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

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

@@ -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;

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

@@ -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;

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

@@ -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;

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

@@ -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) {

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

@@ -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.
 

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

@@ -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) {}

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

@@ -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);

hal/src/main/native/sim/DriverStation.cpp

@@ -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

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

@@ -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

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

@@ -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();

hal/src/main/native/sim/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/sim/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 InitializeAccelerometerData();
 extern void InitializeAnalogGyroData();
 extern void InitializeAnalogInData();

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

@@ -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,

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

@@ -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;

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

@@ -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) {

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

@@ -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,

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

@@ -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) {

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

@@ -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);

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

@@ -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);

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

@@ -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,

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

@@ -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) {}

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

@@ -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) {