Package edu.wpi.first.hal

Class InterruptJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.InterruptJNI

public class InterruptJNI
extends JNIWrapper

Interrupt HAL JNI functions.

See Also:

"hal/Interrupts.h"

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Field Summary

Fields

Modifier and Type	Field	Description
static int	HalInvalidHandle

Constructor Summary

Constructors

Constructor	Description
InterruptJNI()

Method Summary

Modifier and Type	Method	Description
static void	cleanInterrupts(int interruptHandle)	Frees an interrupt.
static int	initializeInterrupts()	Initializes an interrupt.
static long	readInterruptFallingTimestamp(int interruptHandle)	Returns the timestamp for the falling interrupt that occurred most recently.
static long	readInterruptRisingTimestamp(int interruptHandle)	Returns the timestamp for the rising interrupt that occurred most recently.
static void	releaseWaitingInterrupt(int interruptHandle)	Releases a waiting interrupt.
static void	requestInterrupts(int interruptHandle, int digitalSourceHandle, int analogTriggerType)	Requests interrupts on a specific digital source.
static void	setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge, boolean fallingEdge)	Sets the edges to trigger the interrupt on.
static long	waitForInterrupt(int interruptHandle, double timeout, boolean ignorePrevious)	Waits for the defined interrupt to occur.
static long	waitForMultipleInterrupts(int interruptHandle, long mask, double timeout, boolean ignorePrevious)	Waits for any interrupt covered by the mask to occur.

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

HalInvalidHandle

public static final int HalInvalidHandle

See Also:

Constant Field Values

Constructor Details

InterruptJNI

public InterruptJNI()

Method Details

initializeInterrupts

public static int initializeInterrupts()

Initializes an interrupt.

Returns:

the created interrupt handle

See Also:

"HAL_InitializeInterrupts"

cleanInterrupts

public static void cleanInterrupts(int interruptHandle)

Frees an interrupt.

Parameters:

interruptHandle - the interrupt handle

See Also:

"HAL_CleanInterrupts"

waitForInterrupt

public static long waitForInterrupt(int interruptHandle, double timeout, boolean ignorePrevious)

Waits for the defined interrupt to occur.

Parameters:

interruptHandle - the interrupt handle

timeout - timeout in seconds

ignorePrevious - if true, ignore interrupts that happened before waitForInterrupt was called

Returns:

the mask of interrupts that fired

See Also:

"HAL_WaitForInterrupt"

waitForMultipleInterrupts

public static long waitForMultipleInterrupts(int interruptHandle, long mask, double timeout, boolean ignorePrevious)

Waits for any interrupt covered by the mask to occur.

Parameters:

interruptHandle - the interrupt handle to use for the context

mask - the mask of interrupts to wait for

timeout - timeout in seconds

ignorePrevious - if true, ignore interrupts that happened before waitForInterrupt was called

Returns:

the mask of interrupts that fired

See Also:

"HAL_WaitForMultipleInterrupts"

readInterruptRisingTimestamp

public static long readInterruptRisingTimestamp(int interruptHandle)

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

This is in the same time domain as getFPGATime(). It only contains the bottom 32 bits of the timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper 32 bits yourself.

Parameters:

interruptHandle - the interrupt handle

Returns:

timestamp in microseconds since FPGA Initialization

readInterruptFallingTimestamp

public static long readInterruptFallingTimestamp(int interruptHandle)

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

This is in the same time domain as getFPGATime(). It only contains the bottom 32 bits of the timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper 32 bits yourself.

Parameters:

interruptHandle - the interrupt handle

Returns:

timestamp in microseconds since FPGA Initialization

requestInterrupts

public static void requestInterrupts(int interruptHandle, int digitalSourceHandle, int analogTriggerType)

Requests interrupts on a specific digital source.

Parameters:

interruptHandle - the interrupt handle

digitalSourceHandle - the digital source handle (either a HAL_AnalogTriggerHandle or a HAL_DigitalHandle)

analogTriggerType - the trigger type if the source is an AnalogTrigger

See Also:

"HAL_RequestInterrupts"

setInterruptUpSourceEdge

public static void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge, boolean fallingEdge)

Sets the edges to trigger the interrupt on.

Note that both edges triggered is a valid configuration.

Parameters:

interruptHandle - the interrupt handle

risingEdge - true for triggering on rising edge

fallingEdge - true for triggering on falling edge

See Also:

"HAL_SetInterruptUpSourceEdge"

releaseWaitingInterrupt

public static void releaseWaitingInterrupt(int interruptHandle)

Releases a waiting interrupt.

This will release both rising and falling waiters.

Parameters:

interruptHandle - the interrupt handle to release

See Also:

"HAL_ReleaseWaitingInterrupt"