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Switches HAL to manual instead of static initialization (#824)

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Only athena.

Will fix a whole lot of init issues.
This commit is contained in:
Thad House
2017-12-10 18:02:07 -08:00
committed by Peter Johnson
parent 1fa0adb091
commit 8bd48d6c34
36 changed files with 688 additions and 261 deletions
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40
hal/src/main/native/athena/AnalogGyro.cpp
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@@ -34,8 +34,18 @@ static constexpr double kDefaultVoltsPerDegreePerSecond = 0.007;
using namespace hal;
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
analogGyroHandles;
HAL_HandleEnum::AnalogGyro>* analogGyroHandles;
namespace hal {
namespace init {
void InitializeAnalogGyro() {
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
agHandles;
analogGyroHandles = &agHandles;
}
} // namespace init
} // namespace hal
static void Wait(double seconds) {
if (seconds < 0.0) return;
@@ -56,13 +66,13 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
// handle known to be correct, so no need to type check
int16_t channel = getHandleIndex(analogHandle);
auto handle = analogGyroHandles.Allocate(channel, status);
auto handle = analogGyroHandles->Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -77,7 +87,7 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
}
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -100,13 +110,13 @@ void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
analogGyroHandles.Free(handle);
analogGyroHandles->Free(handle);
}
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -121,7 +131,7 @@ void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
double voltsPerDegreePerSecond,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -131,7 +141,7 @@ void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
}
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -149,7 +159,7 @@ void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
}
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -176,7 +186,7 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -189,7 +199,7 @@ void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
}
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -211,7 +221,7 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
}
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -225,7 +235,7 @@ double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
}
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -234,7 +244,7 @@ double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
}
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;