mirror of
https://github.com/wpilibsuite/allwpilib
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91a451f87a
Also provide templated varags constructor for backwards compatibility and ease of use. Update PIDController to use new constructor, eliminating static function CallCalculate(). Change-Id: Iaeae95aa5953f294f5debc5fc569ef6d4684f223
71 lines
2.2 KiB
C++
71 lines
2.2 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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#pragma once
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#include <atomic>
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#include <functional>
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#include <thread>
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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typedef std::function<void()> TimerEventHandler;
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class Notifier : public ErrorBase {
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public:
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explicit Notifier(TimerEventHandler handler);
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template <typename Callable, typename Arg, typename... Args>
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Notifier(Callable&& f, Arg&& arg, Args&&... args)
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: Notifier(std::bind(std::forward<Callable>(f),
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std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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virtual ~Notifier();
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Notifier(const Notifier&) = delete;
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Notifier& operator=(const Notifier&) = delete;
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void StartSingle(double delay);
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void StartPeriodic(double period);
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void Stop();
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private:
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static Notifier *timerQueueHead;
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static priority_recursive_mutex queueMutex;
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static priority_mutex halMutex;
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static void *m_notifier;
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static std::atomic<int> refcount;
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// process the timer queue on a timer event
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static void ProcessQueue(uint32_t mask, void *params);
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// update the FPGA alarm since the queue has changed
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static void UpdateAlarm();
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// insert this Notifier in the timer queue
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void InsertInQueue(bool reschedule);
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// delete this Notifier from the timer queue
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void DeleteFromQueue();
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// address of the handler
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TimerEventHandler m_handler;
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// the relative time (either periodic or single)
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double m_period = 0;
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// absolute expiration time for the current event
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double m_expirationTime = 0;
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// next Nofifier event
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Notifier *m_nextEvent = nullptr;
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// true if this is a periodic event
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bool m_periodic = false;
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// indicates if this entry is queued
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bool m_queued = false;
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// held by interrupt manager task while handler call is in progress
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priority_mutex m_handlerMutex;
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static std::thread m_task;
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static std::atomic<bool> m_stopped;
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static void Run();
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};
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