void SharedLibraryImpl::unloadImpl()
{
FastMutex::ScopedLock lock(_mutex);
if (_moduleId)
{
unldByModuleId(_moduleId, 0);
_moduleId = 0;
}
}
/**
*
* Start the robot code.
* This function starts the robot code running by spawning a task. Currently tasks seemed to be
* started by LVRT without setting the VX_FP_TASK flag so floating point context is not saved on
* interrupts. Therefore the program experiences hard to debug and unpredictable results. So the
* LVRT code starts this function, and it, in turn, starts the actual user program.
*/
void RobotBase::startRobotTask(FUNCPTR factory)
{
#ifdef SVN_REV
if (strlen(SVN_REV))
{
printf("WPILib was compiled from SVN revision %s\n", SVN_REV);
}
else
{
printf("WPILib was compiled from a location that is not source controlled.\n");
}
#else
printf("WPILib was compiled without -D'SVN_REV=nnnn'\n");
#endif
// Check for startup code already running
int32_t oldId = taskNameToId(const_cast<char*>("FRC_RobotTask"));
if (oldId != ERROR)
{
// Find the startup code module.
char moduleName[256];
moduleNameFindBySymbolName("FRC_UserProgram_StartupLibraryInit", moduleName);
MODULE_ID startupModId = moduleFindByName(moduleName);
if (startupModId != NULL)
{
// Remove the startup code.
unldByModuleId(startupModId, 0);
printf("!!! Error: Default code was still running... It was unloaded for you... Please try again.\n");
return;
}
// This case should no longer get hit.
printf("!!! Error: Other robot code is still running... Unload it and then try again.\n");
return;
}
// Let the framework know that we are starting a new user program so the Driver Station can disable.
FRC_NetworkCommunication_observeUserProgramStarting();
// Let the Usage Reporting framework know that there is a C++ program running
nUsageReporting::report(nUsageReporting::kResourceType_Language, nUsageReporting::kLanguage_CPlusPlus);
RobotBase::WriteVersionString();
// Start robot task
// This is done to ensure that the C++ robot task is spawned with the floating point
// context save parameter.
Task *task = new Task("RobotTask", (FUNCPTR)RobotBase::robotTask, Task::kDefaultPriority, 64000);
task->Start((int32_t)factory, (int32_t)task);
}
static void unload_old_module(void)
{
/* FIXME: This code currently does what WPILib does, but it isn't clear
* why we should check that the task is running at all */
int32_t old_task_id = taskNameToId((char *)TASK_NAME);
if (old_task_id == ERROR)
return;
/* XXX: how do we avoid finding ourselves and ensure we find the old
* module?
*
* - Right now we just find the oldest (earliest in the system)
*/
MODULE_ID old_module_id = module_find_earliest_by_symbolname(STR(INIT_FUNC));
if (!old_module_id)
return;
unldByModuleId(old_module_id, 0);
}
void dbgsysUnloadLibrary(void *handle)
{
unldByModuleId(handle);
}
int vxworks_dlclose(ACE_SHLIB_HANDLE lib)
{
return unldByModuleId((MODULE_ID)lib, 0);
}
