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Prepends all HAL functions with HAL_ (#146)

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This commit is contained in:
Thad House
2016-07-09 00:24:26 -07:00
committed by Peter Johnson
parent 5ad28d58ec
commit b637b9ee4c
162 changed files with 2855 additions and 2747 deletions
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48
hal/lib/athena/HALAthena.cpp
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@@ -27,8 +27,6 @@
#include "handles/HandlesInternal.h"
#include "visa/visa.h"
const uint32_t kSystemClockTicksPerMicrosecond = 40;
static tGlobal* global = nullptr;
static tSysWatchdog* watchdog = nullptr;
@@ -36,22 +34,22 @@ static priority_mutex timeMutex;
static priority_mutex msgMutex;
static uint32_t timeEpoch = 0;
static uint32_t prevFPGATime = 0;
static HalNotifierHandle rolloverNotifier = 0;
static HAL_NotifierHandle rolloverNotifier = 0;
using namespace hal;
extern "C" {
HalPortHandle getPort(uint8_t pin) { return createPortHandle(pin, 1); }
HAL_PortHandle HAL_GetPort(uint8_t pin) { return createPortHandle(pin, 1); }
/**
* @deprecated Uses module numbers
*/
HalPortHandle getPortWithModule(uint8_t module, uint8_t pin) {
HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin) {
return createPortHandle(pin, module);
}
const char* getHALErrorMessage(int32_t code) {
const char* HAL_GetErrorMessage(int32_t code) {
switch (code) {
case 0:
return "";
@@ -161,7 +159,7 @@ const char* getHALErrorMessage(int32_t code) {
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
uint16_t getFPGAVersion(int32_t* status) {
uint16_t HAL_GetFPGAVersion(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -177,7 +175,7 @@ uint16_t getFPGAVersion(int32_t* status) {
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
uint32_t getFPGARevision(int32_t* status) {
uint32_t HAL_GetFPGARevision(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -191,7 +189,7 @@ uint32_t getFPGARevision(int32_t* status) {
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t getFPGATime(int32_t* status) {
uint64_t HAL_GetFPGATime(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -209,7 +207,7 @@ uint64_t getFPGATime(int32_t* status) {
* Get the state of the "USER" button on the roboRIO
* @return true if the button is currently pressed down
*/
bool getFPGAButton(int32_t* status) {
bool HAL_GetFPGAButton(int32_t* status) {
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -217,13 +215,13 @@ bool getFPGAButton(int32_t* status) {
return global->readUserButton(status);
}
int HALSetErrorData(const char* errors, int errorsLength, int wait_ms) {
int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms) {
return setErrorData(errors, errorsLength, wait_ms);
}
int HALSendError(int isError, int32_t errorCode, int isLVCode,
const char* details, const char* location,
const char* callStack, int printMsg) {
int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
const char* details, const char* location,
const char* callStack, int printMsg) {
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
@@ -232,7 +230,7 @@ int HALSendError(int isError, int32_t errorCode, int isLVCode,
static uint64_t prev_msg_time[KEEP_MSGS] = {0, 0, 0};
int32_t status = 0;
uint64_t curTime = getFPGATime(&status);
uint64_t curTime = HAL_GetFPGATime(&status);
int i;
for (i = 0; i < KEEP_MSGS; ++i) {
if (prev_msg[i] == details) break;
@@ -267,7 +265,7 @@ int HALSendError(int isError, int32_t errorCode, int isLVCode,
return retval;
}
bool HALGetSystemActive(int32_t* status) {
bool HAL_GetSystemActive(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -275,7 +273,7 @@ bool HALGetSystemActive(int32_t* status) {
return watchdog->readStatus_SystemActive(status);
}
bool HALGetBrownedOut(int32_t* status) {
bool HAL_GetBrownedOut(int32_t* status) {
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -291,13 +289,14 @@ static void HALCleanupAtExit() {
static void timerRollover(uint64_t currentTime, void*) {
// reschedule timer for next rollover
int32_t status = 0;
updateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL, &status);
HAL_UpdateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL,
&status);
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
int HALInitialize(int mode) {
int HAL_Initialize(int mode) {
setlinebuf(stdin);
setlinebuf(stdout);
@@ -315,11 +314,12 @@ int HALInitialize(int mode) {
std::atexit(HALCleanupAtExit);
if (!rolloverNotifier)
rolloverNotifier = initializeNotifier(timerRollover, nullptr, &status);
rolloverNotifier = HAL_InitializeNotifier(timerRollover, nullptr, &status);
if (status == 0) {
uint64_t curTime = getFPGATime(&status);
uint64_t curTime = HAL_GetFPGATime(&status);
if (status == 0)
updateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL, &status);
HAL_UpdateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL,
&status);
}
// Kill any previous robot programs
@@ -363,8 +363,8 @@ int HALInitialize(int mode) {
return 1;
}
uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context,
const char* feature) {
uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber, uint8_t context,
const char* feature) {
if (feature == nullptr) {
feature = "";
}