Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

HAL: Add support for multiple Notifiers.

Browse Source 
This is a poor man's version of the multi-instance Notifier support in
the higher level languages.  It's intended primarily so that notifiers
can be created internal to the HAL.

One benefit of this change is that the current FPGA timestamp is passed
as the first parameter to the ProcessQueue function (rather than the
useless interrupt mask).

Caution for other languages wrapping the HAL: this adds a parameter to
initializeNotifier().

An atexit hook is used for safe cleanup at program termination.

Change-Id: I782b3a74c10215588ae9b7191906fb4186a81028
This commit is contained in:
Peter Johnson
2015-11-21 22:17:11 -08:00
parent 07be45af80
commit 03c43a46d7
4 changed files with 129 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpilibc/Athena/src/Notifier.cpp
View File

@@ -15,7 +15,7 @@ Notifier *Notifier::timerQueueHead = nullptr;
priority_recursive_mutex Notifier::queueMutex;
priority_mutex Notifier::halMutex;
void *Notifier::m_notifier = nullptr;
std::atomic<int> Notifier::refcount{0};
std::atomic<int> Notifier::refcount = ATOMIC_VAR_INIT(0);
/**
* Create a Notifier for timer event notification.
@@ -33,7 +33,7 @@ Notifier::Notifier(TimerEventHandler handler, void *param) {
{
std::lock_guard<priority_mutex> sync(halMutex);
if (!m_notifier)
m_notifier = initializeNotifier(ProcessQueue, &status);
m_notifier = initializeNotifier(ProcessQueue, nullptr, &status);
}
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -105,13 +105,13 @@ void Notifier::UpdateAlarm() {
* as its scheduled time is after the current time. Then the item is removed or
* rescheduled (repetitive events) in the queue.
*/
void Notifier::ProcessQueue(uint32_t mask, void *params) {
void Notifier::ProcessQueue(uint32_t currentTimeInt, void *params) {
Notifier *current;
while (true) // keep processing past events until no more
{
{
std::lock_guard<priority_recursive_mutex> sync(queueMutex);
double currentTime = GetClock();
double currentTime = currentTimeInt * 1.0e-6;
current = timerQueueHead;
if (current == nullptr || current->m_expirationTime > currentTime) {
break; // no more timer events to process