wpilibc/Athena/src/InterruptableSensorBase.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "InterruptableSensorBase.h"
#include "Utility.h"
#include "WPIErrors.h"

std::unique_ptr<Resource> InterruptableSensorBase::m_interrupts =
    std::make_unique<Resource>(interrupt_kNumSystems);

InterruptableSensorBase::InterruptableSensorBase() {
}

/**
* 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.
*/
void InterruptableSensorBase::RequestInterrupts(
    InterruptHandlerFunction handler, void *param) {
  if (StatusIsFatal()) return;
  uint32_t index = m_interrupts->Allocate("Async Interrupt");
  if (index == std::numeric_limits<uint32_t>::max()) {
    CloneError(*m_interrupts);
    return;
  }
  m_interruptIndex = index;

  // Creates a manager too
  AllocateInterrupts(false);

  int32_t status = 0;
  requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
                    GetAnalogTriggerForRouting(), &status);
  SetUpSourceEdge(true, false);
  attachInterruptHandler(m_interrupt, handler, param, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
* 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.
*/
void InterruptableSensorBase::RequestInterrupts() {
  if (StatusIsFatal()) return;
  uint32_t index = m_interrupts->Allocate("Sync Interrupt");
  if (index == std::numeric_limits<uint32_t>::max()) {
    CloneError(*m_interrupts);
    return;
  }
  m_interruptIndex = index;

  AllocateInterrupts(true);

  int32_t status = 0;
  requestInterrupts(m_interrupt, GetModuleForRouting(), GetChannelForRouting(),
                    GetAnalogTriggerForRouting(), &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  SetUpSourceEdge(true, false);
}

void InterruptableSensorBase::AllocateInterrupts(bool watcher) {
  wpi_assert(m_interrupt == nullptr);
  // Expects the calling leaf class to allocate an interrupt index.
  int32_t status = 0;
  m_interrupt = initializeInterrupts(m_interruptIndex, watcher, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Cancel interrupts on this device.
 * This deallocates all the chipobject structures and disables any interrupts.
 */
void InterruptableSensorBase::CancelInterrupts() {
  if (StatusIsFatal()) return;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  cleanInterrupts(m_interrupt, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  m_interrupt = nullptr;
  m_interrupts->Free(m_interruptIndex);
}

/**
 * In synchronous mode, wait for the defined interrupt to occur. You should
 * <b>NOT</b> attempt to read the
 * sensor from another thread while waiting for an interrupt. This is not
 * threadsafe, and can cause
 * memory corruption
 * @param timeout Timeout in seconds
 * @param ignorePrevious If true, ignore interrupts that happened before
 * WaitForInterrupt was called.
 * @return What interrupts fired
 */
InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
    float timeout, bool ignorePrevious) {
  if (StatusIsFatal()) return InterruptableSensorBase::kTimeout;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  uint32_t result;

  result = waitForInterrupt(m_interrupt, timeout, ignorePrevious, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));

  return static_cast<WaitResult>(result);
}

/**
 * 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.
 */
void InterruptableSensorBase::EnableInterrupts() {
  if (StatusIsFatal()) return;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  enableInterrupts(m_interrupt, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * Disable Interrupts without without deallocating structures.
 */
void InterruptableSensorBase::DisableInterrupts() {
  if (StatusIsFatal()) return;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  disableInterrupts(m_interrupt, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
}

/**
 * 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
 * {@link #DigitalInput.SetUpSourceEdge}
 * @return Timestamp in seconds since boot.
 */
double InterruptableSensorBase::ReadRisingTimestamp() {
  if (StatusIsFatal()) return 0.0;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  double timestamp = readRisingTimestamp(m_interrupt, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  return timestamp;
}

/**
 * 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
 * {@link #DigitalInput.SetUpSourceEdge}
 * @return Timestamp in seconds since boot.
*/
double InterruptableSensorBase::ReadFallingTimestamp() {
  if (StatusIsFatal()) return 0.0;
  wpi_assert(m_interrupt != nullptr);
  int32_t status = 0;
  double timestamp = readFallingTimestamp(m_interrupt, &status);
  wpi_setErrorWithContext(status, getHALErrorMessage(status));
  return timestamp;
}

/**
 * Set which edge to trigger interrupts on
 *
 * @param risingEdge
 *            true to interrupt on rising edge
 * @param fallingEdge
 *            true to interrupt on falling edge
 */
void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge,
                                              bool fallingEdge) {
  if (StatusIsFatal()) return;
  if (m_interrupt == nullptr) {
    wpi_setWPIErrorWithContext(
        NullParameter,
        "You must call RequestInterrupts before SetUpSourceEdge");
    return;
  }
  if (m_interrupt != nullptr) {
    int32_t status = 0;
    setInterruptUpSourceEdge(m_interrupt, risingEdge, fallingEdge, &status);
    wpi_setErrorWithContext(status, getHALErrorMessage(status));
  }
}