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https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
55 lines
2.1 KiB
C++
55 lines
2.1 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 <memory>
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#include "AnalogTriggerType.h"
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#include "HAL/Interrupts.h"
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#include "SensorBase.h"
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namespace frc {
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class InterruptableSensorBase : public SensorBase {
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public:
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enum WaitResult {
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kTimeout = 0x0,
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kRisingEdge = 0x1,
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kFallingEdge = 0x100,
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kBoth = 0x101,
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};
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InterruptableSensorBase();
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virtual ~InterruptableSensorBase() = default;
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virtual HAL_Handle GetPortHandleForRouting() const = 0;
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virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
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virtual void RequestInterrupts(
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HAL_InterruptHandlerFunction handler,
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void* param); ///< Asynchronus handler version.
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virtual void RequestInterrupts(); ///< Synchronus Wait version.
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virtual void
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CancelInterrupts(); ///< Free up the underlying chipobject functions.
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virtual WaitResult WaitForInterrupt(
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double timeout,
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bool ignorePrevious = true); ///< Synchronus version.
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virtual void
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EnableInterrupts(); ///< Enable interrupts - after finishing setup.
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virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
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virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
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/// rising interrupt that occurred.
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virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
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/// falling interrupt that occurred.
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virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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protected:
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HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
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void AllocateInterrupts(bool watcher);
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};
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} // namespace frc
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