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Switches the HAL structs to use unique_ptr (#183)

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Thad House
2016-07-20 22:05:17 -07:00
committed by Peter Johnson
parent 1ca291f20b
commit 0901ae0808
24 changed files with 188 additions and 230 deletions
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12
hal/lib/athena/DigitalInternal.cpp
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@@ -23,9 +23,9 @@ namespace hal {
// Create a mutex to protect changes to the DO PWM config
priority_recursive_mutex digitalPwmMutex;
tDIO* digitalSystem = nullptr;
tRelay* relaySystem = nullptr;
tPWM* pwmSystem = nullptr;
std::unique_ptr<tDIO> digitalSystem;
std::unique_ptr<tRelay> relaySystem;
std::unique_ptr<tPWM> pwmSystem;
bool digitalSystemsInitialized = false;
@@ -39,17 +39,17 @@ DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
void initializeDigital(int32_t* status) {
if (digitalSystemsInitialized) return;
digitalSystem = tDIO::create(status);
digitalSystem.reset(tDIO::create(status));
// Relay Setup
relaySystem = tRelay::create(status);
relaySystem.reset(tRelay::create(status));
// Turn off all relay outputs.
relaySystem->writeValue_Forward(0, status);
relaySystem->writeValue_Reverse(0, status);
// PWM Setup
pwmSystem = tPWM::create(status);
pwmSystem.reset(tPWM::create(status));
// Make sure that the 9403 IONode has had a chance to initialize before
// continuing.