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https://github.com/wpilibsuite/allwpilib
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d521eb79b9
Analog interrupts now work in C++. The interrupts Resource was moved from a global in DigitalInput to a static member of SensorBase. An analog interrupt IT was added, and the digital interrupt one modified to prevent a linker error. Change-Id: I9a300daafed15e9666a4ccb405a509615e3dbb06
126 lines
3.8 KiB
C++
126 lines
3.8 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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#include "AnalogTriggerOutput.h"
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#include "AnalogTrigger.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "WPIErrors.h"
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/**
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* Create an object that represents one of the four outputs from an analog trigger.
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*
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* Because this class derives from DigitalSource, it can be passed into routing functions
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* for Counter, Encoder, etc.
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*
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* @param trigger A pointer to the trigger for which this is an output.
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* @param outputType An enum that specifies the output on the trigger to represent.
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*/
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AnalogTriggerOutput::AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType)
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: m_trigger (trigger)
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, m_outputType (outputType)
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{
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HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput, trigger->GetIndex(), outputType);
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}
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AnalogTriggerOutput::~AnalogTriggerOutput()
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{
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if (m_interrupt != NULL)
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{
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int32_t status = 0;
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cleanInterrupts(m_interrupt, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_interrupt = NULL;
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m_interrupts->Free(m_interruptIndex);
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}
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}
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/**
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* Get the state of the analog trigger output.
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* @return The state of the analog trigger output.
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*/
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bool AnalogTriggerOutput::Get()
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{
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int32_t status = 0;
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bool result = getAnalogTriggerOutput(m_trigger->m_trigger, m_outputType, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return result;
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}
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/**
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* @return The value to be written to the channel field of a routing mux.
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*/
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uint32_t AnalogTriggerOutput::GetChannelForRouting()
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{
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return (m_trigger->m_index << 2) + m_outputType;
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}
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/**
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* @return The value to be written to the module field of a routing mux.
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*/
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uint32_t AnalogTriggerOutput::GetModuleForRouting()
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{
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return 0;
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}
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/**
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* @return The value to be written to the module field of a routing mux.
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*/
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bool AnalogTriggerOutput::GetAnalogTriggerForRouting()
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{
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return true;
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}
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/**
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* Request interrupts asynchronously on this analog trigger output.
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* @param handler The address of the interrupt handler function of type tInterruptHandler that
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* will be called whenever there is an interrupt on the digitial input port.
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* Request interrupts in synchronus mode where the user program interrupt handler will be
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* called when an interrupt occurs.
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*/
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void AnalogTriggerOutput::RequestInterrupts(InterruptHandlerFunction handler, void *param)
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{
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if (StatusIsFatal()) return;
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uint32_t index = m_interrupts->Allocate("Async Interrupt");
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if (index == ~0ul)
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{
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CloneError(m_interrupts);
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return;
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}
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m_interruptIndex = index;
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AllocateInterrupts(false);
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int32_t status = 0;
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requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
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GetAnalogTriggerForRouting(), &status);
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attachInterruptHandler(m_interrupt, handler, param, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Request interrupts synchronously on this analog trigger output.
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* Request interrupts in asynchronus mode where the user program will have to
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* explicitly wait for the interrupt to occur.
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*/
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void AnalogTriggerOutput::RequestInterrupts()
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{
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if (StatusIsFatal()) return;
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uint32_t index = m_interrupts->Allocate("Sync Interrupt");
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if (index == ~0ul)
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{
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CloneError(m_interrupts);
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return;
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}
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m_interruptIndex = index;
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AllocateInterrupts(true);
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int32_t status = 0;
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requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
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GetAnalogTriggerForRouting(), &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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