mirror of
https://github.com/wpilibsuite/allwpilib
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efec0c5cc3
There is a shim for backwards compatibility, just like the frc namespace. As with the frc namespace, the library compiles without the shim.
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 <atomic>
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#include <functional>
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#include <list>
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#include <thread>
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#include <utility>
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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namespace frc {
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typedef std::function<void()> TimerEventHandler;
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class Notifier : public ErrorBase {
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public:
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explicit Notifier(TimerEventHandler handler);
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template <typename Callable, typename Arg, typename... Args>
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Notifier(Callable&& f, Arg&& arg, Args&&... args)
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: Notifier(std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
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std::forward<Args>(args)...)) {}
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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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static std::list<Notifier*> timerQueue;
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static hal::priority_recursive_mutex queueMutex;
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static hal::priority_mutex halMutex;
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static void* m_notifier;
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static std::atomic<int> refcount;
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// Process the timer queue on a timer event
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static void ProcessQueue(int mask, void* params);
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// Update the FPGA alarm since the queue has changed
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static void UpdateAlarm();
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// Insert the Notifier in the timer queue
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void InsertInQueue(bool reschedule);
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// Delete this Notifier from the timer queue
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void DeleteFromQueue();
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// Address of the handler
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TimerEventHandler m_handler;
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// The relative time (either periodic or single)
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double m_period = 0;
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// Absolute expiration time for the current event
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double m_expirationTime = 0;
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// True if this is a periodic event
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bool m_periodic = false;
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// Indicates if this entry is queued
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bool m_queued = false;
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// Held by interrupt manager task while handler call is in progress
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hal::priority_mutex m_handlerMutex;
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static std::thread m_task;
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static std::atomic<bool> m_stopped;
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static void Run();
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};
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} // namespace frc
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