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Moves DriverStation HAL code to its own header and definition (#179)

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To allow for future use as a plugin for the HAL simulator.
This commit is contained in:
Thad House
2016-07-17 19:42:33 -07:00
committed by Peter Johnson
parent f7c3f13a7f
commit 75eabfee1c
4 changed files with 187 additions and 162 deletions
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68
hal/lib/athena/HALAthena.cpp
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@@ -6,7 +6,6 @@
/*----------------------------------------------------------------------------*/
#include "HAL/HAL.h"
#include "HAL/cpp/priority_mutex.h"
#include <signal.h> // linux for kill
#include <stdlib.h>
@@ -23,7 +22,6 @@
#include "FRC_NetworkCommunication/FRCComm.h"
#include "FRC_NetworkCommunication/LoadOut.h"
#include "HAL/Errors.h"
#include "HAL/cpp/priority_condition_variable.h"
#include "HAL/cpp/priority_mutex.h"
#include "HAL/handles/HandlesInternal.h"
#include "ctre/ctre.h"
@@ -33,14 +31,10 @@ static tGlobal* global = nullptr;
static tSysWatchdog* watchdog = nullptr;
static priority_mutex timeMutex;
static priority_mutex msgMutex;
static uint32_t timeEpoch = 0;
static uint32_t prevFPGATime = 0;
static HAL_NotifierHandle rolloverNotifier = 0;
static priority_condition_variable newDSDataAvailableCond;
static priority_mutex newDSDataAvailableMutex;
using namespace hal;
extern "C" {
@@ -231,57 +225,6 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status) {
return global->readUserButton(status);
}
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms) {
return setErrorData(errors, errorsLength, wait_ms);
}
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
std::lock_guard<priority_mutex> lock(msgMutex);
static std::string prev_msg[KEEP_MSGS];
static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0};
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prev_msg[i] == details) break;
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prev_msg_time[i]) >= 1000000) {
retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
details, location, callStack);
if (printMsg) {
if (location && location[0] != '\0') {
fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning", location);
}
fprintf(stderr, "%s\n", details);
if (callStack && callStack[0] != '\0') {
fprintf(stderr, "%s\n", callStack);
}
}
if (i == KEEP_MSGS) {
// replace the oldest one
i = 0;
uint64_t first = prev_msg_time[0];
for (int j = 1; j < KEEP_MSGS; ++j) {
if (prev_msg_time[j] < first) {
first = prev_msg_time[j];
i = j;
}
}
prev_msg[i] = details;
}
prev_msg_time[i] = curTime;
}
return retval;
}
HAL_Bool HAL_GetSystemActive(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
@@ -313,14 +256,6 @@ static void timerRollover(uint64_t currentTime, void*) {
&status);
}
/**
* Waits for the newest DS packet to arrive. Note that this is a blocking call.
*/
void HAL_WaitForDSData() {
std::unique_lock<priority_mutex> lock(newDSDataAvailableMutex);
newDSDataAvailableCond.wait(lock);
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
@@ -388,8 +323,7 @@ int32_t HAL_Initialize(int32_t mode) {
fs << pid << std::endl;
fs.close();
// Set our DS new data condition variable.
setNewDataSem(newDSDataAvailableCond.native_handle());
HAL_InitializeDriverStation();
return 1;
}