mirror of
https://github.com/wpilibsuite/allwpilib
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c0ff6198b3
This makes callback registration completely thread safe. This patch also uses templates and macros to dramatically reduce the amount of manual boilerplate.
89 lines
2.9 KiB
C++
89 lines
2.9 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 "RoboRioDataInternal.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 InitializeRoboRioData() {
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static RoboRioData srrd[1];
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::hal::SimRoboRioData = srrd;
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}
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} // namespace init
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} // namespace hal
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RoboRioData* hal::SimRoboRioData;
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void RoboRioData::ResetData() {
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fpgaButton.Reset(false);
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vInVoltage.Reset(0.0);
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vInCurrent.Reset(0.0);
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userVoltage6V.Reset(6.0);
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userCurrent6V.Reset(0.0);
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userActive6V.Reset(false);
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userVoltage5V.Reset(5.0);
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userCurrent5V.Reset(0.0);
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userActive5V.Reset(false);
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userVoltage3V3.Reset(3.3);
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userCurrent3V3.Reset(0.0);
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userActive3V3.Reset(false);
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userFaults6V.Reset(0);
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userFaults5V.Reset(0);
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userFaults3V3.Reset(0);
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}
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extern "C" {
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void HALSIM_ResetRoboRioData(int32_t index) {
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SimRoboRioData[index].ResetData();
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, RoboRio##CAPINAME, \
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SimRoboRioData, LOWERNAME)
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DEFINE_CAPI(HAL_Bool, FPGAButton, fpgaButton)
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DEFINE_CAPI(double, VInVoltage, vInVoltage)
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DEFINE_CAPI(double, VInCurrent, vInCurrent)
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DEFINE_CAPI(double, UserVoltage6V, userVoltage6V)
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DEFINE_CAPI(double, UserCurrent6V, userCurrent6V)
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DEFINE_CAPI(HAL_Bool, UserActive6V, userActive6V)
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DEFINE_CAPI(double, UserVoltage5V, userVoltage5V)
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DEFINE_CAPI(double, UserCurrent5V, userCurrent5V)
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DEFINE_CAPI(HAL_Bool, UserActive5V, userActive5V)
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DEFINE_CAPI(double, UserVoltage3V3, userVoltage3V3)
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DEFINE_CAPI(double, UserCurrent3V3, userCurrent3V3)
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DEFINE_CAPI(HAL_Bool, UserActive3V3, userActive3V3)
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DEFINE_CAPI(int32_t, UserFaults6V, userFaults6V)
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DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
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DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
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#define REGISTER(NAME) \
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SimRoboRioData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterRoboRioAllCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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REGISTER(fpgaButton);
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REGISTER(vInVoltage);
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REGISTER(vInCurrent);
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REGISTER(userVoltage6V);
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REGISTER(userCurrent6V);
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REGISTER(userActive6V);
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REGISTER(userVoltage5V);
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REGISTER(userCurrent5V);
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REGISTER(userActive5V);
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REGISTER(userVoltage3V3);
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REGISTER(userCurrent3V3);
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REGISTER(userActive3V3);
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REGISTER(userFaults6V);
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REGISTER(userFaults5V);
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REGISTER(userFaults3V3);
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}
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} // extern "C"
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