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InterruptableSensorBase.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include "AnalogTriggerType.h"
11 #include "HAL/Interrupts.h"
12 #include "SensorBase.h"
13 
14 namespace frc {
15 
17  public:
18  enum WaitResult {
19  kTimeout = 0x0,
20  kRisingEdge = 0x1,
21  kFallingEdge = 0x100,
22  kBoth = 0x101,
23  };
24 
26  virtual ~InterruptableSensorBase() = default;
27  virtual HAL_Handle GetPortHandleForRouting() const = 0;
28  virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
29  virtual void RequestInterrupts(
30  HAL_InterruptHandlerFunction handler,
31  void* param);
32  virtual void RequestInterrupts();
33  virtual void
35  virtual WaitResult WaitForInterrupt(
36  double timeout,
37  bool ignorePrevious = true);
38  virtual void
40  virtual void DisableInterrupts();
41  virtual double ReadRisingTimestamp();
42  virtual double ReadFallingTimestamp();
44  virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
46 
47  protected:
48  HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
49  void AllocateInterrupts(bool watcher);
50 };
51 
52 } // namespace frc
virtual void RequestInterrupts()
Synchronus Wait version.
Definition: InterruptableSensorBase.cpp:51
virtual double ReadFallingTimestamp()
Return the timestamp for the falling interrupt that occurred.
Definition: InterruptableSensorBase.cpp:173
Definition: InterruptableSensorBase.h:16
Base class for all sensors.
Definition: SensorBase.h:20
virtual void EnableInterrupts()
Enable interrupts - after finishing setup.
Definition: InterruptableSensorBase.cpp:127
virtual double ReadRisingTimestamp()
Return the timestamp for the rising interrupt that occurred.
Definition: InterruptableSensorBase.cpp:155
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge)
Set which edge to trigger interrupts on.
Definition: InterruptableSensorBase.cpp:188
virtual void CancelInterrupts()
Free up the underlying chipobject functions.
Definition: InterruptableSensorBase.cpp:80
virtual void DisableInterrupts()
Disable, but don't deallocate.
Definition: InterruptableSensorBase.cpp:138
virtual WaitResult WaitForInterrupt(double timeout, bool ignorePrevious=true)
Synchronus version.
Definition: InterruptableSensorBase.cpp:101