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Removes statics from hal sim (#825)

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Based off of #824, the equivelent in sim.
This commit is contained in:
Thad House
2017-12-10 19:38:53 -08:00
committed by Peter Johnson
parent 8bd48d6c34
commit d2e7a90f41
78 changed files with 1008 additions and 576 deletions
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28
hal/src/main/native/sim/AnalogGyro.cpp
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@@ -26,8 +26,18 @@ struct AnalogGyro {
using namespace hal;
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
analogGyroHandles;
HAL_HandleEnum::AnalogGyro>* analogGyroHandles;
namespace hal {
namespace init {
void InitializeAnalogGyro() {
static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
HAL_HandleEnum::AnalogGyro>
agH;
analogGyroHandles = &agH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
@@ -42,13 +52,13 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
// handle known to be correct, so no need to type check
int16_t channel = getHandleIndex(analogHandle);
auto handle = analogGyroHandles.Allocate(channel, status);
auto handle = analogGyroHandles->Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
// Initialize port structure
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -67,8 +77,8 @@ void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
auto gyro = analogGyroHandles.Get(handle);
analogGyroHandles.Free(handle);
auto gyro = analogGyroHandles->Get(handle);
analogGyroHandles->Free(handle);
if (gyro == nullptr) return;
SimAnalogGyroData[gyro->index].SetInitialized(false);
}
@@ -86,7 +96,7 @@ void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
}
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -106,7 +116,7 @@ void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
}
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -116,7 +126,7 @@ double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
}
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
auto gyro = analogGyroHandles.Get(handle);
auto gyro = analogGyroHandles->Get(handle);
if (gyro == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;