mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
b0de0b7386
This removes redundant queue code from the C++ library. The old queue code is still needed by simulation, and as the delta between the simulation and athena headers has grown significantly, this splits the header into two separate files. Change-Id: Ia76b38337a25eb9d4890b3eb9bd76b1cbda7f285
49 lines
1.5 KiB
C++
49 lines
1.5 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 "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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typedef void (*TimerEventHandler)(void *param);
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class Notifier : public ErrorBase {
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public:
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Notifier(TimerEventHandler handler, void *param = nullptr);
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virtual ~Notifier();
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Notifier(const Notifier&) = delete;
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Notifier& operator=(const Notifier&) = delete;
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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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// update the HAL alarm
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void UpdateAlarm();
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// HAL callback
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static void Notify(uint32_t currentTimeInt, void *param);
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// held while updating process information
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priority_mutex m_processMutex;
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// HAL handle
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void *m_notifier;
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// address of the handler
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TimerEventHandler m_handler;
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// a parameter to pass to the handler
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void *m_param;
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// the absolute expiration time
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double m_expirationTime = 0;
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// the relative time (either periodic or single)
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double m_period = 0;
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// true if this is a periodic event
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bool m_periodic = false;
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// held by interrupt manager task while handler call is in progress
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priority_mutex m_handlerMutex;
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};
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