[wpilibc] use std::atomic for ADIS classes

wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp

@@ -154,6 +154,122 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
   m_connected = true;
 }
 
+ADIS16448_IMU::ADIS16448_IMU(ADIS16448_IMU&& other)
+    : m_reset_in{std::move(other.m_reset_in)},
+      m_status_led{std::move(other.m_status_led)},
+      m_yaw_axis{std::move(other.m_yaw_axis)},
+      m_gyro_rate_x{std::move(other.m_gyro_rate_x)},
+      m_gyro_rate_y{std::move(other.m_gyro_rate_y)},
+      m_gyro_rate_z{std::move(other.m_gyro_rate_z)},
+      m_accel_x{std::move(other.m_accel_x)},
+      m_accel_y{std::move(other.m_accel_y)},
+      m_accel_z{std::move(other.m_accel_z)},
+      m_mag_x{std::move(other.m_mag_x)},
+      m_mag_y{std::move(other.m_mag_y)},
+      m_mag_z{std::move(other.m_mag_z)},
+      m_baro{std::move(other.m_baro)},
+      m_temp{std::move(other.m_temp)},
+      m_tau{std::move(other.m_tau)},
+      m_dt{std::move(other.m_dt)},
+      m_alpha{std::move(other.m_alpha)},
+      m_compAngleX{std::move(other.m_compAngleX)},
+      m_compAngleY{std::move(other.m_compAngleY)},
+      m_accelAngleX{std::move(other.m_accelAngleX)},
+      m_accelAngleY{std::move(other.m_accelAngleY)},
+      m_offset_buffer{other.m_offset_buffer},
+      m_gyro_rate_offset_x{std::move(other.m_gyro_rate_offset_x)},
+      m_gyro_rate_offset_y{std::move(other.m_gyro_rate_offset_y)},
+      m_gyro_rate_offset_z{std::move(other.m_gyro_rate_offset_z)},
+      m_avg_size{std::move(other.m_avg_size)},
+      m_accum_count{std::move(other.m_accum_count)},
+      m_integ_gyro_angle_x{std::move(other.m_integ_gyro_angle_x)},
+      m_integ_gyro_angle_y{std::move(other.m_integ_gyro_angle_y)},
+      m_integ_gyro_angle_z{std::move(other.m_integ_gyro_angle_z)},
+      m_thread_active{other.m_thread_active.load()},
+      m_first_run{other.m_first_run.load()},
+      m_thread_idle{other.m_thread_idle.load()},
+      m_start_up_mode{other.m_start_up_mode.load()},
+      m_auto_configured{std::move(other.m_auto_configured)},
+      m_spi_port{std::move(other.m_spi_port)},
+      m_calibration_time{std::move(other.m_calibration_time)},
+      m_spi{std::move(other.m_spi)},
+      m_auto_interrupt{std::move(other.m_auto_interrupt)},
+      m_connected{std::move(other.m_connected)},
+      m_acquire_task{std::move(other.m_acquire_task)},
+      m_simDevice{std::move(other.m_simDevice)},
+      m_simConnected{std::move(other.m_simConnected)},
+      m_simGyroAngleX{std::move(other.m_simGyroAngleX)},
+      m_simGyroAngleY{std::move(other.m_simGyroAngleZ)},
+      m_simGyroAngleZ{std::move(other.m_simGyroAngleZ)},
+      m_simGyroRateX{std::move(other.m_simGyroRateX)},
+      m_simGyroRateY{std::move(other.m_simGyroRateY)},
+      m_simGyroRateZ{std::move(other.m_simGyroRateZ)},
+      m_simAccelX{std::move(other.m_simAccelX)},
+      m_simAccelY{std::move(other.m_simAccelY)},
+      m_simAccelZ{std::move(other.m_simAccelZ)},
+      m_mutex{std::move(other.m_mutex)} {}
+
+ADIS16448_IMU& ADIS16448_IMU::operator=(ADIS16448_IMU&& other) {
+  if (this == &other) {
+    return *this;
+  }
+
+  std::swap(this->m_reset_in, other.m_reset_in);
+  std::swap(this->m_status_led, other.m_status_led);
+  std::swap(this->m_yaw_axis, other.m_yaw_axis);
+  std::swap(this->m_gyro_rate_x, other.m_gyro_rate_x);
+  std::swap(this->m_gyro_rate_y, other.m_gyro_rate_y);
+  std::swap(this->m_gyro_rate_z, other.m_gyro_rate_z);
+  std::swap(this->m_accel_x, other.m_accel_x);
+  std::swap(this->m_accel_y, other.m_accel_y);
+  std::swap(this->m_accel_z, other.m_accel_z);
+  std::swap(this->m_mag_x, other.m_mag_x);
+  std::swap(this->m_mag_y, other.m_mag_y);
+  std::swap(this->m_mag_z, other.m_mag_z);
+  std::swap(this->m_baro, other.m_baro);
+  std::swap(this->m_temp, other.m_temp);
+  std::swap(this->m_tau, other.m_tau);
+  std::swap(this->m_dt, other.m_dt);
+  std::swap(this->m_alpha, other.m_alpha);
+  std::swap(this->m_compAngleX, other.m_compAngleX);
+  std::swap(this->m_compAngleY, other.m_compAngleY);
+  std::swap(this->m_accelAngleX, other.m_accelAngleX);
+  std::swap(this->m_accelAngleY, other.m_accelAngleY);
+  std::swap(this->m_offset_buffer, other.m_offset_buffer);
+  std::swap(this->m_gyro_rate_offset_x, other.m_gyro_rate_offset_x);
+  std::swap(this->m_gyro_rate_offset_y, other.m_gyro_rate_offset_y);
+  std::swap(this->m_gyro_rate_offset_z, other.m_gyro_rate_offset_z);
+  std::swap(this->m_avg_size, other.m_avg_size);
+  std::swap(this->m_accum_count, other.m_accum_count);
+  std::swap(this->m_integ_gyro_angle_x, other.m_integ_gyro_angle_x);
+  std::swap(this->m_integ_gyro_angle_y, other.m_integ_gyro_angle_y);
+  std::swap(this->m_integ_gyro_angle_z, other.m_integ_gyro_angle_z);
+  this->m_thread_active = other.m_thread_active.load();
+  this->m_first_run = other.m_first_run.load();
+  this->m_thread_idle = other.m_thread_idle.load();
+  this->m_start_up_mode = other.m_start_up_mode.load();
+  std::swap(this->m_auto_configured, other.m_auto_configured);
+  std::swap(this->m_spi_port, other.m_spi_port);
+  std::swap(this->m_calibration_time, other.m_calibration_time);
+  std::swap(this->m_spi, other.m_spi);
+  std::swap(this->m_auto_interrupt, other.m_auto_interrupt);
+  std::swap(this->m_connected, other.m_connected);
+  std::swap(this->m_acquire_task, other.m_acquire_task);
+  std::swap(this->m_simDevice, other.m_simDevice);
+  std::swap(this->m_simConnected, other.m_simConnected);
+  std::swap(this->m_simGyroAngleX, other.m_simGyroAngleX);
+  std::swap(this->m_simGyroAngleY, other.m_simGyroAngleY);
+  std::swap(this->m_simGyroAngleZ, other.m_simGyroAngleZ);
+  std::swap(this->m_simGyroRateX, other.m_simGyroRateX);
+  std::swap(this->m_simGyroRateY, other.m_simGyroRateY);
+  std::swap(this->m_simGyroRateZ, other.m_simGyroRateZ);
+  std::swap(this->m_simAccelX, other.m_simAccelX);
+  std::swap(this->m_simAccelY, other.m_simAccelY);
+  std::swap(this->m_simAccelZ, other.m_simAccelZ);
+  std::swap(this->m_mutex, other.m_mutex);
+  return *this;
+}
+
 bool ADIS16448_IMU::IsConnected() const {
   if (m_simConnected) {
     return m_simConnected.Get();

wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp

@@ -20,6 +20,7 @@
 
 #include <cmath>
 #include <numbers>
+#include <utility>
 
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
@@ -172,6 +173,104 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
   m_connected = true;
 }
 
+ADIS16470_IMU::ADIS16470_IMU(ADIS16470_IMU&& other)
+    : m_yaw_axis{std::move(other.m_yaw_axis)},
+      m_pitch_axis{std::move(other.m_pitch_axis)},
+      m_roll_axis{std::move(other.m_roll_axis)},
+      m_reset_in{std::move(other.m_reset_in)},
+      m_status_led{std::move(other.m_status_led)},
+      m_integ_angle_x{std::move(other.m_integ_angle_x)},
+      m_integ_angle_y{std::move(other.m_integ_angle_y)},
+      m_integ_angle_z{std::move(other.m_integ_angle_z)},
+      m_gyro_rate_x{std::move(other.m_gyro_rate_x)},
+      m_gyro_rate_y{std::move(other.m_gyro_rate_y)},
+      m_gyro_rate_z{std::move(other.m_gyro_rate_z)},
+      m_accel_x{std::move(other.m_accel_x)},
+      m_accel_y{std::move(other.m_accel_y)},
+      m_accel_z{std::move(other.m_accel_z)},
+      m_tau{std::move(other.m_tau)},
+      m_dt{std::move(other.m_dt)},
+      m_alpha{std::move(other.m_alpha)},
+      m_compAngleX{std::move(other.m_compAngleX)},
+      m_compAngleY{std::move(other.m_compAngleY)},
+      m_accelAngleX{std::move(other.m_accelAngleX)},
+      m_accelAngleY{std::move(other.m_accelAngleY)},
+      m_thread_active{other.m_thread_active.load()},
+      m_first_run{other.m_first_run.load()},
+      m_thread_idle{other.m_thread_idle.load()},
+      m_auto_configured{std::move(other.m_auto_configured)},
+      m_spi_port{std::move(other.m_spi_port)},
+      m_calibration_time{std::move(other.m_calibration_time)},
+      m_spi{std::move(other.m_spi)},
+      m_auto_interrupt{std::move(other.m_auto_interrupt)},
+      m_scaled_sample_rate{std::move(other.m_scaled_sample_rate)},
+      m_connected{std::move(other.m_connected)},
+      m_acquire_task{std::move(other.m_acquire_task)},
+      m_simDevice{std::move(other.m_simDevice)},
+      m_simConnected{std::move(other.m_simConnected)},
+      m_simGyroAngleX{std::move(other.m_simGyroAngleX)},
+      m_simGyroAngleY{std::move(other.m_simGyroAngleZ)},
+      m_simGyroAngleZ{std::move(other.m_simGyroAngleZ)},
+      m_simGyroRateX{std::move(other.m_simGyroRateX)},
+      m_simGyroRateY{std::move(other.m_simGyroRateY)},
+      m_simGyroRateZ{std::move(other.m_simGyroRateZ)},
+      m_simAccelX{std::move(other.m_simAccelX)},
+      m_simAccelY{std::move(other.m_simAccelY)},
+      m_simAccelZ{std::move(other.m_simAccelZ)},
+      m_mutex{std::move(other.m_mutex)} {}
+
+ADIS16470_IMU& ADIS16470_IMU::operator=(ADIS16470_IMU&& other) {
+  if (this == &other) {
+    return *this;
+  }
+
+  std::swap(this->m_yaw_axis, other.m_yaw_axis);
+  std::swap(this->m_pitch_axis, other.m_pitch_axis);
+  std::swap(this->m_roll_axis, other.m_roll_axis);
+  std::swap(this->m_reset_in, other.m_reset_in);
+  std::swap(this->m_status_led, other.m_status_led);
+  std::swap(this->m_integ_angle_x, other.m_integ_angle_x);
+  std::swap(this->m_integ_angle_y, other.m_integ_angle_y);
+  std::swap(this->m_integ_angle_z, other.m_integ_angle_z);
+  std::swap(this->m_gyro_rate_x, other.m_gyro_rate_x);
+  std::swap(this->m_gyro_rate_y, other.m_gyro_rate_y);
+  std::swap(this->m_gyro_rate_z, other.m_gyro_rate_z);
+  std::swap(this->m_accel_x, other.m_accel_x);
+  std::swap(this->m_accel_y, other.m_accel_y);
+  std::swap(this->m_accel_z, other.m_accel_z);
+  std::swap(this->m_tau, other.m_tau);
+  std::swap(this->m_dt, other.m_dt);
+  std::swap(this->m_alpha, other.m_alpha);
+  std::swap(this->m_compAngleX, other.m_compAngleX);
+  std::swap(this->m_compAngleY, other.m_compAngleY);
+  std::swap(this->m_accelAngleX, other.m_accelAngleX);
+  std::swap(this->m_accelAngleY, other.m_accelAngleY);
+  this->m_thread_active = other.m_thread_active.load();
+  this->m_first_run = other.m_first_run.load();
+  this->m_thread_idle = other.m_thread_idle.load();
+  std::swap(this->m_auto_configured, other.m_auto_configured);
+  std::swap(this->m_spi_port, other.m_spi_port);
+  std::swap(this->m_calibration_time, other.m_calibration_time);
+  std::swap(this->m_spi, other.m_spi);
+  std::swap(this->m_auto_interrupt, other.m_auto_interrupt);
+  std::swap(this->m_scaled_sample_rate, other.m_scaled_sample_rate);
+  std::swap(this->m_connected, other.m_connected);
+  std::swap(this->m_acquire_task, other.m_acquire_task);
+  std::swap(this->m_simDevice, other.m_simDevice);
+  std::swap(this->m_simConnected, other.m_simConnected);
+  std::swap(this->m_simGyroAngleX, other.m_simGyroAngleX);
+  std::swap(this->m_simGyroAngleY, other.m_simGyroAngleZ);
+  std::swap(this->m_simGyroAngleZ, other.m_simGyroAngleZ);
+  std::swap(this->m_simGyroRateX, other.m_simGyroRateX);
+  std::swap(this->m_simGyroRateY, other.m_simGyroRateY);
+  std::swap(this->m_simGyroRateZ, other.m_simGyroRateZ);
+  std::swap(this->m_simAccelX, other.m_simAccelX);
+  std::swap(this->m_simAccelY, other.m_simAccelY);
+  std::swap(this->m_simAccelZ, other.m_simAccelZ);
+  std::swap(this->m_mutex, other.m_mutex);
+  return *this;
+}
+
 bool ADIS16470_IMU::IsConnected() const {
   if (m_simConnected) {
     return m_simConnected.Get();

wpilibc/src/main/native/include/frc/ADIS16448_IMU.h

@@ -15,6 +15,7 @@
 
 #include <stdint.h>
 
+#include <atomic>
 #include <thread>
 
 #include <hal/SimDevice.h>
@@ -114,8 +115,8 @@ class ADIS16448_IMU : public wpi::Sendable,
 
   ~ADIS16448_IMU() override;
 
-  ADIS16448_IMU(ADIS16448_IMU&&) = default;
-  ADIS16448_IMU& operator=(ADIS16448_IMU&&) = default;
+  ADIS16448_IMU(ADIS16448_IMU&&);
+  ADIS16448_IMU& operator=(ADIS16448_IMU&&);
 
   /**
    * Initialize the IMU.
@@ -414,10 +415,10 @@ class ADIS16448_IMU : public wpi::Sendable,
   double CompFilterProcess(double compAngle, double accelAngle, double omega);
 
   // State and resource variables
-  volatile bool m_thread_active = false;
-  volatile bool m_first_run = true;
-  volatile bool m_thread_idle = false;
-  volatile bool m_start_up_mode = true;
+  std::atomic<bool> m_thread_active = false;
+  std::atomic<bool> m_first_run = true;
+  std::atomic<bool> m_thread_idle = false;
+  std::atomic<bool> m_start_up_mode = true;
 
   bool m_auto_configured = false;
   SPI::Port m_spi_port;

wpilibc/src/main/native/include/frc/ADIS16470_IMU.h

@@ -15,6 +15,7 @@
 
 #include <stdint.h>
 
+#include <atomic>
 #include <thread>
 
 #include <hal/SimDevice.h>
@@ -143,8 +144,8 @@ class ADIS16470_IMU : public wpi::Sendable,
 
   ~ADIS16470_IMU() override;
 
-  ADIS16470_IMU(ADIS16470_IMU&&) = default;
-  ADIS16470_IMU& operator=(ADIS16470_IMU&&) = default;
+  ADIS16470_IMU(ADIS16470_IMU&& other);
+  ADIS16470_IMU& operator=(ADIS16470_IMU&& other);
 
   /**
    * Configures the decimation rate of the IMU.
@@ -500,9 +501,9 @@ class ADIS16470_IMU : public wpi::Sendable,
   double CompFilterProcess(double compAngle, double accelAngle, double omega);
 
   // State and resource variables
-  volatile bool m_thread_active = false;
-  volatile bool m_first_run = true;
-  volatile bool m_thread_idle = false;
+  std::atomic<bool> m_thread_active = false;
+  std::atomic<bool> m_first_run = true;
+  std::atomic<bool> m_thread_idle = false;
   bool m_auto_configured = false;
   SPI::Port m_spi_port;
   uint16_t m_calibration_time = 0;