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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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17
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -28,10 +28,19 @@ struct HAL_JoystickAxesInt {
};
static wpi::mutex msgMutex;
static wpi::condition_variable newDSDataAvailableCond;
static wpi::condition_variable* newDSDataAvailableCond;
static wpi::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
namespace hal {
namespace init {
void InitializeFRCDriverStation() {
static wpi::condition_variable nddaC;
newDSDataAvailableCond = &nddaC;
}
} // namespace init
} // namespace hal
extern "C" {
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
@@ -341,12 +350,12 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
auto timedOut = newDSDataAvailableCond.wait_until(lock, timeoutTime);
auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
newDSDataAvailableCond.wait(lock);
newDSDataAvailableCond->wait(lock);
}
}
return true;
@@ -362,7 +371,7 @@ static void newDataOccur(uint32_t refNum) {
std::lock_guard<wpi::mutex> lock(newDSDataAvailableMutex);
// Nofify all threads
newDSDataAvailableCounter++;
newDSDataAvailableCond.notify_all();
newDSDataAvailableCond->notify_all();
}
/*