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

wpilibc/src/main/native/include/frc/SynchronousInterrupt.h

@@ -0,0 +1,98 @@
+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <units/time.h>
+
+namespace frc {
+class DigitalSource;
+
+/**
+ * Class for handling ssynchronous interrupts.
+ *
+ * <p> By default, interrupts will occur on rising edge.
+ *
+ * <p> Asynchronous interrupts are handled by the AsynchronousInterrupt class.
+ */
+class SynchronousInterrupt {
+ public:
+  enum WaitResult {
+    kTimeout = 0x0,
+    kRisingEdge = 0x1,
+    kFallingEdge = 0x100,
+    kBoth = 0x101,
+  };
+
+  /**
+   * Construct a Synchronous Interrupt from a Digital Source.
+   */
+  explicit SynchronousInterrupt(DigitalSource& source);
+
+  /**
+   * Construct a Synchronous Interrupt from a Digital Source.
+   */
+  explicit SynchronousInterrupt(DigitalSource* source);
+
+  /**
+   * Construct a Synchronous Interrupt from a Digital Source.
+   */
+  explicit SynchronousInterrupt(std::shared_ptr<DigitalSource> source);
+
+  ~SynchronousInterrupt();
+
+  SynchronousInterrupt(SynchronousInterrupt&&) = default;
+  SynchronousInterrupt& operator=(SynchronousInterrupt&&) = default;
+
+  /**
+   * Wait for an interrupt to occur.
+   *
+   * <p> Both rising and falling edge can be returned if both a rising and
+   * falling happened between calls, and ignorePrevious is false.
+   *
+   * @param timeout The timeout to wait for. 0s or less will return immediately.
+   * @param ignorePrevious True to ignore any previous interrupts, false to
+   * return interrupt value if an interrupt has occured since last call.
+   * @return The edge(s) that were triggered, or timeout.
+   */
+  WaitResult WaitForInterrupt(units::second_t timeout,
+                              bool ignorePrevious = true);
+
+  /**
+   * Set which edges cause an interrupt to occur.
+   *
+   * @param risingEdge true to trigger on rising edge, false otherwise.
+   * @param fallingEdge true to trigger on falling edge, false otherwise
+   */
+  void SetInterruptEdges(bool risingEdge, bool fallingEdge);
+
+  /**
+   * Get the timestamp (relative to FPGA Time) of the last rising edge.
+   */
+  units::second_t GetRisingTimestamp();
+
+  /**
+   * Get the timestamp of the last falling edge.
+   *
+   * <p>This function does not require the interrupt to be enabled to work.
+   *
+   * <p>This only works if falling edge was configured using setInterruptEdges.
+   * @return the timestamp in seconds relative to getFPGATime
+   */
+  units::second_t GetFallingTimestamp();
+
+  /**
+   * Wake up an existing wait call. Can be called from any thread.
+   */
+  void WakeupWaitingInterrupt();
+
+ private:
+  void InitSynchronousInterrupt();
+  std::shared_ptr<DigitalSource> m_source;
+  hal::Handle<HAL_InterruptHandle> m_handle;
+};
+}  // namespace frc