mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
55 lines
2.1 KiB
C++
55 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include "HAL/Interrupts.h"
|
|
#include "Resource.h"
|
|
#include "SensorBase.h"
|
|
|
|
class InterruptableSensorBase : public SensorBase {
|
|
public:
|
|
enum WaitResult {
|
|
kTimeout = 0x0,
|
|
kRisingEdge = 0x1,
|
|
kFallingEdge = 0x100,
|
|
kBoth = 0x101,
|
|
};
|
|
|
|
InterruptableSensorBase();
|
|
virtual ~InterruptableSensorBase() = default;
|
|
virtual uint32_t GetChannelForRouting() const = 0;
|
|
virtual uint32_t GetModuleForRouting() const = 0;
|
|
virtual bool GetAnalogTriggerForRouting() const = 0;
|
|
virtual void RequestInterrupts(
|
|
InterruptHandlerFunction handler,
|
|
void* param); ///< Asynchronus handler version.
|
|
virtual void RequestInterrupts(); ///< Synchronus Wait version.
|
|
virtual void
|
|
CancelInterrupts(); ///< Free up the underlying chipobject functions.
|
|
virtual WaitResult WaitForInterrupt(
|
|
float timeout,
|
|
bool ignorePrevious = true); ///< Synchronus version.
|
|
virtual void
|
|
EnableInterrupts(); ///< Enable interrupts - after finishing setup.
|
|
virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
|
|
virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
|
|
/// rising interrupt that occurred.
|
|
virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
|
|
/// falling interrupt that occurred.
|
|
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
|
|
|
protected:
|
|
void* m_interrupt = nullptr;
|
|
uint32_t m_interruptIndex = std::numeric_limits<uint32_t>::max();
|
|
void AllocateInterrupts(bool watcher);
|
|
|
|
static std::unique_ptr<Resource> m_interrupts;
|
|
};
|