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Add lambda overloads for interrupts (#1636)

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This commit is contained in:
Thad House
2019-05-30 17:59:35 -07:00
committed by Peter Johnson
parent 90957aeea4
commit 7de9477347
3 changed files with 141 additions and 17 deletions
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34
wpilibc/src/main/native/include/frc/InterruptableSensorBase.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. 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 the root directory of */
/* the project. */
@@ -7,6 +7,9 @@
#pragma once
#include <atomic>
#include <functional>
#include <hal/Interrupts.h>
#include "frc/AnalogTriggerType.h"
@@ -24,10 +27,22 @@ class InterruptableSensorBase : public ErrorBase, public SendableBase {
kBoth = 0x101,
};
/**
* Handler for interrupts.
*
* First parameter is if rising, 2nd is if falling.
*/
using InterruptEventHandler = std::function<void(WaitResult)>;
InterruptableSensorBase() = default;
InterruptableSensorBase(InterruptableSensorBase&&) = default;
InterruptableSensorBase& operator=(InterruptableSensorBase&&) = default;
/**
* Free the resources for an interrupt event.
*/
virtual ~InterruptableSensorBase();
InterruptableSensorBase(InterruptableSensorBase&&);
InterruptableSensorBase& operator=(InterruptableSensorBase&&);
virtual HAL_Handle GetPortHandleForRouting() const = 0;
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
@@ -43,6 +58,16 @@ class InterruptableSensorBase : public ErrorBase, public SendableBase {
virtual void RequestInterrupts(HAL_InterruptHandlerFunction handler,
void* param);
/**
* Request one of the 8 interrupts asynchronously on this digital input.
*
* Request interrupts in asynchronous mode where the user's interrupt handler
* will be called when the interrupt fires. Users that want control over the
* thread priority should use the synchronous method with their own spawned
* thread. The default is interrupt on rising edges only.
*/
virtual void RequestInterrupts(InterruptEventHandler handler);
/**
* Request one of the 8 interrupts synchronously on this digital input.
*
@@ -119,7 +144,8 @@ class InterruptableSensorBase : public ErrorBase, public SendableBase {
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
protected:
HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
// atomic for proper destruction
std::atomic<HAL_InterruptHandle> m_interrupt{HAL_kInvalidHandle};
void AllocateInterrupts(bool watcher);
};