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

Public Types

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

Public Member Functions

virtual uint32_t GetChannelForRouting () const =0
 
virtual uint32_t GetModuleForRouting () const =0
 
virtual bool GetAnalogTriggerForRouting () const =0
 
virtual void RequestInterrupts (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 (float 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 SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from 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, uint32_t 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, uint32_t 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, uint32_t 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, uint32_t 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 Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 

Protected Attributes

void * m_interrupt = nullptr
 
uint32_t m_interruptIndex = std::numeric_limits<uint32_t>::max()
 
- Protected Attributes inherited from ErrorBase
Error m_error
 

Static Protected Attributes

static std::unique_ptr< Resourcem_interrupts
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 

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 ( 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 ( float  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

Member Data Documentation

std::unique_ptr< Resource > InterruptableSensorBase::m_interrupts
staticprotected
Initial value:
=
std::make_unique<Resource>(interrupt_kNumSystems)

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