copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/aos/crio/shared_libs/interrupt_notifier.h b/aos/crio/shared_libs/interrupt_notifier.h
new file mode 100644
index 0000000..87aa4a3
--- /dev/null
+++ b/aos/crio/shared_libs/interrupt_notifier.h
@@ -0,0 +1,49 @@
+#ifndef AOS_CRIO_SHARED_LIBS_INTERRUPT_NOTIFIER_H_
+#define AOS_CRIO_SHARED_LIBS_INTERRUPT_NOTIFIER_H_
+
+#include "WPILib/InterruptableSensorBase.h"
+
+#include "aos/crio/shared_libs/interrupt_bridge.h"
+
+namespace aos {
+namespace crio {
+
+// An InterruptBridge that notifies based on interrupts from a WPILib
+// InterruptableSensorBase object (which DigitalInput is an example of).
+template<typename T>
+class InterruptNotifier : public InterruptBridge<T> {
+ public:
+ // This object will hold a reference to sensor, but will not free it. This
+ // object will take ownership of everything related to interrupts for sensor
+ // (ie this constructor will call sensor->RequestInterrupts).
+ // Interrupts should be cancelled (the state InterruptableSensorBases are
+ // constructed in) when this constructor is called.
+ // Any setup of sensor that is required should happen before Start() is
+ // called, but after this constructor (ie SetUpSourceEdge).
+ InterruptNotifier(typename InterruptBridge<T>::Handler handler,
+ InterruptableSensorBase *sensor,
+ T *param = NULL,
+ int priority = InterruptBridge<T>::kDefaultPriority);
+ virtual ~InterruptNotifier();
+
+ // Starts calling the handler whenever the interrupt triggers.
+ void Start();
+
+ private:
+ // The only docs that seem to exist on the first arg is that it's named
+ // interruptAssertedMask in WPILib/ChipObject/tInterruptManager.h
+ // The second arg is the general callback parameter which will be a pointer to
+ // an instance. This function calls Notify() on that instance.
+ static void StaticNotify(uint32_t, void *self_in);
+ virtual void StopNotifications();
+
+ InterruptableSensorBase *const sensor_;
+ DISALLOW_COPY_AND_ASSIGN(InterruptNotifier<T>);
+};
+
+} // namespace crio
+} // namespace aos
+
+#include "aos/crio/shared_libs/interrupt_notifier-tmpl.h"
+
+#endif // AOS_CRIO_SHARED_LIBS_INTERRUPT_NOTIFIER_H_