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Merge "[artf3749] Repaired undefined behavior in takeMultiWait."

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This commit is contained in:
Brad Miller (WPI)
2014-11-13 10:07:50 -08:00
committed by Gerrit Code Review
parent 6c294e137b f67849a9b1
commit fb53eea6b2
8 changed files with 17 additions and 10 deletions
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2
hal/include/HAL/Semaphore.hpp
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@@ -46,7 +46,7 @@ extern "C"
MULTIWAIT_ID initializeMultiWait();
void deleteMultiWait(MULTIWAIT_ID sem);
int8_t takeMultiWait(MULTIWAIT_ID sem, int32_t timeout);
int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout);
int8_t giveMultiWait(MULTIWAIT_ID sem);
}

6
hal/lib/Athena/Semaphore.cpp
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@@ -1,4 +1,3 @@
#include "HAL/Semaphore.hpp"
#include "Log.hpp"
@@ -122,11 +121,10 @@ void deleteMultiWait(MULTIWAIT_ID sem) {
delete sem;
}
int8_t takeMultiWait(MULTIWAIT_ID sem, int32_t timeout) {
MUTEX_ID m = initializeMutexNormal();
int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout) {
takeMutex(m);
int8_t val = pthread_cond_wait(sem, m);
deleteMutex(m);
giveMutex(m);
return val;
}

1
wpilibc/wpilibC++Devices/include/DriverStation.h
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@@ -107,6 +107,7 @@ private:
SEMAPHORE_ID m_newControlData;
MUTEX_ID m_packetDataAvailableSem;
MULTIWAIT_ID m_waitForDataSem;
MUTEX_ID m_waitForDataMutex;
double m_approxMatchTimeOffset;
bool m_userInDisabled;
bool m_userInAutonomous;

4
wpilibc/wpilibC++Devices/src/DriverStation.cpp
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@@ -61,6 +61,7 @@ DriverStation::DriverStation()
HALSetNewDataSem(m_packetDataAvailableSem);
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
AddToSingletonList();
@@ -79,6 +80,7 @@ DriverStation::~DriverStation()
// Unregister our semaphore.
HALSetNewDataSem(0);
deleteMutex(m_packetDataAvailableSem);
deleteMutex(m_waitForDataMutex);
}
void DriverStation::InitTask(DriverStation *ds)
@@ -353,7 +355,7 @@ uint32_t DriverStation::GetLocation()
*/
void DriverStation::WaitForData()
{
takeMultiWait(m_waitForDataSem, SEMAPHORE_WAIT_FOREVER);
takeMultiWait(m_waitForDataSem, m_waitForDataMutex, SEMAPHORE_WAIT_FOREVER);
}
/**

5
wpilibc/wpilibC++Sim/include/DriverStation.h
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@@ -118,8 +118,9 @@ private:
uint8_t m_digitalOut;
MULTIWAIT_ID m_waitForDataSem;
MUTEX_ID m_stateSemaphore;
MUTEX_ID m_joystickSemaphore;
MUTEX_ID m_waitForDataMutex;
MUTEX_ID m_stateSemaphore;
MUTEX_ID m_joystickSemaphore;
double m_approxMatchTimeOffset;
bool m_userInDisabled;
bool m_userInAutonomous;

1
wpilibc/wpilibC++Sim/include/simulation/simTime.h
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@@ -3,5 +3,6 @@
namespace wpilib { namespace internal {
extern double simTime;
extern MULTIWAIT_ID time_wait;
extern MUTEX_ID time_wait_mutex;
// transport::SubscriberPtr time_sub;
}}

4
wpilibc/wpilibC++Sim/src/DriverStation.cpp
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@@ -45,6 +45,7 @@ DriverStation::DriverStation()
{
// Create a new semaphore
m_waitForDataSem = initializeMultiWait();
m_waitForDataMutex = initializeMutexNormal();
m_stateSemaphore = initializeMutexRecursive();
m_joystickSemaphore = initializeMutexRecursive();
@@ -78,6 +79,7 @@ DriverStation::~DriverStation()
{
m_instance = NULL;
deleteMultiWait(m_waitForDataSem);
deleteMutex(m_waitForDataMutex);
// TODO: Release m_stateSemaphore and m_joystickSemaphore?
}
@@ -311,7 +313,7 @@ uint32_t DriverStation::GetLocation()
*/
void DriverStation::WaitForData()
{
takeMultiWait(m_waitForDataSem, SEMAPHORE_WAIT_FOREVER);
takeMultiWait(m_waitForDataSem, m_waitForDataMutex, SEMAPHORE_WAIT_FOREVER);
}
/**

4
wpilibc/wpilibC++Sim/src/Timer.cpp
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@@ -28,7 +28,8 @@ void Wait(double seconds)
double start = wpilib::internal::simTime;
while ((wpilib::internal::simTime - start) < seconds) {
takeMultiWait(wpilib::internal::time_wait, 0);
takeMultiWait(wpilib::internal::time_wait,
wpilib::internal::time_wait_mutex, 0);
}
}
@@ -203,6 +204,7 @@ extern "C"
namespace wpilib { namespace internal {
double simTime = 0;
MULTIWAIT_ID time_wait = initializeMultiWait();
MUTEX_ID time_wait_mutex = initializeMutexNormal();
void time_callback(const msgs::ConstFloat64Ptr &msg) {
simTime = msg->data();