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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.
103 lines
3.2 KiB
C++
103 lines
3.2 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 "hal/AnalogOutput.h"
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#include "HALInitializer.h"
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#include "PortsInternal.h"
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#include "hal/Errors.h"
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#include "hal/handles/HandlesInternal.h"
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#include "hal/handles/IndexedHandleResource.h"
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#include "mockdata/AnalogOutDataInternal.h"
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using namespace hal;
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namespace {
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struct AnalogOutput {
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uint8_t channel;
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};
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} // namespace
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static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
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kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
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analogOutputHandles;
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namespace hal {
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namespace init {
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void InitializeAnalogOutput() {
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static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
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kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
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aoH;
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analogOutputHandles = &aoH;
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}
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} // namespace init
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} // namespace hal
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extern "C" {
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HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
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int32_t* status) {
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hal::init::CheckInit();
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int16_t channel = getPortHandleChannel(portHandle);
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if (channel == InvalidHandleIndex) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_kInvalidHandle;
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}
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HAL_AnalogOutputHandle handle =
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analogOutputHandles->Allocate(channel, status);
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if (*status != 0)
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return HAL_kInvalidHandle; // failed to allocate. Pass error back.
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auto port = analogOutputHandles->Get(handle);
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if (port == nullptr) { // would only error on thread issue
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*status = HAL_HANDLE_ERROR;
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return HAL_kInvalidHandle;
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}
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port->channel = static_cast<uint8_t>(channel);
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// Initialize sim analog input
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SimAnalogOutData[channel].initialized = true;
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return handle;
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}
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void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
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// no status, so no need to check for a proper free.
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auto port = analogOutputHandles->Get(analogOutputHandle);
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if (port == nullptr) return;
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analogOutputHandles->Free(analogOutputHandle);
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SimAnalogOutData[port->channel].initialized = false;
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}
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HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
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return channel < kNumAnalogOutputs && channel >= 0;
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}
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void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
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double voltage, int32_t* status) {
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auto port = analogOutputHandles->Get(analogOutputHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return;
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}
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SimAnalogOutData[port->channel].voltage = voltage;
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}
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double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
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int32_t* status) {
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auto port = analogOutputHandles->Get(analogOutputHandle);
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if (port == nullptr) {
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*status = HAL_HANDLE_ERROR;
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return 0.0;
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}
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return SimAnalogOutData[port->channel].voltage;
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}
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} // extern "C"
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