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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.
54 lines
1.8 KiB
C++
54 lines
1.8 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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#include "../PortsInternal.h"
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#include "DigitalPWMDataInternal.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 InitializeDigitalPWMData() {
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static DigitalPWMData sdpd[kNumDigitalPWMOutputs];
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::hal::SimDigitalPWMData = sdpd;
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}
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} // namespace init
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} // namespace hal
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DigitalPWMData* hal::SimDigitalPWMData;
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void DigitalPWMData::ResetData() {
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initialized.Reset(false);
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dutyCycle.Reset(0.0);
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pin.Reset(0);
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}
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extern "C" {
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void HALSIM_ResetDigitalPWMData(int32_t index) {
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SimDigitalPWMData[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, DigitalPWM##CAPINAME, \
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SimDigitalPWMData, LOWERNAME)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(double, DutyCycle, dutyCycle)
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DEFINE_CAPI(int32_t, Pin, pin)
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#define REGISTER(NAME) \
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SimDigitalPWMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterDigitalPWMAllCallbacks(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(initialized);
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REGISTER(dutyCycle);
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REGISTER(pin);
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}
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} // extern "C"
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