WPILibC++  2020.3.2-60-g3011ebe
frc::InterruptableSensorBase Class Referenceabstract
Inheritance diagram for frc::InterruptableSensorBase:
frc::ErrorBase frc::DigitalSource frc::AnalogTriggerOutput frc::DigitalInput frc::DigitalOutput

Public Types

enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 
using InterruptEventHandler = std::function< void(WaitResult)>
 Handler for interrupts. More...
 

Public Member Functions

virtual ~InterruptableSensorBase ()
 Free the resources for an interrupt event.
 
 InterruptableSensorBase (InterruptableSensorBase &&)=default
 
InterruptableSensorBaseoperator= (InterruptableSensorBase &&)=default
 
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 (InterruptEventHandler handler)
 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::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 

Protected Member Functions

void AllocateInterrupts (bool watcher)
 

Protected Attributes

hal::Handle< HAL_InterruptHandle > m_interrupt
 
std::unique_ptr< InterruptEventHandlerm_interruptHandler {nullptr}
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 

Member Typedef Documentation

◆ InterruptEventHandler

using frc::InterruptableSensorBase::InterruptEventHandler = std::function<void(WaitResult)>

Handler for interrupts.

First parameter is if rising, 2nd is if falling.

Member Function Documentation

◆ CancelInterrupts()

virtual void frc::InterruptableSensorBase::CancelInterrupts ( )
virtual

Cancel interrupts on this device.

This deallocates all the chipobject structures and disables any interrupts.

◆ EnableInterrupts()

virtual void frc::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.

◆ ReadFallingTimestamp()

virtual double frc::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.

◆ ReadRisingTimestamp()

virtual double frc::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.

◆ RequestInterrupts() [1/3]

virtual void frc::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.

◆ RequestInterrupts() [2/3]

virtual void frc::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.

◆ RequestInterrupts() [3/3]

virtual void frc::InterruptableSensorBase::RequestInterrupts ( InterruptEventHandler  handler)
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.

◆ SetUpSourceEdge()

virtual void frc::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

◆ WaitForInterrupt()

virtual WaitResult frc::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 file: