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FRC2016-old/wpilib/cpp/current/include/Notifier.h
2016-01-28 11:33:19 -05:00

58 lines
1.8 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <functional>
#include "ErrorBase.h"
#include "HAL/cpp/priority_mutex.h"
typedef std::function<void()> TimerEventHandler;
class Notifier : public ErrorBase {
public:
explicit Notifier(TimerEventHandler handler);
template <typename Callable, typename Arg, typename... Args>
Notifier(Callable&& f, Arg&& arg, Args&&... args)
: Notifier(std::bind(std::forward<Callable>(f),
std::forward<Arg>(arg),
std::forward<Args>(args)...)) {}
virtual ~Notifier();
Notifier(const Notifier&) = delete;
Notifier& operator=(const Notifier&) = delete;
void StartSingle(double delay);
void StartPeriodic(double period);
void Stop();
private:
// update the HAL alarm
void UpdateAlarm();
// HAL callback
static void Notify(uint64_t currentTimeInt, void *param);
// held while updating process information
priority_mutex m_processMutex;
// HAL handle
void *m_notifier;
// address of the handler
TimerEventHandler m_handler;
// the absolute expiration time
double m_expirationTime = 0;
// the relative time (either periodic or single)
double m_period = 0;
// true if this is a periodic event
bool m_periodic = false;
// held by interrupt manager task while handler call is in progress
priority_mutex m_handlerMutex;
};