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Make the HAL self initialize when ever any initialization function is called (#1012)

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This commit is contained in:
Thad House
2018-05-13 22:02:47 -07:00
committed by Peter Johnson
parent 59a8e9da57
commit e21a246a4d
50 changed files with 149 additions and 2 deletions
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2
hal/src/main/native/athena/Accelerometer.cpp
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@@ -15,6 +15,7 @@
#include "HAL/ChipObject.h"
#include "HAL/HAL.h"
#include "HALInitializer.h"
using namespace hal;
@@ -92,6 +93,7 @@ static uint8_t readRegister(Register reg);
* Initialize the accelerometer.
*/
static void initializeAccelerometer() {
hal::init::CheckInit();
int32_t status;
if (!accel) {

2
hal/src/main/native/athena/AnalogGyro.cpp
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@@ -13,6 +13,7 @@
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogInput.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
namespace {
@@ -56,6 +57,7 @@ extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
int32_t* status) {
hal::init::CheckInit();
if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
if (*status == 0) {
*status = HAL_INVALID_ACCUMULATOR_CHANNEL;

2
hal/src/main/native/athena/AnalogInput.cpp
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@@ -14,6 +14,7 @@
#include "HAL/AnalogAccumulator.h"
#include "HAL/HAL.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
namespace hal {
@@ -33,6 +34,7 @@ extern "C" {
*/
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
initializeAnalog(status);
if (*status != 0) return HAL_kInvalidHandle;

2
hal/src/main/native/athena/AnalogInternal.cpp
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@@ -13,6 +13,7 @@
#include "HAL/AnalogInput.h"
#include "HAL/ChipObject.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
namespace hal {
@@ -44,6 +45,7 @@ void InitializeAnalogInternal() {
* Initialize the analog System.
*/
void initializeAnalog(int32_t* status) {
hal::init::CheckInit();
if (analogSystemInitialized) return;
std::lock_guard<wpi::mutex> lock(analogRegisterWindowMutex);
if (analogSystemInitialized) return;

2
hal/src/main/native/athena/AnalogOutput.cpp
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@@ -11,6 +11,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -45,6 +46,7 @@ extern "C" {
*/
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
initializeAnalog(status);
if (*status != 0) return HAL_kInvalidHandle;

2
hal/src/main/native/athena/AnalogTrigger.cpp
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@@ -12,6 +12,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -46,6 +47,7 @@ extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
hal::init::CheckInit();
// ensure we are given a valid and active AnalogInput handle
auto analog_port = analogInputHandles->Get(portHandle);
if (analog_port == nullptr) {

2
hal/src/main/native/athena/Compressor.cpp
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@@ -9,6 +9,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "PCMInternal.h"
#include "PortsInternal.h"
#include "ctre/PCM.h"
@@ -24,6 +25,7 @@ void InitializeCompressor() {}
extern "C" {
HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status) {
hal::init::CheckInit();
// Use status to check for invalid index
initializePCM(module, status);
if (*status != 0) {

2
hal/src/main/native/athena/Counter.cpp
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@@ -11,6 +11,7 @@
#include "DigitalInternal.h"
#include "HAL/HAL.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -42,6 +43,7 @@ extern "C" {
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
int32_t* status) {
hal::init::CheckInit();
auto handle = counterHandles->Allocate();
if (handle == HAL_kInvalidHandle) { // out of resources
*status = NO_AVAILABLE_RESOURCES;

2
hal/src/main/native/athena/DIO.cpp
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@@ -16,6 +16,7 @@
#include "HAL/cpp/fpga_clock.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -46,6 +47,7 @@ extern "C" {
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;

2
hal/src/main/native/athena/DigitalInternal.cpp
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@@ -19,6 +19,7 @@
#include "HAL/HAL.h"
#include "HAL/Ports.h"
#include "HAL/cpp/UnsafeDIO.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
namespace hal {
@@ -70,6 +71,7 @@ int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) {
* Initialize the digital system.
*/
void initializeDigital(int32_t* status) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished

2
hal/src/main/native/athena/Encoder.cpp
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@@ -13,6 +13,7 @@
#include "HAL/Counter.h"
#include "HAL/Errors.h"
#include "HAL/handles/LimitedClassedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -243,6 +244,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
int32_t* status) {
hal::init::CheckInit();
auto encoder = std::make_shared<Encoder>(
digitalSourceHandleA, analogTriggerTypeA, digitalSourceHandleB,
analogTriggerTypeB, reverseDirection, encodingType, status);

2
hal/src/main/native/athena/FPGAEncoder.cpp
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@@ -11,6 +11,7 @@
#include "DigitalInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -46,6 +47,7 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
HAL_Bool reverseDirection, int32_t* index, int32_t* status) {
hal::init::CheckInit();
bool routingAnalogTriggerA = false;
uint8_t routingChannelA = 0;
uint8_t routingModuleA = 0;

2
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -18,6 +18,7 @@
#include <wpi/raw_ostream.h>
#include "HAL/DriverStation.h"
#include "HALInitializer.h"
static_assert(sizeof(int32_t) >= sizeof(int),
"FRC_NetworkComm status variable is larger than 32 bits");
@@ -380,6 +381,7 @@ static void newDataOccur(uint32_t refNum) {
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished

2
hal/src/main/native/athena/HAL.cpp
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@@ -372,6 +372,8 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
hal::init::InitializeHAL();
hal::init::HAL_IsInitialized.store(true);
setlinebuf(stdin);
setlinebuf(stdout);
wpi::outs().SetUnbuffered();

17
hal/src/main/native/athena/HALInitializer.cpp Normal file
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@@ -0,0 +1,17 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HALInitializer.h"
#include "HAL/HAL.h"
namespace hal {
namespace init {
std::atomic_bool HAL_IsInitialized{false};
void RunInitialize() { HAL_Initialize(500, 0); }
} // namespace init
} // namespace hal

9
hal/src/main/native/athena/HALInitializer.h
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@@ -7,8 +7,17 @@
#pragma once
#include <atomic>
namespace hal {
namespace init {
extern std::atomic_bool HAL_IsInitialized;
extern void RunInitialize();
static inline void CheckInit() {
if (HAL_IsInitialized.load(std::memory_order_relaxed)) return;
RunInitialize();
}
extern void InitializeAccelerometer();
extern void InitializeAnalogAccumulator();
extern void InitializeAnalogGyro();

2
hal/src/main/native/athena/I2C.cpp
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@@ -18,6 +18,7 @@
#include "DigitalInternal.h"
#include "HAL/DIO.h"
#include "HAL/HAL.h"
#include "HALInitializer.h"
using namespace hal;
@@ -46,6 +47,7 @@ extern "C" {
* @param port The port to open, 0 for the on-board, 1 for the MXP.
*/
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
if (*status != 0) return;

2
hal/src/main/native/athena/Interrupts.cpp
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@@ -16,6 +16,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -93,6 +94,7 @@ extern "C" {
HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher,
int32_t* status) {
hal::init::CheckInit();
HAL_InterruptHandle handle = interruptHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;

2
hal/src/main/native/athena/Notifier.cpp
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@@ -18,6 +18,7 @@
#include "HAL/Errors.h"
#include "HAL/HAL.h"
#include "HAL/handles/UnlimitedHandleResource.h"
#include "HALInitializer.h"
using namespace hal;
@@ -113,6 +114,7 @@ void InitializeNotifier() {
extern "C" {
HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
hal::init::CheckInit();
if (!notifierAtexitRegistered.test_and_set())
std::atexit(cleanupNotifierAtExit);

2
hal/src/main/native/athena/OSSerialPort.cpp
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@@ -18,6 +18,7 @@
#include "HAL/Errors.h"
#include "HAL/cpp/SerialHelper.h"
#include "HALInitializer.h"
static int portHandles[4]{-1, -1, -1, -1};
static std::chrono::milliseconds portTimeouts[4]{
@@ -38,6 +39,7 @@ void InitializeOSSerialPort() {
extern "C" {
void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status) {
hal::init::CheckInit();
std::string portName;
hal::SerialHelper serialHelper;

2
hal/src/main/native/athena/PCMInternal.cpp
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@@ -9,6 +9,7 @@
#include "HAL/Errors.h"
#include "HAL/Solenoid.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
namespace hal {
@@ -24,6 +25,7 @@ void InitializePCMInternal() {
} // namespace init
void initializePCM(int32_t module, int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckSolenoidModule(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return;

2
hal/src/main/native/athena/PDP.cpp
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@@ -11,6 +11,7 @@
#include "HAL/Errors.h"
#include "HAL/Ports.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
#include "ctre/PDP.h"
@@ -43,6 +44,7 @@ void InitializePDP() {
extern "C" {
void HAL_InitializePDP(int32_t module, int32_t* status) {
hal::init::CheckInit();
if (!HAL_CheckPDPModule(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return;

2
hal/src/main/native/athena/PWM.cpp
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@@ -16,6 +16,7 @@
#include "DigitalInternal.h"
#include "HAL/cpp/fpga_clock.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -70,6 +71,7 @@ extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;

2
hal/src/main/native/athena/Power.cpp
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@@ -10,6 +10,7 @@
#include <memory>
#include "HAL/ChipObject.h"
#include "HALInitializer.h"
using namespace hal;
@@ -18,6 +19,7 @@ namespace hal {
static std::unique_ptr<tPower> power{nullptr};
static void initializePower(int32_t* status) {
hal::init::CheckInit();
if (power == nullptr) {
power.reset(tPower::create(status));
}

2
hal/src/main/native/athena/Relay.cpp
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@@ -9,6 +9,7 @@
#include "DigitalInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
using namespace hal;
@@ -43,6 +44,7 @@ extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
int32_t* status) {
hal::init::CheckInit();
initializeDigital(status);
if (*status != 0) return HAL_kInvalidHandle;

2
hal/src/main/native/athena/SPI.cpp
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@@ -23,6 +23,7 @@
#include "HAL/DIO.h"
#include "HAL/HAL.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
using namespace hal;
@@ -105,6 +106,7 @@ static void CommonSPIPortFree(void) {
* @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
*/
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
return;

2
hal/src/main/native/athena/SerialPort.cpp
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@@ -10,6 +10,7 @@
#include <string>
#include "HAL/cpp/SerialHelper.h"
#include "HALInitializer.h"
#include "visa/visa.h"
static int32_t resourceManagerHandle{0};
@@ -24,6 +25,7 @@ void InitializeSerialPort() {}
extern "C" {
void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
hal::init::CheckInit();
std::string portName;
if (resourceManagerHandle == 0)

2
hal/src/main/native/athena/Solenoid.cpp
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@@ -14,6 +14,7 @@
#include "HAL/Ports.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "PCMInternal.h"
#include "PortsInternal.h"
#include "ctre/PCM.h"
@@ -49,6 +50,7 @@ extern "C" {
HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
int16_t module = getPortHandleModule(portHandle);
if (channel == InvalidHandleIndex) {

2
hal/src/main/native/sim/AnalogGyro.cpp
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@@ -14,6 +14,7 @@
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogInput.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/AnalogGyroDataInternal.h"
namespace {
@@ -42,6 +43,7 @@ void InitializeAnalogGyro() {
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
int32_t* status) {
hal::init::CheckInit();
if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
if (*status == 0) {
*status = HAL_INVALID_ACCUMULATOR_CHANNEL;

2
hal/src/main/native/sim/AnalogInput.cpp
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@@ -9,6 +9,7 @@
#include "AnalogInternal.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "MockData/AnalogInDataInternal.h"
#include "PortsInternal.h"
@@ -23,6 +24,7 @@ void InitializeAnalogInput() {}
extern "C" {
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;

2
hal/src/main/native/sim/AnalogOutput.cpp
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@@ -10,6 +10,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/AnalogOutDataInternal.h"
#include "PortsInternal.h"
@@ -39,6 +40,7 @@ void InitializeAnalogOutput() {
extern "C" {
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;

2
hal/src/main/native/sim/AnalogTrigger.cpp
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@@ -12,6 +12,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/AnalogInDataInternal.h"
#include "MockData/AnalogTriggerDataInternal.h"
#include "PortsInternal.h"
@@ -63,6 +64,7 @@ extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
hal::init::CheckInit();
// ensure we are given a valid and active AnalogInput handle
auto analog_port = analogInputHandles->Get(portHandle);
if (analog_port == nullptr) {

2
hal/src/main/native/sim/Compressor.cpp
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@@ -9,6 +9,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "MockData/PCMDataInternal.h"
#include "PortsInternal.h"
@@ -23,6 +24,7 @@ void InitializeCompressor() {}
extern "C" {
HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status) {
hal::init::CheckInit();
// As compressors can have unlimited objects, just create a
// handle with the module number as the index.

2
hal/src/main/native/sim/Counter.cpp
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@@ -11,6 +11,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "PortsInternal.h"
namespace hal {
@@ -33,6 +34,7 @@ void InitializeCounter() {
extern "C" {
HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
int32_t* status) {
hal::init::CheckInit();
return 0;
}
void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status) {}

2
hal/src/main/native/sim/DIO.cpp
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@@ -12,6 +12,7 @@
#include "DigitalInternal.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/DIODataInternal.h"
#include "MockData/DigitalPWMDataInternal.h"
#include "PortsInternal.h"
@@ -41,6 +42,7 @@ extern "C" {
*/
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
HAL_Bool input, int32_t* status) {
hal::init::CheckInit();
if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);

2
hal/src/main/native/sim/DriverStation.cpp
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@@ -19,6 +19,7 @@
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "HALInitializer.h"
#include "MockData/DriverStationDataInternal.h"
#include "MockData/MockHooks.h"
@@ -289,6 +290,7 @@ static int32_t newDataOccur(uint32_t refNum) {
* that interfaces with LabVIEW.
*/
void HAL_InitializeDriverStation(void) {
hal::init::CheckInit();
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
// Initial check, as if it's true initialization has finished

2
hal/src/main/native/sim/Encoder.cpp
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@@ -12,6 +12,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/EncoderDataInternal.h"
#include "PortsInternal.h"
@@ -56,6 +57,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
int32_t* status) {
hal::init::CheckInit();
HAL_Handle nativeHandle = HAL_kInvalidHandle;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
// k4x, allocate encoder

2
hal/src/main/native/sim/HAL.cpp
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@@ -263,6 +263,8 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
hal::init::InitializeHAL();
hal::init::HAL_IsInitialized.store(true);
wpi::outs().SetUnbuffered();
if (HAL_LoadExtensions() < 0) return false;
hal::RestartTiming();

17
hal/src/main/native/sim/HALInitializer.cpp Normal file
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@@ -0,0 +1,17 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HALInitializer.h"
#include "HAL/HAL.h"
namespace hal {
namespace init {
std::atomic_bool HAL_IsInitialized{false};
void RunInitialize() { HAL_Initialize(500, 0); }
} // namespace init
} // namespace hal

9
hal/src/main/native/sim/HALInitializer.h
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@@ -7,8 +7,17 @@
#pragma once
#include <atomic>
namespace hal {
namespace init {
extern std::atomic_bool HAL_IsInitialized;
extern void RunInitialize();
static inline void CheckInit() {
if (HAL_IsInitialized.load(std::memory_order_relaxed)) return;
RunInitialize();
}
extern void InitializeAccelerometerData();
extern void InitializeAnalogGyroData();
extern void InitializeAnalogInData();

2
hal/src/main/native/sim/I2C.cpp
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@@ -7,6 +7,7 @@
#include "HAL/I2C.h"
#include "HALInitializer.h"
#include "MockData/I2CDataInternal.h"
using namespace hal;
@@ -19,6 +20,7 @@ void InitializeI2C() {}
extern "C" {
void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
hal::init::CheckInit();
SimI2CData[port].SetInitialized(true);
}
int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,

2
hal/src/main/native/sim/Interrupts.cpp
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@@ -19,6 +19,7 @@
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/LimitedHandleResource.h"
#include "HAL/handles/UnlimitedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/AnalogInDataInternal.h"
#include "MockData/DIODataInternal.h"
#include "MockData/HAL_Value.h"
@@ -85,6 +86,7 @@ void InitializeInterrupts() {
extern "C" {
HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher,
int32_t* status) {
hal::init::CheckInit();
HAL_InterruptHandle handle = interruptHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
*status = NO_AVAILABLE_RESOURCES;

2
hal/src/main/native/sim/Notifier.cpp
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@@ -16,6 +16,7 @@
#include "HAL/HAL.h"
#include "HAL/cpp/fpga_clock.h"
#include "HAL/handles/UnlimitedHandleResource.h"
#include "HALInitializer.h"
namespace {
struct Notifier {
@@ -60,6 +61,7 @@ void InitializeNotifier() {
extern "C" {
HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
hal::init::CheckInit();
std::shared_ptr<Notifier> notifier = std::make_shared<Notifier>();
HAL_NotifierHandle handle = notifierHandles->Allocate(notifier);
if (handle == HAL_kInvalidHandle) {

5
hal/src/main/native/sim/OSSerialPort.cpp
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@@ -6,6 +6,7 @@
/*----------------------------------------------------------------------------*/
#include "HAL/SerialPort.h"
#include "HALInitializer.h"
namespace hal {
namespace init {
@@ -14,7 +15,9 @@ void InitializeOSSerialPort() {}
} // namespace hal
extern "C" {
void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status) {}
void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status) {
hal::init::CheckInit();
}
void HAL_SetOSSerialBaudRate(HAL_SerialPort port, int32_t baud,
int32_t* status) {}
void HAL_SetOSSerialDataBits(HAL_SerialPort port, int32_t bits,

2
hal/src/main/native/sim/PDP.cpp
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@@ -7,6 +7,7 @@
#include "HAL/PDP.h"
#include "HALInitializer.h"
#include "MockData/PDPDataInternal.h"
#include "PortsInternal.h"
@@ -20,6 +21,7 @@ void InitializePDP() {}
extern "C" {
void HAL_InitializePDP(int32_t module, int32_t* status) {
hal::init::CheckInit();
SimPDPData[module].SetInitialized(true);
}
HAL_Bool HAL_CheckPDPModule(int32_t module) {

2
hal/src/main/native/sim/PWM.cpp
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@@ -10,6 +10,7 @@
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HAL/handles/HandlesInternal.h"
#include "HALInitializer.h"
#include "MockData/PWMDataInternal.h"
#include "PortsInternal.h"
@@ -25,6 +26,7 @@ extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);

2
hal/src/main/native/sim/Relay.cpp
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@@ -8,6 +8,7 @@
#include "HAL/Relay.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/RelayDataInternal.h"
#include "PortsInternal.h"
@@ -37,6 +38,7 @@ void InitializeRelay() {
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle portHandle, HAL_Bool fwd,
int32_t* status) {
hal::init::CheckInit();
if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);

2
hal/src/main/native/sim/SPI.cpp
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@@ -7,6 +7,7 @@
#include "HAL/SPI.h"
#include "HALInitializer.h"
#include "MockData/SPIDataInternal.h"
using namespace hal;
@@ -18,6 +19,7 @@ void InitializeSPI() {}
} // namespace hal
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
SimSPIData[port].SetInitialized(true);
}
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,

6
hal/src/main/native/sim/SerialPort.cpp
View File

@@ -7,6 +7,8 @@
#include "HAL/SerialPort.h"
#include "HALInitializer.h"
namespace hal {
namespace init {
void InitializeSerialPort() {}
@@ -14,7 +16,9 @@ void InitializeSerialPort() {}
} // namespace hal
extern "C" {
void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {}
void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
hal::init::CheckInit();
}
void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
int32_t* status) {}

2
hal/src/main/native/sim/Solenoid.cpp
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@@ -10,6 +10,7 @@
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "HALInitializer.h"
#include "MockData/PCMDataInternal.h"
#include "PortsInternal.h"
@@ -41,6 +42,7 @@ void InitializeSolenoid() {
extern "C" {
HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
int32_t* status) {
hal::init::CheckInit();
int16_t channel = getPortHandleChannel(portHandle);
int16_t module = getPortHandleModule(portHandle);
if (channel == InvalidHandleIndex) {