Move creation of objects to ctor

This allows some null checks to be removed
Technically, this allows the possibility of NPEs after an object is closed, but calling methods after close is bad practice anyways

wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp

@@ -105,6 +105,10 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
 
     ConfigCalTime(cal_time);
 
+    m_spi = new SPI(m_spi_port);
+    m_spi->SetClockRate(1000000);
+    m_spi->SetMode(frc::SPI::Mode::kMode3);
+    m_spi->SetChipSelectActiveLow();
     // Configure standard SPI
     if (!SwitchToStandardSPI()) {
       return;
@@ -180,6 +184,7 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
           "required!");
     }
 
+    m_auto_interrupt = new DigitalInput(10);
     // Configure and enable auto SPI
     if (!SwitchToAutoSPI()) {
       return;
@@ -353,7 +358,7 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
       Wait(10_ms);
     }
     // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-    if (m_spi != nullptr && m_auto_configured) {
+    if (m_auto_configured) {
       m_spi->StopAuto();
       // We need to get rid of all the garbage left in the auto SPI buffer after
       // stopping it.
@@ -372,13 +377,6 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
       }
     }
   }
-  // There doesn't seem to be a SPI port active. Let's try to set one up
-  if (m_spi == nullptr) {
-    m_spi = new SPI(m_spi_port);
-    m_spi->SetClockRate(1000000);
-    m_spi->SetMode(frc::SPI::Mode::kMode3);
-    m_spi->SetChipSelectActiveLow();
-  }
   ReadRegister(PROD_ID);  // Dummy read
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
@@ -420,15 +418,6 @@ void ADIS16448_IMU::InitOffsetBuffer(int size) {
  *are hard-coded to work only with the ADIS16448 IMU.
  **/
 bool ADIS16448_IMU::SwitchToAutoSPI() {
-  // No SPI port has been set up. Go set one up first.
-  if (m_spi == nullptr && !SwitchToStandardSPI()) {
-    REPORT_ERROR("Failed to start/restart auto SPI");
-    return false;
-  }
-  // Only set up the interrupt if needed.
-  if (m_auto_interrupt == nullptr) {
-    m_auto_interrupt = new DigitalInput(10);
-  }
   // The auto SPI controller gets angry if you try to set up two instances on
   // one bus.
   if (!m_auto_configured) {

wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp

@@ -124,6 +124,10 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
     m_reset_in = new DigitalInput(27);  // Set SPI CS2 (IMU RST) high
     Wait(500_ms);                       // Wait for reset to complete
 
+    m_spi = new SPI(m_spi_port);
+    m_spi->SetClockRate(2000000);
+    m_spi->SetMode(frc::SPI::Mode::kMode3);
+    m_spi->SetChipSelectActiveLow();
     // Configure standard SPI
     if (!SwitchToStandardSPI()) {
       return;
@@ -188,6 +192,7 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
     // Write offset calibration command to IMU
     WriteRegister(GLOB_CMD, 0x0001);
 
+    m_auto_interrupt = new DigitalInput(26);
     // Configure and enable auto SPI
     if (!SwitchToAutoSPI()) {
       return;
@@ -332,7 +337,7 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
       Wait(10_ms);
     }
     // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-    if (m_spi != nullptr && m_auto_configured) {
+    if (m_auto_configured) {
       m_spi->StopAuto();
       // We need to get rid of all the garbage left in the auto SPI buffer after
       // stopping it.
@@ -350,13 +355,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
       }
     }
   }
-  // There doesn't seem to be a SPI port active. Let's try to set one up
-  if (m_spi == nullptr) {
-    m_spi = new SPI(m_spi_port);
-    m_spi->SetClockRate(2000000);
-    m_spi->SetMode(frc::SPI::Mode::kMode3);
-    m_spi->SetChipSelectActiveLow();
-  }
   ReadRegister(PROD_ID);  // Dummy read
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
@@ -385,16 +383,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
  *are hard-coded to work only with the ADIS16470 IMU.
  **/
 bool ADIS16470_IMU::SwitchToAutoSPI() {
-  // No SPI port has been set up. Go set one up first.
-  if (m_spi == nullptr && !SwitchToStandardSPI()) {
-    REPORT_ERROR("Failed to start/restart auto SPI");
-    return false;
-  }
-
-  // Only set up the interrupt if needed.
-  if (m_auto_interrupt == nullptr) {
-    m_auto_interrupt = new DigitalInput(26);
-  }
   // The auto SPI controller gets angry if you try to set up two instances on
   // one bus.
   if (!m_auto_configured) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -269,6 +269,10 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
 
       configCalTime(cal_time);
 
+      m_spi = new SPI(m_spi_port);
+      m_spi.setClockRate(1000000);
+      m_spi.setMode(SPI.Mode.kMode3);
+      m_spi.setChipSelectActiveLow();
       if (!switchToStandardSPI()) {
         return;
       }
@@ -337,6 +341,8 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
             "ADIS16448: Flash and RAM configuration consistent. No flash update required!", false);
       }
 
+      // Set up the interrupt
+      m_auto_interrupt = new DigitalInput(10); // MXP DIO0
       // Configure standard SPI
       if (!switchToAutoSPI()) {
         return;
@@ -396,7 +402,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
       }
       System.out.println("Paused the IMU processing thread successfully!");
       // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-      if (m_spi != null && m_auto_configured) {
+      if (m_auto_configured) {
         m_spi.stopAuto();
         // We need to get rid of all the garbage left in the auto SPI buffer after
         // stopping it.
@@ -417,14 +423,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
-    if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
-      m_spi = new SPI(m_spi_port);
-      m_spi.setClockRate(1000000);
-      m_spi.setMode(SPI.Mode.kMode3);
-      m_spi.setChipSelectActiveLow();
-    }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
     if (readRegister(PROD_ID) != 16448) {
@@ -436,15 +434,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   boolean switchToAutoSPI() {
-    // No SPI port has been set up. Go set one up first.
-    if (m_spi == null && !switchToStandardSPI()) {
-      DriverStation.reportError("Failed to start/restart auto SPI", false);
-      return false;
-    }
-    // Only set up the interrupt if needed.
-    if (m_auto_interrupt == null) {
-      m_auto_interrupt = new DigitalInput(10); // MXP DIO0
-    }
     // The auto SPI controller gets angry if you try to set up two instances on one
     // bus.
     if (!m_auto_configured) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -337,6 +337,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
       m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
       Timer.delay(0.25); // Wait for reset to complete
 
+      m_spi = new SPI(m_spi_port);
+      m_spi.setClockRate(2000000);
+      m_spi.setMode(SPI.Mode.kMode3);
+      m_spi.setChipSelectActiveLow();
       if (!switchToStandardSPI()) {
         return;
       }
@@ -397,6 +401,8 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
       // Write offset calibration command to IMU
       writeRegister(GLOB_CMD, 0x0001);
 
+      // Configure interrupt on SPI CS1
+      m_auto_interrupt = new DigitalInput(26);
       // Configure and enable auto SPI
       if (!switchToAutoSPI()) {
         return;
@@ -452,7 +458,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
       }
       System.out.println("Paused the IMU processing thread successfully!");
       // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
-      if (m_spi != null && m_auto_configured) {
+      if (m_auto_configured) {
         m_spi.stopAuto();
         // We need to get rid of all the garbage left in the auto SPI buffer after
         // stopping it.
@@ -471,14 +477,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
-    if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
-      m_spi = new SPI(m_spi_port);
-      m_spi.setClockRate(2000000);
-      m_spi.setMode(SPI.Mode.kMode3);
-      m_spi.setChipSelectActiveLow();
-    }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
     if (readRegister(PROD_ID) != 16982) {
@@ -495,16 +493,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
    * @return True if successful, false otherwise.
    */
   boolean switchToAutoSPI() {
-    // No SPI port has been set up. Go set one up first.
-    if (m_spi == null && !switchToStandardSPI()) {
-      DriverStation.reportError("Failed to start/restart auto SPI", false);
-      return false;
-    }
-    // Only set up the interrupt if needed.
-    if (m_auto_interrupt == null) {
-      // Configure interrupt on SPI CS1
-      m_auto_interrupt = new DigitalInput(26);
-    }
     // The auto SPI controller gets angry if you try to set up two instances on one
     // bus.
     if (!m_auto_configured) {