mirror of
https://github.com/wpilibsuite/allwpilib
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94 lines
3.5 KiB
C++
94 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 <stdint.h>
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#include <memory>
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#include <vector>
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#include "HAL/Errors.h"
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#include "HAL/Handles.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "HandlesInternal.h"
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namespace hal {
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/**
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* The DigitalHandleResource class is a way to track handles. This version
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* allows a limited number of handles that are allocated by index.
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* The enum value is seperate, as 2 enum values are allowed per handle
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* Because they are allocated by index, each individual index holds its own
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* mutex, which reduces contention heavily.]
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*
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* @tparam THandle The Handle Type (Must be typedefed from HalHandle)
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* @tparam TStruct The struct type held by this resource
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* @tparam size The number of resources allowed to be allocated
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*
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*/
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template <typename THandle, typename TStruct, int16_t size>
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class DigitalHandleResource {
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friend class DigitalHandleResourceTest;
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public:
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DigitalHandleResource(const DigitalHandleResource&) = delete;
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DigitalHandleResource operator=(const DigitalHandleResource&) = delete;
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DigitalHandleResource() = default;
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THandle Allocate(int16_t index, HalHandleEnum enumValue, int32_t* status);
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std::shared_ptr<TStruct> Get(THandle handle, HalHandleEnum enumValue);
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void Free(THandle handle, HalHandleEnum enumValue);
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private:
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std::shared_ptr<TStruct> m_structures[size];
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priority_mutex m_handleMutexes[size];
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};
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template <typename THandle, typename TStruct, int16_t size>
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THandle DigitalHandleResource<THandle, TStruct, size>::Allocate(
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int16_t index, HalHandleEnum enumValue, int32_t* status) {
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// don't aquire the lock if we can fail early.
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if (index < 0 || index >= size) {
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*status = PARAMETER_OUT_OF_RANGE;
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return HAL_INVALID_HANDLE;
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}
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std::lock_guard<priority_mutex> sync(m_handleMutexes[index]);
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// check for allocation, otherwise allocate and return a valid handle
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if (m_structures[index] != nullptr) {
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*status = RESOURCE_IS_ALLOCATED;
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return HAL_INVALID_HANDLE;
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}
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m_structures[index] = std::make_shared<TStruct>();
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return (THandle)hal::createHandle(index, enumValue);
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}
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template <typename THandle, typename TStruct, int16_t size>
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std::shared_ptr<TStruct> DigitalHandleResource<THandle, TStruct, size>::Get(
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THandle handle, HalHandleEnum enumValue) {
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// get handle index, and fail early if index out of range or wrong handle
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int16_t index = getHandleTypedIndex(handle, enumValue);
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if (index < 0 || index >= size) {
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return nullptr;
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}
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std::lock_guard<priority_mutex> sync(m_handleMutexes[index]);
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// return structure. Null will propogate correctly, so no need to manually
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// check.
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return m_structures[index];
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}
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template <typename THandle, typename TStruct, int16_t size>
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void DigitalHandleResource<THandle, TStruct, size>::Free(
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THandle handle, HalHandleEnum enumValue) {
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// get handle index, and fail early if index out of range or wrong handle
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int16_t index = getHandleTypedIndex(handle, enumValue);
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if (index < 0 || index >= size) return;
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// lock and deallocated handle
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std::lock_guard<priority_mutex> sync(m_handleMutexes[index]);
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m_structures[index].reset();
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}
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}
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