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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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42
hal/src/main/native/sim/PWM.cpp
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@@ -15,6 +15,12 @@
using namespace hal;
namespace hal {
namespace init {
void InitializePWM() {}
} // namespace init
} // namespace hal
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
@@ -36,12 +42,12 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
}
auto handle =
digitalChannelHandles.Allocate(channel, HAL_HandleEnum::PWM, status);
digitalChannelHandles->Allocate(channel, HAL_HandleEnum::PWM, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = digitalChannelHandles.Get(handle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM);
if (port == nullptr) { // would only occur on thread issue.
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
@@ -54,7 +60,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
return handle;
}
void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -62,7 +68,7 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
SimPWMData[port->channel].SetInitialized(false);
digitalChannelHandles.Free(pwmPortHandle, HAL_HandleEnum::PWM);
digitalChannelHandles->Free(pwmPortHandle, HAL_HandleEnum::PWM);
}
HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
@@ -72,7 +78,7 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
double deadbandMax, double center, double deadbandMin,
double min, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -106,7 +112,7 @@ void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -123,7 +129,7 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
int32_t* deadbandMaxPwm, int32_t* centerPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -137,7 +143,7 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool eliminateDeadband, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -147,7 +153,7 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
@@ -165,7 +171,7 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
*/
void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -185,7 +191,7 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
*/
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -215,7 +221,7 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
*/
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -235,7 +241,7 @@ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
}
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -252,7 +258,7 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The raw PWM value.
*/
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -268,7 +274,7 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The scaled PWM value.
*/
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -291,7 +297,7 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
* @return The scaled PWM value.
*/
double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
@@ -308,7 +314,7 @@ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
}
void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
@@ -326,7 +332,7 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
*/
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles.Get(pwmPortHandle, HAL_HandleEnum::PWM);
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;