From 38b09a6dfd29b3223a0733c0e71aff63a0b3a7ff Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Thu, 5 Dec 2024 09:17:45 -0800
Subject: [PATCH] [hal] Clean up systemcore notifier impl (#7487)

* Clean up systemcore notifier impl

* Formatting fixes

---------

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
---
 hal/src/main/native/systemcore/Notifier.cpp | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/hal/src/main/native/systemcore/Notifier.cpp b/hal/src/main/native/systemcore/Notifier.cpp
index 3587a4cdd2..7a6fb0e99c 100644
--- a/hal/src/main/native/systemcore/Notifier.cpp
+++ b/hal/src/main/native/systemcore/Notifier.cpp
@@ -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;
 }