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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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49
hal/src/main/native/athena/DIO.cpp
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@@ -19,10 +19,25 @@ using namespace hal;
// Create a mutex to protect changes to the digital output values
static wpi::mutex digitalDIOMutex;
// Create a mutex to protect changes to the DO PWM config
static wpi::mutex digitalPwmMutex;
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>*
digitalPWMHandles;
namespace hal {
namespace init {
void InitializeDIO() {
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs,
HAL_HandleEnum::DigitalPWM>
dpH;
digitalPWMHandles = &dpH;
}
} // namespace init
} // namespace hal
extern "C" {
/**
@@ -41,12 +56,12 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
}
auto handle =
digitalChannelHandles.Allocate(channel, HAL_HandleEnum::DIO, status);
digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -110,9 +125,9 @@ HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
}
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
// no status, so no need to check for a proper free.
digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
digitalChannelHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) return;
int32_t status = 0;
std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
@@ -139,13 +154,13 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles.Allocate();
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto id = digitalPWMHandles.Get(handle);
auto id = digitalPWMHandles->Get(handle);
if (id == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -162,7 +177,7 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
digitalPWMHandles.Free(pwmGenerator);
digitalPWMHandles->Free(pwmGenerator);
}
/**
@@ -192,7 +207,7 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
auto port = digitalPWMHandles->Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -227,7 +242,7 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
auto port = digitalPWMHandles->Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -254,7 +269,7 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -301,7 +316,7 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -329,7 +344,7 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -362,7 +377,7 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -390,7 +405,7 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -429,7 +444,7 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -457,7 +472,7 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;