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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
106 lines
3.7 KiB
C++
106 lines
3.7 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/SynchronousInterrupt.h"
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#include <type_traits>
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#include <hal/Interrupts.h>
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#include <wpi/NullDeleter.h>
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#include "frc/DigitalSource.h"
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#include "frc/Errors.h"
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using namespace frc;
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SynchronousInterrupt::SynchronousInterrupt(DigitalSource& source)
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: m_source{&source, wpi::NullDeleter<DigitalSource>()} {
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InitSynchronousInterrupt();
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}
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SynchronousInterrupt::SynchronousInterrupt(DigitalSource* source)
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: m_source{source, wpi::NullDeleter<DigitalSource>()} {
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if (m_source == nullptr) {
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FRC_CheckErrorStatus(frc::err::NullParameter, "Source is null");
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} else {
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InitSynchronousInterrupt();
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}
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}
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SynchronousInterrupt::SynchronousInterrupt(
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std::shared_ptr<DigitalSource> source)
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: m_source{std::move(source)} {
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if (m_source == nullptr) {
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FRC_CheckErrorStatus(frc::err::NullParameter, "Source is null");
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} else {
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InitSynchronousInterrupt();
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}
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}
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void SynchronousInterrupt::InitSynchronousInterrupt() {
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int32_t status = 0;
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m_handle = HAL_InitializeInterrupts(&status);
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FRC_CheckErrorStatus(status, "Interrupt failed to initialize");
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HAL_RequestInterrupts(m_handle, m_source->GetPortHandleForRouting(),
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static_cast<HAL_AnalogTriggerType>(
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m_source->GetAnalogTriggerTypeForRouting()),
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&status);
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FRC_CheckErrorStatus(status, "Interrupt request failed");
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HAL_SetInterruptUpSourceEdge(m_handle, true, false, &status);
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FRC_CheckErrorStatus(status, "Interrupt setting up source edge failed");
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}
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SynchronousInterrupt::~SynchronousInterrupt() {
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HAL_CleanInterrupts(m_handle);
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}
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inline SynchronousInterrupt::WaitResult operator|(
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SynchronousInterrupt::WaitResult lhs,
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SynchronousInterrupt::WaitResult rhs) {
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using T = std::underlying_type_t<SynchronousInterrupt::WaitResult>;
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return static_cast<SynchronousInterrupt::WaitResult>(static_cast<T>(lhs) |
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static_cast<T>(rhs));
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}
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SynchronousInterrupt::WaitResult SynchronousInterrupt::WaitForInterrupt(
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units::second_t timeout, bool ignorePrevious) {
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int32_t status = 0;
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auto result =
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HAL_WaitForInterrupt(m_handle, timeout.value(), ignorePrevious, &status);
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auto rising =
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((result & 0xFF) != 0) ? WaitResult::kRisingEdge : WaitResult::kTimeout;
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auto falling = ((result & 0xFF00) != 0) ? WaitResult::kFallingEdge
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: WaitResult::kTimeout;
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return rising | falling;
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}
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void SynchronousInterrupt::SetInterruptEdges(bool risingEdge,
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bool fallingEdge) {
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int32_t status = 0;
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HAL_SetInterruptUpSourceEdge(m_handle, risingEdge, fallingEdge, &status);
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FRC_CheckErrorStatus(status, "Interrupt setting edges failed");
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}
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void SynchronousInterrupt::WakeupWaitingInterrupt() {
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int32_t status = 0;
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HAL_ReleaseWaitingInterrupt(m_handle, &status);
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FRC_CheckErrorStatus(status, "Interrupt wakeup failed");
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}
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units::second_t SynchronousInterrupt::GetRisingTimestamp() {
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int32_t status = 0;
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auto ts = HAL_ReadInterruptRisingTimestamp(m_handle, &status);
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FRC_CheckErrorStatus(status, "Interrupt rising timestamp failed");
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units::microsecond_t ms{static_cast<double>(ts)};
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return ms;
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}
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units::second_t SynchronousInterrupt::GetFallingTimestamp() {
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int32_t status = 0;
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auto ts = HAL_ReadInterruptFallingTimestamp(m_handle, &status);
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FRC_CheckErrorStatus(status, "Interrupt falling timestamp failed");
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units::microsecond_t ms{static_cast<double>(ts)};
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return ms;
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}
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