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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/Solenoid.cpp
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@@ -31,8 +31,19 @@ using namespace hal;
static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
kNumPCMModules * kNumSolenoidChannels,
HAL_HandleEnum::Solenoid>
solenoidHandles;
HAL_HandleEnum::Solenoid>* solenoidHandles;
namespace hal {
namespace init {
void InitializeSolenoid() {
static IndexedHandleResource<HAL_SolenoidHandle, Solenoid,
kNumPCMModules * kNumSolenoidChannels,
HAL_HandleEnum::Solenoid>
sH;
solenoidHandles = &sH;
}
} // namespace init
} // namespace hal
extern "C" {
@@ -56,12 +67,12 @@ HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
return HAL_kInvalidHandle;
}
auto handle =
solenoidHandles.Allocate(module * kNumSolenoidChannels + channel, status);
auto handle = solenoidHandles->Allocate(
module * kNumSolenoidChannels + channel, status);
if (*status != 0) {
return HAL_kInvalidHandle;
}
auto solenoidPort = solenoidHandles.Get(handle);
auto solenoidPort = solenoidHandles->Get(handle);
if (solenoidPort == nullptr) { // would only occur on thread issues
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -73,7 +84,7 @@ HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
}
void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoidPortHandle) {
solenoidHandles.Free(solenoidPortHandle);
solenoidHandles->Free(solenoidPortHandle);
}
HAL_Bool HAL_CheckSolenoidModule(int32_t module) {
@@ -86,7 +97,7 @@ HAL_Bool HAL_CheckSolenoidChannel(int32_t channel) {
HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
auto port = solenoidHandles->Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -109,7 +120,7 @@ int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status) {
void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
auto port = solenoidHandles->Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -156,7 +167,7 @@ void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {
void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
int32_t durMS, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
auto port = solenoidHandles->Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -167,7 +178,7 @@ void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
}
void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
auto port = solenoidHandles->Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;