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Allowed sharing of common C++ code between RoboRIO and Simulation.

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Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8
This commit is contained in:
Alex Henning
2014-08-08 17:05:49 -04:00
committed by Thomas Clark
parent b371600f0f
commit 7c8124d76c
242 changed files with 536 additions and 4710 deletions
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94
wpilibc/wpilibC++Devices/src/InterruptableSensorBase.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "InterruptableSensorBase.h"
#include "Utility.h"
Resource *InterruptableSensorBase::m_interrupts = NULL;
InterruptableSensorBase::InterruptableSensorBase()
{
m_interrupt = NULL;
Resource::CreateResourceObject(&m_interrupts, interrupt_kNumSystems);
}
InterruptableSensorBase::~InterruptableSensorBase()
{
}
void InterruptableSensorBase::AllocateInterrupts(bool watcher)
{
wpi_assert(m_interrupt == NULL);
// Expects the calling leaf class to allocate an interrupt index.
int32_t status = 0;
m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Cancel interrupts on this device.
* This deallocates all the chipobject structures and disables any interrupts.
*/
void InterruptableSensorBase::CancelInterrupts()
{
wpi_assert(m_interrupt != NULL);
int32_t status = 0;
cleanInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_interrupt = NULL;
m_interrupts->Free(m_interruptIndex);
}
/**
* In synchronous mode, wait for the defined interrupt to occur.
* @param timeout Timeout in seconds
*/
void InterruptableSensorBase::WaitForInterrupt(float timeout)
{
wpi_assert(m_interrupt != NULL);
int32_t status = 0;
waitForInterrupt(m_interrupt, timeout, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Enable interrupts to occur on this input.
* Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
* setup of the other options before starting to field interrupts.
*/
void InterruptableSensorBase::EnableInterrupts()
{
wpi_assert(m_interrupt != NULL);
int32_t status = 0;
enableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Disable Interrupts without without deallocating structures.
*/
void InterruptableSensorBase::DisableInterrupts()
{
wpi_assert(m_interrupt != NULL);
int32_t status = 0;
disableInterrupts(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Return the timestamp for the interrupt that occurred most recently.
* This is in the same time domain as GetClock().
* @return Timestamp in seconds since boot.
*/
double InterruptableSensorBase::ReadInterruptTimestamp()
{
wpi_assert(m_interrupt != NULL);
int32_t status = 0;
double timestamp = readInterruptTimestamp(m_interrupt, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return timestamp;
}