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Fix non initialized hal functionality during motor safety init (#4658)

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This commit is contained in:
Thad House
2022-11-17 18:54:45 -08:00
committed by GitHub
parent e6392a1570
commit f54d495c90
3 changed files with 10 additions and 0 deletions
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2
hal/src/main/native/athena/FRCDriverStation.cpp
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@@ -19,6 +19,7 @@
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
#include "HALInitializer.h"
#include "hal/DriverStation.h"
#include "hal/Errors.h"
@@ -446,6 +447,7 @@ void HAL_RefreshDSData(void) {
}
void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
hal::init::CheckInit();
driverStation->newDataEvents.Add(handle);
}

7
hal/src/main/native/athena/HAL.cpp
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@@ -82,6 +82,7 @@ void InitializeHAL() {
} // namespace init
void ReleaseFPGAInterrupt(int32_t interruptNumber) {
hal::init::CheckInit();
if (!global) {
return;
}
@@ -252,6 +253,7 @@ HAL_RuntimeType HAL_GetRuntimeType(void) {
}
int32_t HAL_GetFPGAVersion(int32_t* status) {
hal::init::CheckInit();
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -260,6 +262,7 @@ int32_t HAL_GetFPGAVersion(int32_t* status) {
}
int64_t HAL_GetFPGARevision(int32_t* status) {
hal::init::CheckInit();
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -268,6 +271,7 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
}
uint64_t HAL_GetFPGATime(int32_t* status) {
hal::init::CheckInit();
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
@@ -314,6 +318,7 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
}
HAL_Bool HAL_GetFPGAButton(int32_t* status) {
hal::init::CheckInit();
if (!global) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -322,6 +327,7 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status) {
}
HAL_Bool HAL_GetSystemActive(int32_t* status) {
hal::init::CheckInit();
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;
@@ -330,6 +336,7 @@ HAL_Bool HAL_GetSystemActive(int32_t* status) {
}
HAL_Bool HAL_GetBrownedOut(int32_t* status) {
hal::init::CheckInit();
if (!watchdog) {
*status = NiFpga_Status_ResourceNotInitialized;
return false;

1
hal/src/main/native/sim/DriverStation.cpp
View File

@@ -326,6 +326,7 @@ void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
if (gShutdown) {
return;
}
hal::init::CheckInit();
driverStation->newDataEvents.Add(handle);
}