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https://github.com/wpilibsuite/allwpilib
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12c4418bda
Added callback scheme for a pass through to something higher level. Since the ID is embedded into the arbitration ID, and some devices can use different schemes whether it is plugged in through a device or put into the daisy chain (pigeonImu), I made one "internal data object" for max reusability.
90 lines
3.9 KiB
C++
90 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "MockData/NotifyCallbackHelpers.h"
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using namespace hal;
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std::shared_ptr<NotifyListenerVector> RegisterCallback(
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std::shared_ptr<NotifyListenerVector> currentVector, const char* name,
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HAL_NotifyCallback callback, void* param, int32_t* newUid) {
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return RegisterCallbackImpl<NotifyListenerVector, HAL_NotifyCallback>(
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currentVector, name, callback, param, newUid);
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}
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std::shared_ptr<NotifyListenerVector> CancelCallback(
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std::shared_ptr<NotifyListenerVector> currentVector, int32_t uid) {
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return CancelCallbackImpl<NotifyListenerVector, HAL_NotifyCallback>(
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currentVector, uid);
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}
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void InvokeCallback(std::shared_ptr<NotifyListenerVector> currentVector,
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const char* name, const HAL_Value* value) {
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// Return if no callbacks are assigned
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if (currentVector == nullptr) return;
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// Get a copy of the shared_ptr, then iterate and callback listeners
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auto newCallbacks = currentVector;
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for (size_t i = 0; i < newCallbacks->size(); ++i) {
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if (!(*newCallbacks)[i]) continue; // removed
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auto listener = (*newCallbacks)[i];
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listener.callback(name, listener.param, value);
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}
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}
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std::shared_ptr<BufferListenerVector> RegisterCallback(
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std::shared_ptr<BufferListenerVector> currentVector, const char* name,
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HAL_BufferCallback callback, void* param, int32_t* newUid) {
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return RegisterCallbackImpl<BufferListenerVector, HAL_BufferCallback>(
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currentVector, name, callback, param, newUid);
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}
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std::shared_ptr<BufferListenerVector> CancelCallback(
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std::shared_ptr<BufferListenerVector> currentVector, int32_t uid) {
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return CancelCallbackImpl<BufferListenerVector, HAL_BufferCallback>(
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currentVector, uid);
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}
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void InvokeCallback(std::shared_ptr<BufferListenerVector> currentVector,
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const char* name, uint8_t* buffer, int32_t count) {
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// Return if no callbacks are assigned
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if (currentVector == nullptr) return;
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// Get a copy of the shared_ptr, then iterate and callback listeners
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auto newCallbacks = currentVector;
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for (size_t i = 0; i < newCallbacks->size(); ++i) {
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if (!(*newCallbacks)[i]) continue; // removed
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auto listener = (*newCallbacks)[i];
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listener.callback(name, listener.param, buffer, count);
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}
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}
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std::shared_ptr<ConstBufferListenerVector> RegisterCallback(
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std::shared_ptr<ConstBufferListenerVector> currentVector, const char* name,
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HAL_ConstBufferCallback callback, void* param, int32_t* newUid) {
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return RegisterCallbackImpl<ConstBufferListenerVector,
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HAL_ConstBufferCallback>(currentVector, name,
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callback, param, newUid);
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}
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std::shared_ptr<ConstBufferListenerVector> CancelCallback(
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std::shared_ptr<ConstBufferListenerVector> currentVector, int32_t uid) {
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return CancelCallbackImpl<ConstBufferListenerVector, HAL_ConstBufferCallback>(
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currentVector, uid);
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}
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void InvokeCallback(std::shared_ptr<ConstBufferListenerVector> currentVector,
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const char* name, const uint8_t* buffer, int32_t count) {
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// Return if no callbacks are assigned
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if (currentVector == nullptr) return;
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// Get a copy of the shared_ptr, then iterate and callback listeners
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auto newCallbacks = currentVector;
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for (size_t i = 0; i < newCallbacks->size(); ++i) {
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if (!(*newCallbacks)[i]) continue; // removed
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auto listener = (*newCallbacks)[i];
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listener.callback(name, listener.param, buffer, count);
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}
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}
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