mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
91 lines
2.7 KiB
C++
91 lines
2.7 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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#include "InterruptableSensorBase.h"
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#include "Utility.h"
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InterruptableSensorBase::InterruptableSensorBase()
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{
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m_interrupt = NULL;
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}
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InterruptableSensorBase::~InterruptableSensorBase()
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{
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}
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void InterruptableSensorBase::AllocateInterrupts(bool watcher)
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{
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wpi_assert(m_interrupt == NULL);
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// Expects the calling leaf class to allocate an interrupt index.
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int32_t status = 0;
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m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Cancel interrupts on this device.
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* This deallocates all the chipobject structures and disables any interrupts.
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*/
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void InterruptableSensorBase::CancelInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = NULL;
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}
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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* @param timeout Timeout in seconds
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*/
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void InterruptableSensorBase::WaitForInterrupt(float timeout)
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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waitForInterrupt(m_interrupt, timeout, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Enable interrupts to occur on this input.
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* Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the
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* setup of the other options before starting to field interrupts.
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*/
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void InterruptableSensorBase::EnableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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enableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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void InterruptableSensorBase::DisableInterrupts()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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disableInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Return the timestamp for the interrupt that occurred most recently.
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* This is in the same time domain as GetClock().
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* @return Timestamp in seconds since boot.
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*/
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double InterruptableSensorBase::ReadInterruptTimestamp()
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{
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wpi_assert(m_interrupt != NULL);
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int32_t status = 0;
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double timestamp = readInterruptTimestamp(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return timestamp;
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}
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