edu.wpi.first.wpilibj

Class InterruptableSensorBase

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.InterruptableSensorBase

Direct Known Subclasses:

DigitalSource

public abstract class InterruptableSensorBase
extends SensorBase

Base for sensors to be used with interrupts.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	InterruptableSensorBase.WaitResult

Field Summary

Fields

Modifier and Type	Field and Description
protected int	m_interrupt The interrupt resource.
protected boolean	m_isSynchronousInterrupt Flags if the interrupt being allocated is synchronous.

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
InterruptableSensorBase() Create a new InterrupatableSensorBase.

Method Summary

Modifier and Type	Method and Description
protected void	allocateInterrupts(boolean watcher) Allocate the interrupt
void	cancelInterrupts() Cancel interrupts on this device.
void	disableInterrupts() Disable Interrupts without without deallocating structures.
void	enableInterrupts() Enable interrupts to occur on this input.
abstract int	getAnalogTriggerTypeForRouting() If this is an analog trigger.
abstract int	getPortHandleForRouting() The channel routing number.
double	readFallingTimestamp() Return the timestamp for the falling interrupt that occurred most recently.
double	readRisingTimestamp() Return the timestamp for the rising interrupt that occurred most recently.
void	requestInterrupts() Request one of the 8 interrupts synchronously on this digital input.
void	requestInterrupts(InterruptHandlerFunction<?> handler) Request one of the 8 interrupts asynchronously on this digital input.
void	setUpSourceEdge(boolean risingEdge, boolean fallingEdge) Set which edge to trigger interrupts on.
InterruptableSensorBase.WaitResult	waitForInterrupt(double timeout) In synchronous mode, wait for the defined interrupt to occur.
InterruptableSensorBase.WaitResult	waitForInterrupt(double timeout, boolean ignorePrevious) In synchronous mode, wait for the defined interrupt to occur.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, free, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_interrupt

protected int m_interrupt

The interrupt resource.

m_isSynchronousInterrupt

protected boolean m_isSynchronousInterrupt

Flags if the interrupt being allocated is synchronous.

Constructor Detail

InterruptableSensorBase

public InterruptableSensorBase()

Create a new InterrupatableSensorBase.

Method Detail

getAnalogTriggerTypeForRouting

public abstract int getAnalogTriggerTypeForRouting()

If this is an analog trigger.

Returns:

true if this is an analog trigger.

getPortHandleForRouting

public abstract int getPortHandleForRouting()

The channel routing number.

Returns:

channel routing number

requestInterrupts

public void requestInterrupts(InterruptHandlerFunction<?> handler)

Request one of the 8 interrupts asynchronously on this digital input.

Parameters:

handler - The InterruptHandlerFunction that contains the method InterruptHandlerFunction.interruptFired(int, Object) that will be called whenever there is an interrupt on this device. Request interrupts in synchronous mode where the user program interrupt handler will be called when an interrupt occurs. The default is interrupt on rising edges only.

requestInterrupts

public void requestInterrupts()

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(double, boolean). The default is interrupt on rising edges only.

allocateInterrupts

protected void allocateInterrupts(boolean watcher)

Allocate the interrupt

Parameters:

watcher - true if the interrupt should be in synchronous mode where the user program will have to explicitly wait for the interrupt to occur.

cancelInterrupts

public void cancelInterrupts()

Cancel interrupts on this device. This deallocates all the chipobject structures and disables any interrupts.

waitForInterrupt

public InterruptableSensorBase.WaitResult waitForInterrupt(double timeout,
                                                           boolean ignorePrevious)

In synchronous mode, wait for the defined interrupt to occur.

Parameters:

timeout - Timeout in seconds

ignorePrevious - If true, ignore interrupts that happened before waitForInterrupt was called.

Returns:

Result of the wait.

waitForInterrupt

public InterruptableSensorBase.WaitResult waitForInterrupt(double timeout)

In synchronous mode, wait for the defined interrupt to occur.

Parameters:

timeout - Timeout in seconds

Returns:

Result of the wait.

enableInterrupts

public void enableInterrupts()

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.

disableInterrupts

public void disableInterrupts()

Disable Interrupts without without deallocating structures.

readRisingTimestamp

public double readRisingTimestamp()

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 setUpSourceEdge(boolean, boolean).

Returns:

Timestamp in seconds since boot.

readFallingTimestamp

public double readFallingTimestamp()

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 setUpSourceEdge(boolean, boolean).

Returns:

Timestamp in seconds since boot.

setUpSourceEdge

public void setUpSourceEdge(boolean risingEdge,
                            boolean fallingEdge)

Set which edge to trigger interrupts on.

Parameters:

risingEdge - true to interrupt on rising edge

fallingEdge - true to interrupt on falling edge