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Fix main function initialization (#1176)

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I don't have a good way to ensure this always works, so this is going to be a documentation issue.
But initializeHardwareConfiguration is now reentrant, so we can just have all tests call it.
This commit is contained in:
Thad House
2018-07-08 15:41:31 -07:00
committed by Peter Johnson
parent f5b1028b5a
commit 89d15f061b
27 changed files with 86 additions and 729 deletions
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6
wpilibc/src/main/native/cpp/Commands/Scheduler.cpp
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@@ -10,9 +10,10 @@
#include <algorithm>
#include <set>
#include <HAL/HAL.h>
#include "Buttons/ButtonScheduler.h"
#include "Commands/Subsystem.h"
#include "HLUsageReporting.h"
#include "SmartDashboard/SendableBuilder.h"
#include "WPIErrors.h"
@@ -166,7 +167,8 @@ void Scheduler::InitSendable(SendableBuilder& builder) {
}
Scheduler::Scheduler() {
HLUsageReporting::ReportScheduler();
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
SetName("Scheduler");
}

28
wpilibc/src/main/native/cpp/HLUsageReporting.cpp
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@@ -1,28 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HLUsageReporting.h"
using namespace frc;
HLUsageReportingInterface* HLUsageReporting::impl = nullptr;
void HLUsageReporting::SetImplementation(HLUsageReportingInterface* i) {
impl = i;
}
void HLUsageReporting::ReportScheduler() {
if (impl != nullptr) {
impl->ReportScheduler();
}
}
void HLUsageReporting::ReportSmartDashboard() {
if (impl != nullptr) {
impl->ReportSmartDashboard();
}
}

21
wpilibc/src/main/native/cpp/Internal/HardwareHLReporting.cpp
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@@ -1,21 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "Internal/HardwareHLReporting.h"
#include <HAL/HAL.h>
using namespace frc;
void HardwareHLReporting::ReportScheduler() {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
}
void HardwareHLReporting::ReportSmartDashboard() {
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
}

5
wpilibc/src/main/native/cpp/RobotBase.cpp
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@@ -14,8 +14,6 @@
#include "CameraServerShared.h"
#include "DriverStation.h"
#include "HLUsageReporting.h"
#include "Internal/HardwareHLReporting.h"
#include "LiveWindow/LiveWindow.h"
#include "RobotState.h"
#include "SmartDashboard/SmartDashboard.h"
@@ -80,9 +78,6 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
}
m_threadId = std::this_thread::get_id();
RobotState::SetImplementation(DriverStation::GetInstance());
HLUsageReporting::SetImplementation(new HardwareHLReporting());
SetupCameraServerShared();
auto inst = nt::NetworkTableInstance::GetDefault();

40
wpilibc/src/main/native/cpp/RobotState.cpp
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@@ -7,52 +7,24 @@
#include "RobotState.h"
#include "Base.h"
#include "DriverStation.h"
using namespace frc;
std::shared_ptr<RobotStateInterface> RobotState::impl;
void RobotState::SetImplementation(RobotStateInterface& i) {
impl = std::shared_ptr<RobotStateInterface>(
&i, NullDeleter<RobotStateInterface>());
}
void RobotState::SetImplementation(std::shared_ptr<RobotStateInterface> i) {
impl = i;
}
bool RobotState::IsDisabled() {
if (impl != nullptr) {
return impl->IsDisabled();
}
return true;
return DriverStation::GetInstance().IsDisabled();
}
bool RobotState::IsEnabled() {
if (impl != nullptr) {
return impl->IsEnabled();
}
return false;
return DriverStation::GetInstance().IsEnabled();
}
bool RobotState::IsOperatorControl() {
if (impl != nullptr) {
return impl->IsOperatorControl();
}
return true;
return DriverStation::GetInstance().IsOperatorControl();
}
bool RobotState::IsAutonomous() {
if (impl != nullptr) {
return impl->IsAutonomous();
}
return false;
return DriverStation::GetInstance().IsAutonomous();
}
bool RobotState::IsTest() {
if (impl != nullptr) {
return impl->IsTest();
}
return false;
}
bool RobotState::IsTest() { return DriverStation::GetInstance().IsTest(); }

4
wpilibc/src/main/native/cpp/SmartDashboard/SmartDashboard.cpp
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@@ -7,12 +7,12 @@
#include "SmartDashboard/SmartDashboard.h"
#include <HAL/HAL.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>
#include <wpi/mutex.h>
#include "HLUsageReporting.h"
#include "SmartDashboard/Sendable.h"
#include "SmartDashboard/SendableBuilderImpl.h"
#include "WPIErrors.h"
@@ -40,7 +40,7 @@ class Singleton {
private:
Singleton() {
table = nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
HLUsageReporting::ReportSmartDashboard();
HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
}
Singleton(const Singleton&) = delete;
Singleton& operator=(const Singleton&) = delete;