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https://github.com/wpilibsuite/allwpilib
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[hal, wpilib] Remove interrupt (#7724)
This commit is contained in:
Thad House
@@ -1,180 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/SynchronousInterrupt.h>
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#include <atomic>
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#include <functional>
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#include <memory>
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#include <thread>
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#include <utility>
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#include <units/time.h>
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namespace frc {
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/**
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* Class for handling asynchronous interrupts using a callback thread.
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*
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* <p> By default, interrupts will occur on rising edge. Callbacks are disabled
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* by default, and Enable() must be called before they will occur.
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*
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* <p> Both rising and falling edges can be indicated in one callback if both a
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* rising and falling edge occurred since the previous callback.
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*
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* <p>Synchronous (blocking) interrupts are handled by the SynchronousInterrupt
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* class.
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*/
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class AsynchronousInterrupt {
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public:
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* <p> The first bool in the callback indicates the rising edge triggered the
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* interrupt, the second bool is falling edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param callback the callback function to call when the interrupt is
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* triggered
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*/
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AsynchronousInterrupt(DigitalSource& source,
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std::function<void(bool, bool)> callback);
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* <p> The first bool in the callback indicates the rising edge triggered the
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* interrupt, the second bool is falling edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param callback the callback function to call when the interrupt is
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* triggered
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*/
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AsynchronousInterrupt(DigitalSource* source,
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std::function<void(bool, bool)> callback);
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* <p> The first bool in the callback indicates the rising edge triggered the
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* interrupt, the second bool is falling edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param callback the callback function to call when the interrupt is
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* triggered
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*/
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AsynchronousInterrupt(std::shared_ptr<DigitalSource> source,
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std::function<void(bool, bool)> callback);
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param f the callback function to call when the interrupt is triggered
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* @param arg the first argument, interrupt was triggered on rising edge
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* @param args the remaining arguments, interrupt was triggered on falling
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* edge
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*/
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template <typename Callable, typename Arg, typename... Args>
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AsynchronousInterrupt(DigitalSource& source, Callable&& f, Arg&& arg,
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Args&&... args)
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: AsynchronousInterrupt(
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source, std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param f the callback function to call when the interrupt is triggered
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* @param arg the first argument, interrupt was triggered on rising edge
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* @param args the remaining arguments, interrupt was triggered on falling
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* edge
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*/
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template <typename Callable, typename Arg, typename... Args>
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AsynchronousInterrupt(DigitalSource* source, Callable&& f, Arg&& arg,
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Args&&... args)
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: AsynchronousInterrupt(
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source, std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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/**
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* Construct an Asynchronous Interrupt from a Digital Source.
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*
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* <p> At construction, the interrupt will trigger on the rising edge.
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*
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* @param source the DigitalSource the interrupts are triggered from
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* @param f the callback function to call when the interrupt is triggered
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* @param arg the first argument, interrupt was triggered on rising edge
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* @param args the remaining arguments, interrupt was triggered on falling
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* edge
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*/
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template <typename Callable, typename Arg, typename... Args>
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AsynchronousInterrupt(std::shared_ptr<DigitalSource> source, Callable&& f,
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Arg&& arg, Args&&... args)
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: AsynchronousInterrupt(
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source, std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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~AsynchronousInterrupt();
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/**
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* Enables interrupt callbacks. Before this, callbacks will not occur. Does
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* nothing if already enabled.
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*/
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void Enable();
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/**
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* Disables interrupt callbacks. Does nothing if already disabled.
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*/
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void Disable();
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/**
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* Set which edges to trigger the interrupt on.
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*
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* @param risingEdge %Trigger on rising edge
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* @param fallingEdge %Trigger on falling edge
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*/
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void SetInterruptEdges(bool risingEdge, bool fallingEdge);
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/**
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* Get the timestamp of the last rising edge.
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*
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* <p>This function does not require the interrupt to be enabled to work.
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*
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* <p>This only works if rising edge was configured using SetInterruptEdges.
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* @return the timestamp in seconds relative to GetFPGATime
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*/
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units::second_t GetRisingTimestamp();
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/**
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* Get the timestamp of the last falling edge.
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*
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* <p>This function does not require the interrupt to be enabled to work.
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*
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* <p>This only works if falling edge was configured using SetInterruptEdges.
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* @return the timestamp in seconds relative to GetFPGATime
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*/
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units::second_t GetFallingTimestamp();
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private:
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void ThreadMain();
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std::atomic_bool m_keepRunning{false};
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std::thread m_thread;
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SynchronousInterrupt m_interrupt;
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std::function<void(bool, bool)> m_callback;
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};
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} // namespace frc
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@@ -1,112 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <hal/Interrupts.h>
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#include <hal/Types.h>
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#include <units/time.h>
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namespace frc {
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class DigitalSource;
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/**
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* Class for handling synchronous (blocking) interrupts.
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*
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* <p> By default, interrupts will occur on rising edge.
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*
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* <p> Asynchronous interrupts are handled by the AsynchronousInterrupt class.
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*/
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class SynchronousInterrupt {
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public:
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/**
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* Event trigger combinations for a synchronous interrupt.
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*/
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enum WaitResult {
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/// Timeout event.
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kTimeout = 0x0,
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/// Rising edge event.
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kRisingEdge = 0x1,
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/// Falling edge event.
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kFallingEdge = 0x100,
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/// Both rising and falling edge events.
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kBoth = 0x101,
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};
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/**
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* Construct a Synchronous Interrupt from a Digital Source.
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*
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* @param source the DigitalSource the interrupts are triggered from
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*/
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explicit SynchronousInterrupt(DigitalSource& source);
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/**
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* Construct a Synchronous Interrupt from a Digital Source.
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*
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* @param source the DigitalSource the interrupts are triggered from
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*/
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explicit SynchronousInterrupt(DigitalSource* source);
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/**
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* Construct a Synchronous Interrupt from a Digital Source.
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*
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* @param source the DigitalSource the interrupts are triggered from
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*/
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explicit SynchronousInterrupt(std::shared_ptr<DigitalSource> source);
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SynchronousInterrupt(SynchronousInterrupt&&) = default;
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SynchronousInterrupt& operator=(SynchronousInterrupt&&) = default;
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/**
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* Wait for an interrupt to occur.
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*
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* <p> Both rising and falling edge can be returned if both a rising and
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* falling happened between calls, and ignorePrevious is false.
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*
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* @param timeout The timeout to wait for. 0s or less will return immediately.
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* @param ignorePrevious True to ignore any previous interrupts, false to
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* return interrupt value if an interrupt has occurred since last call.
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* @return The edge(s) that were triggered, or timeout.
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*/
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WaitResult WaitForInterrupt(units::second_t timeout,
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bool ignorePrevious = true);
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/**
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* Set which edges cause an interrupt to occur.
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*
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* @param risingEdge true to trigger on rising edge, false otherwise.
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* @param fallingEdge true to trigger on falling edge, false otherwise
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*/
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void SetInterruptEdges(bool risingEdge, bool fallingEdge);
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/**
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* Get the timestamp (relative to FPGA Time) of the last rising edge.
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*
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* @return the timestamp in seconds relative to getFPGATime
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*/
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units::second_t GetRisingTimestamp();
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/**
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* Get the timestamp of the last falling edge.
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*
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* <p>This function does not require the interrupt to be enabled to work.
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*
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* <p>This only works if falling edge was configured using setInterruptEdges.
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* @return the timestamp in seconds relative to getFPGATime
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*/
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units::second_t GetFallingTimestamp();
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/**
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* Wake up an existing wait call. Can be called from any thread.
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*/
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void WakeupWaitingInterrupt();
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private:
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void InitSynchronousInterrupt();
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std::shared_ptr<DigitalSource> m_source;
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hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> m_handle;
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};
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} // namespace frc
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