/// <summary>
/// HAL Initialization. Must be called before any other HAL functions.
/// </summary>
/// <param name="mode">Initialization Mode</param>
public static void Initialize(int mode = 0)
{
//Lock this function, so that if accidentally called from multiple threads it doesn't
//get m_initialized at the wrong value.
lock (s_lockObject)
{
// We don't want to initialize more then once.
if (s_initialized) return;
s_initialized = true;
//Check to see if we are on a RoboRIO. We do this by probing for a file we know is located
//on the RIO.
HALType = HALTypes.Simulation;
if (File.Exists("/usr/local/frc/bin/frcRunRobot.sh"))
{
HALType = HALTypes.RoboRIO;
}
try
{
switch (HALType)
{
case HALTypes.RoboRIO:
AthenaHAL.HAL.InitializeImpl();
break;
case HALTypes.Simulation:
case HALTypes.Other:
case HALTypes.None:
SimulatorHAL.HAL.InitializeImpl();
break;
default:
throw new ArgumentOutOfRangeException();
}
}
catch (Exception e)
{
//If our loading ever causes an exception, print it, print the stack trace, and kill the program.
Console.WriteLine(e.Message);
Console.WriteLine(e.StackTrace);
Environment.Exit(1);
}
var rv = HALInitialize(mode);
if (rv != 1)
{
throw new Exception($"HAL Initialize Failed with return code {rv}");
}
}
}
/// <summary>
/// HAL Initialization. Must be called before any other HAL functions.
/// </summary>
/// <param name="mode">Initialization Mode</param>
public static void Initialize(int mode = 0)
{
//Lock this function, so that if accidentally called from multiple threads it doesn't
//get m_initialized at the wrong value.
lock (s_lockObject)
{
// We don't want to initialize more then once.
if (s_initialized) return;
s_initialized = true;
//Check to see if we are on a RoboRIO. We do this by probing for a file we know is located
//on the RIO.
HALType = HALTypes.Simulation;
if (File.Exists("/usr/local/frc/bin/frcRunRobot.sh"))
{
HALType = HALTypes.RoboRIO;
}
string asm;
switch (HALType)
{
case (HALTypes.Simulation):
asm = HALSim;
break;
case HALTypes.None:
case HALTypes.RoboRIO:
case HALTypes.Other:
default:
asm = HALRIO;
break;
}
HALAssembly = Assembly.LoadFrom(asm);
//Setup all of our delegates
//This allows us to dynamically switch between simulator, RoboRIO
//and potentially others later.
//Using delegates speeds the method calls up directly over
//invoking the method using reflection, by about 20x.
SetupDelegates();
HALAccelerometer.SetupDelegates();
HALAnalog.SetupDelegates();
HALCAN.SetupDelegates();
HALCanTalonSRX.SetupDelegates();
HALCompressor.SetupDelegates();
HALDigital.SetupDelegates();
HALInterrupts.SetupDelegates();
HALNotifier.SetupDelegates();
HALPDP.SetupDelegates();
HALPower.SetupDelegates();
HALSemaphore.SetupDelegates();
HALSerialPort.SetupDelegates();
HALSolenoid.SetupDelegates();
HALUtilities.SetupDelegates();
var rv = HALInitialize(mode);
if (rv != 1)
{
throw new Exception($"HAL Initialize Failed with return code {rv}");
}
//This next piece of code is to make sure that the Notifier and Interrupt libraries work.
//Note that this leaks 6 bytes, but there is no way in the HAL to delete this structure,
//And it is leaked on normal use as well. So this is a workaround, and we hope to fix it
//When the HAL fixes it.
int status = 0;
HALDigital.InitializeDigitalPort(GetPort(0), ref status);
//If we are simulator, grab a local copy of the dictionary so we can debug its values.
if (HALType == HALTypes.Simulation)
{
string className = "SimData";
var types = HALAssembly.GetTypes();
var q = from t in types where t.IsClass && t.Name == className select t;
Type type = HALAssembly.GetType(q.ToList()[0].FullName);
GetData data = (GetData)Delegate.CreateDelegate(typeof(GetData), type.GetMethod("GetData"));
data(out halData, out halInData, out halDSData);
StartSimulator();
}
}
}