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Adds capabilities to support certain HAL functionality from LabVIEW (#382)

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They can only include HAL/LV/HAL.h, HAL/cpp/*.h, and HAL/handles/*.h.
Nothing else will work properly.
This commit is contained in:
Thad House
2016-12-02 00:32:01 -08:00
committed by Peter Johnson
parent 351ff5eb48
commit bff67887fd
5 changed files with 66 additions and 24 deletions
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30
hal/lib/athena/HAL.cpp
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@@ -255,20 +255,21 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
return !(watchdog->readStatus_PowerAlive(status));
}
static void HALCleanupAtExit() {
global = nullptr;
watchdog = nullptr;
// Unregister our new data condition variable.
setNewDataSem(nullptr);
}
static void timerRollover(uint64_t currentTime, HAL_NotifierHandle handle) {
// reschedule timer for next rollover
int32_t status = 0;
HAL_UpdateNotifierAlarm(handle, currentTime + 0x80000000ULL, &status);
}
void HAL_BaseInitialize(int32_t* status) {
// 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));
}
/**
* Call this to start up HAL. This is required for robot programs.
*/
@@ -279,15 +280,14 @@ int32_t HAL_Initialize(int32_t mode) {
prctl(PR_SET_PDEATHSIG, SIGTERM);
FRC_NetworkCommunication_Reserve(nullptr);
// image 4; Fixes errors caused by multiple processes. Talk to NI about this
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::kTargetClass_RoboRIO;
std::atexit([]() {
// Unregister our new data condition variable.
setNewDataSem(nullptr);
});
int32_t status = 0;
global.reset(tGlobal::create(&status));
watchdog.reset(tSysWatchdog::create(&status));
std::atexit(HALCleanupAtExit);
HAL_BaseInitialize(&status);
if (!rolloverNotifier)
rolloverNotifier = HAL_InitializeNotifier(timerRollover, nullptr, &status);