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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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31
hal/src/main/native/athena/Notifier.cpp
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@@ -22,12 +22,12 @@
using namespace hal;
static const int32_t kTimerInterruptNumber = 28;
static constexpr int32_t kTimerInterruptNumber = 28;
static wpi::mutex notifierMutex;
static std::unique_ptr<tAlarm> notifierAlarm;
static std::unique_ptr<tInterruptManager> notifierManager;
static uint64_t closestTrigger = UINT64_MAX;
static uint64_t closestTrigger{UINT64_MAX};
namespace {
@@ -41,7 +41,7 @@ struct Notifier {
} // namespace
static std::atomic_flag notifierAtexitRegistered = ATOMIC_FLAG_INIT;
static std::atomic_flag notifierAtexitRegistered{ATOMIC_FLAG_INIT};
static std::atomic_int notifierRefCount{0};
using namespace hal;
@@ -63,7 +63,7 @@ class NotifierHandleContainer
}
};
static NotifierHandleContainer notifierHandles;
static NotifierHandleContainer* notifierHandles;
static void alarmCallback(uint32_t, void*) {
std::lock_guard<wpi::mutex> lock(notifierMutex);
@@ -74,7 +74,7 @@ static void alarmCallback(uint32_t, void*) {
closestTrigger = UINT64_MAX;
// process all notifiers
notifierHandles.ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
if (notifier->triggerTime == UINT64_MAX) return;
if (currentTime == 0) currentTime = HAL_GetFPGATime(&status);
std::unique_lock<wpi::mutex> lock(notifier->mutex);
@@ -102,6 +102,15 @@ static void cleanupNotifierAtExit() {
notifierManager = nullptr;
}
namespace hal {
namespace init {
void InitializeNotifier() {
static NotifierHandleContainer nH;
notifierHandles = &nH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
@@ -121,7 +130,7 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
}
std::shared_ptr<Notifier> notifier = std::make_shared<Notifier>();
HAL_NotifierHandle handle = notifierHandles.Allocate(notifier);
HAL_NotifierHandle handle = notifierHandles->Allocate(notifier);
if (handle == HAL_kInvalidHandle) {
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -130,7 +139,7 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
}
void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles.Get(notifierHandle);
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return;
{
@@ -143,7 +152,7 @@ void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
}
void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
auto notifier = notifierHandles.Free(notifierHandle);
auto notifier = notifierHandles->Free(notifierHandle);
if (!notifier) return;
// Just in case HAL_StopNotifier() wasn't called...
@@ -172,7 +181,7 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
uint64_t triggerTime, int32_t* status) {
auto notifier = notifierHandles.Get(notifierHandle);
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return;
{
@@ -196,7 +205,7 @@ void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles.Get(notifierHandle);
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return;
{
@@ -207,7 +216,7 @@ void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
int32_t* status) {
auto notifier = notifierHandles.Get(notifierHandle);
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return 0;
std::unique_lock<wpi::mutex> lock(notifier->mutex);
notifier->cond.wait(lock, [&] {