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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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59
hal/src/main/native/athena/Encoder.cpp
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@@ -223,8 +223,19 @@ double Encoder::DecodingScaleFactor() const {
static LimitedClassedHandleResource<HAL_EncoderHandle, Encoder,
kNumEncoders + kNumCounters,
HAL_HandleEnum::Encoder>
encoderHandles;
HAL_HandleEnum::Encoder>* encoderHandles;
namespace hal {
namespace init {
void InitializeEncoder() {
static LimitedClassedHandleResource<HAL_EncoderHandle, Encoder,
kNumEncoders + kNumCounters,
HAL_HandleEnum::Encoder>
eH;
encoderHandles = &eH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_EncoderHandle HAL_InitializeEncoder(
@@ -236,7 +247,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(
digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
analogTriggerTypeB, reverseDirection, encodingType, status);
if (*status != 0) return HAL_kInvalidHandle; // return in creation error
auto handle = encoderHandles.Allocate(encoder);
auto handle = encoderHandles->Allocate(encoder);
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
@@ -245,11 +256,11 @@ HAL_EncoderHandle HAL_InitializeEncoder(
}
void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
encoderHandles.Free(encoderHandle);
encoderHandles->Free(encoderHandle);
}
int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -258,7 +269,7 @@ int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
}
int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -268,7 +279,7 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -277,7 +288,7 @@ int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
}
void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -286,7 +297,7 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
}
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -296,7 +307,7 @@ double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -306,7 +317,7 @@ void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -316,7 +327,7 @@ HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -326,7 +337,7 @@ HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -335,7 +346,7 @@ double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
}
double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -345,7 +356,7 @@ double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -355,7 +366,7 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
double distancePerPulse, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -366,7 +377,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
HAL_Bool reverseDirection,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -376,7 +387,7 @@ void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t samplesToAverage, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -386,7 +397,7 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -396,7 +407,7 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -406,7 +417,7 @@ double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -416,7 +427,7 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_Encoder_k4X; // default to k4X
@@ -428,7 +439,7 @@ void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_EncoderIndexingType type, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -438,7 +449,7 @@ void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;