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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
125 lines
4.0 KiB
C++
125 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 <hal/Interrupts.h>
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#include "frc/AnalogTriggerType.h"
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#include "frc/ErrorBase.h"
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#include "frc/smartdashboard/SendableBase.h"
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namespace frc {
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class InterruptableSensorBase : public ErrorBase, public SendableBase {
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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 HAL_Handle GetPortHandleForRouting() const = 0;
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virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
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/**
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* Request one of the 8 interrupts asynchronously on this digital input.
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*
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* Request interrupts in asynchronous mode where the user's interrupt handler
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* will be called when the interrupt fires. Users that want control over the
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* thread priority should use the synchronous method with their own spawned
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* thread. The default is interrupt on rising edges only.
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*/
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virtual void RequestInterrupts(HAL_InterruptHandlerFunction handler,
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void* param);
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/**
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* Request one of the 8 interrupts synchronously on this digital input.
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*
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* Request interrupts in synchronous mode where the user program will have to
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* explicitly wait for the interrupt to occur using WaitForInterrupt.
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* The default is interrupt on rising edges only.
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*/
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virtual void RequestInterrupts();
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/**
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* Cancel interrupts on this device.
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*
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* This deallocates all the chipobject structures and disables any interrupts.
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*/
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virtual void CancelInterrupts();
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/**
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* In synchronous mode, wait for the defined interrupt to occur.
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*
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* You should <b>NOT</b> attempt to read the sensor from another thread while
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* waiting for an interrupt. This is not threadsafe, and can cause memory
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* corruption
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*
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* @param timeout Timeout in seconds
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* @param ignorePrevious If true, ignore interrupts that happened before
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* WaitForInterrupt was called.
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* @return What interrupts fired
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*/
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virtual WaitResult WaitForInterrupt(double timeout,
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bool ignorePrevious = true);
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/**
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* Enable interrupts to occur on this input.
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*
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* Interrupts are disabled when the RequestInterrupt call is made. This gives
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* time to do the setup of the other options before starting to field
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* interrupts.
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*/
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virtual void EnableInterrupts();
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/**
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* Disable Interrupts without without deallocating structures.
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*/
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virtual void DisableInterrupts();
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/**
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* Return the timestamp for the rising interrupt that occurred most recently.
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*
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* This is in the same time domain as GetClock().
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* The rising-edge interrupt should be enabled with
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* {@link #DigitalInput.SetUpSourceEdge}
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*
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* @return Timestamp in seconds since boot.
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*/
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virtual double ReadRisingTimestamp();
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/**
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* Return the timestamp for the falling interrupt that occurred most recently.
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*
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* This is in the same time domain as GetClock().
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* The falling-edge interrupt should be enabled with
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* {@link #DigitalInput.SetUpSourceEdge}
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*
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* @return Timestamp in seconds since boot.
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*/
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virtual double ReadFallingTimestamp();
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/**
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* Set which edge to trigger interrupts on
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*
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* @param risingEdge true to interrupt on rising edge
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* @param fallingEdge true to interrupt on falling edge
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*/
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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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