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[hal,wpilib] Fix TimedRobot notifier race (#8445)

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It was possible for the alarm to fire between the set alarm and ack,
resulting in a hang on next wait. It's not possible to ack before set
alarm due to a race in sim step timing, so the fix is to provide an
atomic ack and set alarm; the easiest way to implement this in the API
was to change ack to optionally also set the alarm again.
This commit is contained in:
Peter Johnson
2025-12-04 09:59:59 -07:00
committed by GitHub
parent d1b1703c86
commit 934f8d9c15
12 changed files with 147 additions and 78 deletions
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10
hal/src/main/native/cpp/jni/NotifierJNI.cpp
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@@ -113,14 +113,18 @@ Java_org_wpilib_hardware_hal_NotifierJNI_cancelNotifierAlarm
/*
* Class: org_wpilib_hardware_hal_NotifierJNI
* Method: acknowledgeNotifierAlarm
* Signature: (I)V
* Signature: (IZJJZ)V
*/
JNIEXPORT void JNICALL
Java_org_wpilib_hardware_hal_NotifierJNI_acknowledgeNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle)
(JNIEnv* env, jclass cls, jint notifierHandle, jboolean setAlarm,
jlong alarmTime, jlong intervalTime, jboolean absolute)
{
int32_t status = 0;
HAL_AcknowledgeNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
HAL_AcknowledgeNotifierAlarm((HAL_NotifierHandle)notifierHandle, setAlarm,
static_cast<uint64_t>(alarmTime),
static_cast<uint64_t>(intervalTime), absolute,
&status);
CheckStatus(env, status);
}