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Merge "Only create one tGlobal object"

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This commit is contained in:
Brad Miller (WPI)
2014-07-25 08:51:32 -07:00
committed by Gerrit Code Review
parent 3ec797a8cf 40fc8326aa
commit e487c950e9
1 changed files with 10 additions and 18 deletions
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28
hal/lib/Athena/HAL.cpp
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@@ -16,6 +16,8 @@ const uint32_t dio_kNumSystems = tDIO::kNumSystems;
const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
const uint32_t kSystemClockTicksPerMicrosecond = 40;
static tGlobal *global;
void* getPort(uint8_t pin)
{
Port* port = new Port();
@@ -74,10 +76,7 @@ const char* getHALErrorMessage(int32_t code)
*/
uint16_t getFPGAVersion(int32_t *status)
{
tGlobal *global = tGlobal::create(status);
uint16_t version = global->readVersion(status);
delete global;
return version;
return global->readVersion(status);
}
/**
@@ -90,23 +89,17 @@ uint16_t getFPGAVersion(int32_t *status)
*/
uint32_t getFPGARevision(int32_t *status)
{
tGlobal *global = tGlobal::create(status);
uint32_t revision = global->readRevision(status);
delete global;
return revision;
return global->readRevision(status);
}
/**
* Read the microsecond-resolution timer on the FPGA.
*
*
* @return The current time in microseconds according to the FPGA (since FPGA reset).
*/
uint32_t getFPGATime(int32_t *status)
{
tGlobal *global = tGlobal::create(status);
uint32_t time = global->readLocalTime(status);
delete global;
return time;
return global->readLocalTime(status);
}
/**
@@ -115,9 +108,7 @@ uint32_t getFPGATime(int32_t *status)
void setFPGALED(uint32_t state, int32_t *status)
{
// XXX: Not supported?
// tGlobal *global = tGlobal::create(status);
// global->writeFPGA_LED(state, status);
// delete global;
}
/**
@@ -127,9 +118,7 @@ void setFPGALED(uint32_t state, int32_t *status)
int32_t getFPGALED(int32_t *status)
{
// XXX: Not supported?
// tGlobal *global = tGlobal::create(status);
// bool ledValue = global->readFPGA_LED(status);
// delete global;
// return ledValue;
return 0; // XXX: Dummy value
}
@@ -183,9 +172,12 @@ int HALInitialize(int mode)
nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
nLoadOut::kTargetClass_RoboRIO;
global = tGlobal::create(&status);
// Kill any previous robot programs
std::fstream fs;
fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out); // By making this both in/out, it won't give us an error if it doesnt exist
// By making this both in/out, it won't give us an error if it doesnt exist
fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
if (fs.bad())
return 0;