Add name to HAL Notifier

hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -19,6 +19,11 @@ public class NotifierJNI extends JNIWrapper {
    */
   public static native int initializeNotifier();
 
+  /**
+   * Sets the name of the notifier.
+   */
+  public static native void setNotifierName(int notifierHandle, String name);
+
   /**
    * Wakes up the waiter with time=0.  Note: after this function is called, all
    * calls to waitForNotifierAlarm() will immediately start returning 0.

hal/src/main/native/athena/Notifier.cpp

@@ -139,6 +139,9 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
   return handle;
 }
 
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status) {}
+
 void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   auto notifier = notifierHandles->Get(notifierHandle);
   if (!notifier) return;

hal/src/main/native/cpp/jni/NotifierJNI.cpp

@@ -10,6 +10,8 @@
 #include <cassert>
 #include <cstdio>
 
+#include <wpi/jni_util.h>
+
 #include "HALUtil.h"
 #include "edu_wpi_first_hal_NotifierJNI.h"
 #include "hal/Notifier.h"
@@ -37,6 +39,21 @@ Java_edu_wpi_first_hal_NotifierJNI_initializeNotifier
   return (jint)notifierHandle;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_NotifierJNI
+ * Method:    setNotifierName
+ * Signature: (ILjava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_NotifierJNI_setNotifierName
+  (JNIEnv* env, jclass cls, jint notifierHandle, jstring name)
+{
+  int32_t status = 0;
+  HAL_SetNotifierName((HAL_NotifierHandle)notifierHandle,
+                      wpi::java::JStringRef{env, name}.c_str(), &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_NotifierJNI
  * Method:    stopNotifier

hal/src/main/native/include/hal/Notifier.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -31,6 +31,15 @@ extern "C" {
  */
 HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
 
+/**
+ * Sets the name of a notifier.
+ *
+ * @param notifierHandle the notifier handle
+ * @param name name
+ */
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status);
+
 /**
  * Stops a notifier from running.
  *

hal/src/main/native/sim/Notifier.cpp

@@ -8,6 +8,7 @@
 #include "hal/Notifier.h"
 
 #include <chrono>
+#include <string>
 
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
@@ -20,6 +21,7 @@
 
 namespace {
 struct Notifier {
+  std::string name;
   uint64_t waitTime;
   bool updatedAlarm = false;
   bool active = true;
@@ -71,6 +73,14 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
   return handle;
 }
 
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status) {
+  auto notifier = notifierHandles->Get(notifierHandle);
+  if (!notifier) return;
+  std::scoped_lock lock(notifier->mutex);
+  notifier->name = name;
+}
+
 void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   auto notifier = notifierHandles->Get(notifierHandle);
   if (!notifier) return;

wpilibc/src/main/native/cpp/Notifier.cpp

@@ -11,6 +11,7 @@
 
 #include <hal/FRCUsageReporting.h>
 #include <hal/Notifier.h>
+#include <wpi/SmallString.h>
 
 #include "frc/Timer.h"
 #include "frc/Utility.h"
@@ -91,6 +92,13 @@ Notifier& Notifier::operator=(Notifier&& rhs) {
   return *this;
 }
 
+void Notifier::SetName(const wpi::Twine& name) {
+  wpi::SmallString<64> nameBuf;
+  int32_t status = 0;
+  HAL_SetNotifierName(m_notifier,
+                      name.toNullTerminatedStringRef(nameBuf).data(), &status);
+}
+
 void Notifier::SetHandler(std::function<void()> handler) {
   std::scoped_lock lock(m_processMutex);
   m_handler = handler;

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -60,6 +60,7 @@ TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
   int32_t status = 0;
   m_notifier = HAL_InitializeNotifier(&status);
   wpi_setHALError(status);
+  HAL_SetNotifierName(m_notifier, "TimedRobot", &status);
 
   HAL_Report(HALUsageReporting::kResourceType_Framework,
              HALUsageReporting::kFramework_Timed);

wpilibc/src/main/native/include/frc/Notifier.h

@@ -16,6 +16,7 @@
 
 #include <hal/Types.h>
 #include <units/units.h>
+#include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
@@ -46,6 +47,13 @@ class Notifier : public ErrorBase {
   Notifier(Notifier&& rhs);
   Notifier& operator=(Notifier&& rhs);
 
+  /**
+   * Sets the name of the notifier.  Used for debugging purposes only.
+   *
+   * @param name Name
+   */
+  void SetName(const wpi::Twine& name);
+
   /**
    * Change the handler function.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -138,6 +138,16 @@ public class Notifier implements AutoCloseable {
     m_thread.start();
   }
 
+  /**
+   * Sets the name of the notifier.  Used for debugging purposes only.
+   *
+   * @param name Name
+   */
+  public void setName(String name) {
+    m_thread.setName(name);
+    NotifierJNI.setNotifierName(m_notifier.get(), name);
+  }
+
   /**
    * Change the handler function.
    *

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -43,6 +43,7 @@ public class TimedRobot extends IterativeRobotBase {
    */
   protected TimedRobot(double period) {
     super(period);
+    NotifierJNI.setNotifierName(m_notifier, "TimedRobot");
 
     HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Timed);
   }