mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
112 lines
4.5 KiB
C++
112 lines
4.5 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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#pragma once
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#include <atomic>
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#include <limits>
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#include <memory>
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#include <wpi/mutex.h>
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#include "MockData/CanData.h"
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#include "MockData/NotifyCallbackHelpers.h"
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#include "MockData/NotifyListenerVector.h"
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namespace hal {
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typedef HalCallbackListenerVectorImpl<HAL_CAN_SendMessageCallback>
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CanSendMessageListenerVector;
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typedef HalCallbackListenerVectorImpl<HAL_CAN_ReceiveMessageCallback>
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CanReceiveMessageListenerVector;
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typedef HalCallbackListenerVectorImpl<HAL_CAN_OpenStreamSessionCallback>
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CanOpenStreamSessionListenerVector;
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typedef HalCallbackListenerVectorImpl<HAL_CAN_CloseStreamSessionCallback>
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CanCloseStreamSessionListenerVector;
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typedef HalCallbackListenerVectorImpl<HAL_CAN_ReadStreamSessionCallback>
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CanReadStreamSessionListenerVector;
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typedef HalCallbackListenerVectorImpl<HAL_CAN_GetCANStatusCallback>
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CanGetCANStatusListenerVector;
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class CanData {
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public:
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void ResetData();
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void SendMessage(uint32_t messageID, const uint8_t* data, uint8_t dataSize,
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int32_t periodMs, int32_t* status);
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void ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
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uint8_t* data, uint8_t* dataSize, uint32_t* timeStamp,
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int32_t* status);
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void OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
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uint32_t messageIDMask, uint32_t maxMessages,
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int32_t* status);
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void CloseStreamSession(uint32_t sessionHandle);
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void ReadStreamSession(uint32_t sessionHandle,
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struct HAL_CANStreamMessage* messages,
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uint32_t messagesToRead, uint32_t* messagesRead,
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int32_t* status);
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void GetCANStatus(float* percentBusUtilization, uint32_t* busOffCount,
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uint32_t* txFullCount, uint32_t* receiveErrorCount,
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uint32_t* transmitErrorCount, int32_t* status);
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int32_t RegisterSendMessageCallback(HAL_CAN_SendMessageCallback callback,
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void* param);
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void CancelSendMessageCallback(int32_t uid);
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int32_t RegisterReceiveMessageCallback(
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HAL_CAN_ReceiveMessageCallback callback, void* param);
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void CancelReceiveMessageCallback(int32_t uid);
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int32_t RegisterOpenStreamCallback(HAL_CAN_OpenStreamSessionCallback callback,
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void* param);
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void CancelOpenStreamCallback(int32_t uid);
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int32_t RegisterCloseStreamCallback(
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HAL_CAN_CloseStreamSessionCallback callback, void* param);
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void CancelCloseStreamCallback(int32_t uid);
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int32_t RegisterReadStreamCallback(HAL_CAN_ReadStreamSessionCallback callback,
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void* param);
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void CancelReadStreamCallback(int32_t uid);
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int32_t RegisterGetCANStatusCallback(HAL_CAN_GetCANStatusCallback callback,
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void* param);
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void CancelGetCANStatusCallback(int32_t uid);
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protected:
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template <typename VectorType, typename CallbackType>
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int32_t RegisterCanCallback(CallbackType& callback,
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std::shared_ptr<VectorType>& callbackVector,
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const char* callbackName, void* param) {
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// Must return -1 on a null callback for error handling
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if (callback == nullptr) return -1;
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int32_t newUid = 0;
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{
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std::lock_guard<wpi::mutex> lock(m_registerMutex);
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callbackVector = RegisterCallbackImpl(callbackVector, callbackName,
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callback, param, &newUid);
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}
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return newUid;
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}
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wpi::mutex m_registerMutex;
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std::shared_ptr<CanSendMessageListenerVector> m_sendMessageCallback;
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std::shared_ptr<CanReceiveMessageListenerVector> m_receiveMessageCallback;
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std::shared_ptr<CanOpenStreamSessionListenerVector>
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m_openStreamSessionCallback;
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std::shared_ptr<CanCloseStreamSessionListenerVector>
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m_closeStreamSessionCallback;
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std::shared_ptr<CanReadStreamSessionListenerVector>
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m_readStreamSessionCallback;
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std::shared_ptr<CanGetCANStatusListenerVector> m_getCanStatusCallback;
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};
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extern CanData* SimCanData;
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} // namespace hal
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