[wpilibj] Fix AsynchronousInterrupt (#6564)

wpilibj/src/main/java/edu/wpi/first/wpilibj/AsynchronousInterrupt.java

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj;
 
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
+import edu.wpi.first.wpilibj.SynchronousInterrupt.WaitResult;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiConsumer;
 
@@ -127,14 +128,32 @@ public class AsynchronousInterrupt implements AutoCloseable {
 
   private void threadMain() {
     while (m_keepRunning.get()) {
-      var result = m_interrupt.waitForInterruptRaw(10, false);
+      var result = m_interrupt.waitForInterrupt(10, false);
       if (!m_keepRunning.get()) {
         break;
       }
-      if (result == 0) {
+      if (result == WaitResult.kTimeout) {
         continue;
       }
-      m_callback.accept((result & 0x1) != 0, (result & 0x100) != 0);
+
+      boolean rising = false;
+      boolean falling = false;
+      switch (result) {
+        case kBoth:
+          rising = true;
+          falling = true;
+          break;
+        case kFallingEdge:
+          falling = true;
+          break;
+        case kRisingEdge:
+          rising = true;
+          break;
+        default:
+          break;
+      }
+
+      m_callback.accept(rising, falling);
     }
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java

@@ -84,21 +84,6 @@ public class SynchronousInterrupt implements AutoCloseable {
     InterruptJNI.cleanInterrupts(m_handle);
   }
 
-  /**
-   * Wait for interrupt that returns the raw result value from the hardware.
-   *
-   * <p>Used by AsynchronousInterrupt. Users should use waitForInterrupt.
-   *
-   * @param timeoutSeconds The timeout in seconds. 0 or less will return immediately.
-   * @param ignorePrevious True to ignore if a previous interrupt has occurred, and only wait for a
-   *     new trigger. False will consider if an interrupt has occurred since the last time the
-   *     interrupt was read.
-   * @return The raw hardware interrupt result
-   */
-  long waitForInterruptRaw(double timeoutSeconds, boolean ignorePrevious) {
-    return InterruptJNI.waitForInterrupt(m_handle, timeoutSeconds, ignorePrevious);
-  }
-
   /**
    * Wait for an interrupt.
    *