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Cleaned up robot startup and cleanup/shutdown code (#77)

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Cleaned up RobotBase, removed singleton list from SensorBase, and removed unused typedefs and NULL_TASK macro from HAL's Task.hpp. Making the robot class instance static fixed non-POD statics used by the instance during destruction from being destroyed first.
This commit is contained in:
Tyler Veness
2016-06-19 00:13:18 -07:00
committed by Peter Johnson
parent ecc210f99a
commit d66c61a36e
10 changed files with 16 additions and 184 deletions
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32
wpilibc/athena/src/SensorBase.cpp
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@@ -19,7 +19,6 @@ const uint32_t SensorBase::kPwmChannels;
const uint32_t SensorBase::kRelayChannels;
const uint32_t SensorBase::kPDPChannels;
const uint32_t SensorBase::kChassisSlots;
SensorBase* SensorBase::m_singletonList = nullptr;
static bool portsInitialized = false;
void* SensorBase::m_digital_ports[kDigitalChannels];
@@ -57,37 +56,6 @@ SensorBase::SensorBase() {
}
}
/**
* Add sensor to the singleton list.
*
* Add this sensor to the list of singletons that need to be deleted when
* the robot program exits. Each of the sensors on this list are singletons,
* that is they aren't allocated directly with new, but instead are allocated
* by the static GetInstance method. As a result, they are never deleted when
* the program exits. Consequently these sensors may still be holding onto
* resources and need to have their destructors called at the end of the
* program.
*/
void SensorBase::AddToSingletonList() {
m_nextSingleton = m_singletonList;
m_singletonList = this;
}
/**
* Delete all the singleton classes on the list.
*
* All the classes that were allocated as singletons need to be deleted so
* their resources can be freed.
*/
void SensorBase::DeleteSingletons() {
for (SensorBase* next = m_singletonList; next != nullptr;) {
SensorBase* tmp = next;
next = next->m_nextSingleton;
delete tmp;
}
m_singletonList = nullptr;
}
/**
* Check that the solenoid module number is valid.
*