mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
a6e6ae41b9
Since all of the callbacks issue a string identifier, it makes it possible and easy to have one function callback, and differentiate the path to take based on the string. Hooking up all the callbacks at once makes it easier for the simulator developer to know when something was added to wpilib rather than looking at the commits.
470 lines
17 KiB
C++
470 lines
17 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 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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#include "DriverStationDataInternal.h"
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#include "NotifyCallbackHelpers.h"
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using namespace hal;
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DriverStationData hal::SimDriverStationData;
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void DriverStationData::ResetData() {
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m_enabled = false;
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m_enabledCallbacks = nullptr;
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m_autonomous = false;
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m_autonomousCallbacks = nullptr;
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m_test = false;
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m_testCallbacks = nullptr;
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m_eStop = false;
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m_eStopCallbacks = nullptr;
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m_fmsAttached = false;
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m_fmsAttachedCallbacks = nullptr;
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m_dsAttached = false;
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m_dsAttachedCallbacks = nullptr;
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}
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int32_t DriverStationData::RegisterEnabledCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_enabledCallbacks = RegisterCallback(m_enabledCallbacks, "Enabled",
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callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetEnabled());
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callback("Enabled", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelEnabledCallback(int32_t uid) {
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m_enabledCallbacks = CancelCallback(m_enabledCallbacks, uid);
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}
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void DriverStationData::InvokeEnabledCallback(HAL_Value value) {
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InvokeCallback(m_enabledCallbacks, "Enabled", &value);
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}
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HAL_Bool DriverStationData::GetEnabled() { return m_enabled; }
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void DriverStationData::SetEnabled(HAL_Bool enabled) {
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HAL_Bool oldValue = m_enabled.exchange(enabled);
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if (oldValue != enabled) {
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InvokeEnabledCallback(MakeBoolean(enabled));
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}
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}
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int32_t DriverStationData::RegisterAutonomousCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_autonomousCallbacks = RegisterCallback(
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m_autonomousCallbacks, "Autonomous", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetAutonomous());
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callback("Autonomous", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelAutonomousCallback(int32_t uid) {
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m_autonomousCallbacks = CancelCallback(m_autonomousCallbacks, uid);
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}
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void DriverStationData::InvokeAutonomousCallback(HAL_Value value) {
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InvokeCallback(m_autonomousCallbacks, "Autonomous", &value);
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}
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HAL_Bool DriverStationData::GetAutonomous() { return m_autonomous; }
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void DriverStationData::SetAutonomous(HAL_Bool autonomous) {
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HAL_Bool oldValue = m_autonomous.exchange(autonomous);
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if (oldValue != autonomous) {
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InvokeAutonomousCallback(MakeBoolean(autonomous));
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}
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}
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int32_t DriverStationData::RegisterTestCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_testCallbacks =
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RegisterCallback(m_testCallbacks, "Test", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetTest());
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callback("Test", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelTestCallback(int32_t uid) {
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m_testCallbacks = CancelCallback(m_testCallbacks, uid);
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}
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void DriverStationData::InvokeTestCallback(HAL_Value value) {
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InvokeCallback(m_testCallbacks, "Test", &value);
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}
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HAL_Bool DriverStationData::GetTest() { return m_test; }
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void DriverStationData::SetTest(HAL_Bool test) {
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HAL_Bool oldValue = m_test.exchange(test);
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if (oldValue != test) {
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InvokeTestCallback(MakeBoolean(test));
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}
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}
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int32_t DriverStationData::RegisterEStopCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_eStopCallbacks =
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RegisterCallback(m_eStopCallbacks, "EStop", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetEStop());
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callback("EStop", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelEStopCallback(int32_t uid) {
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m_eStopCallbacks = CancelCallback(m_eStopCallbacks, uid);
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}
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void DriverStationData::InvokeEStopCallback(HAL_Value value) {
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InvokeCallback(m_eStopCallbacks, "EStop", &value);
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}
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HAL_Bool DriverStationData::GetEStop() { return m_eStop; }
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void DriverStationData::SetEStop(HAL_Bool eStop) {
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HAL_Bool oldValue = m_eStop.exchange(eStop);
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if (oldValue != eStop) {
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InvokeEStopCallback(MakeBoolean(eStop));
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}
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}
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int32_t DriverStationData::RegisterFmsAttachedCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_fmsAttachedCallbacks = RegisterCallback(
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m_fmsAttachedCallbacks, "FmsAttached", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetFmsAttached());
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callback("FmsAttached", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelFmsAttachedCallback(int32_t uid) {
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m_fmsAttachedCallbacks = CancelCallback(m_fmsAttachedCallbacks, uid);
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}
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void DriverStationData::InvokeFmsAttachedCallback(HAL_Value value) {
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InvokeCallback(m_fmsAttachedCallbacks, "FmsAttached", &value);
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}
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HAL_Bool DriverStationData::GetFmsAttached() { return m_fmsAttached; }
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void DriverStationData::SetFmsAttached(HAL_Bool fmsAttached) {
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HAL_Bool oldValue = m_fmsAttached.exchange(fmsAttached);
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if (oldValue != fmsAttached) {
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InvokeFmsAttachedCallback(MakeBoolean(fmsAttached));
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}
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}
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int32_t DriverStationData::RegisterDsAttachedCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_dsAttachedCallbacks = RegisterCallback(
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m_dsAttachedCallbacks, "DsAttached", callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeBoolean(GetDsAttached());
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callback("DsAttached", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelDsAttachedCallback(int32_t uid) {
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m_dsAttachedCallbacks = CancelCallback(m_dsAttachedCallbacks, uid);
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}
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void DriverStationData::InvokeDsAttachedCallback(HAL_Value value) {
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InvokeCallback(m_dsAttachedCallbacks, "DsAttached", &value);
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}
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HAL_Bool DriverStationData::GetDsAttached() { return m_dsAttached; }
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void DriverStationData::SetDsAttached(HAL_Bool dsAttached) {
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HAL_Bool oldValue = m_dsAttached.exchange(dsAttached);
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if (oldValue != dsAttached) {
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InvokeDsAttachedCallback(MakeBoolean(dsAttached));
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}
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}
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int32_t DriverStationData::RegisterAllianceStationIdCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_allianceStationIdCallbacks =
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RegisterCallback(m_allianceStationIdCallbacks, "AllianceStationId",
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callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeEnum(GetAllianceStationId());
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callback("AllianceStationId", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelAllianceStationIdCallback(int32_t uid) {
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m_allianceStationIdCallbacks =
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CancelCallback(m_allianceStationIdCallbacks, uid);
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}
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void DriverStationData::InvokeAllianceStationIdCallback(HAL_Value value) {
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InvokeCallback(m_allianceStationIdCallbacks, "AllianceStationId", &value);
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}
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HAL_AllianceStationID DriverStationData::GetAllianceStationId() {
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return m_allianceStationId;
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}
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void DriverStationData::SetAllianceStationId(
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HAL_AllianceStationID allianceStationId) {
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HAL_AllianceStationID oldValue =
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m_allianceStationId.exchange(allianceStationId);
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if (oldValue != allianceStationId) {
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InvokeAllianceStationIdCallback(MakeEnum(allianceStationId));
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}
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}
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int32_t DriverStationData::RegisterMatchTimeCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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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<std::mutex> lock(m_registerMutex);
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m_matchTimeCallbacks = RegisterCallback(m_matchTimeCallbacks, "MatchTime",
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callback, param, &newUid);
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}
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if (initialNotify) {
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// We know that the callback is not null because of earlier null check
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HAL_Value value = MakeDouble(GetMatchTime());
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callback("MatchTime", param, &value);
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}
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return newUid;
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}
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void DriverStationData::CancelMatchTimeCallback(int32_t uid) {
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m_matchTimeCallbacks = CancelCallback(m_matchTimeCallbacks, uid);
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}
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void DriverStationData::InvokeMatchTimeCallback(HAL_Value value) {
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InvokeCallback(m_matchTimeCallbacks, "MatchTime", &value);
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}
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double DriverStationData::GetMatchTime() { return m_matchTime; }
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void DriverStationData::SetMatchTime(double matchTime) {
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double oldValue = m_matchTime.exchange(matchTime);
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if (oldValue != matchTime) {
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InvokeMatchTimeCallback(MakeDouble(matchTime));
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}
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}
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void DriverStationData::NotifyNewData() { HAL_ReleaseDSMutex(); }
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extern "C" {
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void HALSIM_ResetDriverStationData(void) { SimDriverStationData.ResetData(); }
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int32_t HALSIM_RegisterDriverStationEnabledCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterEnabledCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationEnabledCallback(int32_t uid) {
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SimDriverStationData.CancelEnabledCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationEnabled() {
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return SimDriverStationData.GetEnabled();
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}
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void HALSIM_SetDriverStationEnabled(HAL_Bool enabled) {
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SimDriverStationData.SetEnabled(enabled);
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}
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int32_t HALSIM_RegisterDriverStationAutonomousCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterAutonomousCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationAutonomousCallback(int32_t uid) {
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SimDriverStationData.CancelAutonomousCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationAutonomous() {
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return SimDriverStationData.GetAutonomous();
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}
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void HALSIM_SetDriverStationAutonomous(HAL_Bool autonomous) {
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SimDriverStationData.SetAutonomous(autonomous);
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}
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int32_t HALSIM_RegisterDriverStationTestCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterTestCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationTestCallback(int32_t uid) {
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SimDriverStationData.CancelTestCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationTest() {
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return SimDriverStationData.GetTest();
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}
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void HALSIM_SetDriverStationTest(HAL_Bool test) {
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SimDriverStationData.SetTest(test);
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}
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int32_t HALSIM_RegisterDriverStationEStopCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterEStopCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationEStopCallback(int32_t uid) {
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SimDriverStationData.CancelEStopCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationEStop() {
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return SimDriverStationData.GetEStop();
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}
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void HALSIM_SetDriverStationEStop(HAL_Bool eStop) {
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SimDriverStationData.SetEStop(eStop);
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}
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int32_t HALSIM_RegisterDriverStationFmsAttachedCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterFmsAttachedCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationFmsAttachedCallback(int32_t uid) {
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SimDriverStationData.CancelFmsAttachedCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationFmsAttached() {
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return SimDriverStationData.GetFmsAttached();
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}
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void HALSIM_SetDriverStationFmsAttached(HAL_Bool fmsAttached) {
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SimDriverStationData.SetFmsAttached(fmsAttached);
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}
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int32_t HALSIM_RegisterDriverStationDsAttachedCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterDsAttachedCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationDsAttachedCallback(int32_t uid) {
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SimDriverStationData.CancelDsAttachedCallback(uid);
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}
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HAL_Bool HALSIM_GetDriverStationDsAttached() {
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return SimDriverStationData.GetDsAttached();
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}
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void HALSIM_SetDriverStationDsAttached(HAL_Bool dsAttached) {
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SimDriverStationData.SetDsAttached(dsAttached);
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}
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int32_t HALSIM_RegisterDriverStationAllianceStationIdCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterAllianceStationIdCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationAllianceStationIdCallback(int32_t uid) {
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SimDriverStationData.CancelAllianceStationIdCallback(uid);
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}
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HAL_AllianceStationID HALSIM_GetDriverStationAllianceStationId() {
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return SimDriverStationData.GetAllianceStationId();
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}
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void HALSIM_SetDriverStationAllianceStationId(
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HAL_AllianceStationID allianceStationId) {
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SimDriverStationData.SetAllianceStationId(allianceStationId);
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}
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int32_t HALSIM_RegisterDriverStationMatchTimeCallback(
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HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
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return SimDriverStationData.RegisterMatchTimeCallback(callback, param,
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initialNotify);
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}
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void HALSIM_CancelDriverStationMatchTimeCallback(int32_t uid) {
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SimDriverStationData.CancelMatchTimeCallback(uid);
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}
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double HALSIM_GetDriverStationMatchTime() {
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return SimDriverStationData.GetMatchTime();
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}
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void HALSIM_SetDriverStationMatchTime(double matchTime) {
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SimDriverStationData.SetMatchTime(matchTime);
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}
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void HALSIM_NotifyDriverStationNewData(void) {
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SimDriverStationData.NotifyNewData();
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}
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void HALSIM_RegisterDriverStationAllCallbacks(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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SimDriverStationData.RegisterEnabledCallback(callback, param, initialNotify);
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SimDriverStationData.RegisterAutonomousCallback(callback, param,
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initialNotify);
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SimDriverStationData.RegisterTestCallback(callback, param, initialNotify);
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SimDriverStationData.RegisterEStopCallback(callback, param, initialNotify);
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SimDriverStationData.RegisterFmsAttachedCallback(callback, param,
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initialNotify);
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SimDriverStationData.RegisterDsAttachedCallback(callback, param,
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initialNotify);
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SimDriverStationData.RegisterAllianceStationIdCallback(callback, param,
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initialNotify);
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SimDriverStationData.RegisterMatchTimeCallback(callback, param,
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initialNotify);
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}
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} // extern "C"
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