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[hal] Clean up systemcore notifier impl (#7487)

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* Clean up systemcore notifier impl

* Formatting fixes

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
This commit is contained in:
Thad House
2024-12-05 09:17:45 -08:00
committed by GitHub
parent d7cd71589a
commit 38b09a6dfd
1 changed files with 3 additions and 10 deletions
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13
hal/src/main/native/systemcore/Notifier.cpp
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@@ -29,9 +29,7 @@ struct Notifier {
std::string name;
uint64_t waitTime = UINT64_MAX;
bool active = true;
bool waitTimeValid = false; // True if waitTime is set and in the future
bool waitingForAlarm = false; // True if in HAL_WaitForNotifierAlarm()
uint64_t waitCount = 0; // Counts calls to HAL_WaitForNotifierAlarm()
bool waitTimeValid = false; // True if waitTime is set and in the future
wpi::mutex mutex;
wpi::condition_variable cond;
};
@@ -60,7 +58,6 @@ class NotifierHandleContainer
};
static NotifierHandleContainer* notifierHandles;
static std::atomic<bool> notifiersPaused{false};
namespace hal::init {
void InitializeNotifier() {
@@ -84,7 +81,7 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status) {
// TODO fix this
// There is no thread, so this can be removed.
return true;
}
@@ -166,20 +163,17 @@ uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
std::unique_lock ulock(notifiersWaiterMutex);
std::unique_lock lock(notifier->mutex);
notifier->waitingForAlarm = true;
++notifier->waitCount;
ulock.unlock();
notifiersWaiterCond.notify_all();
while (notifier->active) {
uint64_t curTime = HAL_GetFPGATime(status);
if (notifier->waitTimeValid && curTime >= notifier->waitTime) {
notifier->waitTimeValid = false;
notifier->waitingForAlarm = false;
return curTime;
}
double waitDuration;
if (!notifier->waitTimeValid || notifiersPaused) {
if (!notifier->waitTimeValid) {
// If not running, wait 1000 seconds
waitDuration = 1000.0;
} else {
@@ -188,7 +182,6 @@ uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
notifier->cond.wait_for(lock, std::chrono::duration<double>(waitDuration));
}
notifier->waitingForAlarm = false;
return 0;
}