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Moves Interrupts over to Handles instead of pointers (#99)

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This commit is contained in:
Thad House
2016-06-20 23:22:49 -07:00
committed by Peter Johnson
parent 74fc10999b
commit 046e043c4e
10 changed files with 180 additions and 148 deletions
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45
wpilibc/athena/src/InterruptableSensorBase.cpp
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@@ -11,9 +11,6 @@
#include "Utility.h"
#include "WPIErrors.h"
std::unique_ptr<Resource> InterruptableSensorBase::m_interrupts =
std::make_unique<Resource>(interrupt_kNumSystems);
InterruptableSensorBase::InterruptableSensorBase() {}
/**
@@ -27,15 +24,10 @@ InterruptableSensorBase::InterruptableSensorBase() {}
void InterruptableSensorBase::RequestInterrupts(
InterruptHandlerFunction handler, void* param) {
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Async Interrupt");
if (index == std::numeric_limits<uint32_t>::max()) {
CloneError(*m_interrupts);
return;
}
m_interruptIndex = index;
// Creates a manager too
wpi_assert(m_interrupt == HAL_INVALID_HANDLE);
AllocateInterrupts(false);
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
@@ -54,14 +46,10 @@ void InterruptableSensorBase::RequestInterrupts(
*/
void InterruptableSensorBase::RequestInterrupts() {
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Sync Interrupt");
if (index == std::numeric_limits<uint32_t>::max()) {
CloneError(*m_interrupts);
return;
}
m_interruptIndex = index;
wpi_assert(m_interrupt == HAL_INVALID_HANDLE);
AllocateInterrupts(true);
if (StatusIsFatal()) return; // if allocate failed, out of interrupts
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
@@ -71,10 +59,10 @@ void InterruptableSensorBase::RequestInterrupts() {
}
void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
wpi_assert(m_interrupt == nullptr);
wpi_assert(m_interrupt == HAL_INVALID_HANDLE);
// Expects the calling leaf class to allocate an interrupt index.
int32_t status = 0;
m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
m_interrupt = initializeInterrupts(watcher, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -85,12 +73,11 @@ void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
*/
void InterruptableSensorBase::CancelInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
cleanInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_interrupt = nullptr;
m_interrupts->Free(m_interruptIndex);
// ignore status, as an invalid handle just needs to be ignored.
m_interrupt = HAL_INVALID_HANDLE;
}
/**
@@ -108,7 +95,7 @@ void InterruptableSensorBase::CancelInterrupts() {
InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
float timeout, bool ignorePrevious) {
if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
uint32_t result;
@@ -127,7 +114,7 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
*/
void InterruptableSensorBase::EnableInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
enableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -138,7 +125,7 @@ void InterruptableSensorBase::EnableInterrupts() {
*/
void InterruptableSensorBase::DisableInterrupts() {
if (StatusIsFatal()) return;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
disableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -155,7 +142,7 @@ void InterruptableSensorBase::DisableInterrupts() {
*/
double InterruptableSensorBase::ReadRisingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
double timestamp = readRisingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -173,7 +160,7 @@ double InterruptableSensorBase::ReadRisingTimestamp() {
*/
double InterruptableSensorBase::ReadFallingTimestamp() {
if (StatusIsFatal()) return 0.0;
wpi_assert(m_interrupt != nullptr);
wpi_assert(m_interrupt != HAL_INVALID_HANDLE);
int32_t status = 0;
double timestamp = readFallingTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -189,13 +176,13 @@ double InterruptableSensorBase::ReadFallingTimestamp() {
void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
bool fallingEdge) {
if (StatusIsFatal()) return;
if (m_interrupt == nullptr) {
if (m_interrupt == HAL_INVALID_HANDLE) {
wpi_setWPIErrorWithContext(
NullParameter,
"You must call RequestInterrupts before SetUpSourceEdge");
return;
}
if (m_interrupt != nullptr) {
if (m_interrupt != HAL_INVALID_HANDLE) {
int32_t status = 0;
setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));