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Merge "HAL: Increase safety during program termination."

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This commit is contained in:
Brad Miller (WPI)
2015-12-02 06:23:32 -08:00
committed by Gerrit Code Review
parent b71cea69c8 07be45af80
commit 10e51f0261
1 changed files with 34 additions and 2 deletions
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36
hal/lib/Athena/HALAthena.cpp
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@@ -9,6 +9,7 @@
#include "FRC_NetworkCommunication/UsageReporting.h"
#include "FRC_NetworkCommunication/LoadOut.h"
#include "FRC_NetworkCommunication/CANSessionMux.h"
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <unistd.h>
@@ -19,8 +20,8 @@ const uint32_t dio_kNumSystems = tDIO::kNumSystems;
const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
const uint32_t kSystemClockTicksPerMicrosecond = 40;
static tGlobal *global;
static tSysWatchdog *watchdog;
static tGlobal *global = nullptr;
static tSysWatchdog *watchdog = nullptr;
void* getPort(uint8_t pin)
{
@@ -152,6 +153,10 @@ const char* getHALErrorMessage(int32_t code)
*/
uint16_t getFPGAVersion(int32_t *status)
{
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
return global->readVersion(status);
}
@@ -165,6 +170,10 @@ uint16_t getFPGAVersion(int32_t *status)
*/
uint32_t getFPGARevision(int32_t *status)
{
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
return global->readRevision(status);
}
@@ -175,6 +184,10 @@ uint32_t getFPGARevision(int32_t *status)
*/
uint32_t getFPGATime(int32_t *status)
{
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
return global->readLocalTime(status);
}
@@ -184,6 +197,10 @@ uint32_t getFPGATime(int32_t *status)
*/
bool getFPGAButton(int32_t *status)
{
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
}
return global->readUserButton(status);
}
@@ -195,14 +212,27 @@ int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
bool HALGetSystemActive(int32_t *status)
{
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
}
return watchdog->readStatus_SystemActive(status);
}
bool HALGetBrownedOut(int32_t *status)
{
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
}
return !(watchdog->readStatus_PowerAlive(status));
}
static void HALCleanupAtExit() {
global = nullptr;
watchdog = nullptr;
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
@@ -222,6 +252,8 @@ int HALInitialize(int mode)
global = tGlobal::create(&status);
watchdog = tSysWatchdog::create(&status);
std::atexit(HALCleanupAtExit);
// Kill any previous robot programs
std::fstream fs;
// By making this both in/out, it won't give us an error if it doesnt exist