Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/InterruptableSensorBase.h b/wpilibc/athena/include/InterruptableSensorBase.h
new file mode 100644
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+++ b/wpilibc/athena/include/InterruptableSensorBase.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+
+#include "AnalogTriggerType.h"
+#include "HAL/Interrupts.h"
+#include "SensorBase.h"
+
+namespace frc {
+
+class InterruptableSensorBase : public SensorBase {
+ public:
+ enum WaitResult {
+ kTimeout = 0x0,
+ kRisingEdge = 0x1,
+ kFallingEdge = 0x100,
+ kBoth = 0x101,
+ };
+
+ InterruptableSensorBase();
+ virtual ~InterruptableSensorBase() = default;
+ virtual HAL_Handle GetPortHandleForRouting() const = 0;
+ virtual AnalogTriggerType GetAnalogTriggerTypeForRouting() const = 0;
+ virtual void RequestInterrupts(
+ HAL_InterruptHandlerFunction handler,
+ void* param); ///< Asynchronus handler version.
+ virtual void RequestInterrupts(); ///< Synchronus Wait version.
+ virtual void
+ CancelInterrupts(); ///< Free up the underlying chipobject functions.
+ virtual WaitResult WaitForInterrupt(
+ double timeout,
+ bool ignorePrevious = true); ///< Synchronus version.
+ virtual void
+ EnableInterrupts(); ///< Enable interrupts - after finishing setup.
+ virtual void DisableInterrupts(); ///< Disable, but don't deallocate.
+ virtual double ReadRisingTimestamp(); ///< Return the timestamp for the
+ /// rising interrupt that occurred.
+ virtual double ReadFallingTimestamp(); ///< Return the timestamp for the
+ /// falling interrupt that occurred.
+ virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
+
+ protected:
+ HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
+ void AllocateInterrupts(bool watcher);
+};
+
+} // namespace frc