This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Notifier.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Notifier.h
new file mode 100644
index 0000000..76c06b5
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Notifier.h
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef NOTIFIER_H
+#define NOTIFIER_H
+
+#include "ChipObject.h"
+#include "ErrorBase.h"
+#include "Synchronized.h"
+
+typedef void (*TimerEventHandler)(void *param);
+
+class Notifier : public ErrorBase
+{
+public:
+ Notifier(TimerEventHandler handler, void *param = NULL);
+ virtual ~Notifier();
+ void StartSingle(double delay);
+ void StartPeriodic(double period);
+ void Stop();
+private:
+ static Notifier *timerQueueHead;
+ static ReentrantSemaphore queueSemaphore;
+ static tAlarm *talarm;
+ static tInterruptManager *manager;
+ static int refcount;
+
+ static const UINT32 kTimerInterruptNumber = 28;
+ static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event
+ static void UpdateAlarm(); // update the FPGA alarm since the queue has changed
+ void InsertInQueue(bool reschedule); // insert this Notifier in the timer queue
+ void DeleteFromQueue(); // delete this Notifier from the timer queue
+ TimerEventHandler m_handler; // address of the handler
+ void *m_param; // a parameter to pass to the handler
+ double m_period; // the relative time (either periodic or single)
+ double m_expirationTime; // absolute expiration time for the current event
+ Notifier *m_nextEvent; // next Nofifier event
+ bool m_periodic; // true if this is a periodic event
+ bool m_queued; // indicates if this entry is queued
+ SEM_ID m_handlerSemaphore; // held by interrupt manager task while handler call is in progress
+ DISALLOW_COPY_AND_ASSIGN(Notifier);
+};
+
+#endif