mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
f0b0965f9b
Now only includes the types in the wpilib headers. Should immensely clean up intellisense. Closes #1383
124 lines
3.3 KiB
C++
124 lines
3.3 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 <stdint.h>
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#include <atomic>
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#include <functional>
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#include <thread>
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#include <utility>
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#include <hal/Types.h>
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#include <wpi/mutex.h>
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#include "frc/ErrorBase.h"
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namespace frc {
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using TimerEventHandler = std::function<void()>;
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class Notifier : public ErrorBase {
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public:
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/**
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* Create a Notifier for timer event notification.
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*
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* @param handler The handler is called at the notification time which is set
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* using StartSingle or StartPeriodic.
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*/
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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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/**
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* Free the resources for a timer event.
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*/
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virtual ~Notifier();
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Notifier(Notifier&& rhs);
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Notifier& operator=(Notifier&& rhs);
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/**
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* Change the handler function.
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*
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* @param handler Handler
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*/
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void SetHandler(TimerEventHandler handler);
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/**
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* Register for single event notification.
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*
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* A timer event is queued for a single event after the specified delay.
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*
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* @param delay Seconds to wait before the handler is called.
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*/
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void StartSingle(double delay);
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/**
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* Register for periodic event notification.
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*
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* A timer event is queued for periodic event notification. Each time the
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* interrupt occurs, the event will be immediately requeued for the same time
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* interval.
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*
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* @param period Period in seconds to call the handler starting one period
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* after the call to this method.
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*/
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void StartPeriodic(double period);
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/**
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* Stop timer events from occuring.
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*
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* Stop any repeating timer events from occuring. This will also remove any
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* single notification events from the queue.
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*
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* If a timer-based call to the registered handler is in progress, this
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* function will block until the handler call is complete.
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*/
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void Stop();
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private:
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/**
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* Update the HAL alarm time.
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*
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* @param triggerTime the time at which the next alarm will be triggered
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*/
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void UpdateAlarm(uint64_t triggerTime);
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/**
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* Update the HAL alarm time based on m_expirationTime.
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*/
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void UpdateAlarm();
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// The thread waiting on the HAL alarm
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std::thread m_thread;
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// Held while updating process information
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wpi::mutex m_processMutex;
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// HAL handle, atomic for proper destruction
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std::atomic<HAL_NotifierHandle> m_notifier{0};
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// Address of the handler
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TimerEventHandler m_handler;
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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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};
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} // namespace frc
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