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[hal] Notifier: simplify ack API (#8457)

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Adding an ack parameter to both set and cancel is cleaner than adding
all the set alarm parameters to the ack function. It also provides an
ack-and-cancel method.
This commit is contained in:
Peter Johnson
2025-12-09 20:28:15 -07:00
committed by GitHub
parent 936be71a7d
commit 06a9a055b3
12 changed files with 111 additions and 177 deletions
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68
hal/src/main/native/systemcore/Notifier.cpp
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@@ -39,10 +39,6 @@ class NotifierThread : public wpi::util::SafeThread {
public:
void Main() override;
void SetAlarm(HAL_NotifierHandle notifierHandle,
std::shared_ptr<Notifier>& notifier, uint64_t alarmTime,
uint64_t intervalTime, bool absolute, int32_t* status);
void ProcessAlarms();
UnlimitedHandleResource<HAL_NotifierHandle, Notifier,
@@ -101,30 +97,6 @@ void NotifierThread::Main() {
}
}
void NotifierThread::SetAlarm(HAL_NotifierHandle notifierHandle,
std::shared_ptr<Notifier>& notifier,
uint64_t alarmTime, uint64_t intervalTime,
bool absolute, int32_t* status) {
if (!absolute) {
alarmTime += HAL_GetFPGATime(status);
}
uint64_t prevWakeup = UINT64_MAX;
if (!m_alarmQueue.empty()) {
prevWakeup = m_alarmQueue.top().notifier->alarmTime;
m_alarmQueue.remove({notifierHandle, notifier});
}
notifier->alarmTime = alarmTime;
notifier->intervalTime = intervalTime;
notifier->overrunCount = 0;
m_alarmQueue.push({notifierHandle, notifier});
// wake up notifier thread if needed
if (alarmTime < prevWakeup) {
m_cond.notify_all();
}
}
void NotifierThread::ProcessAlarms() {
int32_t status = 0;
uint64_t curTime = HAL_GetFPGATime(&status);
@@ -204,17 +176,38 @@ void HAL_DestroyNotifier(HAL_NotifierHandle notifierHandle) {
void HAL_SetNotifierAlarm(HAL_NotifierHandle notifierHandle, uint64_t alarmTime,
uint64_t intervalTime, HAL_Bool absolute,
int32_t* status) {
HAL_Bool ack, int32_t* status) {
auto thr = notifierInstance->owner.GetThread();
auto notifier = thr->m_handles.Get(notifierHandle);
if (!notifier) {
return;
}
thr->SetAlarm(notifierHandle, notifier, alarmTime, intervalTime, absolute,
status);
if (ack) {
notifier->handlerSignaled.clear();
}
if (!absolute) {
alarmTime += HAL_GetFPGATime(status);
}
uint64_t prevWakeup = UINT64_MAX;
if (!thr->m_alarmQueue.empty()) {
prevWakeup = thr->m_alarmQueue.top().notifier->alarmTime;
thr->m_alarmQueue.remove({notifierHandle, notifier});
}
notifier->alarmTime = alarmTime;
notifier->intervalTime = intervalTime;
notifier->overrunCount = 0;
thr->m_alarmQueue.push({notifierHandle, notifier});
// wake up notifier thread if needed
if (alarmTime < prevWakeup) {
thr->m_cond.notify_all();
}
}
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle, HAL_Bool ack,
int32_t* status) {
auto thr = notifierInstance->owner.GetThread();
auto notifier = thr->m_handles.Get(notifierHandle);
@@ -222,14 +215,15 @@ void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
return;
}
if (ack) {
notifier->handlerSignaled.clear();
}
thr->m_alarmQueue.remove({notifierHandle, notifier});
notifier->alarmTime = UINT64_MAX;
notifier->handlerSignaled.clear();
}
void HAL_AcknowledgeNotifierAlarm(HAL_NotifierHandle notifierHandle,
HAL_Bool setAlarm, uint64_t alarmTime,
uint64_t intervalTime, HAL_Bool absolute,
int32_t* status) {
auto thr = notifierInstance->owner.GetThread();
auto notifier = thr->m_handles.Get(notifierHandle);
@@ -237,10 +231,6 @@ void HAL_AcknowledgeNotifierAlarm(HAL_NotifierHandle notifierHandle,
return;
}
notifier->handlerSignaled.clear();
if (setAlarm) {
thr->SetAlarm(notifierHandle, notifier, alarmTime, intervalTime, absolute,
status);
}
}
int32_t HAL_GetNotifierOverrun(HAL_NotifierHandle notifierHandle,