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[hal] REVPH: Improve handling of disconnected CAN Bus (#4169)

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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.
This commit is contained in:
T Grinch
2022-09-07 11:01:55 -05:00
committed by GitHub
parent 4267fa08d1
commit 0389bf5214
2 changed files with 8 additions and 6 deletions
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4
hal/src/main/native/athena/CTREPCM.cpp
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@@ -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,

10
hal/src/main/native/athena/REVPH.cpp
View File

@@ -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);
}