal::fpga_clock::now();
while (port.use_count() != 1) {
auto current = hal::fpga_clock::now();
if (start + std::chrono::seconds(1) < current) {
wpi::outs() << "PWM handle free timeout\n";
wpi::outs().flush();
break;
}
std::this_thread::yield();
}
if (port->channel > tPWM::kNumHdrRegisters - 1) {
int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel);
uint16_t specialFunctions =
@@ -123,8 +141,6 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
status);
}
digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
}
HAL_Bool HAL_CheckPWMChannel(int32_t channel) {