mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
43 lines
1.8 KiB
C++
43 lines
1.8 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 "ErrorBase.h"
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#include "HAL/cpp/Synchronized.hpp"
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typedef void (*TimerEventHandler)(void *param);
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class Notifier : public ErrorBase
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{
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public:
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Notifier(TimerEventHandler handler, void *param = NULL);
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virtual ~Notifier();
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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 ReentrantSemaphore queueSemaphore;
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static void* m_notifier;
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static int refcount;
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static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event
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static void UpdateAlarm(); // update the FPGA alarm since the queue has changed
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void InsertInQueue(bool reschedule); // insert this Notifier in the timer queue
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void DeleteFromQueue(); // delete this Notifier from the timer queue
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TimerEventHandler m_handler; // address of the handler
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void *m_param; // a parameter to pass to the handler
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double m_period; // the relative time (either periodic or single)
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double m_expirationTime; // absolute expiration time for the current event
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Notifier *m_nextEvent; // next Nofifier event
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bool m_periodic; // true if this is a periodic event
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bool m_queued; // indicates if this entry is queued
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SEMAPHORE_ID m_handlerSemaphore; // held by interrupt manager task while handler call is in progress
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DISALLOW_COPY_AND_ASSIGN(Notifier);
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};
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