To make the tests reliable, the synchronization in simulation Notifiers
had to be reworked. StepTiming() now waits for all Notifiers to reach
HAL_WaitForNotifierAlarm(), then steps the time, then lets any expired
Notifiers run.
While there, we made some variable names more descriptive and added more
comments.
Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
Calling HALSIM_PauseTiming pauses the FPGA clock and notifiers.
Calling HALSIM_ResumeTiming resumes the FPGA clock and notifiers.
Calling HALSIM_StepTiming steps the FPGA clock and runs applicable notifiers.
This will effectively pause TimedRobot and any other notifier-based events,
but of course will not pause user threads that do not use the notifier (e.g.
image processing).
