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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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42
hal/src/main/native/athena/FPGAEncoder.cpp
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@@ -24,11 +24,21 @@ struct Encoder {
} // namespace
static const double DECODING_SCALING_FACTOR = 0.25;
static constexpr double DECODING_SCALING_FACTOR = 0.25;
static LimitedHandleResource<HAL_FPGAEncoderHandle, Encoder, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
fpgaEncoderHandles;
HAL_HandleEnum::FPGAEncoder>* fpgaEncoderHandles;
namespace hal {
namespace init {
void InitializeFPGAEncoder() {
static LimitedHandleResource<HAL_FPGAEncoderHandle, Encoder, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
feH;
fpgaEncoderHandles = &feH;
}
} // namespace init
} // namespace hal
extern "C" {
@@ -54,13 +64,13 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
return HAL_kInvalidHandle;
}
auto handle = fpgaEncoderHandles.Allocate();
auto handle = fpgaEncoderHandles->Allocate();
if (handle == HAL_kInvalidHandle) { // out of resources
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto encoder = fpgaEncoderHandles.Get(handle);
auto encoder = fpgaEncoderHandles->Get(handle);
if (encoder == nullptr) { // will only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -87,7 +97,7 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
fpgaEncoderHandles.Free(fpgaEncoderHandle);
fpgaEncoderHandles->Free(fpgaEncoderHandle);
}
/**
@@ -96,7 +106,7 @@ void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -112,7 +122,7 @@ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -132,7 +142,7 @@ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
@@ -169,7 +179,7 @@ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
double maxPeriod, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -188,7 +198,7 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -202,7 +212,7 @@ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -219,7 +229,7 @@ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_Bool reverseDirection,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -236,7 +246,7 @@ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
int32_t samplesToAverage,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -255,7 +265,7 @@ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
*/
int32_t HAL_GetFPGAEncoderSamplesToAverage(
HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -272,7 +282,7 @@ void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool activeHigh, HAL_Bool edgeSensitive,
int32_t* status) {
auto encoder = fpgaEncoderHandles.Get(fpgaEncoderHandle);
auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;