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frc::InterruptableSensorBase Class Referenceabstract
Inheritance diagram for frc::InterruptableSensorBase:
frc::SensorBase frc::ErrorBase frc::DigitalSource frc::AnalogTriggerOutput frc::DigitalInput frc::DigitalOutput

Public Types

enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 

Public Member Functions

virtual HAL_Handle GetPortHandleForRouting () const =0
 
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting () const =0
 
virtual void RequestInterrupts (HAL_InterruptHandlerFunction handler, void *param)
 Asynchronus handler version. More...
 
virtual void RequestInterrupts ()
 Synchronus Wait version. More...
 
virtual void CancelInterrupts ()
 Free up the underlying chipobject functions. More...
 
virtual WaitResult WaitForInterrupt (double timeout, bool ignorePrevious=true)
 Synchronus version. More...
 
virtual void EnableInterrupts ()
 Enable interrupts - after finishing setup. More...
 
virtual void DisableInterrupts ()
 Disable, but don't deallocate. More...
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred. More...
 
virtual void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set which edge to trigger interrupts on. More...
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Protected Member Functions

void AllocateInterrupts (bool watcher)
 

Protected Attributes

HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Static Protected Attributes inherited from frc::ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Member Function Documentation

void InterruptableSensorBase::CancelInterrupts ( )
virtual

Free up the underlying chipobject functions.

Cancel interrupts on this device.

This deallocates all the chipobject structures and disables any interrupts.

void InterruptableSensorBase::DisableInterrupts ( )
virtual

Disable, but don't deallocate.

Disable Interrupts without without deallocating structures.

void InterruptableSensorBase::EnableInterrupts ( )
virtual

Enable interrupts - after finishing setup.

Enable interrupts to occur on this input.

Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the setup of the other options before starting to field interrupts.

double InterruptableSensorBase::ReadFallingTimestamp ( )
virtual

Return the timestamp for the falling interrupt that occurred.

Return the timestamp for the falling interrupt that occurred most recently.

This is in the same time domain as GetClock(). The falling-edge interrupt should be enabled with DigitalInput.SetUpSourceEdge

Returns
Timestamp in seconds since boot.
double InterruptableSensorBase::ReadRisingTimestamp ( )
virtual

Return the timestamp for the rising interrupt that occurred.

Return the timestamp for the rising interrupt that occurred most recently.

This is in the same time domain as GetClock(). The rising-edge interrupt should be enabled with DigitalInput.SetUpSourceEdge

Returns
Timestamp in seconds since boot.
void InterruptableSensorBase::RequestInterrupts ( HAL_InterruptHandlerFunction  handler,
void *  param 
)
virtual

Asynchronus handler version.

Request one of the 8 interrupts asynchronously on this digital input.

Request interrupts in asynchronous mode where the user's interrupt handler will be called when the interrupt fires. Users that want control over the thread priority should use the synchronous method with their own spawned thread. The default is interrupt on rising edges only.

void InterruptableSensorBase::RequestInterrupts ( )
virtual

Synchronus Wait version.

Request one of the 8 interrupts synchronously on this digital input.

Request interrupts in synchronous mode where the user program will have to explicitly wait for the interrupt to occur using WaitForInterrupt. The default is interrupt on rising edges only.

void InterruptableSensorBase::SetUpSourceEdge ( bool  risingEdge,
bool  fallingEdge 
)
virtual

Set which edge to trigger interrupts on.

Parameters
risingEdgetrue to interrupt on rising edge
fallingEdgetrue to interrupt on falling edge
InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt ( double  timeout,
bool  ignorePrevious = true 
)
virtual

Synchronus version.

In synchronous mode, wait for the defined interrupt to occur.

You should NOT attempt to read the sensor from another thread while waiting for an interrupt. This is not threadsafe, and can cause memory corruption

Parameters
timeoutTimeout in seconds
ignorePreviousIf true, ignore interrupts that happened before WaitForInterrupt was called.
Returns
What interrupts fired

The documentation for this class was generated from the following files: