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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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2
wpilibc/sim/src/DriverStation.cpp
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@@ -51,8 +51,6 @@ DriverStation::DriverStation() {
joysticks[5] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[5] = MainNode::Subscribe(
"~/ds/joysticks/5", &DriverStation::joystickCallback5, this);
AddToSingletonList();
}
/**

23
wpilibc/sim/src/RobotBase.cpp
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@@ -11,15 +11,6 @@
#include <string.h>
RobotBase* RobotBase::m_instance = nullptr;
void RobotBase::setInstance(RobotBase* robot) {
wpi_assert(m_instance == nullptr);
m_instance = robot;
}
RobotBase& RobotBase::getInstance() { return *m_instance; }
/**
* Constructor for a generic robot program.
*
@@ -73,17 +64,3 @@ bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
* field controls.
*/
bool RobotBase::IsTest() const { return m_ds.IsTest(); }
/**
* This class exists for the sole purpose of getting its destructor called when
* the module unloads.
*
* Before the module is done unloading, we need to delete the RobotBase derived
* singleton. This should delete the other remaining singletons that were
* registered. This should also stop all tasks that are using the Task class.
*/
class RobotDeleter {
public:
~RobotDeleter() { delete &RobotBase::getInstance(); }
};
static RobotDeleter g_robotDeleter;

32
wpilibc/sim/src/SensorBase.cpp
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@@ -17,44 +17,12 @@ 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;
/**
* Creates an instance of the sensor base and gets an FPGA handle
*/
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.
*