From 0389bf521478d2e46ae7e9bb25c9d4f6cf6fa893 Mon Sep 17 00:00:00 2001
From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com>
Date: Wed, 7 Sep 2022 11:01:55 -0500
Subject: [PATCH] [hal] REVPH: Improve handling of disconnected CAN Bus (#4169)

Force the status to be 0 (no error) upon initialization of the REV PneumaticHub.
This prevents a program crash in the case of a robot code restart with no CAN Bus present.
---
 hal/src/main/native/athena/CTREPCM.cpp |  4 +++-
 hal/src/main/native/athena/REVPH.cpp   | 10 +++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/hal/src/main/native/athena/CTREPCM.cpp b/hal/src/main/native/athena/CTREPCM.cpp
index 5f42322325..79c1ae3983 100644
--- a/hal/src/main/native/athena/CTREPCM.cpp
+++ b/hal/src/main/native/athena/CTREPCM.cpp
@@ -233,9 +233,11 @@ void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
     return;
   }
 
+  int32_t can_status = 0;
+
   std::scoped_lock lock{pcm->lock};
   pcm->control.bits.closedLoopEnable = enabled ? 1 : 0;
-  SendControl(pcm.get(), status);
+  SendControl(pcm.get(), &can_status);
 }
 
 HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
diff --git a/hal/src/main/native/athena/REVPH.cpp b/hal/src/main/native/athena/REVPH.cpp
index a3790cc606..ae3f460cc8 100644
--- a/hal/src/main/native/athena/REVPH.cpp
+++ b/hal/src/main/native/athena/REVPH.cpp
@@ -228,20 +228,20 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
               sizeof(hph->desiredSolenoidsState));
   std::memset(&hph->versionInfo, 0, sizeof(hph->versionInfo));
 
+  int32_t can_status = 0;
+
   // Start closed-loop compressor control by starting solenoid state updates
-  HAL_SendREVPHSolenoidsState(hph.get(), status);
+  HAL_SendREVPHSolenoidsState(hph.get(), &can_status);
 
   return handle;
 }
 
 void HAL_FreeREVPH(HAL_REVPHHandle handle) {
   auto hph = REVPHHandles->Get(handle);
-  if (hph == nullptr) {
-    return;
+  if (hph) {
+    HAL_CleanCAN(hph->hcan);
   }
 
-  HAL_CleanCAN(hph->hcan);
-
   REVPHHandles->Free(handle);
 }