mirror of
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.
59 lines
1.8 KiB
C++
59 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 "PWMDataInternal.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 InitializePWMData() {
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static PWMData spd[kNumPWMChannels];
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::hal::SimPWMData = spd;
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}
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} // namespace init
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} // namespace hal
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PWMData* hal::SimPWMData;
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void PWMData::ResetData() {
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initialized.Reset(false);
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rawValue.Reset(0);
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speed.Reset(0);
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position.Reset(0);
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periodScale.Reset(0);
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zeroLatch.Reset(false);
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}
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extern "C" {
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void HALSIM_ResetPWMData(int32_t index) { SimPWMData[index].ResetData(); }
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PWM##CAPINAME, SimPWMData, \
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LOWERNAME)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(int32_t, RawValue, rawValue)
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DEFINE_CAPI(double, Speed, speed)
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DEFINE_CAPI(double, Position, position)
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DEFINE_CAPI(int32_t, PeriodScale, periodScale)
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DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch)
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#define REGISTER(NAME) \
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SimPWMData[index].NAME.RegisterCallback(callback, param, initialNotify)
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void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
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void* param, HAL_Bool initialNotify) {
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REGISTER(initialized);
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REGISTER(rawValue);
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REGISTER(speed);
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REGISTER(position);
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REGISTER(periodScale);
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REGISTER(zeroLatch);
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}
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} // extern "C"
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