mirror of
https://github.com/wpilibsuite/allwpilib
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e824b1129e
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.
98 lines
2.9 KiB
C++
98 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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 "HAL/handles/HandlesInternal.h"
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#include <algorithm>
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#include "HAL/cpp/priority_mutex.h"
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#include "llvm/SmallVector.h"
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namespace hal {
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static llvm::SmallVector<HandleBase*, 32> globalHandles;
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static priority_mutex globalHandleMutex;
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HandleBase::HandleBase() {
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std::lock_guard<priority_mutex> lock(globalHandleMutex);
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auto index = std::find(globalHandles.begin(), globalHandles.end(), this);
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if (index == globalHandles.end()) {
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globalHandles.push_back(this);
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} else {
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*index = this;
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}
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}
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HandleBase::~HandleBase() {
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std::lock_guard<priority_mutex> lock(globalHandleMutex);
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auto index = std::find(globalHandles.begin(), globalHandles.end(), this);
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if (index != globalHandles.end()) {
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*index = nullptr;
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}
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}
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void HandleBase::ResetHandles() {
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m_version++;
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if (m_version > 255) {
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m_version = 0;
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}
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}
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void HandleBase::ResetGlobalHandles() {
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std::unique_lock<priority_mutex> lock(globalHandleMutex);
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for (auto&& i : globalHandles) {
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if (i != nullptr) {
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lock.unlock();
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i->ResetHandles();
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lock.lock();
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}
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}
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}
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HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module) {
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// set last 8 bits, then shift to first 8 bits
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HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
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handle = handle << 24;
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// shift module and add to 3rd set of 8 bits
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int32_t temp = module;
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temp = (temp << 8) & 0xff00;
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handle += temp;
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// add channel to last 8 bits
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handle += channel;
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return handle;
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}
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HAL_PortHandle createPortHandleForSPI(uint8_t channel) {
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// set last 8 bits, then shift to first 8 bits
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HAL_PortHandle handle = static_cast<HAL_PortHandle>(HAL_HandleEnum::Port);
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handle = handle << 16;
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// set second set up bits to 1
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int32_t temp = 1;
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temp = (temp << 8) & 0xff00;
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handle += temp;
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// shift to last set of bits
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handle = handle << 8;
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// add channel to last 8 bits
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handle += channel;
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return handle;
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}
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HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType,
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int16_t version) {
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if (index < 0) return HAL_kInvalidHandle;
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uint8_t hType = static_cast<uint8_t>(handleType);
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if (hType == 0 || hType > 127) return HAL_kInvalidHandle;
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// set last 8 bits, then shift to first 8 bits
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HAL_Handle handle = hType;
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handle = handle << 8;
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handle += static_cast<uint8_t>(version);
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handle = handle << 16;
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// add index to set last 16 bits
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handle += index;
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return handle;
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}
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} // namespace hal
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