54 lines
2.1 KiB
C
54 lines
2.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "SensorBase.h"
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#include "Resource.h"
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#include <memory>
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class InterruptableSensorBase : public SensorBase {
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public:
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enum WaitResult {
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kTimeout = 0x0,
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kRisingEdge = 0x1,
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kFallingEdge = 0x100,
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kBoth = 0x101,
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};
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InterruptableSensorBase();
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virtual ~InterruptableSensorBase() = default;
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virtual uint32_t GetChannelForRouting() const = 0;
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virtual uint32_t GetModuleForRouting() const = 0;
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virtual bool GetAnalogTriggerForRouting() const = 0;
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virtual void RequestInterrupts(
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InterruptHandlerFunction handler,
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void *param); ///< Asynchronus handler version.
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virtual void RequestInterrupts(); ///< Synchronus Wait version.
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virtual void
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CancelInterrupts(); ///< Free up the underlying chipobject functions.
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virtual WaitResult WaitForInterrupt(
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float timeout, bool ignorePrevious = true); ///< Synchronus version.
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virtual void
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EnableInterrupts(); ///< Enable interrupts - after finishing setup.
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virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
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virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
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///rising interrupt that occurred.
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virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
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///falling interrupt that occurred.
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virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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protected:
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void *m_interrupt = nullptr;
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uint32_t m_interruptIndex = std::numeric_limits<uint32_t>::max();
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void AllocateInterrupts(bool watcher);
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static std::unique_ptr<Resource> m_interrupts;
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};
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