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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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15
wpilibc/src/main/native/cpp/framework/TimedRobot.cpp
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@@ -25,8 +25,6 @@ void TimedRobot::StartCompetition() {
std::puts("\n********** Robot program startup complete **********");
HAL_ObserveUserProgramStarting();
bool first = true;
// Loop forever, calling the appropriate mode-dependent function
while (true) {
// We don't have to check there's an element in the queue first because
@@ -35,16 +33,9 @@ void TimedRobot::StartCompetition() {
auto callback = m_callbacks.pop();
int32_t status = 0;
if (first) {
first = false;
HAL_SetNotifierAlarm(m_notifier, callback.expirationTime.count(), 0, true,
&status);
WPILIB_CheckErrorStatus(status, "SetNotifierAlarm");
} else {
HAL_AcknowledgeNotifierAlarm(
m_notifier, true, callback.expirationTime.count(), 0, true, &status);
WPILIB_CheckErrorStatus(status, "AcknowledgeNotifierAlarm");
}
HAL_SetNotifierAlarm(m_notifier, callback.expirationTime.count(), 0, true,
true, &status);
WPILIB_CheckErrorStatus(status, "SetNotifierAlarm");
if (WPI_WaitForObject(m_notifier) == 0) {
break;

11
wpilibc/src/main/native/cpp/system/Notifier.cpp
View File

@@ -46,7 +46,7 @@ Notifier::Notifier(std::function<void()> callback) {
}
// Ack notifier
HAL_AcknowledgeNotifierAlarm(notifier, false, 0, 0, false, &status);
HAL_AcknowledgeNotifierAlarm(notifier, &status);
WPILIB_CheckErrorStatus(status, "AcknowledgeNotifier");
}
});
@@ -99,7 +99,7 @@ Notifier::Notifier(int priority, std::function<void()> callback) {
}
// Ack notifier
HAL_AcknowledgeNotifierAlarm(notifier, false, 0, 0, false, &status);
HAL_AcknowledgeNotifierAlarm(notifier, &status);
WPILIB_CheckErrorStatus(status, "AcknowledgeNotifier");
}
});
@@ -144,13 +144,14 @@ void Notifier::SetCallback(std::function<void()> callback) {
void Notifier::StartSingle(wpi::units::second_t delay) {
int32_t status = 0;
HAL_SetNotifierAlarm(m_notifier, static_cast<uint64_t>(delay * 1e6), 0, false,
&status);
false, &status);
}
void Notifier::StartPeriodic(wpi::units::second_t period) {
int32_t status = 0;
HAL_SetNotifierAlarm(m_notifier, static_cast<uint64_t>(period * 1e6),
static_cast<uint64_t>(period * 1e6), false, &status);
static_cast<uint64_t>(period * 1e6), false, false,
&status);
}
void Notifier::StartPeriodic(wpi::units::hertz_t frequency) {
@@ -159,7 +160,7 @@ void Notifier::StartPeriodic(wpi::units::hertz_t frequency) {
void Notifier::Stop() {
int32_t status = 0;
HAL_CancelNotifierAlarm(m_notifier, &status);
HAL_CancelNotifierAlarm(m_notifier, false, &status);
WPILIB_CheckErrorStatus(status, "CancelNotifierAlarm");
}

10
wpilibc/src/main/native/cpp/system/Watchdog.cpp
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@@ -75,18 +75,12 @@ void Watchdog::Impl::UpdateAlarm(bool acknowledge) {
return;
}
if (m_watchdogs.empty()) {
HAL_CancelNotifierAlarm(notifier, &status);
} else if (acknowledge) {
HAL_AcknowledgeNotifierAlarm(
notifier, true,
static_cast<uint64_t>(m_watchdogs.top()->m_expirationTime.value() *
1e6),
0, true, &status);
HAL_CancelNotifierAlarm(notifier, acknowledge, &status);
} else {
HAL_SetNotifierAlarm(notifier,
static_cast<uint64_t>(
m_watchdogs.top()->m_expirationTime.value() * 1e6),
0, true, &status);
0, true, acknowledge, &status);
}
WPILIB_CheckErrorStatus(status, "updating watchdog notifier alarm");
}