WPILibC++  unspecified
frc::InterruptableSensorBase Class Referenceabstract
Inheritance diagram for frc::InterruptableSensorBase:
Collaboration diagram for frc::InterruptableSensorBase:

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)
 Request one of the 8 interrupts asynchronously on this digital input. More...
 
virtual void RequestInterrupts ()
 Request one of the 8 interrupts synchronously on this digital input. More...
 
virtual void CancelInterrupts ()
 Cancel interrupts on this device. More...
 
virtual WaitResult WaitForInterrupt (double timeout, bool ignorePrevious=true)
 In synchronous mode, wait for the defined interrupt to occur. More...
 
virtual void EnableInterrupts ()
 Enable interrupts to occur on this input. More...
 
virtual void DisableInterrupts ()
 Disable Interrupts without without deallocating structures.
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred most recently. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred most recently. 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 (const llvm::Twine &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, const llvm::Twine &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, const llvm::Twine &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, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const llvm::Twine &errorMessage, Error::Code code, const llvm::Twine &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...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 ~SendableBase () override
 Free the resources used by this object.
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const llvm::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const llvm::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
void SetName (const llvm::Twine &subsystem, const llvm::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
virtual void InitSendable (SendableBuilder &builder)=0
 Initializes this Sendable object. More...
 

Protected Member Functions

void AllocateInterrupts (bool watcher)
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const llvm::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const llvm::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 

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, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const llvm::Twine &errorMessage, const llvm::Twine &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 wpi::mutex _globalErrorMutex
 
static Error _globalError
 

Member Function Documentation

void InterruptableSensorBase::CancelInterrupts ( )
virtual

Cancel interrupts on this device.

This deallocates all the chipobject structures and disables any interrupts.

void InterruptableSensorBase::EnableInterrupts ( )
virtual

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 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 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

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

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

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: