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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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28
hal/src/main/native/athena/AnalogInput.cpp
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@@ -16,6 +16,12 @@
#include "HAL/handles/HandlesInternal.h"
#include "PortsInternal.h"
namespace hal {
namespace init {
void InitializeAnalogInput() {}
} // namespace init
} // namespace hal
using namespace hal;
extern "C" {
@@ -37,13 +43,13 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
return HAL_kInvalidHandle;
}
HAL_AnalogInputHandle handle = analogInputHandles.Allocate(channel, status);
HAL_AnalogInputHandle handle = analogInputHandles->Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto analog_port = analogInputHandles.Get(handle);
auto analog_port = analogInputHandles->Get(handle);
if (analog_port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -67,7 +73,7 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
*/
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) {
// no status, so no need to check for a proper free.
analogInputHandles.Free(analogPortHandle);
analogInputHandles->Free(analogPortHandle);
}
/**
@@ -135,7 +141,7 @@ double HAL_GetAnalogSampleRate(int32_t* status) {
*/
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -155,7 +161,7 @@ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return kDefaultAverageBits;
@@ -177,7 +183,7 @@ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle,
*/
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t bits, int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -198,7 +204,7 @@ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return kDefaultOversampleBits;
@@ -219,7 +225,7 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -251,7 +257,7 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -351,7 +357,7 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -373,7 +379,7 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
*/
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
int32_t* status) {
auto port = analogInputHandles.Get(analogPortHandle);
auto port = analogInputHandles->Get(analogPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;