Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal] Fix interrupt edges being flipped in sim (#6720)

Browse Source
This commit is contained in:
Gold856
2024-07-16 20:26:35 -04:00
committed by GitHub
parent 59256f0e00
commit e5b7cf4c76
3 changed files with 160 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
hal/src/main/native/sim/Interrupts.cpp
View File

@@ -44,7 +44,7 @@ struct Interrupt {
HAL_AnalogTriggerType trigType;
int64_t risingTimestamp;
int64_t fallingTimestamp;
bool previousState;
bool currentState;
bool fireOnUp;
bool fireOnDown;
int32_t callbackId;
@@ -121,8 +121,8 @@ static void ProcessInterruptDigitalSynchronous(const char* name, void* param,
return;
}
bool retVal = value->data.v_boolean;
auto previousState = interrupt->previousState;
interrupt->previousState = retVal;
auto previousState = interrupt->currentState;
interrupt->currentState = retVal;
// If no change in interrupt, return;
if (retVal == previousState) {
return;
@@ -176,8 +176,8 @@ static void ProcessInterruptAnalogSynchronous(const char* name, void* param,
// Pulse interrupt
interruptData->waitCond.notify_all();
}
auto previousState = interrupt->previousState;
interrupt->previousState = retVal;
auto previousState = interrupt->currentState;
interrupt->currentState = retVal;
// If no change in interrupt, return;
if (retVal == previousState) {
return;
@@ -220,7 +220,7 @@ static int64_t WaitForInterruptDigital(HAL_InterruptHandle handle,
return WaitResult::Timeout;
}
interrupt->previousState = SimDIOData[digitalIndex].value;
interrupt->currentState = SimDIOData[digitalIndex].value;
int32_t uid = SimDIOData[digitalIndex].value.RegisterCallback(
&ProcessInterruptDigitalSynchronous,
@@ -252,14 +252,16 @@ static int64_t WaitForInterruptDigital(HAL_InterruptHandle handle,
if (timedOut) {
return WaitResult::Timeout;
}
// True => false, Falling
if (interrupt->previousState) {
// We know the value has changed because we would've timed out otherwise.
// If the current state is true, the previous state was false, so this is a
// rising edge. Otherwise, it's a falling edge.
if (interrupt->currentState) {
// Set our return value and our timestamps
interrupt->fallingTimestamp = hal::GetFPGATime();
return 1 << (8 + interrupt->index);
} else {
interrupt->risingTimestamp = hal::GetFPGATime();
return 1 << (interrupt->index);
} else {
interrupt->fallingTimestamp = hal::GetFPGATime();
return 1 << (8 + interrupt->index);
}
}
@@ -278,8 +280,8 @@ static int64_t WaitForInterruptAnalog(HAL_InterruptHandle handle,
data->interruptHandle = handle;
int32_t status = 0;
interrupt->previousState = GetAnalogTriggerValue(
interrupt->portHandle, interrupt->trigType, &status);
interrupt->currentState = GetAnalogTriggerValue(interrupt->portHandle,
interrupt->trigType, &status);
if (status != 0) {
return WaitResult::Timeout;
@@ -322,14 +324,16 @@ static int64_t WaitForInterruptAnalog(HAL_InterruptHandle handle,
if (timedOut) {
return WaitResult::Timeout;
}
// True => false, Falling
if (interrupt->previousState) {
// We know the value has changed because we would've timed out otherwise.
// If the current state is true, the previous state was false, so this is a
// rising edge. Otherwise, it's a falling edge.
if (interrupt->currentState) {
// Set our return value and our timestamps
interrupt->fallingTimestamp = hal::GetFPGATime();
return 1 << (8 + interrupt->index);
} else {
interrupt->risingTimestamp = hal::GetFPGATime();
return 1 << (interrupt->index);
} else {
interrupt->fallingTimestamp = hal::GetFPGATime();
return 1 << (8 + interrupt->index);
}
}