Skip to content

Commit

Permalink
Move creation of objects to ctor
Browse files Browse the repository at this point in the history 
This allows some null checks to be removed
Technically, this allows the possibility of NPEs after an object is closed, but calling methods after close is bad practice anyways
  • Loading branch information
@Gold856
Gold856 committed Jun 19, 2024
1 parent 8dd447c commit 2e39091
Show file tree
Hide file tree
Showing 4 changed files with 26 additions and 72 deletions.
23 changes: 6 additions & 17 deletions wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,10 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,

ConfigCalTime(cal_time);

m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(1000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
// Configure standard SPI
if (!SwitchToStandardSPI()) {
return;
Expand Down Expand Up @@ -180,6 +184,7 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
"required!");
}

m_auto_interrupt = new DigitalInput(10);
// Configure and enable auto SPI
if (!SwitchToAutoSPI()) {
return;
Expand Down Expand Up @@ -353,7 +358,7 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
Wait(10_ms);
}
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != nullptr && m_auto_configured) {
if (m_auto_configured) {
m_spi->StopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
Expand All @@ -372,13 +377,6 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
}
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(1000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
Expand Down Expand Up @@ -420,15 +418,6 @@ void ADIS16448_IMU::InitOffsetBuffer(int size) {
*are hard-coded to work only with the ADIS16448 IMU.
**/
bool ADIS16448_IMU::SwitchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == nullptr && !SwitchToStandardSPI()) {
REPORT_ERROR("Failed to start/restart auto SPI");
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == nullptr) {
m_auto_interrupt = new DigitalInput(10);
}
// The auto SPI controller gets angry if you try to set up two instances on
// one bus.
if (!m_auto_configured) {
Expand Down
24 changes: 6 additions & 18 deletions wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,10 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Wait(500_ms); // Wait for reset to complete

m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
// Configure standard SPI
if (!SwitchToStandardSPI()) {
return;
Expand Down Expand Up @@ -188,6 +192,7 @@ ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
// Write offset calibration command to IMU
WriteRegister(GLOB_CMD, 0x0001);

m_auto_interrupt = new DigitalInput(26);
// Configure and enable auto SPI
if (!SwitchToAutoSPI()) {
return;
Expand Down Expand Up @@ -332,7 +337,7 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
Wait(10_ms);
}
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != nullptr && m_auto_configured) {
if (m_auto_configured) {
m_spi->StopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
Expand All @@ -350,13 +355,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
}
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == nullptr) {
m_spi = new SPI(m_spi_port);
m_spi->SetClockRate(2000000);
m_spi->SetMode(frc::SPI::Mode::kMode3);
m_spi->SetChipSelectActiveLow();
}
ReadRegister(PROD_ID); // Dummy read
// Validate the product ID
uint16_t prod_id = ReadRegister(PROD_ID);
Expand Down Expand Up @@ -385,16 +383,6 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
*are hard-coded to work only with the ADIS16470 IMU.
**/
bool ADIS16470_IMU::SwitchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == nullptr && !SwitchToStandardSPI()) {
REPORT_ERROR("Failed to start/restart auto SPI");
return false;
}

// Only set up the interrupt if needed.
if (m_auto_interrupt == nullptr) {
m_auto_interrupt = new DigitalInput(26);
}
// The auto SPI controller gets angry if you try to set up two instances on
// one bus.
if (!m_auto_configured) {
Expand Down
25 changes: 7 additions & 18 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -269,6 +269,10 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_

configCalTime(cal_time);

m_spi = new SPI(m_spi_port);
m_spi.setClockRate(1000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
if (!switchToStandardSPI()) {
return;
}
Expand Down Expand Up @@ -337,6 +341,8 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
"ADIS16448: Flash and RAM configuration consistent. No flash update required!", false);
}

// Set up the interrupt
m_auto_interrupt = new DigitalInput(10); // MXP DIO0
// Configure standard SPI
if (!switchToAutoSPI()) {
return;
Expand Down Expand Up @@ -396,7 +402,7 @@ private boolean switchToStandardSPI() {
}
System.out.println("Paused the IMU processing thread successfully!");
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != null && m_auto_configured) {
if (m_auto_configured) {
m_spi.stopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
Expand All @@ -417,14 +423,6 @@ private boolean switchToStandardSPI() {
System.out.println("Paused auto SPI successfully.");
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == null) {
System.out.println("Setting up a new SPI port.");
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(1000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16448) {
Expand All @@ -436,15 +434,6 @@ private boolean switchToStandardSPI() {
}

boolean switchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == null && !switchToStandardSPI()) {
DriverStation.reportError("Failed to start/restart auto SPI", false);
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == null) {
m_auto_interrupt = new DigitalInput(10); // MXP DIO0
}
// The auto SPI controller gets angry if you try to set up two instances on one
// bus.
if (!m_auto_configured) {
Expand Down
26 changes: 7 additions & 19 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -337,6 +337,10 @@ public ADIS16470_IMU(
m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
Timer.delay(0.25); // Wait for reset to complete

m_spi = new SPI(m_spi_port);
m_spi.setClockRate(2000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
if (!switchToStandardSPI()) {
return;
}
Expand Down Expand Up @@ -397,6 +401,8 @@ public ADIS16470_IMU(
// Write offset calibration command to IMU
writeRegister(GLOB_CMD, 0x0001);

// Configure interrupt on SPI CS1
m_auto_interrupt = new DigitalInput(26);
// Configure and enable auto SPI
if (!switchToAutoSPI()) {
return;
Expand Down Expand Up @@ -452,7 +458,7 @@ private boolean switchToStandardSPI() {
}
System.out.println("Paused the IMU processing thread successfully!");
// Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
if (m_spi != null && m_auto_configured) {
if (m_auto_configured) {
m_spi.stopAuto();
// We need to get rid of all the garbage left in the auto SPI buffer after
// stopping it.
Expand All @@ -471,14 +477,6 @@ private boolean switchToStandardSPI() {
System.out.println("Paused auto SPI successfully.");
}
}
// There doesn't seem to be a SPI port active. Let's try to set one up
if (m_spi == null) {
System.out.println("Setting up a new SPI port.");
m_spi = new SPI(m_spi_port);
m_spi.setClockRate(2000000);
m_spi.setMode(SPI.Mode.kMode3);
m_spi.setChipSelectActiveLow();
}
readRegister(PROD_ID); // Dummy read
// Validate the product ID
if (readRegister(PROD_ID) != 16982) {
Expand All @@ -495,16 +493,6 @@ private boolean switchToStandardSPI() {
* @return True if successful, false otherwise.
*/
boolean switchToAutoSPI() {
// No SPI port has been set up. Go set one up first.
if (m_spi == null && !switchToStandardSPI()) {
DriverStation.reportError("Failed to start/restart auto SPI", false);
return false;
}
// Only set up the interrupt if needed.
if (m_auto_interrupt == null) {
// Configure interrupt on SPI CS1
m_auto_interrupt = new DigitalInput(26);
}
// The auto SPI controller gets angry if you try to set up two instances on one
// bus.
if (!m_auto_configured) {
Expand Down

0 comments on commit 2e39091

Please sign in to comment.