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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.
61 lines
2.0 KiB
C++
61 lines
2.0 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 "../PortsInternal.h"
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#include "AccelerometerDataInternal.h"
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using namespace hal;
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namespace hal {
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namespace init {
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void InitializeAccelerometerData() {
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static AccelerometerData sad[1];
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::hal::SimAccelerometerData = sad;
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}
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} // namespace init
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} // namespace hal
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AccelerometerData* hal::SimAccelerometerData;
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void AccelerometerData::ResetData() {
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active.Reset(false);
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range.Reset(static_cast<HAL_AccelerometerRange>(0));
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x.Reset(0.0);
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y.Reset(0.0);
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z.Reset(0.0);
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}
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extern "C" {
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void HALSIM_ResetAccelerometerData(int32_t index) {
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SimAccelerometerData[index].ResetData();
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, Accelerometer##CAPINAME, \
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SimAccelerometerData, LOWERNAME)
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DEFINE_CAPI(HAL_Bool, Active, active)
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DEFINE_CAPI(HAL_AccelerometerRange, Range, range)
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DEFINE_CAPI(double, X, x)
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DEFINE_CAPI(double, Y, y)
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DEFINE_CAPI(double, Z, z)
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#define REGISTER(NAME) \
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SimAccelerometerData[index].NAME.RegisterCallback(callback, param, \
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initialNotify)
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void HALSIM_RegisterAccelerometerAllCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(active);
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REGISTER(range);
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REGISTER(x);
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REGISTER(y);
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REGISTER(z);
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}
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} // extern "C"
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