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Switches the HAL structs to use unique_ptr (#183)

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This commit is contained in:
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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59
hal/lib/athena/PDP.cpp
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@@ -7,14 +7,29 @@
#include "HAL/PDP.h"
#include <memory>
#include "HAL/Errors.h"
#include "HAL/Ports.h"
#include "HAL/cpp/make_unique.h"
#include "PortsInternal.h"
#include "ctre/PDP.h"
using namespace hal;
static PDP* pdp[kNumPDPModules] = {nullptr};
static std::unique_ptr<PDP> pdp[kNumPDPModules];
static inline bool checkPDPInit(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return false;
}
if (!pdp[module]) {
*status = INCOMPATIBLE_STATE;
return false;
}
return true;
}
extern "C" {
@@ -24,7 +39,7 @@ void HAL_InitializePDP(int32_t module, int32_t* status) {
return;
}
if (!pdp[module]) {
pdp[module] = new PDP(module);
pdp[module] = std::make_unique<PDP>(module);
}
}
@@ -33,10 +48,7 @@ HAL_Bool HAL_CheckPDPModule(int32_t module) {
}
double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double temperature;
@@ -46,10 +58,7 @@ double HAL_GetPDPTemperature(int32_t module, int32_t* status) {
}
double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double voltage;
@@ -60,10 +69,7 @@ double HAL_GetPDPVoltage(int32_t module, int32_t* status) {
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double current;
@@ -73,10 +79,7 @@ double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
}
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double current;
@@ -86,10 +89,7 @@ double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status) {
}
double HAL_GetPDPTotalPower(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double power;
@@ -99,10 +99,7 @@ double HAL_GetPDPTotalPower(int32_t module, int32_t* status) {
}
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return 0.0;
}
if (!checkPDPInit(module, status)) return 0;
double energy;
@@ -112,19 +109,13 @@ double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status) {
}
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
if (!checkPDPInit(module, status)) return;
*status = pdp[module]->ResetEnergy();
}
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status) {
if (!HAL_CheckPDPModule(module)) {
*status = PARAMETER_OUT_OF_RANGE;
return;
}
if (!checkPDPInit(module, status)) return;
*status = pdp[module]->ClearStickyFaults();
}