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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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76
hal/src/main/native/sim/Encoder.cpp
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@@ -29,12 +29,26 @@ struct Empty {};
static LimitedHandleResource<HAL_EncoderHandle, Encoder,
kNumEncoders + kNumCounters,
HAL_HandleEnum::Encoder>
encoderHandles;
HAL_HandleEnum::Encoder>* encoderHandles;
static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
fpgaEncoderHandles;
HAL_HandleEnum::FPGAEncoder>* fpgaEncoderHandles;
namespace hal {
namespace init {
void InitializeEncoder() {
static LimitedHandleResource<HAL_FPGAEncoderHandle, Empty, kNumEncoders,
HAL_HandleEnum::FPGAEncoder>
feH;
fpgaEncoderHandles = &feH;
static LimitedHandleResource<HAL_EncoderHandle, Encoder,
kNumEncoders + kNumCounters,
HAL_HandleEnum::Encoder>
eH;
encoderHandles = &eH;
}
} // namespace init
} // namespace hal
extern "C" {
HAL_EncoderHandle HAL_InitializeEncoder(
@@ -45,21 +59,21 @@ HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle nativeHandle = HAL_kInvalidHandle;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
// k4x, allocate encoder
nativeHandle = fpgaEncoderHandles.Allocate();
nativeHandle = fpgaEncoderHandles->Allocate();
} else {
// k2x or k1x, allocate counter
nativeHandle = counterHandles.Allocate();
nativeHandle = counterHandles->Allocate();
}
if (nativeHandle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto handle = encoderHandles.Allocate();
auto handle = encoderHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;
return HAL_kInvalidHandle;
}
auto encoder = encoderHandles.Get(handle);
auto encoder = encoderHandles->Get(handle);
if (encoder == nullptr) { // would only occur on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -75,13 +89,13 @@ HAL_EncoderHandle HAL_InitializeEncoder(
}
void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
encoderHandles.Free(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
encoderHandles->Free(encoderHandle);
if (encoder == nullptr) return;
if (isHandleType(encoder->nativeHandle, HAL_HandleEnum::FPGAEncoder)) {
fpgaEncoderHandles.Free(encoder->nativeHandle);
fpgaEncoderHandles->Free(encoder->nativeHandle);
} else if (isHandleType(encoder->nativeHandle, HAL_HandleEnum::Counter)) {
counterHandles.Free(encoder->nativeHandle);
counterHandles->Free(encoder->nativeHandle);
}
SimEncoderData[encoder->index].SetInitialized(false);
}
@@ -113,7 +127,7 @@ static inline double DecodingScaleFactor(Encoder* encoder) {
}
int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -122,7 +136,7 @@ int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
return SimEncoderData[encoder->index].GetCount();
}
int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -133,7 +147,7 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status) {
}
int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -142,7 +156,7 @@ int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
return EncodingScaleFactor(encoder.get());
}
void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -153,7 +167,7 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
SimEncoderData[encoder->index].SetReset(true);
}
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -163,7 +177,7 @@ double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
}
void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -173,7 +187,7 @@ void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
}
HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -184,7 +198,7 @@ HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
}
HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -194,7 +208,7 @@ HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
}
double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -203,7 +217,7 @@ double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle,
return SimEncoderData[encoder->index].GetCount() * encoder->distancePerPulse;
}
double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -213,7 +227,7 @@ double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status) {
}
void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -229,7 +243,7 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
}
void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
double distancePerPulse, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -244,7 +258,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
HAL_Bool reverseDirection,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -254,7 +268,7 @@ void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
}
void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t samplesToAverage, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -264,7 +278,7 @@ void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
}
int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -282,7 +296,7 @@ void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -293,7 +307,7 @@ int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
@@ -304,7 +318,7 @@ double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
@@ -315,7 +329,7 @@ double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles.Get(encoderHandle);
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_Encoder_k4X; // default to k4x