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[hal] Fix HAL Notifier thread priority setting (#3522)

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The HAL Notifier thread is started when the first Notifier is created
and stopped when the last Notifier is destroyed. Currently,
HAL_SetNotifierThreadPriority() will cause a segfault if the Notifier thread
hasn't been started yet (that is, if no Notifier have been created yet).

This change makes HAL_SetNotifierThreadPriority() store the RT and
priority setting. If the thread has already been started, it will set
the priority immediately. If it hasn't, HAL_InitializeNotifier() will
set the priority when it starts the thread.
This commit is contained in:
Tyler Veness
2021-08-20 23:19:25 -07:00
committed by GitHub
parent ab4cb59326
commit 2b3e2ebc11
2 changed files with 30 additions and 6 deletions
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29
hal/src/main/native/athena/Notifier.cpp
View File

@@ -9,6 +9,7 @@
#include <memory>
#include <thread>
#include <fmt/core.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
@@ -27,6 +28,8 @@ static constexpr int32_t kTimerInterruptNumber = 28;
static wpi::mutex notifierMutex;
static std::unique_ptr<tAlarm> notifierAlarm;
static std::thread notifierThread;
static HAL_Bool notifierThreadRealTime = false;
static int32_t notifierThreadPriority = 0;
static uint64_t closestTrigger{UINT64_MAX};
namespace {
@@ -147,6 +150,21 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
std::scoped_lock lock(notifierMutex);
notifierRunning = true;
notifierThread = std::thread(notifierThreadMain);
auto native = notifierThread.native_handle();
HAL_SetThreadPriority(&native, notifierThreadRealTime,
notifierThreadPriority, status);
if (*status == HAL_THREAD_PRIORITY_ERROR) {
*status = 0;
fmt::print("{}: HAL Notifier thread\n",
HAL_THREAD_PRIORITY_ERROR_MESSAGE);
}
if (*status == HAL_THREAD_PRIORITY_RANGE_ERROR) {
*status = 0;
fmt::print("{}: HAL Notifier thread\n",
HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE);
}
notifierAlarm.reset(tAlarm::create(status));
}
@@ -161,8 +179,15 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status) {
auto native = notifierThread.native_handle();
return HAL_SetThreadPriority(&native, realTime, priority, status);
std::scoped_lock lock(notifierMutex);
notifierThreadRealTime = realTime;
notifierThreadPriority = priority;
if (notifierThread.joinable()) {
auto native = notifierThread.native_handle();
return HAL_SetThreadPriority(&native, realTime, priority, status);
} else {
return true;
}
}
void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,

7
hal/src/main/native/include/hal/Errors.h
View File

@@ -119,7 +119,7 @@
#define HAL_THREAD_PRIORITY_ERROR -1152
#define HAL_THREAD_PRIORITY_ERROR_MESSAGE \
"HAL: Getting or setting the priority of a thread has failed";
"HAL: Getting or setting the priority of a thread has failed"
#define HAL_THREAD_PRIORITY_RANGE_ERROR -1153
#define HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE \
@@ -136,14 +136,13 @@
"HAL: Use HAL_GetLastError(status) to get last error"
#define HAL_SETUID_ERROR -1157
#define HAL_SETUID_ERROR_MESSAGE \
"HAL: Setting the effective user ID has failed";
#define HAL_SETUID_ERROR_MESSAGE "HAL: Setting the effective user ID has failed"
#define HAL_CAN_BUFFER_OVERRUN -35007
#define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
"HAL: CAN Output Buffer Full. Ensure a device is attached"
#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error"
#define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
#define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"
#define VI_ERROR_RSRC_NFOUND_MESSAGE "HAL - VISA: Resource Not Found"