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

hal/src/main/native/athena/Accelerometer.cpp

@@ -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) {

hal/src/main/native/athena/AnalogGyro.cpp

@@ -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;

hal/src/main/native/athena/AnalogInput.cpp

@@ -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;

hal/src/main/native/athena/AnalogInternal.cpp

@@ -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;

hal/src/main/native/athena/AnalogOutput.cpp

@@ -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;

hal/src/main/native/athena/AnalogTrigger.cpp

@@ -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) {

hal/src/main/native/athena/Compressor.cpp

@@ -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) {

hal/src/main/native/athena/Counter.cpp

@@ -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;

hal/src/main/native/athena/DIO.cpp

@@ -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;

hal/src/main/native/athena/DigitalInternal.cpp

@@ -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

hal/src/main/native/athena/Encoder.cpp

@@ -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);

hal/src/main/native/athena/FPGAEncoder.cpp

@@ -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;

hal/src/main/native/athena/FRCDriverStation.cpp

@@ -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

hal/src/main/native/athena/HAL.cpp

@@ -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();

hal/src/main/native/athena/HALInitializer.cpp

@@ -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

hal/src/main/native/athena/HALInitializer.h

@@ -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();

hal/src/main/native/athena/I2C.cpp

@@ -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;
 

hal/src/main/native/athena/Interrupts.cpp

@@ -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;

hal/src/main/native/athena/Notifier.cpp

@@ -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);
 

hal/src/main/native/athena/OSSerialPort.cpp

@@ -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;

hal/src/main/native/athena/PCMInternal.cpp

@@ -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;

hal/src/main/native/athena/PDP.cpp

@@ -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;

hal/src/main/native/athena/PWM.cpp

@@ -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;

hal/src/main/native/athena/Power.cpp

@@ -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));
   }

hal/src/main/native/athena/Relay.cpp

@@ -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;

hal/src/main/native/athena/SPI.cpp

@@ -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;

hal/src/main/native/athena/SerialPort.cpp

@@ -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)

hal/src/main/native/athena/Solenoid.cpp

@@ -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) {