Merge "Rewrite C++ Notifier to use HAL multi-notifier support."

wpilibc/Athena/include/Notifier.h

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "ErrorBase.h"
+#include "HAL/cpp/priority_mutex.h"
+
+typedef void (*TimerEventHandler)(void *param);
+
+class Notifier : public ErrorBase {
+ public:
+  Notifier(TimerEventHandler handler, void *param = nullptr);
+  virtual ~Notifier();
+
+  Notifier(const Notifier&) = delete;
+  Notifier& operator=(const Notifier&) = delete;
+
+  void StartSingle(double delay);
+  void StartPeriodic(double period);
+  void Stop();
+
+ private:
+  // update the HAL alarm
+  void UpdateAlarm();
+  // HAL callback
+  static void Notify(uint32_t currentTimeInt, void *param);
+
+  // held while updating process information
+  priority_mutex m_processMutex;
+  // HAL handle
+  void *m_notifier;
+  // address of the handler
+  TimerEventHandler m_handler;
+  // a parameter to pass to the handler
+  void *m_param;
+  // the absolute expiration time
+  double m_expirationTime = 0;
+  // the relative time (either periodic or single)
+  double m_period = 0;
+  // true if this is a periodic event
+  bool m_periodic = false;
+
+  // held by interrupt manager task while handler call is in progress
+  priority_mutex m_handlerMutex;
+};