mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-01 02:41:48 +00:00
776a991d61
Internally, the linked list now uses shared_ptrs instead of raw pointers. In addition, in the WPILib the notifier handle is now made atomic. Then before the class is destructed, the handle is now set to 0. This should help solve one of the existing race conditions. A 0 handle is correctly handled down at the HAL level.
59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#pragma once
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#include <atomic>
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#include <functional>
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#include "ErrorBase.h"
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#include "HAL/Notifier.h"
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#include "HAL/cpp/priority_mutex.h"
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typedef std::function<void()> TimerEventHandler;
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class Notifier : public ErrorBase {
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public:
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explicit Notifier(TimerEventHandler handler);
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template <typename Callable, typename Arg, typename... Args>
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Notifier(Callable&& f, Arg&& arg, Args&&... args)
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: Notifier(std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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virtual ~Notifier();
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Notifier(const Notifier&) = delete;
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Notifier& operator=(const Notifier&) = delete;
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void StartSingle(double delay);
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void StartPeriodic(double period);
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void Stop();
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private:
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// update the HAL alarm
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void UpdateAlarm();
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// HAL callback
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static void Notify(uint64_t currentTimeInt, void* param);
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// held while updating process information
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priority_mutex m_processMutex;
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// HAL handle, atomic for proper destruction
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std::atomic<HalNotifierHandle> m_notifier{0};
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// address of the handler
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TimerEventHandler m_handler;
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// the absolute expiration time
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double m_expirationTime = 0;
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// the relative time (either periodic or single)
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double m_period = 0;
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// true if this is a periodic event
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bool m_periodic = false;
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// held by interrupt manager task while handler call is in progress
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priority_mutex m_handlerMutex;
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};
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