mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
c0ff6198b3
This makes callback registration completely thread safe. This patch also uses templates and macros to dramatically reduce the amount of manual boilerplate.
74 lines
2.8 KiB
C++
74 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 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 "../PortsInternal.h"
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#include "PCMDataInternal.h"
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using namespace hal;
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namespace hal {
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namespace init {
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void InitializePCMData() {
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static PCMData spd[kNumPCMModules];
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::hal::SimPCMData = spd;
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}
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} // namespace init
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} // namespace hal
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PCMData* hal::SimPCMData;
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void PCMData::ResetData() {
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for (int i = 0; i < kNumSolenoidChannels; i++) {
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solenoidInitialized[i].Reset(false);
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solenoidOutput[i].Reset(false);
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}
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compressorInitialized.Reset(false);
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compressorOn.Reset(false);
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closedLoopEnabled.Reset(true);
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pressureSwitch.Reset(false);
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compressorCurrent.Reset(0.0);
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}
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extern "C" {
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void HALSIM_ResetPCMData(int32_t index) { SimPCMData[index].ResetData(); }
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PCM##CAPINAME, SimPCMData, \
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LOWERNAME)
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HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidInitialized,
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SimPCMData, solenoidInitialized)
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HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, PCMSolenoidOutput,
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SimPCMData, solenoidOutput)
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DEFINE_CAPI(HAL_Bool, CompressorInitialized, compressorInitialized)
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DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
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DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
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DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
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DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
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#define REGISTER(NAME) \
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SimPCMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(compressorInitialized);
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REGISTER(compressorOn);
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REGISTER(closedLoopEnabled);
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REGISTER(pressureSwitch);
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REGISTER(compressorCurrent);
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}
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void HALSIM_RegisterPCMAllSolenoidCallbacks(int32_t index, int32_t channel,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(solenoidInitialized[channel]);
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REGISTER(solenoidOutput[channel]);
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}
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} // extern "C"
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