void _initialize_ev3api_sensor() {
// TODO: Thread safe
if (pUartSensorData == NULL) {
sensors[EV3_PORT_1] = NONE_SENSOR;
sensors[EV3_PORT_2] = NONE_SENSOR;
sensors[EV3_PORT_3] = NONE_SENSOR;
sensors[EV3_PORT_4] = NONE_SENSOR;
brickinfo_t brickinfo;
ER ercd = fetch_brick_info(&brickinfo);
assert(ercd == E_OK);
pUartSensorData = brickinfo.uart_sensors;
pAnalogSensorData = brickinfo.analog_sensors;
assert(pUartSensorData != NULL);
assert(pAnalogSensorData != NULL);
}
}
void _initialize_ev3api_motor() {
// TODO: Thread safe
assert(pMotorData == NULL);
if (pMotorData == NULL) {
mts[EV3_PORT_A] = NONE_MOTOR;
mts[EV3_PORT_B] = NONE_MOTOR;
mts[EV3_PORT_C] = NONE_MOTOR;
mts[EV3_PORT_D] = NONE_MOTOR;
brickinfo_t brickinfo;
ER ercd = fetch_brick_info(&brickinfo);
assert(ercd == E_OK);
pMotorReadyStatus = brickinfo.motor_ready;
pMotorData = brickinfo.motor_data;
assert(pMotorData != NULL);
assert(pMotorReadyStatus != NULL);
}
}
void _initialize_ev3api_newlib() {
#if 0
ER ercd;
ID domid;
ercd = get_did(&domid);
assert(ercd == E_OK);
assert(domid == TDOM_APP); // Newlib should not be used by CSL.
#endif
// TODO: Thread safe
assert(mem_pool == NULL);
if (mem_pool == NULL) {
brickinfo_t brickinfo;
ER ercd = fetch_brick_info(&brickinfo);
assert(ercd == E_OK);
mem_pool = brickinfo.app_heap;
assert(mem_pool != NULL);
}
}