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https://github.com/wpilibsuite/allwpilib
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39 lines
1.5 KiB
C++
39 lines
1.5 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 "HAL/HAL.hpp"
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#include "SensorBase.h"
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#include "Resource.h"
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class InterruptableSensorBase : public SensorBase
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{
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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();
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virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param) = 0; ///< Asynchronus handler version.
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virtual void RequestInterrupts() = 0; ///< Synchronus Wait version.
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virtual void CancelInterrupts(); ///< Free up the underlying chipobject functions.
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virtual WaitResult WaitForInterrupt(float timeout, bool ignorePrevious = true); ///< Synchronus version.
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virtual void 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 rising interrupt that occurred.
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virtual double ReadFallingTimestamp();///< Return the timestamp for the falling interrupt that occurred.
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protected:
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void* m_interrupt;
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uint32_t m_interruptIndex;
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void AllocateInterrupts(bool watcher);
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static Resource *m_interrupts;
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};
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