mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +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.
48 lines
1.6 KiB
C++
48 lines
1.6 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 "CanDataInternal.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 InitializeCanData() {
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static CanData scd;
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::hal::SimCanData = &scd;
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}
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} // namespace init
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} // namespace hal
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CanData* hal::SimCanData;
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void CanData::ResetData() {
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sendMessage.Reset();
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receiveMessage.Reset();
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openStreamSession.Reset();
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closeStreamSession.Reset();
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readStreamSession.Reset();
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getCANStatus.Reset();
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}
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extern "C" {
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void HALSIM_ResetCanData(void) { SimCanData->ResetData(); }
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI_NOINDEX(TYPE, HALSIM, Can##CAPINAME, \
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SimCanData, LOWERNAME)
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DEFINE_CAPI(HAL_CAN_SendMessageCallback, SendMessage, sendMessage)
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DEFINE_CAPI(HAL_CAN_ReceiveMessageCallback, ReceiveMessage, receiveMessage)
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DEFINE_CAPI(HAL_CAN_OpenStreamSessionCallback, OpenStream, openStreamSession)
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DEFINE_CAPI(HAL_CAN_CloseStreamSessionCallback, CloseStream, closeStreamSession)
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DEFINE_CAPI(HAL_CAN_ReadStreamSessionCallback, ReadStream, readStreamSession)
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DEFINE_CAPI(HAL_CAN_GetCANStatusCallback, GetCANStatus, getCANStatus)
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} // extern "C"
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