[wpilib] Remove InterruptableSensorBase and replace with interrupt classes (#2410)

wpilibc/src/main/native/cpp/AsynchronousInterrupt.cpp

@@ -0,0 +1,67 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/AsynchronousInterrupt.h"
+
+#include <frc/DigitalSource.h>
+
+using namespace frc;
+
+AsynchronousInterrupt::AsynchronousInterrupt(
+    DigitalSource& source, std::function<void(bool, bool)> callback)
+    : m_interrupt{source}, m_callback{std::move(callback)} {}
+AsynchronousInterrupt::AsynchronousInterrupt(
+    DigitalSource* source, std::function<void(bool, bool)> callback)
+    : m_interrupt{source}, m_callback{std::move(callback)} {}
+AsynchronousInterrupt::AsynchronousInterrupt(
+    std::shared_ptr<DigitalSource> source,
+    std::function<void(bool, bool)> callback)
+    : m_interrupt{source}, m_callback{std::move(callback)} {}
+
+AsynchronousInterrupt::~AsynchronousInterrupt() {
+  Disable();
+}
+
+void AsynchronousInterrupt::ThreadMain() {
+  while (m_keepRunning) {
+    auto result = m_interrupt.WaitForInterrupt(10_s, false);
+    if (!m_keepRunning) {
+      break;
+    }
+    if (result == SynchronousInterrupt::WaitResult::kTimeout) {
+      continue;
+    }
+    m_callback((result & SynchronousInterrupt::WaitResult::kRisingEdge) != 0,
+               (result & SynchronousInterrupt::WaitResult::kFallingEdge) != 0);
+  }
+}
+
+void AsynchronousInterrupt::Enable() {
+  if (m_keepRunning) {
+    return;
+  }
+
+  m_keepRunning = true;
+  m_thread = std::thread([this] { this->ThreadMain(); });
+}
+
+void AsynchronousInterrupt::Disable() {
+  m_keepRunning = false;
+  m_interrupt.WakeupWaitingInterrupt();
+  if (m_thread.joinable()) {
+    m_thread.join();
+  }
+}
+
+void AsynchronousInterrupt::SetInterruptEdges(bool risingEdge,
+                                              bool fallingEdge) {
+  m_interrupt.SetInterruptEdges(risingEdge, fallingEdge);
+}
+
+units::second_t AsynchronousInterrupt::GetRisingTimestamp() {
+  return m_interrupt.GetRisingTimestamp();
+}
+units::second_t AsynchronousInterrupt::GetFallingTimestamp() {
+  return m_interrupt.GetFallingTimestamp();
+}