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https://github.com/wpilibsuite/allwpilib
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2356008d8c
When interrupts are cancelled on any interruptable class, the resource is now freed. Previously, the resource was only freed if the object is destructed before CancelInterrupts() is called, so it was impossible to create and destruct more than 8 interrupts. The interrupts resource object is now in InterruptableSensorBase instead of SensorBase. A synchronous interrupt integration test was added. Change-Id: I0806176340cecd4c1480dd8f043474cc05919f24
95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "InterruptableSensorBase.h"
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#include "Utility.h"
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Resource *InterruptableSensorBase::m_interrupts = NULL;
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InterruptableSensorBase::InterruptableSensorBase()
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{
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m_interrupt = NULL;
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Resource::CreateResourceObject(&m_interrupts, interrupt_kNumSystems);
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}
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InterruptableSensorBase::~InterruptableSensorBase()
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{
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}
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void InterruptableSensorBase::AllocateInterrupts(bool watcher)
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{
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wpi_assert(m_interrupt == NULL);
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// Expects the calling leaf class to allocate an interrupt index.
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int32_t status = 0;
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m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Cancel interrupts on this device.
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* This deallocates all the chipobject structures and disables any interrupts.
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*/
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void InterruptableSensorBase::CancelInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = NULL;
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m_interrupts->Free(m_interruptIndex);
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}
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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* @param timeout Timeout in seconds
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*/
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void InterruptableSensorBase::WaitForInterrupt(float timeout)
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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waitForInterrupt(m_interrupt, timeout, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Enable interrupts to occur on this input.
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* Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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* setup of the other options before starting to field interrupts.
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*/
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void InterruptableSensorBase::EnableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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enableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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void InterruptableSensorBase::DisableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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disableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Return the timestamp for the interrupt that occurred most recently.
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* This is in the same time domain as GetClock().
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* @return Timestamp in seconds since boot.
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*/
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double InterruptableSensorBase::ReadInterruptTimestamp()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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double timestamp = readInterruptTimestamp(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return timestamp;
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}
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