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[wpiutil,hal] Update image; init Rio Now() HMB with a FPGA session (#6016)

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This commit is contained in:
Thad House
2023-12-08 23:22:59 -08:00
committed by GitHub
parent 7d4e515a6b
commit 54a55b8b53
9 changed files with 177 additions and 78 deletions
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35
hal/src/main/native/athena/HAL.cpp
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@@ -4,6 +4,7 @@
#include "hal/HAL.h"
#include <dlfcn.h>
#include <signal.h> // linux for kill
#include <sys/prctl.h>
#include <unistd.h>
@@ -522,6 +523,35 @@ static bool killExistingProgram(int timeout, int mode) {
return true;
}
static void SetupNowRio(void) {
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::getTargetClass();
int32_t status = 0;
Dl_info info;
status = dladdr(reinterpret_cast<void*>(tHMB::create), &info);
if (status == 0) {
fmt::print(stderr, "Failed to call dladdr on chipobject {}\n", dlerror());
return;
}
void* chipObjectLibrary = dlopen(info.dli_fname, RTLD_LAZY);
if (chipObjectLibrary == nullptr) {
fmt::print(stderr, "Failed to call dlopen on chipobject {}\n", dlerror());
return;
}
std::unique_ptr<tHMB> hmb;
hmb.reset(tHMB::create(&status));
if (hmb == nullptr) {
fmt::print(stderr, "Failed to open HMB on chipobject {}\n", status);
dlclose(chipObjectLibrary);
return;
}
wpi::impl::SetupNowRio(chipObjectLibrary, std::move(hmb));
}
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
@@ -562,14 +592,13 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
setNewDataSem(nullptr);
});
// Setup WPI_Now to use FPGA timestamp
// this also sets nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass
wpi::impl::SetupNowRio();
SetupNowRio();
int32_t status = 0;
HAL_InitializeHMB(&status);
if (status != 0) {
fmt::print(stderr, "Failed to open HAL HMB, status code {}\n", status);
return false;
}
hmbBuffer = HAL_GetHMBBuffer();