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125 lines
3.8 KiB
C
125 lines
3.8 KiB
C
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include "wpi/hal/Types.h"
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#include "wpi/util/nodiscard.h"
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/**
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* @defgroup hal_notifier Notifier Functions
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* @ingroup hal_capi
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* @{
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initializes a notifier.
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*
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* A notifier is an FPGA controller timer that triggers at requested intervals
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* based on the FPGA time. This can be used to make precise control loops.
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*
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* @param[out] status Error status variable. 0 on success.
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* @return the created notifier
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*/
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HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
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/**
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* Sets the HAL notifier thread priority.
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*
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* The HAL notifier thread is responsible for managing the FPGA's notifier
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* interrupt and waking up user's Notifiers when it's their time to run.
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* Giving the HAL notifier thread real-time priority helps ensure the user's
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* real-time Notifiers, if any, are notified to run in a timely manner.
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*
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* @param[in] realTime Set to true to set a real-time priority, false for
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* standard priority.
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* @param[in] priority Priority to set the thread to. For real-time, this is
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* 1-99 with 99 being highest. For non-real-time, this is
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* forced to 0. See "man 7 sched" for more details.
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* @param[out] status Error status variable. 0 on success.
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* @return True on success.
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*/
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HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
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int32_t* status);
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/**
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* Sets the name of a notifier.
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*
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* @param[in] notifierHandle the notifier handle
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* @param[in] name name
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
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int32_t* status);
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/**
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* Stops a notifier from running.
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*
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* This will cause any call into HAL_WaitForNotifierAlarm to return with time =
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* 0.
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*
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* @param[in] notifierHandle the notifier handle
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
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/**
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* Cleans a notifier.
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*
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* Note this also stops a notifier if it is already running.
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*
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* @param[in] notifierHandle the notifier handle
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*/
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void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle);
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/**
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* Updates the trigger time for a notifier.
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*
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* Note that this time is an absolute time relative to HAL_GetFPGATime()
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*
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* @param[in] notifierHandle the notifier handle
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* @param[in] triggerTime the updated trigger time
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
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uint64_t triggerTime, int32_t* status);
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/**
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* Cancels the next notifier alarm.
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*
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* This does not cause HAL_WaitForNotifierAlarm to return.
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*
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* @param[in] notifierHandle the notifier handle
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* @param[out] status Error status variable. 0 on success.
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*/
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void HAL_CancelNotifierAlarm(HAL_NotifierHandle notifierHandle,
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int32_t* status);
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/**
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* Waits for the next alarm for the specific notifier.
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*
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* This is a blocking call until either the time elapses or HAL_StopNotifier
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* gets called. If the latter occurs, this function will return zero and any
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* loops using this function should exit. Failing to do so can lead to
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* use-after-frees.
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*
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* @param[in] notifierHandle the notifier handle
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* @param[out] status Error status variable. 0 on success.
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* @return the FPGA time the notifier returned
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*/
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WPI_NODISCARD
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uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
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int32_t* status);
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#ifdef __cplusplus
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} // extern "C"
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#endif
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/** @} */
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