Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Removes statics from hal sim (#825)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

48
hal/src/main/native/sim/DIO.cpp
View File

@@ -19,9 +19,21 @@
using namespace hal;
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>
kNumDigitalPWMOutputs, HAL_HandleEnum::DigitalPWM>*
digitalPWMHandles;
namespace hal {
namespace init {
void InitializeDIO() {
static LimitedHandleResource<HAL_DigitalPWMHandle, uint8_t,
kNumDigitalPWMOutputs,
HAL_HandleEnum::DigitalPWM>
dpH;
digitalPWMHandles = &dpH;
}
} // namespace init
} // namespace hal
extern "C" {
/**
@@ -38,12 +50,12 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
}
auto handle =
digitalChannelHandles.Allocate(channel, HAL_HandleEnum::DIO, status);
digitalChannelHandles->Allocate(channel, HAL_HandleEnum::DIO, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -63,9 +75,9 @@ HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
}
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
// no status, so no need to check for a proper free.
digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
digitalChannelHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) return;
SimDIOData[port->channel].SetInitialized(true);
}
@@ -77,13 +89,13 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
* @return PWM Generator handle
*/
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles.Allocate();
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto id = digitalPWMHandles.Get(handle);
auto id = digitalPWMHandles->Get(handle);
if (id == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -102,8 +114,8 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
* allocateDigitalPWM()
*/
void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
digitalPWMHandles.Free(pwmGenerator);
auto port = digitalPWMHandles->Get(pwmGenerator);
digitalPWMHandles->Free(pwmGenerator);
if (port == nullptr) return;
int32_t id = *port;
SimDigitalPWMData[id].SetInitialized(false);
@@ -137,7 +149,7 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) {
*/
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
auto port = digitalPWMHandles->Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -156,7 +168,7 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
*/
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
int32_t channel, int32_t* status) {
auto port = digitalPWMHandles.Get(pwmGenerator);
auto port = digitalPWMHandles->Get(pwmGenerator);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -175,7 +187,7 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
*/
void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -194,7 +206,7 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
* @return The state of the specified channel
*/
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -213,7 +225,7 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
* @return The direction of the specified channel
*/
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -234,7 +246,7 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
*/
void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -248,7 +260,7 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
* @return A pulse is in progress
*/
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -276,7 +288,7 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
*/
void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -294,7 +306,7 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
* where 0 means "none" and 1 - 3 means filter # filterIndex - 1.
*/
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;