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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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24
hal/src/main/native/athena/AnalogOutput.cpp
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@@ -24,9 +24,20 @@ struct AnalogOutput {
} // namespace
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>*
analogOutputHandles;
namespace hal {
namespace init {
void InitializeAnalogOutput() {
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
aoH;
analogOutputHandles = &aoH;
}
} // namespace init
} // namespace hal
extern "C" {
/**
@@ -44,12 +55,13 @@ HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
return HAL_kInvalidHandle;
}
HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(channel, status);
HAL_AnalogOutputHandle handle =
analogOutputHandles->Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = analogOutputHandles.Get(handle);
auto port = analogOutputHandles->Get(handle);
if (port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -61,7 +73,7 @@ HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
// no status, so no need to check for a proper free.
analogOutputHandles.Free(analogOutputHandle);
analogOutputHandles->Free(analogOutputHandle);
}
/**
@@ -77,7 +89,7 @@ HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status) {
auto port = analogOutputHandles.Get(analogOutputHandle);
auto port = analogOutputHandles->Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -95,7 +107,7 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status) {
auto port = analogOutputHandles.Get(analogOutputHandle);
auto port = analogOutputHandles->Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;