mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
53 lines
2.0 KiB
C++
53 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "HAL/HAL.hpp"
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#include "SensorBase.h"
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#include "Resource.h"
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#include <memory>
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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 uint32_t GetChannelForRouting() const = 0;
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virtual uint32_t GetModuleForRouting() const = 0;
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virtual bool GetAnalogTriggerForRouting() const = 0;
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virtual void RequestInterrupts(
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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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float timeout, 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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void *m_interrupt = nullptr;
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uint32_t m_interruptIndex;
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void AllocateInterrupts(bool watcher);
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static std::unique_ptr<Resource> m_interrupts;
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};
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