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[wpilib] Clean up Notifier (#5630)

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The user-facing docs were simplified, SetHandler() was renamed to
SetCallback(), and the internal documentation was synchronized.
This commit is contained in:
Tyler Veness
2023-09-15 19:59:03 -07:00
committed by GitHub
parent 4bac4dd0f4
commit 12e2043b77
3 changed files with 148 additions and 112 deletions
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51
wpilibc/src/main/native/cpp/Notifier.cpp
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@@ -17,11 +17,11 @@
using namespace frc;
Notifier::Notifier(std::function<void()> handler) {
if (!handler) {
throw FRC_MakeError(err::NullParameter, "handler");
Notifier::Notifier(std::function<void()> callback) {
if (!callback) {
throw FRC_MakeError(err::NullParameter, "callback");
}
m_handler = handler;
m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
@@ -38,32 +38,32 @@ Notifier::Notifier(std::function<void()> handler) {
break;
}
std::function<void()> handler;
std::function<void()> callback;
{
std::scoped_lock lock(m_processMutex);
handler = m_handler;
callback = m_callback;
if (m_periodic) {
m_expirationTime += m_period;
UpdateAlarm();
} else {
// need to update the alarm to cause it to wait again
// Need to update the alarm to cause it to wait again
UpdateAlarm(UINT64_MAX);
}
}
// call callback
if (handler) {
handler();
// Call callback
if (callback) {
callback();
}
}
});
}
Notifier::Notifier(int priority, std::function<void()> handler) {
if (!handler) {
throw FRC_MakeError(err::NullParameter, "handler");
Notifier::Notifier(int priority, std::function<void()> callback) {
if (!callback) {
throw FRC_MakeError(err::NullParameter, "callback");
}
m_handler = handler;
m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
@@ -81,10 +81,10 @@ Notifier::Notifier(int priority, std::function<void()> handler) {
break;
}
std::function<void()> handler;
std::function<void()> callback;
{
std::scoped_lock lock(m_processMutex);
handler = m_handler;
callback = m_callback;
if (m_periodic) {
m_expirationTime += m_period;
UpdateAlarm();
@@ -95,9 +95,9 @@ Notifier::Notifier(int priority, std::function<void()> handler) {
}
// call callback
if (handler) {
if (callback) {
try {
handler();
callback();
} catch (const frc::RuntimeError& e) {
e.Report();
FRC_ReportError(
@@ -123,7 +123,7 @@ Notifier::~Notifier() {
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "StopNotifier");
// Join the thread to ensure the handler has exited.
// Join the thread to ensure the callback has exited.
if (m_thread.joinable()) {
m_thread.join();
}
@@ -134,7 +134,7 @@ Notifier::~Notifier() {
Notifier::Notifier(Notifier&& rhs)
: m_thread(std::move(rhs.m_thread)),
m_notifier(rhs.m_notifier.load()),
m_handler(std::move(rhs.m_handler)),
m_callback(std::move(rhs.m_callback)),
m_expirationTime(std::move(rhs.m_expirationTime)),
m_period(std::move(rhs.m_period)),
m_periodic(std::move(rhs.m_periodic)) {
@@ -145,7 +145,7 @@ Notifier& Notifier::operator=(Notifier&& rhs) {
m_thread = std::move(rhs.m_thread);
m_notifier = rhs.m_notifier.load();
rhs.m_notifier = HAL_kInvalidHandle;
m_handler = std::move(rhs.m_handler);
m_callback = std::move(rhs.m_callback);
m_expirationTime = std::move(rhs.m_expirationTime);
m_period = std::move(rhs.m_period);
m_periodic = std::move(rhs.m_periodic);
@@ -161,9 +161,14 @@ void Notifier::SetName(std::string_view name) {
HAL_SetNotifierName(m_notifier, buf.data(), &status);
}
void Notifier::SetHandler(std::function<void()> handler) {
void Notifier::SetHandler(std::function<void()> callback) {
std::scoped_lock lock(m_processMutex);
m_handler = handler;
m_callback = callback;
}
void Notifier::SetCallback(std::function<void()> callback) {
std::scoped_lock lock(m_processMutex);
m_callback = callback;
}
void Notifier::StartSingle(units::second_t delay) {