mirror of
https://github.com/wpilibsuite/allwpilib
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91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
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/*----------------------------------------------------------------------------*/
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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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#include "InterruptableSensorBase.h"
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#include "Utility.h"
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InterruptableSensorBase::InterruptableSensorBase()
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{
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m_interrupt = NULL;
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}
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InterruptableSensorBase::~InterruptableSensorBase()
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{
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}
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void InterruptableSensorBase::AllocateInterrupts(bool watcher)
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{
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wpi_assert(m_interrupt == NULL);
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// Expects the calling leaf class to allocate an interrupt index.
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int32_t status = 0;
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m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Cancel interrupts on this device.
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* This deallocates all the chipobject structures and disables any interrupts.
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*/
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void InterruptableSensorBase::CancelInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = NULL;
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}
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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* @param timeout Timeout in seconds
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*/
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void InterruptableSensorBase::WaitForInterrupt(float timeout)
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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waitForInterrupt(m_interrupt, timeout, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Enable interrupts to occur on this input.
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* Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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* setup of the other options before starting to field interrupts.
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*/
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void InterruptableSensorBase::EnableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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enableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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void InterruptableSensorBase::DisableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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disableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Return the timestamp for the interrupt that occurred most recently.
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* This is in the same time domain as GetClock().
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* @return Timestamp in seconds since boot.
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*/
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double InterruptableSensorBase::ReadInterruptTimestamp()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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double timestamp = readInterruptTimestamp(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return timestamp;
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}
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