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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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2
wpilibc/src/main/python/wpilib/src/rpy/Notifier.cpp
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@@ -71,7 +71,7 @@ PyNotifier::PyNotifier(std::function<void()> handler) {
}
// Ack notifier
HAL_AcknowledgeNotifierAlarm(notifier, &status);
HAL_AcknowledgeNotifierAlarm(notifier, false, 0, 0, false, &status);
WPILIB_CheckErrorStatus(status, "AcknowledgeNotifier");
}
} catch (...) {