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[wpilib] Fix Watchdog to always ack notifier (#8472)

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This commit is contained in:
Peter Johnson
2025-12-12 21:19:54 -07:00
committed by GitHub
parent 0049c6f23f
commit 2a41b80e00
2 changed files with 12 additions and 12 deletions
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10
wpilibc/src/main/native/cpp/system/Watchdog.cpp
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@@ -39,7 +39,7 @@ class Watchdog::Impl {
DerefGreater<Watchdog*>>
m_watchdogs;
void UpdateAlarm(bool acknowledge = false);
void UpdateAlarm();
private:
void Main();
@@ -67,7 +67,7 @@ Watchdog::Impl::~Impl() {
}
}
void Watchdog::Impl::UpdateAlarm(bool acknowledge) {
void Watchdog::Impl::UpdateAlarm() {
int32_t status = 0;
// Return if we are being destructed, or were not created successfully
auto notifier = m_notifier.load();
@@ -75,12 +75,12 @@ void Watchdog::Impl::UpdateAlarm(bool acknowledge) {
return;
}
if (m_watchdogs.empty()) {
HAL_CancelNotifierAlarm(notifier, acknowledge, &status);
HAL_CancelNotifierAlarm(notifier, true, &status);
} else {
HAL_SetNotifierAlarm(notifier,
static_cast<uint64_t>(
m_watchdogs.top()->m_expirationTime.value() * 1e6),
0, true, acknowledge, &status);
0, true, true, &status);
}
WPILIB_CheckErrorStatus(status, "updating watchdog notifier alarm");
}
@@ -125,7 +125,7 @@ void Watchdog::Impl::Main() {
watchdog->m_callback();
lock.lock();
UpdateAlarm(true);
UpdateAlarm();
}
}

14
wpilibj/src/main/java/org/wpilib/system/Watchdog.java
View File

@@ -120,7 +120,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
m_watchdogs.remove(this);
m_expirationTime = m_startTime + m_timeout;
m_watchdogs.add(this);
updateAlarm(false);
updateAlarm();
} finally {
m_queueMutex.unlock();
}
@@ -194,7 +194,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
m_watchdogs.remove(this);
m_expirationTime = m_startTime + m_timeout;
m_watchdogs.add(this);
updateAlarm(false);
updateAlarm();
} finally {
m_queueMutex.unlock();
}
@@ -205,7 +205,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
m_queueMutex.lock();
try {
m_watchdogs.remove(this);
updateAlarm(false);
updateAlarm();
} finally {
m_queueMutex.unlock();
}
@@ -223,12 +223,12 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
}
@SuppressWarnings("resource")
private static void updateAlarm(boolean acknowledge) {
private static void updateAlarm() {
if (m_watchdogs.isEmpty()) {
NotifierJNI.cancelNotifierAlarm(m_notifier, acknowledge);
NotifierJNI.cancelNotifierAlarm(m_notifier, true);
} else {
NotifierJNI.setNotifierAlarm(
m_notifier, (long) (m_watchdogs.peek().m_expirationTime * 1e6), 0, true, acknowledge);
m_notifier, (long) (m_watchdogs.peek().m_expirationTime * 1e6), 0, true, true);
}
}
@@ -277,7 +277,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
watchdog.m_callback.run();
m_queueMutex.lock();
updateAlarm(true);
updateAlarm();
} finally {
m_queueMutex.unlock();
}