Switch away from NI interrupt manager to custom implementation (#3705)

* Switch away from NI interrupt manager to custom implementation * Formatting * Fix tidy * Formatting * Fix loading * Make interrupt api public * Add multiple wait api * Formatting * Fix build * Fix review comments * wpiformat Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
2026-07-02 02:51:42 +00:00 · 2022-10-13 17:25:54 -07:00
parent ca43fe2798
commit 58b6484dbe
11 changed files with 272 additions and 16 deletions
--- a/hal/src/main/native/athena/InterruptManager.cpp
+++ b/hal/src/main/native/athena/InterruptManager.cpp
@@ -0,0 +1,123 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/roborio/InterruptManager.h"
+
+#include <fmt/format.h>
+
+#include "HALInternal.h"
+#include "dlfcn.h"
+#include "hal/Errors.h"
+
+// Low level FPGA calls
+using HAL_NiFpga_ReserveIrqContextFunc =
+    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext* context);
+
+static HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
+
+using HAL_NiFpga_UnreserveIrqContextFunc =
+    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext context);
+
+static HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
+
+using HAL_NiFpga_WaitOnIrqsFunc = NiFpga_Status (*)(
+    NiFpga_Session session, NiFpga_IrqContext context, uint32_t irqs,
+    uint32_t timeout, uint32_t* irqsAsserted, NiFpga_Bool* timedOut);
+
+static HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
+
+using HAL_NiFpga_AcknowledgeIrqsFunc = NiFpga_Status (*)(NiFpga_Session session,
+                                                         uint32_t irqs);
+
+static HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
+
+static void* NiFpgaLibrary = nullptr;
+
+using namespace hal;
+
+InterruptManager& InterruptManager::GetInstance() {
+  static InterruptManager manager;
+  return manager;
+}
+
+int32_t InterruptManager::Initialize(tSystemInterface* baseSystem) {
+  auto& manager = GetInstance();
+  manager.fpgaSession = baseSystem->getHandle();
+
+  NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
+  if (!NiFpgaLibrary) {
+    return errno;
+  }
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+  HAL_NiFpga_ReserveIrqContext =
+      reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
+          dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
+  HAL_NiFpga_UnreserveIrqContext =
+      reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
+          dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
+  HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
+  HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
+#pragma GCC diagnostic pop
+
+  if (HAL_NiFpga_ReserveIrqContext == nullptr ||
+      HAL_NiFpga_UnreserveIrqContext == nullptr ||
+      HAL_NiFpga_WaitOnIrqs == nullptr ||
+      HAL_NiFpga_AcknowledgeIrqs == nullptr) {
+    return NO_AVAILABLE_RESOURCES;
+  }
+
+  return HAL_SUCCESS;
+}
+
+NiFpga_IrqContext InterruptManager::GetContext() noexcept {
+  NiFpga_IrqContext context;
+  HAL_NiFpga_ReserveIrqContext(fpgaSession, &context);
+  return context;
+}
+
+void InterruptManager::ReleaseContext(NiFpga_IrqContext context) noexcept {
+  HAL_NiFpga_UnreserveIrqContext(fpgaSession, context);
+}
+
+uint32_t InterruptManager::WaitForInterrupt(NiFpga_IrqContext context,
+                                            uint32_t mask, bool ignorePrevious,
+                                            uint32_t timeoutMs,
+                                            int32_t* status) {
+  {
+    // Make sure we can safely use this
+    std::scoped_lock lock(currentMaskMutex);
+    if ((currentMask & mask) != 0) {
+      *status = PARAMETER_OUT_OF_RANGE;
+      hal::SetLastError(
+          status, fmt::format("Interrupt mask {} has bits {} already in use",
+                              mask, (currentMask & mask)));
+      return 0;
+    }
+    currentMask |= mask;
+  }
+
+  if (ignorePrevious) {
+    HAL_NiFpga_AcknowledgeIrqs(fpgaSession, mask);
+  }
+
+  uint32_t irqsAsserted = 0;
+  NiFpga_Bool timedOut = 0;
+  *status = HAL_NiFpga_WaitOnIrqs(fpgaSession, context, mask, timeoutMs,
+                                  &irqsAsserted, &timedOut);
+
+  if (!timedOut) {
+    HAL_NiFpga_AcknowledgeIrqs(fpgaSession, irqsAsserted);
+  }
+
+  {
+    std::scoped_lock lock(currentMaskMutex);
+    currentMask &= ~mask;
+  }
+
+  return irqsAsserted;
+}