allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.wpilibj;

import edu.wpi.first.hal.InterruptJNI.InterruptJNIHandlerFunction;


/**
 * It is recommended that you use this class in conjunction with classes from {@link
 * java.util.concurrent.atomic} as these objects are all thread safe.
 *
 * @param <T> The type of the parameter that should be returned to the the method {@link
 *            #interruptFired(int, Object)}
 */
public abstract class InterruptHandlerFunction<T> {
  /**
   * The entry point for the interrupt. When the interrupt fires the {@link #apply(int, Object)}
   * method is called. The outer class is provided as an interface to allow the implementer to pass
   * a generic object to the interrupt fired method.
   */
  private class Function implements InterruptJNIHandlerFunction {
    @SuppressWarnings("unchecked")
    @Override
    public void apply(int interruptAssertedMask, Object param) {
      interruptFired(interruptAssertedMask, (T) param);
    }
  }

  final Function m_function = new Function();

  /**
   * This method is run every time an interrupt is fired.
   *
   * @param interruptAssertedMask Interrupt Mask
   * @param param                 The parameter provided by overriding the {@link
   *                              #overridableParameter()} method.
   */
  public abstract void interruptFired(int interruptAssertedMask, T param);


  /**
   * Override this method if you would like to pass a specific parameter to the {@link
   * #interruptFired(int, Object)} when it is fired by the interrupt. This method is called once
   * when {@link InterruptableSensorBase#requestInterrupts(InterruptHandlerFunction)} is run.
   *
   * @return The object that should be passed to the interrupt when it runs
   */
  public T overridableParameter() {
    return null;
  }
}