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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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24
hal/src/main/native/athena/Relay.cpp
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@@ -23,12 +23,22 @@ struct Relay {
} // namespace
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
relayHandles;
HAL_HandleEnum::Relay>* relayHandles;
// Create a mutex to protect changes to the relay values
static wpi::mutex digitalRelayMutex;
namespace hal {
namespace init {
void InitializeRelay() {
static IndexedHandleResource<HAL_RelayHandle, Relay, kNumRelayChannels,
HAL_HandleEnum::Relay>
rH;
relayHandles = &rH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
@@ -45,12 +55,12 @@ HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
if (!fwd) channel += kNumRelayHeaders; // add 4 to reverse channels
auto handle = relayHandles.Allocate(channel, status);
auto handle = relayHandles->Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = relayHandles.Get(handle);
auto port = relayHandles->Get(handle);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -71,7 +81,7 @@ HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle) {
// no status, so no need to check for a proper free.
relayHandles.Free(relayPortHandle);
relayHandles->Free(relayPortHandle);
}
HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
@@ -87,7 +97,7 @@ HAL_Bool HAL_CheckRelayChannel(int32_t channel) {
*/
void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
int32_t* status) {
auto port = relayHandles.Get(relayPortHandle);
auto port = relayHandles->Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -119,7 +129,7 @@ void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on,
* Get the current state of the relay channel
*/
HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) {
auto port = relayHandles.Get(relayPortHandle);
auto port = relayHandles->Get(relayPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;