commit 9950f68af6256d121d44370ac3b6bfd267a796e0
author Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:27:58 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 06 15:27:58 2021 -0700
tree aff03c18c577ce51d0d92200a1b9279c9bfc7d46
parent dabc8ff9342f29147903347f4dde6e6a05a9543d
parent 812d0d18f8a83ab7e62014bfd52dd91a751f674d

Merge commit '4ee017201227ce16a4edef20912b357e8f303483' into master

Update WPILib for the 2022 beta test.  This now actually runs on my RIO
2.0!

Change-Id: I6d335f61c6abe50facca76f4f5014537e742f1ac
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/wpilib/ahal/InterruptableSensorBase.cc

diff --git a/frc971/wpilib/ahal/InterruptableSensorBase.cc b/frc971/wpilib/ahal/InterruptableSensorBase.cc
index d17f2dd..59eb962 100644
--- a/frc971/wpilib/ahal/InterruptableSensorBase.cc
+++ b/frc971/wpilib/ahal/InterruptableSensorBase.cc
@@ -7,9 +7,9 @@
 
 #include "frc971/wpilib/ahal/InterruptableSensorBase.h"
 
-#include "hal/HAL.h"
-#include "frc971/wpilib/ahal/Utility.h"
 #include "frc971/wpilib/ahal/WPIErrors.h"
+#include "glog/logging.h"
+#include "hal/HAL.h"
 
 using namespace frc;
 
@@ -18,8 +18,8 @@
 void InterruptableSensorBase::RequestInterrupts() {
   if (StatusIsFatal()) return;
 
-  wpi_assert(m_interrupt == HAL_kInvalidHandle);
-  AllocateInterrupts(true);
+  CHECK_EQ(m_interrupt, HAL_kInvalidHandle);
+  AllocateInterrupts();
   if (StatusIsFatal()) return;  // if allocate failed, out of interrupts
 
   int32_t status = 0;
@@ -31,19 +31,18 @@
   SetUpSourceEdge(true, false);
 }
 
-void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
-  wpi_assert(m_interrupt == HAL_kInvalidHandle);
+void InterruptableSensorBase::AllocateInterrupts() {
+  CHECK_EQ(m_interrupt, HAL_kInvalidHandle);
   // Expects the calling leaf class to allocate an interrupt index.
   int32_t status = 0;
-  m_interrupt = HAL_InitializeInterrupts(watcher, &status);
+  m_interrupt = HAL_InitializeInterrupts(&status);
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
 void InterruptableSensorBase::CancelInterrupts() {
   if (StatusIsFatal()) return;
-  wpi_assert(m_interrupt != HAL_kInvalidHandle);
-  int32_t status = 0;
-  HAL_CleanInterrupts(m_interrupt, &status);
+  CHECK_NE(m_interrupt, HAL_kInvalidHandle);
+  HAL_CleanInterrupts(m_interrupt);
   // ignore status, as an invalid handle just needs to be ignored.
   m_interrupt = HAL_kInvalidHandle;
 }
@@ -51,7 +50,7 @@
 InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
     double timeout, bool ignorePrevious) {
   if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
-  wpi_assert(m_interrupt != HAL_kInvalidHandle);
+  CHECK_NE(m_interrupt, HAL_kInvalidHandle);
   int32_t status = 0;
   int result;
 
@@ -67,17 +66,9 @@
   return static_cast<WaitResult>(falling | rising);
 }
 
-void InterruptableSensorBase::EnableInterrupts() {
-  if (StatusIsFatal()) return;
-  wpi_assert(m_interrupt != HAL_kInvalidHandle);
-  int32_t status = 0;
-  HAL_EnableInterrupts(m_interrupt, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-}
-
 hal::fpga_clock::time_point InterruptableSensorBase::ReadRisingTimestamp() {
   if (StatusIsFatal()) return hal::fpga_clock::min_time;
-  wpi_assert(m_interrupt != HAL_kInvalidHandle);
+  CHECK_NE(m_interrupt, HAL_kInvalidHandle);
   int32_t status = 0;
   uint64_t timestamp = HAL_ReadInterruptRisingTimestamp(m_interrupt, &status);
   timestamp = HAL_ExpandFPGATime(timestamp, &status);
@@ -87,7 +78,7 @@
 
 hal::fpga_clock::time_point InterruptableSensorBase::ReadFallingTimestamp() {
   if (StatusIsFatal()) return hal::fpga_clock::min_time;
-  wpi_assert(m_interrupt != HAL_kInvalidHandle);
+  CHECK_NE(m_interrupt, HAL_kInvalidHandle);
   int32_t status = 0;
   uint64_t timestamp = HAL_ReadInterruptFallingTimestamp(m_interrupt, &status);
   timestamp = HAL_ExpandFPGATime(timestamp, &status);