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Move interrupt methods to InterruptableSensorBase

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Analog interrupts work again now, and RequestInterrupts is no longer
duplicated three times.

Change-Id: I5244b76262d7620852141cd21b2429d627636793
This commit is contained in:
Thomas Clark
2014-10-08 14:52:24 -04:00
parent dc09233fca
commit 4d2a720f47
9 changed files with 83 additions and 214 deletions
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73
wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp
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@@ -6,6 +6,7 @@
#include "InterruptableSensorBase.h"
#include "Utility.h"
#include "WPIErrors.h"
Resource *InterruptableSensorBase::m_interrupts = NULL;
@@ -20,6 +21,54 @@ InterruptableSensorBase::~InterruptableSensorBase()
}
void InterruptableSensorBase::RequestInterrupts(InterruptHandlerFunction handler, void *param)
{
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Async Interrupt");
if (index == ~0ul)
{
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;
// Creates a manager too
AllocateInterrupts(false);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
SetUpSourceEdge(true, false);
attachInterruptHandler(m_interrupt, handler, param, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Request interrupts synchronously on this digital input.
* Request interrupts in synchronus mode where the user program will have to explicitly
* wait for the interrupt to occur.
* The default is interrupt on rising edges only.
*/
void InterruptableSensorBase::RequestInterrupts()
{
if (StatusIsFatal()) return;
uint32_t index = m_interrupts->Allocate("Sync Interrupt");
if (index == ~0ul)
{
CloneError(m_interrupts);
return;
}
m_interruptIndex = index;
AllocateInterrupts(true);
int32_t status = 0;
requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
GetAnalogTriggerForRouting(), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
SetUpSourceEdge(true, false);
}
void InterruptableSensorBase::AllocateInterrupts(bool watcher)
{
wpi_assert(m_interrupt == NULL);
@@ -117,3 +166,27 @@ double InterruptableSensorBase::ReadFallingTimestamp()
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return timestamp;
}
/**
* Set which edge to trigger interrupts on
*
* @param risingEdge
* true to interrupt on rising edge
* @param fallingEdge
* true to interrupt on falling edge
*/
void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
{
if (StatusIsFatal()) return;
if (m_interrupt == NULL)
{
wpi_setWPIErrorWithContext(NullParameter, "You must call RequestInterrupts before SetUpSourceEdge");
return;
}
if (m_interrupt != NULL)
{
int32_t status = 0;
setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}