commit 34cb42164c039b92a976941f1ac90c8e0cf63715
author Austin Schuh <austin.linux@gmail.com> Sun Oct 17 23:39:07 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Mon Oct 18 10:04:51 2021 -0700
tree 44bb2c056dca2bdfb8eb9588fc6bf2e18ecf1988
parent 5e9e8867260c0569926db57a0ab46197812f058a

Allocate the Power subsystem at startup in WPILib

This gets rid of a malloc in the realtime code by doing it before we
start.

Change-Id: I39e81d584f7a7efd5d401b49b5ab5d53aa717ef1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

third_party/allwpilib/hal/src/main/native/athena/Power.cpp

diff --git a/third_party/allwpilib/hal/src/main/native/athena/Power.cpp b/third_party/allwpilib/hal/src/main/native/athena/Power.cpp
index 2cf4d33..a13ebb6 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/Power.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/Power.cpp
@@ -29,7 +29,12 @@
 
 namespace hal {
 namespace init {
-void InitializePower() {}
+void InitializePower() {
+  if (power == nullptr) {
+    int32_t status = 0;
+    power.reset(tPower::create(&status));
+  }
+}
 }  // namespace init
 }  // namespace hal