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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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36
hal/src/main/native/athena/AnalogTrigger.cpp
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@@ -27,25 +27,37 @@ struct AnalogTrigger {
} // namespace
static LimitedHandleResource<HAL_AnalogTriggerHandle, AnalogTrigger,
kNumAnalogTriggers, HAL_HandleEnum::AnalogTrigger>
kNumAnalogTriggers, HAL_HandleEnum::AnalogTrigger>*
analogTriggerHandles;
namespace hal {
namespace init {
void InitializeAnalogTrigger() {
static LimitedHandleResource<HAL_AnalogTriggerHandle, AnalogTrigger,
kNumAnalogTriggers,
HAL_HandleEnum::AnalogTrigger>
atH;
analogTriggerHandles = &atH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
// ensure we are given a valid and active AnalogInput handle
auto analog_port = analogInputHandles.Get(portHandle);
auto analog_port = analogInputHandles->Get(portHandle);
if (analog_port == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
HAL_AnalogTriggerHandle handle = analogTriggerHandles.Allocate();
HAL_AnalogTriggerHandle handle = analogTriggerHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto trigger = analogTriggerHandles.Get(handle);
auto trigger = analogTriggerHandles->Get(handle);
if (trigger == nullptr) { // would only occur on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -61,14 +73,14 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t* status) {
analogTriggerHandles.Free(analogTriggerHandle);
analogTriggerHandles->Free(analogTriggerHandle);
// caller owns the analog input handle.
}
void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
int32_t lower, int32_t upper,
int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -87,7 +99,7 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -111,7 +123,7 @@ void HAL_SetAnalogTriggerLimitsVoltage(
*/
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useAveragedValue, int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -132,7 +144,7 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
*/
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_Bool useFilteredValue, int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -152,7 +164,7 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
*/
HAL_Bool HAL_GetAnalogTriggerInWindow(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -169,7 +181,7 @@ HAL_Bool HAL_GetAnalogTriggerInWindow(
*/
HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -184,7 +196,7 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
HAL_AnalogTriggerType type,
int32_t* status) {
auto trigger = analogTriggerHandles.Get(analogTriggerHandle);
auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
if (trigger == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;