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https://github.com/wpilibsuite/allwpilib
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d682295ccd
* Static functions in the HAL implementation were placed in the hal namespace * "using namespace" declarations in HAL/cpp/Log.h and Timer.cpp were replaced with "using" declarations for std::chrono * An extra include was removed from AnalogGyro.cpp * InterruptableSensorBase's constructor was defaulted * Newlines were added to some wpilibc integration tests for grouping * A variable in HALUtil.h was renamed to follow the style guide Supersedes #586
54 lines
2.0 KiB
C++
54 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 "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() = default;
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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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