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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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26
hal/lib/athena/SPI.cpp
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@@ -12,6 +12,7 @@
#include "DigitalInternal.h"
#include "HAL/DIO.h"
#include "HAL/HAL.h"
#include "HAL/cpp/make_unique.h"
#include "HAL/cpp/priority_mutex.h"
#include "spilib/spi-lib.h"
@@ -72,8 +73,7 @@ struct SPIAccumulator {
bool is_signed; // is data field signed?
bool big_endian; // is response big endian?
};
SPIAccumulator* spiAccumulators[5] = {nullptr, nullptr, nullptr, nullptr,
nullptr};
std::unique_ptr<SPIAccumulator> spiAccumulators[5];
/*
* Initialize the spi port. Opens the port if necessary and saves the handle.
@@ -403,8 +403,9 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
HAL_Bool big_endian, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
if (port > 4) return;
if (!spiAccumulators[port]) spiAccumulators[port] = new SPIAccumulator();
SPIAccumulator* accum = spiAccumulators[port];
if (!spiAccumulators[port])
spiAccumulators[port] = std::make_unique<SPIAccumulator>();
SPIAccumulator* accum = spiAccumulators[port].get();
if (big_endian) {
for (int i = xfer_size - 1; i >= 0; --i) {
accum->cmd[i] = cmd & 0xff;
@@ -442,14 +443,13 @@ void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
*/
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return;
}
HAL_NotifierHandle handle = accum->notifier.exchange(0);
HAL_CleanNotifier(handle, status);
delete accum;
spiAccumulators[port] = nullptr;
}
@@ -458,7 +458,7 @@ void HAL_FreeSPIAccumulator(int32_t port, int32_t* status) {
*/
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return;
@@ -480,7 +480,7 @@ void HAL_ResetSPIAccumulator(int32_t port, int32_t* status) {
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return;
@@ -494,7 +494,7 @@ void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center,
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return;
@@ -507,7 +507,7 @@ void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
*/
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return 0;
@@ -522,7 +522,7 @@ int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status) {
*/
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return 0;
@@ -540,7 +540,7 @@ int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status) {
*/
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
return 0;
@@ -573,7 +573,7 @@ double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status) {
std::lock_guard<priority_recursive_mutex> sync(spiGetMutex(port));
SPIAccumulator* accum = spiAccumulators[port];
SPIAccumulator* accum = spiAccumulators[port].get();
if (!accum) {
*status = NULL_PARAMETER;
*value = 0;