mirror of
https://github.com/wpilibsuite/allwpilib
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57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#include <thread>
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#include <atomic>
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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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static Notifier *timerQueueHead;
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static priority_recursive_mutex queueMutex;
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static void *m_notifier;
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static int refcount;
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static void ProcessQueue(
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uint32_t mask, void *params); // process the timer queue on a timer event
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static void
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UpdateAlarm(); // update the FPGA alarm since the queue has changed
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void InsertInQueue(
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bool reschedule); // insert this Notifier in the timer queue
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void DeleteFromQueue(); // delete this Notifier from the timer queue
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TimerEventHandler m_handler; // address of the handler
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void *m_param; // a parameter to pass to the handler
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double m_period = 0; // the relative time (either periodic or single)
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double m_expirationTime = 0; // absolute expiration time for the current event
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Notifier *m_nextEvent = nullptr; // next Nofifier event
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bool m_periodic = false; // true if this is a periodic event
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bool m_queued = false; // indicates if this entry is queued
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priority_mutex m_handlerMutex; // held by interrupt manager task while
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// handler call is in progress
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#ifdef FRC_SIMULATOR
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static std::thread m_task;
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static std::atomic<bool> m_stopped;
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#endif
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static void Run();
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};
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