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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/Notifier.h"
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#include <hal/HAL.h>
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#include "frc/Timer.h"
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#include "frc/Utility.h"
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#include "frc/WPIErrors.h"
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using namespace frc;
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Notifier::Notifier(TimerEventHandler handler) {
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if (handler == nullptr)
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wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
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m_handler = handler;
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int32_t status = 0;
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m_notifier = HAL_InitializeNotifier(&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_thread = std::thread([=] {
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for (;;) {
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int32_t status = 0;
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HAL_NotifierHandle notifier = m_notifier.load();
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if (notifier == 0) break;
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uint64_t curTime = HAL_WaitForNotifierAlarm(notifier, &status);
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if (curTime == 0 || status != 0) break;
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TimerEventHandler handler;
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{
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std::lock_guard<wpi::mutex> lock(m_processMutex);
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handler = m_handler;
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if (m_periodic) {
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m_expirationTime += m_period;
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UpdateAlarm();
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}
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}
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// call callback
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if (handler) handler();
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}
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});
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}
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Notifier::~Notifier() {
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int32_t status = 0;
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// atomically set handle to 0, then clean
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HAL_NotifierHandle handle = m_notifier.exchange(0);
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HAL_StopNotifier(handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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// Join the thread to ensure the handler has exited.
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if (m_thread.joinable()) m_thread.join();
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HAL_CleanNotifier(handle, &status);
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}
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void Notifier::SetHandler(TimerEventHandler handler) {
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std::lock_guard<wpi::mutex> lock(m_processMutex);
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m_handler = handler;
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}
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void Notifier::StartSingle(double delay) {
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std::lock_guard<wpi::mutex> lock(m_processMutex);
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m_periodic = false;
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m_period = delay;
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m_expirationTime = Timer::GetFPGATimestamp() + m_period;
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UpdateAlarm();
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}
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void Notifier::StartPeriodic(double period) {
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std::lock_guard<wpi::mutex> lock(m_processMutex);
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m_periodic = true;
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m_period = period;
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m_expirationTime = Timer::GetFPGATimestamp() + m_period;
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UpdateAlarm();
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}
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void Notifier::Stop() {
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int32_t status = 0;
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HAL_CancelNotifierAlarm(m_notifier, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void Notifier::UpdateAlarm() {
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int32_t status = 0;
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// Return if we are being destructed, or were not created successfully
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auto notifier = m_notifier.load();
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if (notifier == 0) return;
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HAL_UpdateNotifierAlarm(
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notifier, static_cast<uint64_t>(m_expirationTime * 1e6), &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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