Package edu.wpi.first.wpilibj

Class SynchronousInterrupt

java.lang.Object

edu.wpi.first.wpilibj.SynchronousInterrupt

All Implemented Interfaces:

AutoCloseable

public class SynchronousInterrupt
extends Object
implements AutoCloseable

Class for handling synchronous (blocking) interrupts.

By default, interrupts will occur on rising edge.

Asynchronous interrupts are handled by the AsynchronousInterrupt class.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SynchronousInterrupt.WaitResult	Event trigger combinations for a synchronous interrupt.

Constructor Summary

Constructors

Constructor	Description
SynchronousInterrupt(DigitalSource source)	Constructs a new synchronous interrupt using a DigitalSource.

Method Summary

Modifier and Type	Method	Description
void	close()	Closes the interrupt.
double	getFallingTimestamp()	Get the timestamp of the last falling edge.
double	getRisingTimestamp()	Get the timestamp of the last rising edge.
void	setInterruptEdges(boolean risingEdge, boolean fallingEdge)	Set which edges to trigger the interrupt on.
SynchronousInterrupt.WaitResult	waitForInterrupt(double timeoutSeconds)	Wait for an interrupt, ignoring any previously occurring interrupts.
SynchronousInterrupt.WaitResult	waitForInterrupt(double timeoutSeconds, boolean ignorePrevious)	Wait for an interrupt.
void	wakeupWaitingInterrupt()	Force triggering of any waiting interrupt, which will be seen as a timeout.

Methods inherited from class java.lang.Object

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

Constructor Details

SynchronousInterrupt

public SynchronousInterrupt(DigitalSource source)

Constructs a new synchronous interrupt using a DigitalSource.

At construction, the interrupt will trigger on the rising edge.

Parameters:

source - The digital source to use.

Method Details

close

public void close()

Closes the interrupt.

This does not close the associated digital source.

Specified by:

close in interface AutoCloseable

waitForInterrupt

public SynchronousInterrupt.WaitResult waitForInterrupt(double timeoutSeconds, boolean ignorePrevious)

Wait for an interrupt.

Parameters:

timeoutSeconds - The timeout in seconds. 0 or less will return immediately.

ignorePrevious - True to ignore if a previous interrupt has occurred, and only wait for a new trigger. False will consider if an interrupt has occurred since the last time the interrupt was read.

Returns:

Result of which edges were triggered, or if a timeout occurred.

waitForInterrupt

public SynchronousInterrupt.WaitResult waitForInterrupt(double timeoutSeconds)

Wait for an interrupt, ignoring any previously occurring interrupts.

Parameters:

timeoutSeconds - The timeout in seconds. 0 or less will return immediately.

Returns:

Result of which edges were triggered, or if a timeout occurred.

setInterruptEdges

public void setInterruptEdges(boolean risingEdge, boolean fallingEdge)

Set which edges to trigger the interrupt on.

Parameters:

risingEdge - Trigger on rising edge

fallingEdge - Trigger on falling edge

getRisingTimestamp

public double getRisingTimestamp()

Get the timestamp of the last rising edge.

This only works if rising edge was configured using setInterruptEdges.

Returns:

the timestamp in seconds relative to getFPGATime

getFallingTimestamp

public double getFallingTimestamp()

Get the timestamp of the last falling edge.

This only works if falling edge was configured using setInterruptEdges.

Returns:

the timestamp in seconds relative to getFPGATime

wakeupWaitingInterrupt

public void wakeupWaitingInterrupt()

Force triggering of any waiting interrupt, which will be seen as a timeout.