static void alarmCallback(uint32_t, void*)
{
std::unique_lock<priority_recursive_mutex> sync(notifierMutex);
int32_t status = 0;
uint64_t currentTime = 0;
// the hardware disables itself after each alarm
closestTrigger = UINT64_MAX;
// process all notifiers
Notifier *notifier = notifiers;
while (notifier) {
if (notifier->triggerTime != UINT64_MAX) {
if (currentTime == 0)
currentTime = getFPGATime(&status);
if (notifier->triggerTime < currentTime) {
notifier->triggerTime = UINT64_MAX;
auto process = notifier->process;
auto param = notifier->param;
sync.unlock();
process(currentTime, param);
sync.lock();
} else if (notifier->triggerTime < closestTrigger) {
updateNotifierAlarm(notifier, notifier->triggerTime, &status);
}
}
notifier = notifier->next;
}
}
/**
* Read the microsecond-resolution timer on the FPGA.
*
* @return The current time in microseconds according to the FPGA (since FPGA
* reset).
*/
uint64_t GetFPGATime() {
int32_t status = 0;
uint64_t time = getFPGATime(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return time;
}