mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
b0de0b7386
This removes redundant queue code from the C++ library. The old queue code is still needed by simulation, and as the delta between the simulation and athena headers has grown significantly, this splits the header into two separate files. Change-Id: Ia76b38337a25eb9d4890b3eb9bd76b1cbda7f285
64 lines
2.0 KiB
C++
64 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <thread>
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#include <atomic>
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typedef void (*TimerEventHandler)(void *param);
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class Notifier : public ErrorBase {
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public:
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Notifier(TimerEventHandler handler, void *param = nullptr);
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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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static Notifier *timerQueueHead;
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static priority_recursive_mutex queueMutex;
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static priority_mutex halMutex;
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static void *m_notifier;
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static std::atomic<int> refcount;
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// process the timer queue on a timer event
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static void ProcessQueue(uint32_t mask, void *params);
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// update the FPGA alarm since the queue has changed
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static void UpdateAlarm();
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// insert this Notifier in the timer queue
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void InsertInQueue(bool reschedule);
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// delete this Notifier from the timer queue
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void DeleteFromQueue();
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// address of the handler
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TimerEventHandler m_handler;
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// a parameter to pass to the handler
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void *m_param;
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// the relative time (either periodic or single)
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double m_period = 0;
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// absolute expiration time for the current event
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double m_expirationTime = 0;
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// next Nofifier event
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Notifier *m_nextEvent = nullptr;
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// true if this is a periodic event
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bool m_periodic = false;
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// indicates if this entry is queued
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bool m_queued = 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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static std::thread m_task;
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static std::atomic<bool> m_stopped;
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static void Run();
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};
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