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https://github.com/wpilibsuite/allwpilib
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59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
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/* the project. */
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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 <utility>
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#include "ErrorBase.h"
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#include "HAL/Notifier.h"
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#include "HAL/cpp/priority_mutex.h"
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namespace frc {
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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), 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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// update the HAL alarm
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void UpdateAlarm();
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// HAL callback
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static void Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle);
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// used to constrain execution between destructors and callback
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static priority_mutex m_destructorMutex;
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// held while updating process information
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priority_mutex m_processMutex;
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// HAL handle, atomic for proper destruction
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std::atomic<HAL_NotifierHandle> m_notifier{0};
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// address of the handler
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TimerEventHandler m_handler;
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// the absolute expiration time
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double m_expirationTime = 0;
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// the relative time (either periodic or single)
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double m_period = 0;
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// true if this is a periodic event
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bool m_periodic = false;
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};
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} // namespace frc
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