mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +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.
140 lines
5.8 KiB
C++
140 lines
5.8 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 <array>
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#include <atomic>
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#include <memory>
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#include <wpi/mutex.h>
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#include "MockData/DriverStationData.h"
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#include "MockData/NotifyListenerVector.h"
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namespace hal {
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struct JoystickOutputStore;
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struct MatchInfoDataStore;
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class DriverStationData {
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public:
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DriverStationData();
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void ResetData();
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int32_t RegisterEnabledCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelEnabledCallback(int32_t uid);
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void InvokeEnabledCallback(HAL_Value value);
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HAL_Bool GetEnabled();
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void SetEnabled(HAL_Bool enabled);
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int32_t RegisterAutonomousCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelAutonomousCallback(int32_t uid);
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void InvokeAutonomousCallback(HAL_Value value);
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HAL_Bool GetAutonomous();
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void SetAutonomous(HAL_Bool autonomous);
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int32_t RegisterTestCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelTestCallback(int32_t uid);
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void InvokeTestCallback(HAL_Value value);
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HAL_Bool GetTest();
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void SetTest(HAL_Bool test);
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int32_t RegisterEStopCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelEStopCallback(int32_t uid);
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void InvokeEStopCallback(HAL_Value value);
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HAL_Bool GetEStop();
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void SetEStop(HAL_Bool eStop);
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int32_t RegisterFmsAttachedCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelFmsAttachedCallback(int32_t uid);
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void InvokeFmsAttachedCallback(HAL_Value value);
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HAL_Bool GetFmsAttached();
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void SetFmsAttached(HAL_Bool fmsAttached);
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int32_t RegisterDsAttachedCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelDsAttachedCallback(int32_t uid);
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void InvokeDsAttachedCallback(HAL_Value value);
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HAL_Bool GetDsAttached();
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void SetDsAttached(HAL_Bool dsAttached);
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int32_t RegisterAllianceStationIdCallback(HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify);
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void CancelAllianceStationIdCallback(int32_t uid);
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void InvokeAllianceStationIdCallback(HAL_Value value);
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HAL_AllianceStationID GetAllianceStationId();
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void SetAllianceStationId(HAL_AllianceStationID allianceStationId);
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int32_t RegisterMatchTimeCallback(HAL_NotifyCallback callback, void* param,
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HAL_Bool initialNotify);
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void CancelMatchTimeCallback(int32_t uid);
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void InvokeMatchTimeCallback(HAL_Value value);
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double GetMatchTime();
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void SetMatchTime(double matchTime);
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void GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
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void GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
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void GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons);
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void GetJoystickDescriptor(int32_t joystickNum,
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HAL_JoystickDescriptor* descriptor);
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void GetJoystickOutputs(int32_t joystickNum, int64_t* outputs,
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int32_t* leftRumble, int32_t* rightRumble);
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void GetMatchInfo(HAL_MatchInfo* info);
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void FreeMatchInfo(const HAL_MatchInfo* info);
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void SetJoystickAxes(int32_t joystickNum, const HAL_JoystickAxes* axes);
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void SetJoystickPOVs(int32_t joystickNum, const HAL_JoystickPOVs* povs);
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void SetJoystickButtons(int32_t joystickNum,
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const HAL_JoystickButtons* buttons);
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void SetJoystickDescriptor(int32_t joystickNum,
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const HAL_JoystickDescriptor* descriptor);
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void SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
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int32_t leftRumble, int32_t rightRumble);
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void SetMatchInfo(const HAL_MatchInfo* info);
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void NotifyNewData();
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private:
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wpi::mutex m_registerMutex;
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std::atomic<HAL_Bool> m_enabled{false};
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std::shared_ptr<NotifyListenerVector> m_enabledCallbacks = nullptr;
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std::atomic<HAL_Bool> m_autonomous{false};
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std::shared_ptr<NotifyListenerVector> m_autonomousCallbacks = nullptr;
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std::atomic<HAL_Bool> m_test{false};
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std::shared_ptr<NotifyListenerVector> m_testCallbacks = nullptr;
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std::atomic<HAL_Bool> m_eStop{false};
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std::shared_ptr<NotifyListenerVector> m_eStopCallbacks = nullptr;
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std::atomic<HAL_Bool> m_fmsAttached{false};
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std::shared_ptr<NotifyListenerVector> m_fmsAttachedCallbacks = nullptr;
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std::atomic<HAL_Bool> m_dsAttached{false};
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std::shared_ptr<NotifyListenerVector> m_dsAttachedCallbacks = nullptr;
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std::atomic<HAL_AllianceStationID> m_allianceStationId{
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static_cast<HAL_AllianceStationID>(0)};
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std::shared_ptr<NotifyListenerVector> m_allianceStationIdCallbacks = nullptr;
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std::atomic<double> m_matchTime{0.0};
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std::shared_ptr<NotifyListenerVector> m_matchTimeCallbacks = nullptr;
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wpi::mutex m_joystickDataMutex;
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wpi::mutex m_matchInfoMutex;
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std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
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std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
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std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
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std::unique_ptr<JoystickOutputStore[]> m_joystickOutputs;
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std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
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std::unique_ptr<MatchInfoDataStore> m_matchInfo;
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};
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extern DriverStationData* SimDriverStationData;
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} // namespace hal
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