mirror of
https://github.com/wpilibsuite/allwpilib
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112 lines
4.0 KiB
C++
112 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 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 <stdint.h>
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#include <array>
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#include <memory>
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#include <support/mutex.h>
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#include "HAL/Errors.h"
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#include "HAL/Types.h"
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#include "HAL/cpp/make_unique.h"
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#include "HAL/handles/HandlesInternal.h"
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namespace hal {
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/**
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* The IndexedHandleResource class is a way to track handles. This version
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* allows a limited number of handles that are allocated by index.
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* Because they are allocated by index, each individual index holds its own
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* mutex, which reduces contention heavily.]
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*
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* @tparam THandle The Handle Type (Must be typedefed from HAL_Handle)
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* @tparam TStruct The struct type held by this resource
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* @tparam size The number of resources allowed to be allocated
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* @tparam enumValue The type value stored in the handle
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*
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*/
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template <typename THandle, typename TStruct, int16_t size,
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HAL_HandleEnum enumValue>
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class IndexedHandleResource : public HandleBase {
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friend class IndexedHandleResourceTest;
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public:
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IndexedHandleResource() = default;
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IndexedHandleResource(const IndexedHandleResource&) = delete;
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IndexedHandleResource& operator=(const IndexedHandleResource&) = delete;
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THandle Allocate(int16_t index, int32_t* status);
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std::shared_ptr<TStruct> Get(THandle handle);
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void Free(THandle handle);
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void ResetHandles() override;
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private:
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std::array<std::shared_ptr<TStruct>, size> m_structures;
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std::array<wpi::mutex, size> m_handleMutexes;
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};
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template <typename THandle, typename TStruct, int16_t size,
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HAL_HandleEnum enumValue>
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THandle IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
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int16_t index, int32_t* status) {
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// don't aquire the lock if we can fail early.
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if (index < 0 || index >= size) {
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*status = RESOURCE_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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std::lock_guard<wpi::mutex> sync(m_handleMutexes[index]);
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// check for allocation, otherwise allocate and return a valid handle
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if (m_structures[index] != nullptr) {
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*status = RESOURCE_IS_ALLOCATED;
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return HAL_kInvalidHandle;
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}
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m_structures[index] = std::make_shared<TStruct>();
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return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
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}
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template <typename THandle, typename TStruct, int16_t size,
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HAL_HandleEnum enumValue>
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std::shared_ptr<TStruct>
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IndexedHandleResource<THandle, TStruct, size, enumValue>::Get(THandle handle) {
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// get handle index, and fail early if index out of range or wrong handle
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int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
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if (index < 0 || index >= size) {
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return nullptr;
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}
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std::lock_guard<wpi::mutex> sync(m_handleMutexes[index]);
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// return structure. Null will propogate correctly, so no need to manually
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// check.
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return m_structures[index];
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}
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template <typename THandle, typename TStruct, int16_t size,
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HAL_HandleEnum enumValue>
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void IndexedHandleResource<THandle, TStruct, size, enumValue>::Free(
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THandle handle) {
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// get handle index, and fail early if index out of range or wrong handle
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int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
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if (index < 0 || index >= size) return;
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// lock and deallocated handle
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std::lock_guard<wpi::mutex> sync(m_handleMutexes[index]);
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m_structures[index].reset();
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}
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template <typename THandle, typename TStruct, int16_t size,
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HAL_HandleEnum enumValue>
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void IndexedHandleResource<THandle, TStruct, size, enumValue>::ResetHandles() {
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for (int i = 0; i < size; i++) {
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std::lock_guard<wpi::mutex> sync(m_handleMutexes[i]);
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m_structures[i].reset();
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}
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HandleBase::ResetHandles();
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}
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} // namespace hal
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