commit 56032684a9d61199774edc8ffe2b8097bd56f613
author brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sat Mar 02 21:00:17 2013 +0000
committer brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sat Mar 02 21:00:17 2013 +0000
tree 6b5317578f53c2bde005fa3d8a658224e8e59a3b
parent 0796e0d72b0cd0d98decae5156278981be7c6f18

fixed InterruptBridge (I think I've done this before though...)

git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4175 f308d9b7-e957-4cde-b6ac-9a88185e7312

aos/crio/shared_libs/interrupt_notifier-tmpl.h

diff --git a/aos/crio/shared_libs/interrupt_notifier-tmpl.h b/aos/crio/shared_libs/interrupt_notifier-tmpl.h
index 78e7ca8..819e552 100644
--- a/aos/crio/shared_libs/interrupt_notifier-tmpl.h
+++ b/aos/crio/shared_libs/interrupt_notifier-tmpl.h
@@ -6,9 +6,9 @@
 
 template<typename T>
 InterruptNotifier<T>::InterruptNotifier(
-    typename InterruptBridge<T>::Handler handler,
-    InterruptableSensorBase *sensor, T *param, int priority)
-    : InterruptBridge<T>(handler, param, priority), sensor_(sensor) {
+    Handler handler,
+    InterruptableSensorBase *sensor, T *param)
+    : handler_(handler), param_(param), sensor_(sensor) {
   sensor_->RequestInterrupts(StaticNotify, this);
 }
 
@@ -19,7 +19,6 @@
 
 template<typename T>
 void InterruptNotifier<T>::Start() {
-  this->StartTask();
   sensor_->EnableInterrupts();
 }
 
@@ -28,20 +27,17 @@
   sensor_->DisableInterrupts();
 }
 
-// WARNING: This IS called from an ISR. Don't use floating point. Look in
-// interrupt_bridge-tmpl.h for details.
 template<typename T>
 void InterruptNotifier<T>::StaticNotify(uint32_t, void *self_in) {
-  ASM_COMMENT("beginning of InterruptNotifier::StaticNotify");
-  if (!intContext()) {  // if we're not in an actual ISR
-    logMsg(const_cast<char *>("WPILib is not calling callbacks"
-                              " in actual ISRs any more!!\n"),
+  if (intContext()) {  // if we are in an actual ISR
+    logMsg(const_cast<char *>("WPILib is calling callbacks"
+                              " in actual ISRs now!!\n"),
            0, 0, 0, 0, 0, 0);
+    return;
   }
   InterruptNotifier<T> *const self =
       static_cast<InterruptNotifier<T> *>(self_in);
-  self->Notify();
-  ASM_COMMENT("end of InterruptNotifier::StaticNotify");
+  self->handler_(self->param_);
 }
 
 }  // namespace crio