From 3fcfc8ea72096cc378f38ab892cbfdbedce152f0 Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Mon, 25 Nov 2019 21:43:58 -0800
Subject: [PATCH] Fix double disable segfaulting interrupts (#2132)

Also fixes DigitalOutput not closing correctly.
---
 hal/src/main/native/athena/Interrupts.cpp         | 15 ++++++++++++---
 .../java/edu/wpi/first/wpilibj/DigitalOutput.java |  1 +
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/hal/src/main/native/athena/Interrupts.cpp b/hal/src/main/native/athena/Interrupts.cpp
index 8ce55b26ce..78d518c38c 100644
--- a/hal/src/main/native/athena/Interrupts.cpp
+++ b/hal/src/main/native/athena/Interrupts.cpp
@@ -118,7 +118,11 @@ void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle,
   if (anInterrupt == nullptr) {
     return nullptr;
   }
-  anInterrupt->manager->disable(status);
+
+  if (anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->disable(status);
+  }
+
   void* param = anInterrupt->param;
   return param;
 }
@@ -152,7 +156,10 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  anInterrupt->manager->enable(status);
+
+  if (!anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->enable(status);
+  }
 }
 
 void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
@@ -162,7 +169,9 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  anInterrupt->manager->disable(status);
+  if (anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->disable(status);
+  }
 }
 
 int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index b42a566e75..ec1a44c6db 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -44,6 +44,7 @@ public class DigitalOutput extends DigitalSource implements Sendable, AutoClosea
 
   @Override
   public void close() {
+    super.close();
     SendableRegistry.remove(this);
     // Disable the pwm only if we have allocated it
     if (m_pwmGenerator != invalidPwmGenerator) {