Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal,sim] Add notifier generation counter to WaitForProgramStart (#8947)

Browse Source 
This fixes simulation WaitForProgramStart(true) potentially advancing
due to a stale or pre-start notifier created before SetProgramStarted()
was called.
This commit is contained in:
Peter Johnson
2026-06-06 12:17:14 -07:00
committed by GitHub
parent 6e5171cd8f
commit edf77fa007
3 changed files with 15 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
hal/src/main/native/sim/MockHooks.cpp
View File

@@ -21,6 +21,7 @@ static std::atomic<int64_t> programState{0};
static std::atomic<uint64_t> programStartTime{0};
static std::atomic<uint64_t> programPauseTime{0};
static std::atomic<uint64_t> programStepTime{0};
static std::atomic<uint64_t> programStartNotifierAlarmCount{0};
namespace wpi::hal::init {
void InitializeMockHooks() {
@@ -67,6 +68,7 @@ uint64_t GetMonotonicTime() {
}
void SetProgramStarted(bool started) {
programStartNotifierAlarmCount = GetNotifierAlarmSetCount();
programStarted = started;
}
bool GetProgramStarted() {
@@ -88,9 +90,11 @@ void HALSIM_WaitForProgramStart(HAL_Bool waitForFirstNotifier) {
}
// Frameworks observe program start before arming their first notifier alarm.
// Wait for that alarm so a following StepTiming() can see and service it.
// Wait for an alarm armed after that program-start edge so a stale notifier
// cannot satisfy this check.
while (waitForFirstNotifier &&
HALSIM_GetNextNotifierTimeout() == UINT64_MAX) {
(GetNotifierAlarmSetCount() == programStartNotifierAlarmCount ||
HALSIM_GetNextNotifierTimeout() == UINT64_MAX)) {
count++;
if (count % 10 == 0) {
wpi::util::print("Waiting for first notifier alarm: {}\n", count);