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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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62
hal/src/main/native/athena/Counter.cpp
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@@ -25,19 +25,29 @@ struct Counter {
} // namespace
static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
HAL_HandleEnum::Counter>
counterHandles;
HAL_HandleEnum::Counter>* counterHandles;
namespace hal {
namespace init {
void InitializeCounter() {
static LimitedHandleResource<HAL_CounterHandle, Counter, kNumCounters,
HAL_HandleEnum::Counter>
ch;
counterHandles = &ch;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
int32_t* status) {
auto handle = counterHandles.Allocate();
auto handle = counterHandles->Allocate();
if (handle == HAL_kInvalidHandle) { // out of resources
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto counter = counterHandles.Get(handle);
auto counter = counterHandles->Get(handle);
if (counter == nullptr) { // would only occur on thread issues
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -52,12 +62,12 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
}
void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status) {
counterHandles.Free(counterHandle);
counterHandles->Free(counterHandle);
}
void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -73,7 +83,7 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -110,7 +120,7 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -124,7 +134,7 @@ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle,
*/
void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -144,7 +154,7 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -184,7 +194,7 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle,
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -198,7 +208,7 @@ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle,
*/
void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -216,7 +226,7 @@ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle,
*/
void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -231,7 +241,7 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle,
*/
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -245,7 +255,7 @@ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle,
*/
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
HAL_Bool highSemiPeriod, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -264,7 +274,7 @@ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle,
*/
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
double threshold, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -285,7 +295,7 @@ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle,
*/
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -301,7 +311,7 @@ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
*/
void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
int32_t samplesToAverage, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -318,7 +328,7 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle,
* counter, just sets the current value to zero.
*/
void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -332,7 +342,7 @@ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
* current value. Next time it is read, it might have a different value.
*/
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -348,7 +358,7 @@ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) {
* @returns The period of the last two pulses in units of seconds.
*/
double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
@@ -379,7 +389,7 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) {
*/
void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -403,7 +413,7 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod,
*/
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
HAL_Bool enabled, int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -421,7 +431,7 @@ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle,
*/
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -435,7 +445,7 @@ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle,
*/
HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -453,7 +463,7 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle,
void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle,
HAL_Bool reverseDirection,
int32_t* status) {
auto counter = counterHandles.Get(counterHandle);
auto counter = counterHandles->Get(counterHandle);
if (counter == nullptr) {
*status = HAL_HANDLE_ERROR;
return;