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Remove HAL_BaseInitialize (#1981)

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This commit is contained in:
Thad House
2019-10-24 20:26:11 -07:00
committed by Peter Johnson
parent a83fb47933
commit a3820bbdfa
2 changed files with 7 additions and 29 deletions
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26
hal/src/main/native/athena/HAL.cpp
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@@ -277,24 +277,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
return !(watchdog->readStatus_PowerAlive(status));
}
void HAL_BaseInitialize(int32_t* status) {
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished
if (initialized) return;
std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return;
// image 4; Fixes errors caused by multiple processes. Talk to NI about this
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::kTargetClass_RoboRIO;
global.reset(tGlobal::create(status));
watchdog.reset(tSysWatchdog::create(status));
initialized = true;
}
static bool killExistingProgram(int timeout, int mode) {
// Kill any previous robot programs
std::fstream fs;
@@ -368,8 +350,14 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
setNewDataSem(nullptr);
});
// image 4; Fixes errors caused by multiple processes. Talk to NI about this
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::kTargetClass_RoboRIO;
int32_t status = 0;
HAL_BaseInitialize(&status);
global.reset(tGlobal::create(&status));
watchdog.reset(tSysWatchdog::create(&status));
if (status != 0) return false;
HAL_InitializeDriverStation();